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johnwasonjohnwason
committed
Work on Python update Dec 2024
1 parent abefd17 commit 1fd07b5

23 files changed

+247
-87
lines changed

‎dependencies.rosinstall

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -1,23 +1,23 @@
11
- git:
22
local-name: ros_industrial_cmake_boilerplate
33
uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
4-
version: 0.5.4
4+
version: 0.6.2
55
- git:
66
local-name: tesseract
77
uri: https://github.com/tesseract-robotics/tesseract.git
8-
version: 0.21.5
8+
version: 0.26.0
99
- git:
1010
local-name: tesseract_planning
1111
uri: https://github.com/tesseract-robotics/tesseract_planning.git
12-
version: 0.21.6
12+
version: 0.26.1
1313
- git:
1414
local-name: trajopt
1515
uri: https://github.com/tesseract-robotics/trajopt.git
16-
version: 0.7.0
16+
version: 0.26.0
1717
- git:
1818
local-name: descartes_light
1919
uri: https://github.com/swri-robotics/descartes_light.git
20-
version: 0.4.2
20+
version: 0.4.3
2121
- git:
2222
local-name: opw_kinematics
2323
uri: https://github.com/Jmeyer1292/opw_kinematics.git

‎dependencies_with_ext.rosinstall

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -1,23 +1,23 @@
11
- git:
22
local-name: ros_industrial_cmake_boilerplate
33
uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
4-
version: 0.5.4
4+
version: 0.6.2
55
- git:
66
local-name: tesseract
77
uri: https://github.com/tesseract-robotics/tesseract.git
8-
version: 0.21.5
8+
version: 0.26.0
99
- git:
1010
local-name: tesseract_planning
1111
uri: https://github.com/tesseract-robotics/tesseract_planning.git
12-
version: 0.21.6
12+
version: 0.26.1
1313
- git:
1414
local-name: trajopt
1515
uri: https://github.com/tesseract-robotics/trajopt.git
16-
version: 0.7.0
16+
version: 0.26.0
1717
- git:
1818
local-name: descartes_light
1919
uri: https://github.com/swri-robotics/descartes_light.git
20-
version: 0.4.2
20+
version: 0.4.3
2121
- git:
2222
local-name: opw_kinematics
2323
uri: https://github.com/Jmeyer1292/opw_kinematics.git

‎tesseract_python/CMakeLists.txt

Lines changed: 25 additions & 13 deletions
Original file line numberDiff line numberDiff line change
@@ -40,7 +40,7 @@ find_package(tesseract_kinematics REQUIRED)
4040
# find_package(TinyXML2 REQUIRED)
4141
# find_package(opw_kinematics REQUIRED)
4242

43-
find_package(tesseract_task_composer REQUIRED)
43+
find_package(tesseract_task_composer REQUIRED COMPONENTS core planning taskflow)
4444

4545
if(NOT TinyXML2_INCLUDE_DIRS AND TARGET tinyxml2::tinyxml2)
4646
get_target_property(TinyXML2_INCLUDE_DIRS tinyxml2::tinyxml2 INTERFACE_INCLUDE_DIRECTORIES)
@@ -49,6 +49,8 @@ endif()
4949

5050
tesseract_variables()
5151

52+
find_bullet()
53+
5254
include_directories(
5355
${trajopt_INCLUDE_DIRS}
5456
${tesseract_common_INCLUDE_DIRS}
@@ -87,19 +89,29 @@ message(STATUS "Building Python Version: " ${PYTHON_VERSION_MAJOR})
8789

