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johnwasonjohnwason
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Move swig commands into tesseract_python package (#26)
* swig refactor * Remove most remaining swig commands from tesseract package * tesseract_planning swig commands * Temporarily use swig_refactor branh in rosinstall files * Use fewer rework includes * Use tesseract-robotics upstream repos * Use pre-poly refactor command language
1 parent 5458743 commit a16f994

26 files changed

+975
-28
lines changed

‎dependencies.rosinstall

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@@ -6,11 +6,11 @@
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- git:
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local-name: tesseract
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uri: https://github.com/tesseract-robotics/tesseract.git
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version: 3c799dccfaae524d04688f48b4fe282ecb1fed22
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version: 3c90ecc78dc62290628dbf5961f16705883901dc
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- git:
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local-name: tesseract_planning
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uri: https://github.com/tesseract-robotics/tesseract_planning.git
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version: 0c0983699f4afab3251daae6665bc0c9336f97f0
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uri: https://github.com/johnwason/tesseract_planning.git
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version: swig_refactor
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- git:
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local-name: trajopt
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uri: https://github.com/tesseract-robotics/trajopt.git

‎dependencies_with_ext.rosinstall

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@@ -5,11 +5,11 @@
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- git:
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local-name: tesseract
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uri: https://github.com/tesseract-robotics/tesseract.git
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version: 3c799dccfaae524d04688f48b4fe282ecb1fed22
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version: 3c90ecc78dc62290628dbf5961f16705883901dc
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- git:
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local-name: tesseract_planning
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uri: https://github.com/tesseract-robotics/tesseract_planning.git
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version: 0c0983699f4afab3251daae6665bc0c9336f97f0
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uri: https://github.com/johnwason/tesseract_planning.git
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version: swig_refactor
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- git:
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local-name: trajopt
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uri: https://github.com/tesseract-robotics/trajopt.git

‎tesseract_python/CMakeLists.txt

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@@ -23,23 +23,24 @@ else()
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add_compile_options(/bigobj)
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endif()
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26-
find_package(tesseract_motion_planners REQUIRED)
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find_package(tesseract_common REQUIRED)
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find_package(tesseract_geometry REQUIRED)
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find_package(tesseract_visualization REQUIRED)
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find_package(tesseract_collision REQUIRED)
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find_package(tesseract_urdf REQUIRED)
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find_package(tesseract_srdf REQUIRED)
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find_package(tesseract_kinematics REQUIRED)
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find_package(tesseract_environment REQUIRED)
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find_package(tesseract_scene_graph REQUIRED)
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find_package(tesseract_command_language REQUIRED)
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find_package(tesseract_time_parameterization REQUIRED)
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# find_package(tesseract_motion_planners REQUIRED)
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# find_package(tesseract_common REQUIRED)
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# find_package(tesseract_geometry REQUIRED)
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# find_package(tesseract_visualization REQUIRED)
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# find_package(tesseract_collision REQUIRED)
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# find_package(tesseract_urdf REQUIRED)
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# find_package(tesseract_srdf REQUIRED)
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# find_package(tesseract_kinematics REQUIRED)
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# find_package(tesseract_environment REQUIRED)
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# find_package(tesseract_scene_graph REQUIRED)
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# find_package(tesseract_command_language REQUIRED)
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# find_package(tesseract_time_parameterization REQUIRED)
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# find_package(PCL REQUIRED COMPONENTS core features filters io segmentation surface)
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# find_package(trajopt REQUIRED)
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# find_package(TinyXML2 REQUIRED)
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# find_package(opw_kinematics REQUIRED)
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find_package(tesseract_process_managers REQUIRED)
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find_package(PCL REQUIRED COMPONENTS core features filters io segmentation surface)
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find_package(trajopt REQUIRED)
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find_package(TinyXML2 REQUIRED)
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find_package(opw_kinematics REQUIRED)
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if(NOT TinyXML2_INCLUDE_DIRS AND TARGET tinyxml2::tinyxml2)
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get_target_property(TinyXML2_INCLUDE_DIRS tinyxml2::tinyxml2 INTERFACE_INCLUDE_DIRECTORIES)

‎tesseract_python/swig/rework_include/tesseract_command_language/cartesian_waypoint.i

