Add missing map_string_vector_string type to tesseract_common.i (#33)

* Fix swig wrapping of kinematic utils

* Add missing map_string_vector_string type to tesseract_common.i

* Use ptrdiff_t for Eigen::Index, add redundant solutions test

Author: johnwason

tesseract_python/swig/tesseract_common_python.i

@@ -64,6 +64,7 @@
 %template(set_string) std::set<std::string>;
 %template(pair_string) std::pair<std::string, std::string>;
 %template(vector_pair_string) std::vector<std::pair<std::string, std::string> >;
+%template(map_string_vector_string) std::unordered_map<std::string, std::vector<std::string>>;
 %template(map_string_vector_pair_string) std::unordered_map<std::string, std::vector<std::pair<std::string, std::string>>>;
 %template(pair_vector_string) std::pair<std::vector<std::string>, std::vector<std::string>>;
 

tesseract_python/tests/tesseract_environment/test_tesseract_environment_kingroup.py

@@ -46,6 +46,13 @@ def test_kinematic_group():
 
     np.testing.assert_allclose(invkin.flatten(),joint_vals)
 
+def test_kinematic_info():
+
+    env, manip_info, joint_names = get_environment()
+    kin_info = env.getKinematicsInformation()
+
+    assert list(kin_info.joint_groups) == []
+    assert list(kin_info.link_groups) == []
 def test_tesseract_redundant_solutions_tesseract_function():
 
     env, manip_info, joint_names = get_environment()