joint_model_group.cpp

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/* Author: Peter David Fagan */
 
#include "joint_model_group.hpp"
#include <exception>
 
namespace moveit_py
{
namespace bind_robot_model
{
bool satisfiesPositionBounds(const moveit::core::JointModelGroup* jmg, const Eigen::VectorXd& joint_positions,
                             const double margin)
{
  assert(joint_positions.size() == jmg->getActiveVariableCount());
  return jmg->satisfiesPositionBounds(joint_positions.data(), margin);
}
 
void initJointModelGroup(py::module& m)
{
  py::module robot_model = m.def_submodule("robot_model");
 
  py::class_<moveit::core::JointModelGroup>(robot_model, "JointModelGroup",
                                            R"(
          Representation of a group of joints that are part of a robot model.
          )")
 
      .def_property("name", &moveit::core::JointModelGroup::getName, nullptr,
                    R"(
                    str: The name of the joint model group.
                    )")
 
      .def_property_readonly("link_model_names", &moveit::core::JointModelGroup::getLinkModelNames)
      .def_property("joint_model_names", &moveit::core::JointModelGroup::getJointModelNames, nullptr,
                    R"(
                    list[str]: The names of the joint models in the group.
                    )")
      .def_property("active_joint_model_names", &moveit::core::JointModelGroup::getActiveJointModelNames, nullptr)
      .def_property("active_joint_model_bounds", &moveit::core::JointModelGroup::getActiveJointModelsBounds, nullptr,
                    py::return_value_policy::reference_internal)
      .def_property_readonly("eef_name",
                             [](const moveit::core::JointModelGroup* self) {
                               const auto eef = self->getOnlyOneEndEffectorTip();
                               if (!eef)
                               {
                                 throw std::runtime_error("Error getting the end effector name - see log for details");
                               }
                               return eef->getName();
                             })
      .def("satisfies_position_bounds", &moveit_py::bind_robot_model::satisfiesPositionBounds, py::arg("values"),
           py::arg("margin") = 0.0);
}
}  // namespace bind_robot_model
}  // namespace moveit_py