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Merge pull request #11 from johnwason/pr/UpstreamChanges2
Update to upstream changes
2 parents 112ee04 + 09d261c commit 26589b5

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‎tesseract_python/swig/tesseract_command_language_python.i‎

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%import "tesseract_common_python.i"
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%{
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// tesseract_command_language
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#include <tesseract_command_language/core/waypoint.h>
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#include <tesseract_command_language/core/instruction.h>
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#include <tesseract_command_language/command_language.h>
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#include <tesseract_command_language/serialize.h>
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#include <tesseract_command_language/deserialize.h>
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#include <tesseract_command_language/profile_dictionary.h>
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#include <tesseract_command_language/utils/utils.h>
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#include <tesseract_command_language/utils/get_instruction_utils.h>
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#include <tesseract_command_language/utils/filter_functions.h>
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#include <tesseract_common/resource.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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%}
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%include "tesseract_vector_reference_wrapper_instruction_typemaps.i"
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%tesseract_std_function(locateFilterFn,tesseract_planning,bool,const tesseract_planning::Instruction&,a,const tesseract_planning::CompositeInstruction&,b,bool,c);
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%include "tesseract_command_language/types.h"
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%include "tesseract_command_language/profile_dictionary.h"
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%include "tesseract_command_language_python_profile_dictionary_functions.h"
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%include "tesseract_command_language/core/waypoint.h"
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%include "tesseract_command_language/core/instruction.h"
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%include "tesseract_command_language/command_language.h"
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%include "tesseract_command_language/utils/utils.h"
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%include "tesseract_command_language/utils/get_instruction_utils.h"
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%include "tesseract_command_language/utils/flatten_utils.h"
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%define %tesseract_command_language_add_profile_type( TYPE )
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%template(ProfileDictionary_hasProfileEntry_##TYPE) tesseract_planning::ProfileDictionary_hasProfileEntry<tesseract_planning::TYPE>;
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%template(ProfileDictionary_removeProfileEntry_##TYPE) tesseract_planning::ProfileDictionary_removeProfileEntry<tesseract_planning::TYPE>;
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%template(ProfileDictionary_getProfileEntry_##TYPE) tesseract_planning::ProfileDictionary_getProfileEntry<tesseract_planning::TYPE>;
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%template(ProfileDictionary_addProfile_##TYPE) tesseract_planning::ProfileDictionary_addProfile<tesseract_planning::TYPE>;
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%template(ProfileDictionary_getProfile_##TYPE) tesseract_planning::ProfileDictionary_getProfile<tesseract_planning::TYPE>;
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%template(ProfileDictionary_hasProfile_##TYPE) tesseract_planning::ProfileDictionary_hasProfile<tesseract_planning::TYPE>;
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%template(ProfileDictionary_removeProfile_##TYPE) tesseract_planning::ProfileDictionary_removeProfile<tesseract_planning::TYPE>;
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%enddef
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%define %tesseract_command_language_add_profile_type2(NAME, TYPE )
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%template(ProfileDictionary_hasProfileEntry_##NAME) tesseract_planning::ProfileDictionary_hasProfileEntry<tesseract_planning::TYPE>;
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%template(ProfileDictionary_removeProfileEntry_##NAME) tesseract_planning::ProfileDictionary_removeProfileEntry<tesseract_planning::TYPE>;
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%template(ProfileDictionary_getProfileEntry_##NAME) tesseract_planning::ProfileDictionary_getProfileEntry<tesseract_planning::TYPE>;
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%template(ProfileDictionary_addProfile_##NAME) tesseract_planning::ProfileDictionary_addProfile<tesseract_planning::TYPE>;
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%template(ProfileDictionary_getProfile_##NAME) tesseract_planning::ProfileDictionary_getProfile<tesseract_planning::TYPE>;
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%template(ProfileDictionary_hasProfile_##NAME) tesseract_planning::ProfileDictionary_hasProfile<tesseract_planning::TYPE>;
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%template(ProfileDictionary_removeProfile_##NAME) tesseract_planning::ProfileDictionary_removeProfile<tesseract_planning::TYPE>;
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%enddef

‎tesseract_python/swig/tesseract_command_language_python_profile_dictionary_functions.h‎

