moveit_task_constructor/core/python/solvers.cpp
2018-06-03 13:03:41 +02:00

35 lines
1012 B
C++

#include <boost/python.hpp>
#include "properties.h"
#include <moveit/task_constructor/solvers/cartesian_path.h>
#include <moveit/task_constructor/solvers/pipeline_planner.h>
namespace bp = boost::python;
using namespace moveit::task_constructor;
using namespace moveit::task_constructor::solvers;
namespace moveit {
namespace python {
namespace {
} // anonymous namespace
void export_solvers()
{
PropertyMap& (PlannerInterface::*PlannerInterface_getPropertyMap)() = &PlannerInterface::properties;
bp::class_<PlannerInterface, PlannerInterfacePtr, boost::noncopyable>("PlannerInterface", bp::no_init)
.add_property("properties", bp::make_function(PlannerInterface_getPropertyMap, bp::return_internal_reference<>()))
;
properties::class_<PipelinePlanner, PipelinePlannerPtr, bp::bases<PlannerInterface>>
("PipelinePlanner", bp::init<>())
.add_property<std::string>("group")
.add_property<std::string>("planner")
.add_property<double>("timeout")
;
}
} }