8890
# Find NumPy
8991
find_path(NUMPY_INCLUDE_NDARRAYOBJECT_DIR numpy/ndarrayobject.h PATHS ${PYTHON_INCLUDE_DIRS} NO_DEFAULT_PATH)
90-
if (NUMPY_INCLUDE_NDARRAYOBJECT_DIR)
91-
set(NUMPY_INCLUDE_DIR ${NUMPY_INCLUDE_NDARRAYOBJECT_DIR})
92+
if(NUMPY_INCLUDE_NDARRAYOBJECT_DIR)
93+
set(NUMPY_INCLUDE_DIR ${NUMPY_INCLUDE_NDARRAYOBJECT_DIR})
9294
else()
93-
execute_process(COMMAND ${PYTHON_EXECUTABLE} -c "import numpy; import os; print(os.path.dirname(numpy.__file__) + '/core/include')" RESULT_VARIABLE FIND_NUMPY_RESULT OUTPUT_VARIABLE NUMPY_INCLUDE_DIR )
94-
string(STRIP "${NUMPY_INCLUDE_DIR}" NUMPY_INCLUDE_DIR)
95+
execute_process(COMMAND ${PYTHON_EXECUTABLE} -c "import numpy; import os; print(os.path.dirname(numpy.__file__))"
96+
RESULT_VARIABLE FIND_NUMPY_RESULT OUTPUT_VARIABLE NUMPY_INCLUDE_DIR1)
97+
string(STRIP "${NUMPY_INCLUDE_DIR1}" NUMPY_INCLUDE_DIR1)
98+
99+
if(${FIND_NUMPY_RESULT})
100+
message(FATAL_ERROR "Could not determine NumPy include directory")
101+
endif()
102+
103+
if(EXISTS "${NUMPY_INCLUDE_DIR1}/core/include/numpy/ndarrayobject.h")
104+
set(NUMPY_INCLUDE_DIR "${NUMPY_INCLUDE_DIR1}/core/include")
105+
else()
106+
if(EXISTS "${NUMPY_INCLUDE_DIR1}/_core/include/numpy/ndarrayobject.h")
107+
set(NUMPY_INCLUDE_DIR "${NUMPY_INCLUDE_DIR1}/_core/include")
108+
endif()
109+
endif()
95110

96-
if(${FIND_NUMPY_RESULT})
97-
message(FATAL_ERROR "Could not determine NumPy include directory")
98-
endif()
99111
endif()
100112

101-
if (NOT EXISTS "${NUMPY_INCLUDE_DIR}/numpy/ndarrayobject.h")
102-
message(FATAL_ERROR "Could not find numpy/ndarrayobject.h include file")
113+
if(NOT EXISTS "${NUMPY_INCLUDE_DIR}/numpy/ndarrayobject.h")
114+
message(FATAL_ERROR "Could not find numpy/ndarrayobject.h include file")
103115
endif()
104116

105117
message(STATUS "NumPy Include Directory: ${NUMPY_INCLUDE_DIR}")
@@ -122,12 +134,12 @@ include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/tesseract_python_module.cmake)
122134

