ros_msg_typecasters.cpp

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/* Author: Peter David Fagan, Robert Haschke */
 
#include <moveit_py/moveit_py_utils/ros_msg_typecasters.h>
 
namespace py = pybind11;
namespace moveit_py
{
namespace moveit_py_utils
{
py::object createMessage(const std::string& ros_msg_name)
{
  // find delimiting '/' in ros msg name
  std::size_t pos = ros_msg_name.find('/');
  // import module
  py::module m = py::module::import((ros_msg_name.substr(0, pos) + ".msg").c_str());
  // retrieve type instance
  py::object cls = m.attr(ros_msg_name.substr(pos + 1).c_str());
  // create message instance
  return cls();
}
 
bool convertible(const pybind11::handle& h, const std::string& ros_msg_name)
{
  PyObject* o = h.attr("__class__").attr("__name__").ptr();
  std::size_t pos = ros_msg_name.find_last_of('/');
  std::string class_name = ros_msg_name.substr(pos + 1);
  return py::cast<std::string>(o) == class_name;
}
 
}  // namespace moveit_py_utils
}  // namespace moveit_py