StagesWrapper: Python Function Bindings

Add python bindings for

    - SimpleGrasp::setIKFrame
    - Pick::setApproachMotion
    - Pick::setLiftMotion
This commit is contained in:
cpetersmeier 2020-11-12 17:45:54 +01:00 committed by Robert Haschke
parent ede5fe396f
commit 012a10be25

View File

@ -231,6 +231,9 @@ void export_stages() {
.def("__init__", bp::make_constructor(&Pick_init_2))
.def("__init__", bp::make_constructor(&Pick_init_1))
.def("setApproachMotion", &Pick::setApproachMotion)
.def<void (Pick::*)(const geometry_msgs::TwistStamped&, double, double)>("setLiftMotion", &Pick::setLiftMotion)
.def<void (Pick::*)(const std::map<std::string, double>&)>("setLiftMotion", &Pick::setLiftMotion)
// .def("__init__", bp::make_constructor(&Pick_init_0))
;
bp::implicitly_convertible<std::auto_ptr<Pick>, std::auto_ptr<Stage>>();
@ -254,6 +257,9 @@ void export_stages() {
.property<std::string>("object")
.def("__init__", bp::make_constructor(&SimpleGrasp_init_2))
.def("__init__", bp::make_constructor(&SimpleGrasp_init_1))
.def<void (SimpleGrasp::*)(const geometry_msgs::PoseStamped&)>("setIKFrame", &SimpleGrasp::setIKFrame)
.def<void (SimpleGrasp::*)(const Eigen::Isometry3d&, const std::string&)>("setIKFrame", &SimpleGrasp::setIKFrame)
.def<void (SimpleGrasp::*)(const std::string&)>("setIKFrame", &SimpleGrasp::setIKFrame)
// .def("__init__", bp::make_constructor(&SimpleGrasp_init_0))
;
bp::implicitly_convertible<std::auto_ptr<SimpleGrasp>, std::auto_ptr<Stage>>();