123135
tesseract_python_module(tesseract_common_python SWIG_SRCS swig/tesseract_common_python.i PACKAGE tesseract_common LIBS tesseract::tesseract_common )
124136
tesseract_python_module(tesseract_geometry_python SWIG_SRCS swig/tesseract_geometry_python.i PACKAGE tesseract_geometry LIBS tesseract::tesseract_geometry )
125-
tesseract_python_module(tesseract_collision_python SWIG_SRCS swig/tesseract_collision_python.i PACKAGE tesseract_collision LIBS tesseract::tesseract_collision_core tesseract::tesseract_collision_bullet_factories tesseract::tesseract_collision_fcl_factories )
137+
tesseract_python_module(tesseract_collision_python SWIG_SRCS swig/tesseract_collision_python.i PACKAGE tesseract_collision LIBS tesseract::tesseract_collision_core Bullet3::Bullet ) # tesseract::tesseract_collision_bullet_factories tesseract::tesseract_collision_fcl_factories )
126138
tesseract_python_module(tesseract_scene_graph_python SWIG_SRCS swig/tesseract_scene_graph_python.i PACKAGE tesseract_scene_graph LIBS tesseract::tesseract_scene_graph )
127139
tesseract_python_module(tesseract_srdf_python SWIG_SRCS swig/tesseract_srdf_python.i PACKAGE tesseract_srdf LIBS tesseract::tesseract_srdf )
128140
tesseract_python_module(tesseract_urdf_python SWIG_SRCS swig/tesseract_urdf_python.i PACKAGE tesseract_urdf LIBS tesseract::tesseract_urdf )
129141
tesseract_python_module(tesseract_state_solver_python SWIG_SRCS swig/tesseract_state_solver_python.i PACKAGE tesseract_state_solver LIBS tesseract::tesseract_state_solver_core tesseract::tesseract_state_solver_ofkt tesseract::tesseract_state_solver_kdl)
130-
tesseract_python_module(tesseract_kinematics_python SWIG_SRCS swig/tesseract_kinematics_python.i PACKAGE tesseract_kinematics LIBS tesseract::tesseract_kinematics_kdl_factories tesseract::tesseract_kinematics_ur_factory tesseract::tesseract_kinematics_opw_factory tesseract::tesseract_kinematics_core_factories tesseract::tesseract_kinematics_core )
142+
tesseract_python_module(tesseract_kinematics_python SWIG_SRCS swig/tesseract_kinematics_python.i PACKAGE tesseract_kinematics LIBS tesseract::tesseract_kinematics_core )# tesseract::tesseract_kinematics_kdl_factories tesseract::tesseract_kinematics_ur_factory tesseract::tesseract_kinematics_opw_factory tesseract::tesseract_kinematics_core_factories )
131143
tesseract_python_module(tesseract_environment_python SWIG_SRCS swig/tesseract_environment_python.i PACKAGE tesseract_environment LIBS tesseract::tesseract_environment )
132144
tesseract_python_module(tesseract_visualization_python SWIG_SRCS swig/tesseract_visualization_python.i PACKAGE tesseract_visualization LIBS tesseract::tesseract_visualization)
133145
tesseract_python_module(tesseract_command_language_python SWIG_SRCS swig/tesseract_command_language_python.i PACKAGE tesseract_command_language LIBS tesseract::tesseract_command_language)
@@ -137,7 +149,7 @@ tesseract_python_module(tesseract_motion_planners_trajopt_python SWIG_SRCS swig/
137149
tesseract_python_module(tesseract_motion_planners_ompl_python SWIG_SRCS swig/tesseract_motion_planners_ompl_python.i PACKAGE tesseract_motion_planners_ompl LIBS tesseract::tesseract_motion_planners_ompl )
138150
tesseract_python_module(tesseract_motion_planners_descartes_python SWIG_SRCS swig/tesseract_motion_planners_descartes_python.i PACKAGE tesseract_motion_planners_descartes LIBS tesseract::tesseract_motion_planners_descartes )
139151
tesseract_python_module(tesseract_time_parameterization_python SWIG_SRCS swig/tesseract_time_parameterization_python.i PACKAGE tesseract_time_parameterization LIBS tesseract::tesseract_time_parameterization_core tesseract::tesseract_time_parameterization_isp tesseract::tesseract_time_parameterization_totg tesseract::tesseract_time_parameterization_ruckig)
140-
tesseract_python_module(tesseract_task_composer_python SWIG_SRCS swig/tesseract_task_composer_python.i PACKAGE tesseract_task_composer LIBS tesseract::tesseract_task_composer tesseract::tesseract_task_composer_nodes tesseract::tesseract_task_composer_taskflow tesseract::tesseract_task_composer_factories tesseract::tesseract_task_composer_planning_factories tesseract::tesseract_task_composer_planning tesseract::tesseract_task_composer_taskflow_factories )
152+
# tesseract_python_module(tesseract_task_composer_python SWIG_SRCS swig/tesseract_task_composer_python.i PACKAGE tesseract_task_composer LIBS tesseract::tesseract_task_composer tesseract::tesseract_task_composer_nodes tesseract::tesseract_task_composer_taskflow ) # tesseract::tesseract_task_composer_factories tesseract::tesseract_task_composer_planning_factories tesseract::tesseract_task_composer_planning tesseract::tesseract_task_composer_taskflow_factories )
141153

142154
set(TESSERACT_PYTHON_MODULE_TARGETS
143155
_tesseract_common_python

‎tesseract_python/swig/rework_include/tesseract_command_language/composite_instruction.i

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -16,7 +16,7 @@ public:
1616

1717
CompositeInstruction(std::string profile = DEFAULT_PROFILE_KEY,
1818
CompositeInstructionOrder order = CompositeInstructionOrder::ORDERED,
19-
ManipulatorInfo manipulator_info = ManipulatorInfo());
19+
tesseract_common::ManipulatorInfo manipulator_info = tesseract_common::ManipulatorInfo());
2020

