Generator::spawn()

This commit is contained in:
Robert Haschke 2021-05-20 01:03:54 +02:00
parent a03ea5a4a9
commit 7d0b6da04f
2 changed files with 8 additions and 0 deletions

View File

@ -132,6 +132,8 @@ void export_core(pybind11::module& m) {
;
py::class_<InterfaceState>(m, "InterfaceState")
.def(py::init<const planning_scene::PlanningScenePtr&>(), py::arg("scene"))
.def_property_readonly("properties", py::overload_cast<>(&InterfaceState::properties), py::return_value_policy::reference_internal)
;
auto stage = properties::class_<Stage, PyStage<>>(m, "Stage")
@ -178,6 +180,7 @@ void export_core(pybind11::module& m) {
.def(py::init<const std::string&>(), py::arg("name") = std::string("generator"))
.def("canCompute", &Generator::canCompute)
.def("compute", &Generator::compute)
.def("spawn", [](Generator& self, InterfaceState& state, double cost) { self.spawn(std::move(state), cost); })
;
properties::class_<MonitoringGenerator, Generator, PyMonitoringGenerator<>>(m, "MonitoringGenerator")

View File

@ -5,6 +5,7 @@ import unittest
import rostest
from moveit.python_tools import roscpp_init
from moveit.task_constructor import core, stages
from moveit.core.planning_scene import PlanningScene
from geometry_msgs.msg import Vector3Stamped, Vector3
from std_msgs.msg import Header
@ -20,6 +21,9 @@ class PyGenerator(core.Generator):
core.Generator.__init__(self, name)
self.reset()
def init(self, robot_model):
self.ps = PlanningScene(robot_model)
def reset(self):
core.Generator.reset(self)
self.num = self.max_calls
@ -29,6 +33,7 @@ class PyGenerator(core.Generator):
def compute(self):
self.num = self.num - 1
self.spawn(core.InterfaceState(self.ps), self.num)
class PyMonitoringGenerator(core.MonitoringGenerator):