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https://github.com/moveit/moveit_task_constructor.git
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35 lines
1012 B
C++
35 lines
1012 B
C++
#include <boost/python.hpp>
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#include "properties.h"
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#include <moveit/task_constructor/solvers/cartesian_path.h>
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#include <moveit/task_constructor/solvers/pipeline_planner.h>
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namespace bp = boost::python;
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using namespace moveit::task_constructor;
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using namespace moveit::task_constructor::solvers;
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namespace moveit {
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namespace python {
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namespace {
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} // anonymous namespace
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void export_solvers()
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{
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PropertyMap& (PlannerInterface::*PlannerInterface_getPropertyMap)() = &PlannerInterface::properties;
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bp::class_<PlannerInterface, PlannerInterfacePtr, boost::noncopyable>("PlannerInterface", bp::no_init)
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.add_property("properties", bp::make_function(PlannerInterface_getPropertyMap, bp::return_internal_reference<>()))
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;
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properties::class_<PipelinePlanner, PipelinePlannerPtr, bp::bases<PlannerInterface>>
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("PipelinePlanner", bp::init<>())
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.add_property<std::string>("group")
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.add_property<std::string>("planner")
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.add_property<double>("timeout")
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;
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}
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} }
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