More moveit_py tidy fixes

sjahr · Oct 27, 2023 · f85727b · f85727b
1 parent 090fc6e
commit f85727b
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Showing 5 changed files with 21 additions and 21 deletions.
diff --git a/moveit_py/src/moveit/core.cpp b/moveit_py/src/moveit/core.cpp
@@ -67,7 +67,7 @@ PYBIND11_MODULE(core, m)
   moveit_py::bind_planning_scene::initPlanningScene(m);
   moveit_py::bind_planning_interface::initMotionPlanResponse(m);
   moveit_py::bind_robot_model::initJointModel(m);
-  moveit_py::bind_robot_model::initJointModel_group(m);
+  moveit_py::bind_robot_model::initJointModelGroup(m);
   moveit_py::bind_robot_model::initRobotModel(m);
   moveit_py::bind_robot_state::initRobotState(m);
   moveit_py::bind_robot_trajectory::initRobotTrajectory(m);

diff --git a/moveit_py/src/moveit/moveit_core/robot_model/joint_model_group.cpp b/moveit_py/src/moveit/moveit_core/robot_model/joint_model_group.cpp
@@ -48,7 +48,7 @@ bool satisfiesPositionBounds(const moveit::core::JointModelGroup* jmg, const Eig
   return jmg->satisfiesPositionBounds(joint_positions.data(), margin);
 }
 
-void initJointModel_group(py::module& m)
+void initJointModelGroup(py::module& m)
 {
   py::module robot_model = m.def_submodule("robot_model");
 

diff --git a/moveit_py/src/moveit/moveit_core/robot_model/joint_model_group.h b/moveit_py/src/moveit/moveit_core/robot_model/joint_model_group.h
@@ -49,6 +49,6 @@ namespace bind_robot_model
 {
 bool satisfiesPositionBounds(const moveit::core::JointModelGroup* jmg, const Eigen::VectorXd& joint_positions,
                              const double margin);
-void initJointModel_group(py::module& m);
+void initJointModelGroup(py::module& m);
 }  // namespace bind_robot_model
 }  // namespace moveit_py
diff --git a/moveit_py/src/moveit/moveit_core/robot_state/robot_state.cpp b/moveit_py/src/moveit/moveit_core/robot_state/robot_state.cpp
@@ -82,7 +82,7 @@ geometry_msgs::msg::Pose getPose(const moveit::core::RobotState* self, const std
   return tf2::toMsg(self->getGlobalLinkTransform(link_name));
 }
 
-std::map<std::string, double> get_joint_positions(const moveit::core::RobotState* self)
+std::map<std::string, double> getJointPositions(const moveit::core::RobotState* self)
 {
   std::map<std::string, double> joint_positions;
   const std::vector<std::string>& variable_name = self->getVariableNames();
@@ -93,15 +93,15 @@ std::map<std::string, double> get_joint_positions(const moveit::core::RobotState
   return joint_positions;
 }
 
-void set_joint_positions(moveit::core::RobotState* self, std::map<std::string, double>& joint_positions)
+void setJointPositions(moveit::core::RobotState* self, std::map<std::string, double>& joint_positions)
 {
   for (const auto& item : joint_positions)
   {
     self->setVariablePosition(item.first, item.second);
   }
 }
 
-std::map<std::string, double> get_joint_velocities(const moveit::core::RobotState* self)
+std::map<std::string, double> getJointVelocities(const moveit::core::RobotState* self)
 {
   std::map<std::string, double> joint_velocity;
   const std::vector<std::string>& variable_name = self->getVariableNames();
@@ -112,15 +112,15 @@ std::map<std::string, double> get_joint_velocities(const moveit::core::RobotStat
   return joint_velocity;
 }
 
-void set_joint_velocities(moveit::core::RobotState* self, std::map<std::string, double>& joint_velocities)
+void setJointVelocities(moveit::core::RobotState* self, std::map<std::string, double>& joint_velocities)
 {
   for (const auto& item : joint_velocities)
   {
     self->setVariableVelocity(item.first, item.second);
   }
 }
 
-std::map<std::string, double> get_joint_accelerations(const moveit::core::RobotState* self)
+std::map<std::string, double> getJointAccelerations(const moveit::core::RobotState* self)
 {
   std::map<std::string, double> joint_acceleration;
   const std::vector<std::string>& variable_name = self->getVariableNames();
@@ -131,15 +131,15 @@ std::map<std::string, double> get_joint_accelerations(const moveit::core::RobotS
   return joint_acceleration;
 }
 
