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Fix std::function Python field assignment SWIG typemap #63

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Fix std::function Python field assignment SWIG typemap #63

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17 changes: 17 additions & 0 deletions tesseract_python/swig/tesseract_std_function.i
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Original file line number Diff line number Diff line change
Expand Up @@ -83,6 +83,23 @@ public:
}
}

%typemap(in) Namespace::Name * (void *argp, int res = 0, std::shared_ptr< Name##Base > temp1, Namespace::Name temp2) {
// const tesseract_std_function& %typemap(in)
int newmem = 0;
res = SWIG_ConvertPtrAndOwn($input, &argp, $descriptor(std::shared_ptr< Name##Base > *), %convertptr_flags, &newmem);
if (!SWIG_IsOK(res)) {
%argument_fail(res, "$type", $symname, $argnum);
}
if (!argp) {
%argument_nullref("$type", $symname, $argnum);
} else {
temp1 = *(%reinterpret_cast(argp, std::shared_ptr< Name##Base > *));
temp2 = [temp1]( %formacro_2n(_tesseract_std_function_call_args,__VA_ARGS__) ) { return temp1->call( %formacro_2n(_tesseract_std_function_call_vars,__VA_ARGS__) ); };
$1 = &temp2;
if (newmem & SWIG_CAST_NEW_MEMORY) delete %reinterpret_cast(argp, std::shared_ptr< Name##Base > *);
}
}

%typemap(out) Namespace::Name const & {
// tesseract_std_function & %typemap(out)
Py_INCREF(Py_None);
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13 changes: 12 additions & 1 deletion tesseract_python/tests/tesseract_motion_planning/test_descartes_planner.py
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Expand Up @@ -15,7 +15,7 @@
from tesseract_robotics.tesseract_motion_planners import PlannerRequest, PlannerResponse
from tesseract_robotics.tesseract_motion_planners_descartes import DescartesDefaultPlanProfileD, \
DescartesMotionPlannerD, DescartesPlanProfileD, \
ProfileDictionary_addProfile_DescartesPlanProfileD, cast_DescartesPlanProfileD
ProfileDictionary_addProfile_DescartesPlanProfileD, cast_DescartesPlanProfileD, PoseSamplerFn
from tesseract_robotics.tesseract_motion_planners_simple import generateInterpolatedProgram
from ..tesseract_support_resource_locator import TesseractSupportResourceLocator

Expand Down Expand Up @@ -89,3 +89,14 @@ def test_descartes_freespace_fixed_poses():
assert len(wp.getNames()) == 6
assert isinstance(wp.getPosition(),np.ndarray)
assert len(wp.getPosition()) == 6

def _sampler_fun(tool_pose):
return []

def test_sampler_std_fun():

plan_profile = DescartesDefaultPlanProfileD()
# DescartesDefaultPlanProfileD is not upcasting automatically, use helper function
plan_profile1 = cast_DescartesPlanProfileD(plan_profile)
pp = PoseSamplerFn(_sampler_fun)
plan_profile.target_pose_sampler = pp