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namespace tesseract_planning
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{
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class CartesianWaypoint
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{
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public:
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CartesianWaypoint() = default;
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void print(const std::string& prefix = "") const;
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/////////////////////
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// Eigen Container //
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/////////////////////
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using ConstLinearPart = Eigen::Isometry3d::ConstLinearPart;
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using LinearPart = Eigen::Isometry3d::LinearPart;
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using ConstTranslationPart = Eigen::Isometry3d::ConstTranslationPart;
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using TranslationPart = Eigen::Isometry3d::TranslationPart;
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////////////////////////
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// Eigen Constructors //
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////////////////////////
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// This constructor allows you to construct from Eigen expressions
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template <typename OtherDerived>
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CartesianWaypoint(const Eigen::MatrixBase<OtherDerived>& other);
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CartesianWaypoint(const Eigen::Isometry3d& other);
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///////////////////
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// Eigen Methods //
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///////////////////
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Eigen::Matrix3d linear() const;
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Eigen::Matrix3d linear();
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Eigen::Vector3d translation() const;
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Eigen::Vector3d translation();
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/** @returns true if two are approximate */
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inline bool isApprox(const Eigen::Isometry3d& other, double prec = 1e-12) const;
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/////////////////////
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// Eigen Operators //
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/////////////////////
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// This method allows you to assign Eigen expressions to MyVectorType
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template <typename OtherDerived>
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inline CartesianWaypoint& operator=(const Eigen::MatrixBase<OtherDerived>& other);
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template <typename OtherDerived>
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inline CartesianWaypoint& operator*=(const Eigen::MatrixBase<OtherDerived>& other);
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template <typename OtherDerived>
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inline CartesianWaypoint operator*(const Eigen::MatrixBase<OtherDerived>& other) const;
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inline CartesianWaypoint& operator=(const Eigen::Isometry3d& other);
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inline CartesianWaypoint& operator*=(const Eigen::Isometry3d& other);
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inline CartesianWaypoint operator*(const Eigen::Isometry3d& other) const;
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//////////////////////////
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// Implicit Conversions //
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//////////////////////////
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/** @return Implicit Conversions to read-only Eigen::Isometry3d */
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inline operator const Eigen::Isometry3d&() const;
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/** @return Implicit Conversions to writable Eigen::Isometry3d */
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inline operator Eigen::Isometry3d&();
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//////////////////////////////////
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// Cartesian Waypoint Container //
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//////////////////////////////////
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/** @brief The Cartesian Waypoint */
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Eigen::Isometry3d waypoint;
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/** @brief Distance below waypoint that is allowed. Should be size = 6. First 3 elements are dx, dy, dz. The last 3
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* elements are angle axis error allowed (Eigen::AngleAxisd.axis() * Eigen::AngleAxisd.angle()) */
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Eigen::VectorXd lower_tolerance;
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/** @brief Distance above waypoint that is allowed. Should be size = 6. First 3 elements are dx, dy, dz. The last 3
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* elements are angle axis error allowed (Eigen::AngleAxisd.axis() * Eigen::AngleAxisd.angle())*/
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Eigen::VectorXd upper_tolerance;
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/**
88+
* @brief Waypoint seed associated with this Cartesian waypoint
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* @details The waypoint seed can be used for purposes like:
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* - providing a joint state seed to an IK solver
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* - providing a seed to the IK solver with modified limits using the tolerances
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* - providing a joint state to be used by a motion planner for interpolation to avoid performing IK
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*/
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Waypoint seed;
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/**
97+
* @brief Returns true if waypoint has tolerances
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* @return True if waypoint has tolerances
99+
*/
100+
bool isToleranced() const;
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bool operator==(const CartesianWaypoint& rhs) const;
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bool operator!=(const CartesianWaypoint& rhs) const;
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};
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} // namespace tesseract_planning
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‎tesseract_python/swig/rework_include/tesseract_command_language/composite_instruction.i

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namespace tesseract_planning
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{
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enum class CompositeInstructionOrder
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{
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ORDERED, // Must go in forward
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UNORDERED, // Any order is allowed
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ORDERED_AND_REVERABLE // Can go forward or reverse the order
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};
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class CompositeInstruction
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{
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public:
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CompositeInstruction(std::string profile = DEFAULT_PROFILE_KEY,
16+
CompositeInstructionOrder order = CompositeInstructionOrder::ORDERED,
17+
ManipulatorInfo manipulator_info = ManipulatorInfo());
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CompositeInstructionOrder getOrder() const;
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void setDescription(const std::string& description);
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const std::string& getDescription() const;
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void setProfile(const std::string& profile);
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const std::string& getProfile() const;
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/** @brief Dictionary of profiles that will override named profiles for a specific task*/
28+
ProfileDictionary::Ptr profile_overrides;
29+
30+
void setManipulatorInfo(ManipulatorInfo info);
31+
const ManipulatorInfo& getManipulatorInfo() const;
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ManipulatorInfo& getManipulatorInfo();
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void setStartInstruction(Instruction instruction);
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void resetStartInstruction();
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const Instruction& getStartInstruction() const;
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Instruction& getStartInstruction();
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bool hasStartInstruction() const;
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void setInstructions(std::vector<tesseract_planning::Instruction> instructions);
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std::vector<tesseract_planning::Instruction>& getInstructions();
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const std::vector<tesseract_planning::Instruction>& getInstructions() const;
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void print(const std::string& prefix = "") const;
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bool operator==(const CompositeInstruction& rhs) const;
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bool operator!=(const CompositeInstruction& rhs) const;
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// C++ container support
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/** value_type */
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using value_type = Instruction;
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/** pointer */
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using pointer = typename std::vector<value_type>::pointer;
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/** const_pointer */
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using const_pointer = typename std::vector<value_type>::const_pointer;
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/** reference */
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using reference = typename std::vector<value_type>::reference;
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/** const_reference */
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using const_reference = typename std::vector<value_type>::const_reference;
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/** size_type */
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using size_type = typename std::vector<value_type>::size_type;
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/** difference_type */
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using difference_type = typename std::vector<value_type>::difference_type;
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%ignore get_allocator;
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%ignore resize;
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%ignore assign;
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%ignore swap;
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%ignore insert;
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%ignore CompositeInstruction();
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%ignore CompositeInstruction(const CompositeInstruction&);
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%ignore CompositeInstruction(size_type);
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%ignore CompositeInstruction(size_type, value_type const &);
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%swig_vector_methods(tesseract_planning::CompositeInstruction)
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%std_vector_methods(CompositeInstruction)
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};
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} // namespace tesseract_planning