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/**
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* @file tesseract_command_language_python_profile_dictionary_functions.h
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* @brief Utility functions for template types in tesseract_planning::ProfileDictionary
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*
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* @author John Wason
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* @date March 21, 2021
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* @version TODO
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* @bug No known bugs
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*
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* @copyright Copyright (c) 2021, Wason Technology, LLC
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*
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* @par License
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* Software License Agreement (Apache License)
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* @par
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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* http://www.apache.org/licenses/LICENSE-2.0
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* @par
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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namespace tesseract_planning
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{
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template<typename T>
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bool ProfileDictionary_hasProfileEntry(std::shared_ptr<tesseract_planning::ProfileDictionary> profile_dictionary)
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{
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return profile_dictionary->hasProfileEntry<T>();
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}
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template<typename T>
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void ProfileDictionary_removeProfileEntry(std::shared_ptr<tesseract_planning::ProfileDictionary> profile_dictionary)
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{
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profile_dictionary->removeProfileEntry<T>();
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}
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template<typename T>
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std::unordered_map<std::string, std::shared_ptr<const T>> ProfileDictionary_getProfileEntry(std::shared_ptr<tesseract_planning::ProfileDictionary> profile_dictionary)
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{
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return profile_dictionary->getProfileEntry<T>();
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}
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template<typename T>
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void ProfileDictionary_addProfile(std::shared_ptr<tesseract_planning::ProfileDictionary> profile_dictionary, const std::string& profile_name, std::shared_ptr<const T> profile)
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{
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profile_dictionary->addProfile(profile_name, profile);
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}
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template<typename T>
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bool ProfileDictionary_hasProfile(std::shared_ptr<tesseract_planning::ProfileDictionary> profile_dictionary, const std::string& profile_name)
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{
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return profile_dictionary->hasProfile<T>(profile_name);
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}
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template<typename T>
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std::shared_ptr<const T> ProfileDictionary_getProfile(std::shared_ptr<tesseract_planning::ProfileDictionary> profile_dictionary, const std::string& profile_name)
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{
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return profile_dictionary->getProfile<T>(profile_name);
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}
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template<typename T>
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void ProfileDictionary_removeProfile(std::shared_ptr<tesseract_planning::ProfileDictionary> profile_dictionary, const std::string& profile_name)
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{
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profile_dictionary->removeProfile<T>(profile_name);
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}
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}

‎tesseract_python/swig/tesseract_common_python.i‎

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#include <tesseract_common/resource.h>
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#include <tesseract_common/manipulator_info.h>
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#include <tesseract_common/joint_state.h>
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#include <tesseract_common/collision_margin_data.h>
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%}
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%include "tesseract_common/resource.h"
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%include "tesseract_common/manipulator_info.h"
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%include "tesseract_common/joint_state.h"
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%include "tesseract_common/collision_margin_data.h"
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‎tesseract_python/swig/tesseract_motion_planners_descartes_python.i‎

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#include <tesseract_common/resource.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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#include "tesseract_environment_python_std_functions.h"
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#include <tesseract_kinematics/core/rep_inverse_kinematics.h>

‎tesseract_python/swig/tesseract_motion_planners_ompl_python.i‎

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#include <tesseract_common/resource.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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#include "tesseract_environment_python_std_functions.h"
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#include <tesseract_kinematics/core/rep_inverse_kinematics.h>

‎tesseract_python/swig/tesseract_motion_planners_simple_python.i‎

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#include "tesseract_environment_python_std_functions.h"
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#include <tesseract_kinematics/core/rep_inverse_kinematics.h>
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#include <tesseract_kinematics/core/rop_inverse_kinematics.h>
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#include "tesseract_command_language_python_profile_dictionary_functions.h"
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%}
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// tesseract_motion_planners_simple

‎tesseract_python/swig/tesseract_motion_planners_trajopt_python.i‎

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#include <tesseract_common/resource.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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#include "tesseract_environment_python_std_functions.h"
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#include <tesseract_kinematics/core/rep_inverse_kinematics.h>

