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https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
Factor out Python property handling
... to allow for reuse in custom Python wrappers
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parent
0cc398797f
commit
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@ -27,6 +27,7 @@ catkin_package(
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${PROJECT_NAME}
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${PROJECT_NAME}_stages
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${PROJECT_NAME}_stage_plugins
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${PROJECT_NAME}_python_tools
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INCLUDE_DIRS
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include
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CATKIN_DEPENDS
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@ -1,22 +1,26 @@
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set(INCLUDES ${PROJECT_SOURCE_DIR}/include/moveit/python/task_constructor)
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add_library(${PROJECT_NAME}_python_tools SHARED
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${INCLUDES}/properties.h
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src/properties.cpp
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)
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target_link_libraries(${PROJECT_NAME}_python_tools PUBLIC ${PROJECT_NAME} pybind11::pybind11)
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# catkin_lint cannot detect target declarations in functions, here in pybind11_add_module
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#catkin_lint: ignore undefined_target
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# moveit.task_constructor
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set(INCLUDES ${PROJECT_SOURCE_DIR}/include/moveit/python/task_constructor)
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pybind11_add_module(pymoveit_mtc
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${INCLUDES}/properties.h
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src/properties.cpp
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src/solvers.cpp
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src/core.cpp
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src/stages.cpp
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src/module.cpp
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)
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target_include_directories(pymoveit_mtc PUBLIC $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>)
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target_link_libraries(pymoveit_mtc PUBLIC ${PROJECT_NAME} ${PROJECT_NAME}_stages ${TOOLS_LIB_NAME})
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target_link_libraries(pymoveit_mtc PUBLIC ${PROJECT_NAME} ${PROJECT_NAME}_stages ${PROJECT_NAME}_python_tools)
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set_target_properties(pymoveit_mtc PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_PYTHON_DESTINATION})
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# install python libs
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# install libs
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install(TARGETS ${PROJECT_NAME}_python_tools
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
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install(TARGETS pymoveit_mtc
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LIBRARY DESTINATION ${CATKIN_GLOBAL_PYTHON_DESTINATION}
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)
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LIBRARY DESTINATION ${CATKIN_GLOBAL_PYTHON_DESTINATION})
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@ -155,6 +155,7 @@ bool PropertyConverterBase::insert(const std::type_index& type_index, const std:
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return REGISTRY_SINGLETON.insert(type_index, ros_msg_name, to, from);
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}
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__attribute__((visibility("default"))) // export this symbol as visible in the shared library
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void export_properties(py::module& m) {
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// clang-format off
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py::classh<Property>(m, "Property", "Holds an arbitrarily typed value and a default value")
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