Python package updates for command language

Author: johnwason

.github/workflows/bionic_build.yml

@@ -24,6 +24,7 @@ jobs:
       ROSDEP_SKIP_KEYS: "bullet3 cmake_common_scripts iwyu fcl taskflow"
       DOCKER_IMAGE: "rosindustrial/tesseract:melodic"
       CCACHE_DIR: "/home/runner/work/tesseract/tesseract/Bionic-Build/.ccache"
+      PARALLEL_BUILDS: false
       PARALLEL_TESTS: false
       UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
       TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_TESTING=ON"

.github/workflows/focal_build.yml

@@ -25,6 +25,7 @@ jobs:
       DOCKER_IMAGE: "rosindustrial/tesseract:noetic"
       CCACHE_DIR: "/home/runner/work/tesseract/tesseract/Focal-Build/.ccache"
       PARALLEL_TESTS: false
+      PARALLEL_BUILDS: false
       BEFORE_RUN_TARGET_TEST_EMBED: "source /root/target_ws/install/setup.bash"
       UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
       TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_TESTING=ON"

.github/workflows/windows_noetic_build.yml

@@ -37,6 +37,6 @@ jobs:
 
         rosdep install -q --from-paths . --ignore-src -y
 
-        catkin_make_isolated --install --force-cmake --only-pkg-with-deps tesseract_collision tesseract_common tesseract_environment tesseract_geometry tesseract_kinematics tesseract_scene_graph tesseract_support tesseract_urdf tesseract_visualization tesseract_motion_planners tesseract_process_managers tesseract_time_parameterization --cmake-args -DCMAKE_BUILD_TYPE=Release -DINSTALL_OMPL=ON -DINSTALL_OMPL_TAG=master
+        catkin_make_isolated --install --force-cmake --only-pkg-with-deps tesseract_collision tesseract_common tesseract_environment tesseract_geometry tesseract_kinematics tesseract_scene_graph tesseract_support tesseract_urdf tesseract_visualization tesseract_motion_planners tesseract_process_managers tesseract_time_parameterization tesseract_python --cmake-args -DCMAKE_BUILD_TYPE=Release -DINSTALL_OMPL=ON -DINSTALL_OMPL_TAG=master
         call "D:\a\tesseract\tesseract\install_isolated\setup.bat"
         catkin_make_isolated --install --force-cmake --pkg tesseract_collision tesseract_common tesseract_environment tesseract_geometry tesseract_kinematics tesseract_scene_graph tesseract_support tesseract_urdf tesseract_visualization tesseract_motion_planners tesseract_process_managers tesseract_time_parameterization --cmake-args -DCMAKE_BUILD_TYPE=Release -DTESSERACT_ENABLE_TESTING=ON -DINSTALL_OMPL=ON -DINSTALL_OMPL_TAG=master

tesseract/tesseract_collision/include/tesseract_collision/bullet/bullet_cast_bvh_manager.h

@@ -45,6 +45,10 @@
 #include <tesseract_collision/core/continuous_contact_manager.h>
 #include <tesseract_collision/bullet/tesseract_collision_configuration.h>
 
+#ifdef SWIG
+%shared_ptr(tesseract_collision::tesseract_collision_bullet::BulletCastBVHManager)
+#endif  // SWIG
+
 namespace tesseract_collision
 {
 namespace tesseract_collision_bullet
@@ -129,11 +133,13 @@ class BulletCastBVHManager : public ContinuousContactManager
 
   void contactTest(ContactResultMap& collisions, const ContactRequest& request) override;
 
+#ifndef SWIG
   /**
    * @brief A a bullet collision object to the manager
    * @param cow The tesseract bullet collision object
    */
   void addCollisionObject(COW::Ptr cow);
+#endif  // SWIG
 
 private:
   std::vector<std::string> active_;            /**< @brief A list of the active collision objects */

tesseract/tesseract_collision/include/tesseract_collision/bullet/bullet_cast_simple_manager.h

@@ -45,6 +45,10 @@
 #include <tesseract_collision/core/continuous_contact_manager.h>
 #include <tesseract_collision/bullet/tesseract_collision_configuration.h>
 
+#ifdef SWIG
+%shared_ptr(tesseract_collision::tesseract_collision_bullet::BulletCastSimpleManager)
+#endif  // SWIG
+
 namespace tesseract_collision
 {
 namespace tesseract_collision_bullet
@@ -129,11 +133,13 @@ class BulletCastSimpleManager : public ContinuousContactManager
 
   void contactTest(ContactResultMap& collisions, const ContactRequest& request) override;
 