‎tesseract_python/swig/tesseract_process_managers_python.i‎

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%{
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// tesseract_motion_planners
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#include <tesseract_motion_planners/core/profile_dictionary.h>
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// tesseract_motion_planners_simple
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#include <tesseract_motion_planners/simple/profile/simple_planner_utils.h>
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#include <tesseract_motion_planners/simple/profile/simple_planner_profile.h>
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#include <tesseract_process_managers/task_generators/profile_switch_task_generator.h>
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#include <tesseract_process_managers/task_generators/iterative_spline_parameterization_task_generator.h>
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#include "tesseract_process_managers/task_generators/time_optimal_trajectory_generation_task_generator.h"
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#include <tesseract_common/status_code.h>
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#include <tesseract_common/resource.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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#include "tesseract_environment_python_std_functions.h"
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#include <tesseract_kinematics/core/rep_inverse_kinematics.h>
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#include <tesseract_kinematics/core/rop_inverse_kinematics.h>
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%}
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%define %tesseract_process_managers_add_profile_type( TYPE )
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%template(hasProfileEntry_##TYPE) tesseract_planning::ProfileDictionary::hasProfileEntry<tesseract_planning::TYPE>;
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%template(removeProfileEntry_##TYPE) tesseract_planning::ProfileDictionary::removeProfileEntry<tesseract_planning::TYPE>;
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%template(getProfileEntry_##TYPE) tesseract_planning::ProfileDictionary::getProfileEntry<tesseract_planning::TYPE>;
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%template(addProfile_##TYPE) tesseract_planning::ProfileDictionary::addProfile<tesseract_planning::TYPE>;
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%template(getProfile_##TYPE) tesseract_planning::ProfileDictionary::getProfile<tesseract_planning::TYPE>;
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%template(hasProfile_##TYPE) tesseract_planning::ProfileDictionary::hasProfile<tesseract_planning::TYPE>;
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%template(removeProfile_##TYPE) tesseract_planning::ProfileDictionary::removeProfile<tesseract_planning::TYPE>;
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%enddef
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%define %tesseract_process_managers_add_profile_type2(NAME, TYPE )
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%template(hasProfileEntry_##NAME) tesseract_planning::ProfileDictionary::hasProfileEntry<tesseract_planning::TYPE>;
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%template(removeProfileEntry_##NAME) tesseract_planning::ProfileDictionary::removeProfileEntry<tesseract_planning::TYPE>;
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%template(getProfileEntry_##NAME) tesseract_planning::ProfileDictionary::getProfileEntry<tesseract_planning::TYPE>;
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%template(addProfile_##NAME) tesseract_planning::ProfileDictionary::addProfile<tesseract_planning::TYPE>;
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%template(getProfile_##NAME) tesseract_planning::ProfileDictionary::getProfile<tesseract_planning::TYPE>;
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%template(hasProfile_##NAME) tesseract_planning::ProfileDictionary::hasProfile<tesseract_planning::TYPE>;
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%template(removeProfile_##NAME) tesseract_planning::ProfileDictionary::removeProfile<tesseract_planning::TYPE>;
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%enddef
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%shared_ptr(tesseract_planning::IterativeSplineParameterizationProfile)
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%shared_ptr(tesseract_planning::ProfileSwitchProfile);
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%include "tesseract_motion_planners/core/profile_dictionary.h"
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%include "tesseract_process_managers/core/task_info.h"
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%include "tesseract_process_managers/core/taskflow_interface.h"
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%include "tesseract_process_managers/core/process_planning_request.h"
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%include "tesseract_process_managers/core/process_planning_future.h"
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%include "tesseract_process_managers/core/process_planning_server.h"
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//%include "tesseract_process_managers/task_generators/profile_switch_task_generator.h"
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//%include "tesseract_process_managers/task_generators/iterative_spline_parameterization_task_generator.h"
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%include "tesseract_process_managers/task_generators/profile_switch_task_generator.h"
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%include "tesseract_process_managers/task_generators/iterative_spline_parameterization_task_generator.h"
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%include "tesseract_process_managers/task_generators/time_optimal_trajectory_generation_task_generator.h"
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‎tesseract_python/swig/tesseract_time_parameterization_python.i‎

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// tesseract_time_parameterization
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#include <tesseract_time_parameterization/iterative_spline_parameterization.h>
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#include <tesseract_time_parameterization/time_optimal_trajectory_generation.h>
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%}
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// tesseract_time_parameterization
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#define TESSERACT_TIME_PARAMETERIZATION_PUBLIC
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%include "tesseract_time_parameterization/iterative_spline_parameterization.h"
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%include "tesseract_time_parameterization/time_optimal_trajectory_generation.h"
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‎tesseract_python/tests/tesseract_collision/test_collision_box_cone_unit.py‎

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# Test when object is in collision
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checker.setActiveCollisionObjects(["box_link", "cone_link"])
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checker.setCollisionMarginData(tesseract_collision.CollisionMarginData(0.1))
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checker.setCollisionMarginData(tesseract_common.CollisionMarginData(0.1))
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nptest.assert_almost_equal(checker.getCollisionMarginData().getMaxCollisionMargin(), 0.1)
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# Set the collision object transforms

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