2121
CompositeInstructionOrder getOrder() const;
2222

@@ -36,9 +36,9 @@ public:
3636
void setProfileOverrides(ProfileDictionary::ConstPtr profile_overrides);
3737
ProfileDictionary::ConstPtr getProfileOverrides() const;
3838

39-
void setManipulatorInfo(ManipulatorInfo info);
40-
const ManipulatorInfo& getManipulatorInfo() const;
41-
ManipulatorInfo& getManipulatorInfo();
39+
void setManipulatorInfo(tesseract_common::ManipulatorInfo info);
40+
const tesseract_common::ManipulatorInfo& getManipulatorInfo() const;
41+
tesseract_common::ManipulatorInfo& getManipulatorInfo();
4242

4343
void setInstructions(std::vector<tesseract_planning::InstructionPoly> instructions);
4444
std::vector<tesseract_planning::InstructionPoly>& getInstructions();

‎tesseract_python/swig/tesseract_collision_python.i

Lines changed: 5 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -93,12 +93,15 @@ class ContactResult;
9393
// %ignore ContactResultMap;
9494
// tesseract_collision
9595
#define TESSERACT_COLLISION_CORE_PUBLIC
96+
%ignore tesseract_collision::ContactTrajectoryResults::trajectoryCollisionResultsTable;
97+
%ignore tesseract_collision::ContactTrajectoryResults::collisionFrequencyPerLink;
9698
%include "tesseract_collision/core/types.h"
9799
%include "tesseract_collision/core/discrete_contact_manager.h"
98100
%include "tesseract_collision/core/continuous_contact_manager.h"
99101
%include "tesseract_collision/core/contact_managers_plugin_factory.h"
100102

101103
%init %{
102-
tesseract_common::PluginLoader::addSymbolLibraryToSearchLibrariesEnv(tesseract_collision::tesseract_collision_bullet::BulletFactoriesAnchor(), "TESSERACT_CONTACT_MANAGERS_PLUGINS");
103-
tesseract_common::PluginLoader::addSymbolLibraryToSearchLibrariesEnv(tesseract_collision::tesseract_collision_fcl::FCLFactoriesAnchor(), "TESSERACT_CONTACT_MANAGERS_PLUGINS");
104+
// TODO: fix anchors
105+
// tesseract_common::PluginLoader::addSymbolLibraryToSearchLibrariesEnv(tesseract_collision::tesseract_collision_bullet::BulletFactoriesAnchor(), "TESSERACT_CONTACT_MANAGERS_PLUGINS");
106+
// tesseract_common::PluginLoader::addSymbolLibraryToSearchLibrariesEnv(tesseract_collision::tesseract_collision_fcl::FCLFactoriesAnchor(), "TESSERACT_CONTACT_MANAGERS_PLUGINS");
104107
%}

‎tesseract_python/swig/tesseract_command_language_python.i

Lines changed: 9 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -36,6 +36,9 @@
3636

3737
%{
3838

39+
// tesseract_common
40+
#include <tesseract_common/manipulator_info.h>
41+
3942
// tesseract_command_language
4043
#include <tesseract_command_language/poly/waypoint_poly.h>
4144
#include <tesseract_command_language/poly/instruction_poly.h>
@@ -57,7 +60,7 @@
5760
#include <tesseract_command_language/state_waypoint.h>
5861
#include <tesseract_command_language/timer_instruction.h>
5962
#include <tesseract_command_language/utils.h>
60-
#include <tesseract_command_language/types.h>
63+
#include <tesseract_command_language/fwd.h>
6164
#include <tesseract_command_language/wait_instruction.h>
6265