-void set_joint_accelerations(moveit::core::RobotState* self, std::map<std::string, double>& joint_accelerations)
+void setJointAccelerations(moveit::core::RobotState* self, std::map<std::string, double>& joint_accelerations)
 {
   for (const auto& item : joint_accelerations)
   {
     self->setVariableAcceleration(item.first, item.second);
   }
 }
 
-std::map<std::string, double> get_joint_efforts(const moveit::core::RobotState* self)
+std::map<std::string, double> getJointEfforts(const moveit::core::RobotState* self)
 {
   std::map<std::string, double> joint_effort;
   const std::vector<std::string>& variable_name = self->getVariableNames();
@@ -150,7 +150,7 @@ std::map<std::string, double> get_joint_efforts(const moveit::core::RobotState*
   return joint_effort;
 }
 
-void set_joint_efforts(moveit::core::RobotState* self, std::map<std::string, double>& joint_efforts)
+void setJointEfforts(moveit::core::RobotState* self, std::map<std::string, double>& joint_efforts)
 {
   for (const auto& item : joint_efforts)
   {
@@ -327,17 +327,17 @@ void initRobotState(py::module& m)
     )")
 
       // Getting and setting joint model group positions, velocities, accelerations
-      .def_property("joint_positions", &moveit_py::bind_robot_state::get_joint_positions,
-                    &moveit_py::bind_robot_state::set_joint_positions, py::return_value_policy::copy)
+      .def_property("joint_positions", &moveit_py::bind_robot_state::getJointPositions,
+                    &moveit_py::bind_robot_state::setJointPositions, py::return_value_policy::copy)
 
-      .def_property("joint_velocities", &moveit_py::bind_robot_state::get_joint_velocities,
-                    &moveit_py::bind_robot_state::set_joint_velocities, py::return_value_policy::copy)
+      .def_property("joint_velocities", &moveit_py::bind_robot_state::getJointVelocities,
+                    &moveit_py::bind_robot_state::setJointVelocities, py::return_value_policy::copy)
 
-      .def_property("joint_accelerations", &moveit_py::bind_robot_state::get_joint_accelerations,
-                    &moveit_py::bind_robot_state::set_joint_accelerations, py::return_value_policy::copy)
+      .def_property("joint_accelerations", &moveit_py::bind_robot_state::getJointAccelerations,
+                    &moveit_py::bind_robot_state::setJointAccelerations, py::return_value_policy::copy)
 
-      .def_property("joint_efforts", &moveit_py::bind_robot_state::get_joint_efforts,
-                    &moveit_py::bind_robot_state::set_joint_efforts, py::return_value_policy::copy)
+      .def_property("joint_efforts", &moveit_py::bind_robot_state::getJointEfforts,
+                    &moveit_py::bind_robot_state::setJointEfforts, py::return_value_policy::copy)
 
       .def("set_joint_group_positions",
            py::overload_cast<const std::string&, const Eigen::VectorXd&>(

diff --git a/moveit_py/src/moveit/moveit_ros/moveit_cpp/moveit_cpp.cpp b/moveit_py/src/moveit/moveit_ros/moveit_cpp/moveit_cpp.cpp
@@ -41,7 +41,7 @@ namespace moveit_py
 namespace bind_moveit_cpp
 {
 std::shared_ptr<moveit_cpp::PlanningComponent>
-get_planning_component(std::shared_ptr<moveit_cpp::MoveItCpp>& moveit_cpp_ptr, const std::string& planning_component)
+getPlanningComponent(std::shared_ptr<moveit_cpp::MoveItCpp>& moveit_cpp_ptr, const std::string& planning_component)
 {
   return std::make_shared<moveit_cpp::PlanningComponent>(planning_component, moveit_cpp_ptr);
 }
@@ -144,7 +144,7 @@ void initMoveitPy(py::module& m)
            R"(
 	   Execute a trajectory (planning group is inferred from robot trajectory object).
 	   )")
-      .def("get_planning_component", &moveit_py::bind_moveit_cpp::get_planning_component,
+      .def("get_planning_component", &moveit_py::bind_moveit_cpp::getPlanningComponent,
            py::arg("planning_component_name"), py::return_value_policy::take_ownership,
            R"(
            Creates a planning component instance.