joint_model.cpp

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/* Author: Jafar Uruç */
 
#include "joint_model.hpp"
#include <moveit/robot_model/joint_model.hpp>
 
namespace moveit_py
{
namespace bind_robot_model
{
 
void initJointModel(py::module& m)
{
  py::module robot_model = m.def_submodule("robot_model");
 
  py::class_<moveit::core::VariableBounds, std::shared_ptr<moveit::core::VariableBounds>>(robot_model, "VariableBounds")
      .def_readonly("min_position", &moveit::core::VariableBounds::min_position_)
      .def_readonly("max_position", &moveit::core::VariableBounds::max_position_)
      .def_readonly("position_bounded", &moveit::core::VariableBounds::position_bounded_)
      .def_readonly("min_velocity", &moveit::core::VariableBounds::min_velocity_)
      .def_readonly("max_velocity", &moveit::core::VariableBounds::max_velocity_)
      .def_readonly("velocity_bounded", &moveit::core::VariableBounds::velocity_bounded_)
      .def_readonly("min_acceleration", &moveit::core::VariableBounds::min_acceleration_)
      .def_readonly("max_acceleration", &moveit::core::VariableBounds::max_acceleration_)
      .def_readonly("acceleration_bounded", &moveit::core::VariableBounds::acceleration_bounded_)
      .def_readonly("min_jerk", &moveit::core::VariableBounds::min_jerk_)
      .def_readonly("max_jerk", &moveit::core::VariableBounds::max_jerk_)
      .def_readonly("jerk_bounded", &moveit::core::VariableBounds::jerk_bounded_);
}
}  // namespace bind_robot_model
}  // namespace moveit_py