cpp._cpp_ext

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

Classes

`JointMapping`
`JointStateConverterMap`

Functions

`se3ToPose`(transform)	Converts an SE3 transformation matrix to a geometry_msgs::msg::Pose.
`poseToSE3`(py_pose)	Converts the provided geometry_msgs::msg::Pose to an SE3 Matrix.
`toJointTrajectory`(py_roboplan_traj)	Converts a roboplan::JointTrajectory to a trajectory_msgs::msg::JointTrajectory.
`fromJointTrajectory`(py_ros_traj)	Converts a trajectory_msgs::msg::JointTrajectory to a roboplan::JointTrajectory.
`toTransformStamped`(cartesian_config)	Converts a roboplan::CartesianConfiguration to a geometry_msgs::msg::TransformStamped.
`fromTransformStamped`(py_transform)	Converts a geometry_msgs::msg::TransformStamped to a roboplan::CartesianConfiguration.
`buildConversionMap`(py_scene, py_joint_state)	Constructs a JointState conversion map given a RoboPlan Scene and JointState message.
`toJointState`(py_config, py_scene)	Converts a roboplan::JointConfiguration to a ROS 2 sensor_msgs::msg::JointState message.
`fromJointState`(py_joint_state, py_scene, conversion_map)	Converts a ROS 2 sensor_msgs::msg::JointState message to a roboplan::JointConfiguration.

Module Contents

cpp._cpp_ext.se3ToPose(transform)

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

Parameters:: transform (Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(4, 4), order='F')])
Return type:: object

cpp._cpp_ext.poseToSE3(py_pose)

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

Parameters:: py_pose (object)
Return type:: Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(4, 4), order=’F’)]

cpp._cpp_ext.toJointTrajectory(py_roboplan_traj)

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

Parameters:: py_roboplan_traj (object)
Return type:: object

cpp._cpp_ext.fromJointTrajectory(py_ros_traj)

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

Parameters:: py_ros_traj (object)
Return type:: object

cpp._cpp_ext.toTransformStamped(cartesian_config)

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

Parameters:: cartesian_config (roboplan::CartesianConfiguration)
Return type:: object

cpp._cpp_ext.fromTransformStamped(py_transform)

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

Parameters:: py_transform (object)
Return type:: object

class cpp._cpp_ext.JointMapping

property joint_name: str

Return type:: str

property ros_index: int

Return type:: int

property q_start: int

Return type:: int

property v_start: int

Return type:: int

property type: roboplan::JointType

Return type:: roboplan::JointType

class cpp._cpp_ext.JointStateConverterMap

property mappings: list[JointMapping]

Return type:: list[JointMapping]

property nq: int

Return type:: int

property nv: int

Return type:: int

cpp._cpp_ext.buildConversionMap(py_scene, py_joint_state)

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

Parameters:

py_scene (object)
py_joint_state (object)

Return type:

JointStateConverterMap

cpp._cpp_ext.toJointState(py_config, py_scene)

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

Parameters:

py_config (object)
py_scene (object)

Return type:

object

cpp._cpp_ext.fromJointState(py_joint_state, py_scene, conversion_map)

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

Parameters:

py_joint_state (object)
py_scene (object)
conversion_map (JointStateConverterMap)

Return type:

roboplan::JointConfiguration