Merge branch 'master' into ros2

This commit is contained in:
Robert Haschke 2025-01-19 17:52:32 +01:00
commit cf1c452614
9 changed files with 15 additions and 10 deletions

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@ -1,4 +1,4 @@
cmake_minimum_required(VERSION 3.5)
cmake_minimum_required(VERSION 3.16)
project(moveit_task_constructor_capabilities)
find_package(ament_cmake REQUIRED)

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@ -1,4 +1,4 @@
cmake_minimum_required(VERSION 3.5)
cmake_minimum_required(VERSION 3.16)
project(moveit_task_constructor_core)
find_package(ament_cmake REQUIRED)

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@ -283,7 +283,7 @@ class PropagatingEitherWayPrivate;
/** Base class for stages that can propagate InterfaceStates
*
* They read an InterfaceState on one side (start or end) and
* push a new InterfaceState to the opposite site.
* push a new InterfaceState to the opposite side.
* By default, the class auto-derives its actual propagation direction from the context.
* In order to enforce forward, backward, or bothway propagation, one can use restrictDirection().
*/

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@ -95,6 +95,8 @@ void export_core(pybind11::module& m) {
}
});
py::classh<Introspection>(m, "Introspection", "Introspection class");
py::classh<SolutionBase>(m, "Solution", "Abstract base class for solutions of a stage")
.def_property("cost", &SolutionBase::cost, &SolutionBase::setCost, "float: Cost associated with the solution")
.def_property("comment", &SolutionBase::comment, &SolutionBase::setComment,
@ -109,12 +111,12 @@ void export_core(pybind11::module& m) {
":visualization_msgs:`Marker`: Markers to visualize important aspects of the trajectory (read-only)")
.def(
"toMsg",
[](const SolutionBase& self) {
[](const SolutionBase& self, moveit::task_constructor::Introspection* introspection) {
moveit_task_constructor_msgs::msg::Solution msg;
self.toMsg(msg);
self.toMsg(msg, introspection);
return msg;
},
"Convert to the ROS message ``Solution``");
"Convert to the ROS message ``Solution``", py::arg("introspection") = nullptr);
py::classh<SubTrajectory, SolutionBase>(m, "SubTrajectory",
"Solution trajectory connecting two InterfaceStates of a stage")
@ -462,6 +464,8 @@ void export_core(pybind11::module& m) {
.def(
"setCostTerm", [](Task& self, const LambdaCostTerm::SubTrajectoryShortSignature& f) { self.setCostTerm(f); },
"Specify a function to calculate trajectory costs")
.def("introspection", &Task::introspection, py::return_value_policy::reference_internal,
"Access introspection object")
.def("reset", &Task::reset, "Reset task (and all its stages)")
.def("init", py::overload_cast<>(&Task::init), "Initialize the task (and all its stages)")
.def("plan", &Task::plan, "max_solutions"_a = 0, R"(

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@ -140,3 +140,4 @@ PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::Fallbacks)
PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::Merger)
PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::WrapperBase)
PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::Task)
PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::Introspection)

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@ -1,4 +1,4 @@
cmake_minimum_required(VERSION 3.5)
cmake_minimum_required(VERSION 3.16)
project(moveit_task_constructor_demo)
set(CMAKE_CXX_STANDARD 17)

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@ -1,4 +1,4 @@
cmake_minimum_required(VERSION 3.5)
cmake_minimum_required(VERSION 3.16)
project(moveit_task_constructor_msgs)
find_package(ament_cmake REQUIRED)

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@ -1,4 +1,4 @@
cmake_minimum_required(VERSION 3.5)
cmake_minimum_required(VERSION 3.16)
project(rviz_marker_tools)
find_package(ament_cmake REQUIRED)

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@ -1,4 +1,4 @@
cmake_minimum_required(VERSION 3.5)
cmake_minimum_required(VERSION 3.16)
project(moveit_task_constructor_visualization)
find_package(ament_cmake REQUIRED)