6366

@@ -77,6 +80,10 @@
7780

7881
%include "tesseract_type_erasure_macros.i"
7982

83+
#define TESSERACT_CARTESIAN_WAYPOINT_EXPORT_KEY(a,b)
84+
#define TESSERACT_STATE_WAYPOINT_EXPORT_KEY(a,b)
85+
#define TESSERACT_INSTRUCTION_EXPORT_KEY(a,b)
86+
8087
%define %tesseract_erasure_ctor_planning(source_class_type,dest_class_type)
8188
%tesseract_erasure_ctor(source_class_type,tesseract_planning,dest_class_type,tesseract_planning);
8289
%enddef
@@ -132,7 +139,7 @@ const tesseract_planning::TYPE as_const_ ## TYPE() {return $self->as<const tesse
132139
%tesseract_std_function(flattenFilterFn,tesseract_planning,bool,const tesseract_planning::InstructionPoly&,a,const tesseract_planning::CompositeInstruction&,b,bool,c);
133140
%tesseract_std_function(locateFilterFn,tesseract_planning,bool,const tesseract_planning::InstructionPoly&,a,const tesseract_planning::CompositeInstruction&,b,bool,c);
134141

135-
%include "tesseract_command_language/types.h"
142+
// %include "tesseract_command_language/fwd.h"
136143

137144
%shared_ptr(tesseract_planning::ProfileDictionary)
138145
%include "tesseract_command_language/profile_dictionary.h"

‎tesseract_python/swig/tesseract_common_python.i

Lines changed: 6 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -49,6 +49,7 @@
4949
#include <tesseract_common/type_erasure.h>
5050
#include <console_bridge/console.h>
5151
#include <tesseract_common/any_poly.h>
52+
#include <tesseract_common/plugin_info.h>
5253

5354
#include "tesseract_common_python_std_functions.h"
5455

@@ -166,6 +167,8 @@ namespace std
166167
#define BOOST_SERIALIZATION_ASSUME_ABSTRACT(a)
167168
#define BOOST_CONCEPT_ASSERT(a)
168169

170+
#define TESSERACT_ANY_EXPORT_KEY(a,b)
171+
169172
#define EIGEN_MAKE_ALIGNED_OPERATOR_NEW
170173
#define TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
171174
#define TESSERACT_COMMON_IGNORE_WARNINGS_POP
@@ -204,6 +207,7 @@ namespace std
204207
%include "tesseract_common/allowed_collision_matrix.h"
205208
%include "tesseract_common/kinematic_limits.h"
206209
%include "tesseract_common/timer.h"
210+
%include "tesseract_common/filesystem.h"
207211

208212

209213
// TODO: ?
@@ -250,8 +254,8 @@ namespace std
250254
%}
251255
}
252256

253-
%template(isWithinPositionLimits) tesseract_common::isWithinPositionLimits<double>;
254-
%template(satisfiesPositionLimits) tesseract_common::satisfiesPositionLimits<double>;
257+
%template(isWithinLimits) tesseract_common::isWithinLimits<double>;
258+
%template(satisfiesLimits) tesseract_common::satisfiesLimits<double>;
255259
//%template(enforcePositionLimits) tesseract_common::enforcePositionLimits<double>;
256260

257261
%ignore tesseract_common::TypeErasureInterface::clone;

‎tesseract_python/swig/tesseract_environment_python.i

Lines changed: 11 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -54,6 +54,15 @@
5454
#include <tesseract_state_solver/kdl/kdl_state_solver.h>
5555
#include <tesseract_state_solver/ofkt/ofkt_state_solver.h>
5656

57+
// tesseract_kinematics
58+
#include <tesseract_kinematics/core/joint_group.h>
59+
#include <tesseract_kinematics/core/kinematic_group.h>
60+
61+
// tesseract_collision
62+
#include <tesseract_collision/core/types.h>
63+
#include <tesseract_collision/core/discrete_contact_manager.h>
64+
#include <tesseract_collision/core/continuous_contact_manager.h>
65+
5766
// tesseract_environment
5867
#include <tesseract_environment/commands.h>
5968
#include <tesseract_environment/events.h>
@@ -162,6 +171,8 @@
162171
%shared_ptr(tesseract_environment::Environment)
163172
%wrap_unique_ptr(EnvironmentUPtr,tesseract_environment::Environment)
164173

174+
%ignore tesseract_environment::Environment::Environment(std::unique_ptr<Implementation> impl);
175+
165176
%include "tesseract_environment/environment.h"
166177

167178
%inline {

‎tesseract_python/swig/tesseract_kinematics_python.i

Lines changed: 6 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -131,11 +131,12 @@ struct KinGroupIKInput;
131131

