From a08face4a0e2cf2de26781eaf890d11ab9e7c817 Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Fri, 7 Jan 2022 16:09:46 +0100 Subject: [PATCH] Fixup: Provide wrapper for moveit::core::MoveItErrorCode --- core/python/bindings/src/core.cpp | 6 ++++++ core/python/bindings/src/core.h | 2 ++ 2 files changed, 8 insertions(+) diff --git a/core/python/bindings/src/core.cpp b/core/python/bindings/src/core.cpp index b3104265..15dd876c 100644 --- a/core/python/bindings/src/core.cpp +++ b/core/python/bindings/src/core.cpp @@ -144,6 +144,12 @@ void export_core(pybind11::module& m) { .def_property_readonly("scene", &InterfaceState::scene) ; + py::classh(m, "MoveItErrorCode") + .def_readonly("val", &moveit::core::MoveItErrorCode::val) + .def(PYBIND11_BOOL_ATTR, [](const moveit::core::MoveItErrorCode& err) { + return pybind11::cast(static_cast(err)); + }); + auto stage = properties::class_>(m, "Stage") .property("timeout") .property("marker_ns") diff --git a/core/python/bindings/src/core.h b/core/python/bindings/src/core.h index 74bd087b..175c92bf 100644 --- a/core/python/bindings/src/core.h +++ b/core/python/bindings/src/core.h @@ -37,6 +37,7 @@ #include #include #include +#include #include /** Trampoline classes to allow inheritance in Python (overriding virtual functions) */ @@ -116,6 +117,7 @@ PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::SolutionBase) PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::SubTrajectory) PYBIND11_SMART_HOLDER_TYPE_CASTERS(ordered) PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::InterfaceState) +PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::core::MoveItErrorCode) PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::Stage) PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::PropagatingEitherWay)