planning_response.cpp

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/* Author: Peter David Fagan */
 
#include "planning_response.h"
 
namespace moveit_py
{
namespace bind_planning_interface
{
std::shared_ptr<robot_trajectory::RobotTrajectory>
getMotionPlanResponseTrajectory(std::shared_ptr<planning_interface::MotionPlanResponse>& response)
{
  return response->trajectory;
}
 
moveit_msgs::msg::RobotState
getMotionPlanResponseStartState(std::shared_ptr<planning_interface::MotionPlanResponse>& response)
{
  moveit_msgs::msg::RobotState robot_state_msg = response->start_state;
  return robot_state_msg;
}
 
moveit_msgs::msg::MoveItErrorCodes
getMotionPlanResponseErrorCode(std::shared_ptr<planning_interface::MotionPlanResponse>& response)
{
  moveit_msgs::msg::MoveItErrorCodes error_code_msg =
      static_cast<moveit_msgs::msg::MoveItErrorCodes>(response->error_code);
  return error_code_msg;
}
 
double getMotionPlanResponsePlanningTime(std::shared_ptr<planning_interface::MotionPlanResponse>& response)
{
  return response->planning_time;
}
 
std::string getMotionPlanResponsePlannerId(std::shared_ptr<planning_interface::MotionPlanResponse>& response)
{
  return response->planner_id;
}
 
void initMotionPlanResponse(py::module& m)
{
  py::module planning_interface = m.def_submodule("planning_interface");
 
  py::class_<planning_interface::MotionPlanResponse, std::shared_ptr<planning_interface::MotionPlanResponse>>(
      planning_interface, "MotionPlanResponse", R"()")
 
      //.def(py::init<>(), R"()")
 
      .def_property("trajectory", &moveit_py::bind_planning_interface::getMotionPlanResponseTrajectory, nullptr,
                    py::return_value_policy::copy, R"()")
 
      .def_readonly("planning_time", &planning_interface::MotionPlanResponse::planning_time,
                    py::return_value_policy::copy, R"()")
 
      .def_property("error_code", &moveit_py::bind_planning_interface::getMotionPlanResponseErrorCode, nullptr,
                    py::return_value_policy::copy, R"()")
 
      .def_property("start_state", &moveit_py::bind_planning_interface::getMotionPlanResponseStartState, nullptr,
                    py::return_value_policy::copy, R"()")
 
      .def_readonly("planner_id", &planning_interface::MotionPlanResponse::planner_id, py::return_value_policy::copy,
                    R"()")
 
      .def("__bool__", [](std::shared_ptr<planning_interface::MotionPlanResponse>& response) {
        return response->error_code.val == moveit_msgs::msg::MoveItErrorCodes::SUCCESS;
      });
}
}  // namespace bind_planning_interface
}  // namespace moveit_py