+#ifndef SWIG
   /**
    * @brief A a bullet collision object to the manager
    * @param cow The tesseract bullet collision object
    */
   void addCollisionObject(COW::Ptr cow);
+#endif  // SWIG
 
 private:
   std::vector<std::string> active_;            /**< @brief A list of the active collision objects */

tesseract/tesseract_collision/include/tesseract_collision/bullet/bullet_discrete_bvh_manager.h

@@ -45,6 +45,10 @@
 #include <tesseract_collision/core/discrete_contact_manager.h>
 #include <tesseract_collision/bullet/tesseract_collision_configuration.h>
 
+#ifdef SWIG
+%shared_ptr(tesseract_collision::tesseract_collision_bullet::BulletDiscreteBVHManager)
+#endif  // SWIG
+
 namespace tesseract_collision
 {
 namespace tesseract_collision_bullet
@@ -118,11 +122,13 @@ class BulletDiscreteBVHManager : public DiscreteContactManager
 
   void contactTest(ContactResultMap& collisions, const ContactRequest& request) override;
 
+#ifndef SWIG
   /**
    * @brief A a bullet collision object to the manager
    * @param cow The tesseract bullet collision object
    */
   void addCollisionObject(COW::Ptr cow);
+#endif  // SWIG
 
 private:
   std::vector<std::string> active_;            /**< @brief A list of the active collision objects */

tesseract/tesseract_collision/include/tesseract_collision/bullet/bullet_discrete_simple_manager.h

@@ -45,6 +45,10 @@
 #include <tesseract_collision/core/discrete_contact_manager.h>
 #include <tesseract_collision/bullet/tesseract_collision_configuration.h>
 
+#ifdef SWIG
+%shared_ptr(tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager)
+#endif  // SWIG
+
 namespace tesseract_collision
 {
 namespace tesseract_collision_bullet
@@ -118,11 +122,13 @@ class BulletDiscreteSimpleManager : public DiscreteContactManager
 
   void contactTest(ContactResultMap& collisions, const ContactRequest& request) override;
 
+#ifndef SWIG
   /**
    * @brief A a bullet collision object to the manager
    * @param cow The tesseract bullet collision object
    */
   void addCollisionObject(COW::Ptr cow);
+#endif  // SWIG
 
 private:
   std::vector<std::string> active_;            /**< @brief A list of the active collision objects */

tesseract/tesseract_collision/include/tesseract_collision/core/continuous_contact_manager.h

@@ -35,6 +35,10 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_collision/core/types.h>
 
+#ifdef SWIG
+%shared_ptr(tesseract_collision::ContinuousContactManager)
+#endif  // SWIG
+
 namespace tesseract_collision
 {
 class ContinuousContactManager

tesseract/tesseract_collision/include/tesseract_collision/core/continuous_contact_manager_factory.h

@@ -29,15 +29,19 @@
 
 #include <tesseract_collision/core/continuous_contact_manager.h>
 
+#ifdef SWIG
+%shared_ptr(tesseract_collision::ContinuousContactManagerFactory)
+#endif  // SWIG
+
 namespace tesseract_collision
 {
+using ContinuousContactManagerFactoryCreateMethod = std::function<ContinuousContactManager::Ptr()>;
 class ContinuousContactManagerFactory
 {
 public:
-  using CreateMethod = std::function<ContinuousContactManager::Ptr()>;
   ContinuousContactManagerFactory() = default;
 
-  bool registar(const std::string& name, CreateMethod create_function)
+  bool registar(const std::string& name, ContinuousContactManagerFactoryCreateMethod create_function)
   {
     auto it = continuous_types.find(name);
     if (it == continuous_types.end())
@@ -61,7 +65,7 @@ class ContinuousContactManagerFactory
   const std::vector<std::string>& getAvailableManagers() const { return keys_; }
 
 private:
-  std::unordered_map<std::string, CreateMethod> continuous_types;
+  std::unordered_map<std::string, ContinuousContactManagerFactoryCreateMethod> continuous_types;
   std::vector<std::string> keys_;
 };
 }  // namespace tesseract_collision

tesseract/tesseract_collision/include/tesseract_collision/core/discrete_contact_manager.h

@@ -35,6 +35,10 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_collision/core/types.h>
 
+#ifdef SWIG
+%shared_ptr(tesseract_collision::DiscreteContactManager)
+#endif  // SWIG
+
 namespace tesseract_collision
 {
 class DiscreteContactManager