132132

133133
%init %{
134-
tesseract_common::PluginLoader::addSymbolLibraryToSearchLibrariesEnv(tesseract_kinematics::REPInvKinFactoriesAnchor(), "TESSERACT_KINEMATICS_PLUGINS");
135-
tesseract_common::PluginLoader::addSymbolLibraryToSearchLibrariesEnv(tesseract_kinematics::ROPInvKinFactoriesAnchor(), "TESSERACT_KINEMATICS_PLUGINS");
136-
tesseract_common::PluginLoader::addSymbolLibraryToSearchLibrariesEnv(tesseract_kinematics::KDLFactoriesAnchor(), "TESSERACT_KINEMATICS_PLUGINS");
137-
tesseract_common::PluginLoader::addSymbolLibraryToSearchLibrariesEnv(tesseract_kinematics::OPWFactoriesAnchor(), "TESSERACT_KINEMATICS_PLUGINS");
138-
tesseract_common::PluginLoader::addSymbolLibraryToSearchLibrariesEnv(tesseract_kinematics::URFactoriesAnchor(), "TESSERACT_KINEMATICS_PLUGINS");
134+
// TODO: fix anchors
135+
// tesseract_common::PluginLoader::addSymbolLibraryToSearchLibrariesEnv(tesseract_kinematics::REPInvKinFactoriesAnchor(), "TESSERACT_KINEMATICS_PLUGINS");
136+
// tesseract_common::PluginLoader::addSymbolLibraryToSearchLibrariesEnv(tesseract_kinematics::ROPInvKinFactoriesAnchor(), "TESSERACT_KINEMATICS_PLUGINS");
137+
// tesseract_common::PluginLoader::addSymbolLibraryToSearchLibrariesEnv(tesseract_kinematics::KDLFactoriesAnchor(), "TESSERACT_KINEMATICS_PLUGINS");
138+
// tesseract_common::PluginLoader::addSymbolLibraryToSearchLibrariesEnv(tesseract_kinematics::OPWFactoriesAnchor(), "TESSERACT_KINEMATICS_PLUGINS");
139+
// tesseract_common::PluginLoader::addSymbolLibraryToSearchLibrariesEnv(tesseract_kinematics::URFactoriesAnchor(), "TESSERACT_KINEMATICS_PLUGINS");
139140

140141

141142

‎tesseract_python/swig/tesseract_motion_planners_descartes_python.i

Lines changed: 23 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -57,6 +57,28 @@
5757
#include <tesseract_state_solver/kdl/kdl_state_solver.h>
5858
#include <tesseract_state_solver/ofkt/ofkt_state_solver.h>
5959

60+
// tesseract_kinematics
61+
#include <tesseract_kinematics/core/joint_group.h>
62+
#include <tesseract_kinematics/core/kinematic_group.h>
63+
64+
// tesseract_environment
65+
#include <tesseract_environment/commands.h>
66+
#include <tesseract_environment/events.h>
67+
#include <tesseract_environment/environment.h>
68+
69+
// tesseract_command_language
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#include <tesseract_command_language/fwd.h>
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#include <tesseract_command_language/move_instruction.h>
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#include <tesseract_command_language/composite_instruction.h>
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#include <tesseract_command_language/profile_dictionary.h>
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// tesseract_motion_planners
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#include <tesseract_motion_planners/core/planner.h>
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#include <tesseract_motion_planners/core/types.h>
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// tesseract_visualization
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#include <tesseract_visualization/visualization.h>
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#include "tesseract_command_language_python_std_functions.h"
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#include "tesseract_command_language_python_profile_dictionary_functions.h"
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@@ -91,6 +113,7 @@ namespace tesseract_planning {using DescartesPlanProfileMapD = std::unordered_ma
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%pythondynamic tesseract_planning::DescartesMotionPlanner<double>;
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%shared_ptr(tesseract_planning::DescartesMotionPlannerD);
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%shared_ptr(tesseract_planning::DescartesMotionPlanner<double>);
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%ignore tesseract_planning::DescartesMotionPlanner::clone;
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%include "tesseract_motion_planners/descartes/descartes_motion_planner.h"
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%template(DescartesMotionPlannerD) tesseract_planning::DescartesMotionPlanner<double>;
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