cpp._cpp_ext
============

.. py:module:: cpp._cpp_ext

.. autoapi-nested-parse::

   RoboPlan ROS nanobind wrappers for core C++ ROS tools.



Classes
-------

.. autoapisummary::

   cpp._cpp_ext.JointMapping
   cpp._cpp_ext.JointStateConverterMap


Functions
---------

.. autoapisummary::

   cpp._cpp_ext.se3ToPose
   cpp._cpp_ext.poseToSE3
   cpp._cpp_ext.toJointTrajectory
   cpp._cpp_ext.fromJointTrajectory
   cpp._cpp_ext.toTransformStamped
   cpp._cpp_ext.fromTransformStamped
   cpp._cpp_ext.buildConversionMap
   cpp._cpp_ext.toJointState
   cpp._cpp_ext.fromJointState


Module Contents
---------------

.. py:function:: se3ToPose(transform)

   Converts an SE3 transformation matrix to a geometry_msgs::msg::Pose.


.. py:function:: poseToSE3(py_pose)

   Converts the provided geometry_msgs::msg::Pose to an SE3 Matrix.


.. py:function:: toJointTrajectory(py_roboplan_traj)

   Converts a roboplan::JointTrajectory to a trajectory_msgs::msg::JointTrajectory.


.. py:function:: fromJointTrajectory(py_ros_traj)

   Converts a trajectory_msgs::msg::JointTrajectory to a roboplan::JointTrajectory.


.. py:function:: toTransformStamped(cartesian_config)

   Converts a roboplan::CartesianConfiguration to a geometry_msgs::msg::TransformStamped.


.. py:function:: fromTransformStamped(py_transform)

   Converts a geometry_msgs::msg::TransformStamped to a roboplan::CartesianConfiguration.


.. py:class:: JointMapping

   .. py:property:: joint_name
      :type: str



   .. py:property:: ros_index
      :type: int



   .. py:property:: q_start
      :type: int



   .. py:property:: v_start
      :type: int



   .. py:property:: type
      :type: roboplan::JointType



.. py:class:: JointStateConverterMap

   .. py:property:: mappings
      :type: list[JointMapping]



   .. py:property:: nq
      :type: int



   .. py:property:: nv
      :type: int



.. py:function:: buildConversionMap(py_scene, py_joint_state)

   Constructs a JointState conversion map given a RoboPlan Scene and JointState message.


.. py:function:: toJointState(py_config, py_scene)

   Converts a roboplan::JointConfiguration to a ROS 2 sensor_msgs::msg::JointState message.


.. py:function:: fromJointState(py_joint_state, py_scene, conversion_map)

   Converts a ROS 2 sensor_msgs::msg::JointState message to a roboplan::JointConfiguration.