planning_response.hpp

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/* Author: Peter David Fagan */
 
#pragma once
 
#include <pybind11/pybind11.h>
#include <pybind11/eigen.h>
#include <pybind11/stl.h>
#include <moveit_msgs/msg/robot_state.hpp>
#include <moveit_msgs/msg/move_it_error_codes.hpp>
#include <moveit_py/moveit_py_utils/ros_msg_typecasters.hpp>
#include <moveit/planning_interface/planning_response.hpp>
 
namespace py = pybind11;
 
namespace moveit_py
{
namespace bind_planning_interface
{
std::shared_ptr<robot_trajectory::RobotTrajectory>
getMotionPlanResponseTrajectory(std::shared_ptr<planning_interface::MotionPlanResponse>& response);
 
moveit_msgs::msg::RobotState
getMotionPlanResponseStartState(std::shared_ptr<planning_interface::MotionPlanResponse>& response);
 
moveit_msgs::msg::MoveItErrorCodes
getMotionPlanResponseErrorCode(std::shared_ptr<planning_interface::MotionPlanResponse>& response);
 
double getMotionPlanResponsePlanningTime(std::shared_ptr<planning_interface::MotionPlanResponse>& response);
 
std::string getMotionPlanResponsePlannerId(std::shared_ptr<planning_interface::MotionPlanResponse>& response);
 
void initMotionPlanResponse(py::module& m);
}  // namespace bind_planning_interface
}  // namespace moveit_py