‎tesseract_python/swig/rework_include/tesseract_command_language/joint_waypoint.i

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namespace tesseract_planning
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{
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class JointWaypoint
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{
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public:
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JointWaypoint() = default;
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void print(const std::string& prefix = "") const;
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Eigen::VectorXd waypoint;
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std::vector<std::string> joint_names;
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/** @brief Joint distance below waypoint that is allowed. Each element should be <= 0 */
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Eigen::VectorXd lower_tolerance;
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/** @brief Joint distance above waypoint that is allowed. Each element should be >= 0 */
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Eigen::VectorXd upper_tolerance;
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/**
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* @brief Returns true if waypoint is toleranced
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* @return True if waypoint is toleranced
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*/
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bool isToleranced() const;
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bool operator==(const JointWaypoint& rhs) const;
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bool operator!=(const JointWaypoint& rhs) const;
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};
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} // namespace tesseract_planning

‎tesseract_python/swig/rework_include/tesseract_common/any.i

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namespace tesseract_common
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{
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using AnyBase = tesseract_common::TypeErasureBase<TypeErasureInterface, detail_any::AnyInstance>;
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struct Any : AnyBase
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{
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using AnyBase::AnyBase;
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};
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} // namespace tesseract_common

‎tesseract_python/swig/rework_include/tesseract_common/joint_state.i

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namespace tesseract_common
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{
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class JointState
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{
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public:
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JointState() = default;
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JointState(std::vector<std::string> joint_names, Eigen::VectorXd position);
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/** @brief The joint corresponding to the position vector. */
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std::vector<std::string> joint_names;
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/** @brief The joint position at the waypoint */
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Eigen::VectorXd position;
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/** @brief The velocity at the waypoint (optional) */
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Eigen::VectorXd velocity;
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/** @brief The Acceleration at the waypoint (optional) */
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Eigen::VectorXd acceleration;
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/** @brief The Effort at the waypoint (optional) */
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Eigen::VectorXd effort;
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/** @brief The Time from start at the waypoint (optional) */
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double time{ 0 };
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bool operator==(const JointState& other) const;
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bool operator!=(const JointState& rhs) const;
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};
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} // namespace tesseract_common
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%template(JointStates) std::vector<tesseract_common::JointState>;
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namespace tesseract_common
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{
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/** @brief Represents a joint trajectory */
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class JointTrajectory
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{
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public:
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JointTrajectory(std::string description = "");
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JointTrajectory(std::vector<JointState> states, std::string description = "");
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std::vector<JointState> states;
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std::string description;
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bool operator==(const JointTrajectory& other) const;
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bool operator!=(const JointTrajectory& rhs) const;
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///////////////////////////
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// C++ container support //
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///////////////////////////
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/** value_type */
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using value_type = JointState;
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/** pointer */
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using pointer = typename std::vector<value_type>::pointer;
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/** const_pointer */
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using const_pointer = typename std::vector<value_type>::const_pointer;
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/** reference */
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using reference = typename std::vector<value_type>::reference;
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/** const_reference */
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using const_reference = typename std::vector<value_type>::const_reference;
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/** size_type */
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using size_type = typename std::vector<value_type>::size_type;
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/** difference_type */
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using difference_type = typename std::vector<value_type>::difference_type;
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%ignore get_allocator;
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%ignore resize;
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%ignore assign;
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%ignore swap;
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%ignore insert;
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%ignore JointTrajectory();
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%ignore JointTrajectory(const JointTrajectory&);
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%ignore JointTrajectory(size_type);
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%ignore JointTrajectory(size_type, value_type const &);
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%swig_vector_methods(tesseract_common::JointTrajectory)
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%std_vector_methods(JointTrajectory)
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};
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} // namespace tesseract_common
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