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https://github.com/moveit/moveit_task_constructor.git
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Generator::spawn()
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@ -132,6 +132,8 @@ void export_core(pybind11::module& m) {
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;
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py::class_<InterfaceState>(m, "InterfaceState")
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.def(py::init<const planning_scene::PlanningScenePtr&>(), py::arg("scene"))
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.def_property_readonly("properties", py::overload_cast<>(&InterfaceState::properties), py::return_value_policy::reference_internal)
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;
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auto stage = properties::class_<Stage, PyStage<>>(m, "Stage")
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@ -178,6 +180,7 @@ void export_core(pybind11::module& m) {
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.def(py::init<const std::string&>(), py::arg("name") = std::string("generator"))
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.def("canCompute", &Generator::canCompute)
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.def("compute", &Generator::compute)
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.def("spawn", [](Generator& self, InterfaceState& state, double cost) { self.spawn(std::move(state), cost); })
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;
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properties::class_<MonitoringGenerator, Generator, PyMonitoringGenerator<>>(m, "MonitoringGenerator")
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@ -5,6 +5,7 @@ import unittest
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import rostest
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from moveit.python_tools import roscpp_init
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from moveit.task_constructor import core, stages
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from moveit.core.planning_scene import PlanningScene
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from geometry_msgs.msg import Vector3Stamped, Vector3
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from std_msgs.msg import Header
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@ -20,6 +21,9 @@ class PyGenerator(core.Generator):
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core.Generator.__init__(self, name)
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self.reset()
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def init(self, robot_model):
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self.ps = PlanningScene(robot_model)
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def reset(self):
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core.Generator.reset(self)
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self.num = self.max_calls
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@ -29,6 +33,7 @@ class PyGenerator(core.Generator):
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def compute(self):
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self.num = self.num - 1
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self.spawn(core.InterfaceState(self.ps), self.num)
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class PyMonitoringGenerator(core.MonitoringGenerator):
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