MoveIt 2 Python Library

https://docs.ros.org/en/jazzy/p/moveit_py/
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MoveIt 2 Python Library is a Python binding for MoveIt 2 that provides a simplified interface for...
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### Function moveit_py::bind_planning_component::setStartState

Source: https://docs.ros.org/en/jazzy/p/moveit_py/generated/function_planning__component_8hpp_1ab7fd7da6ebde3957dd1f652d77edc143.html

Sets the start state for the planning component using either a configuration name or a specific robot state.

```APIDOC
## Function moveit_py::bind_planning_component::setStartState

### Description
Sets the start state for a given planning component. This function allows specifying the start state via a configuration name or a direct robot state object.

### Parameters
- **planning_component** (std::shared_ptr<moveit_cpp::PlanningComponent>&) - Required - The planning component instance.
- **configuration_name** (std::optional<std::string>) - Optional - The name of the configuration to use as the start state.
- **robot_state** (std::optional<moveit::core::RobotState>) - Optional - The specific robot state to set as the start state.

### Response
- **bool** - Returns true if the start state was successfully set, false otherwise.
```

--------------------------------

### Function: getMotionPlanResponseStartState

Source: https://docs.ros.org/en/jazzy/p/moveit_py/generated/function_planning__response_8hpp_1a6571366f4f5733ec36ff48c76fc86056.html

Retrieves the start state from a given motion plan response object.

```APIDOC
## Function moveit_py::bind_planning_interface::getMotionPlanResponseStartState

### Description
Retrieves the start state from a shared pointer to a MotionPlanResponse object.

### Parameters
- **response** (std::shared_ptr<planning_interface::MotionPlanResponse>&) - Required - The motion plan response object from which to extract the start state.

### Response
- **Returns** (moveit_msgs::msg::RobotState) - The robot state at the start of the motion plan.
```

--------------------------------

### setStartState

Source: https://docs.ros.org/en/jazzy/p/moveit_py/generated/namespace_moveit_py__bind_planning_component.html

Sets the start state for the planning component.

```APIDOC
## setStartState

### Description
Sets the start state for the planning component.

### Method
(Not specified in source)

### Endpoint
(Not specified in source)

### Parameters
(No parameters specified in source)

### Request Example
(No request example specified in source)

### Response
(No response specified in source)
```

--------------------------------

### setStartState Function

Source: https://docs.ros.org/en/jazzy/p/moveit_py/_sources/generated/function_planning__component_8hpp_1ab7fd7da6ebde3957dd1f652d77edc143.rst.txt

Sets the starting state for the planning component using a shared pointer to the planning component, an optional string identifier, and an optional robot state.

```APIDOC
## setStartState

### Description
Sets the starting state for the planning component.

### Parameters
- **planning_component** (std::shared_ptr<moveit_cpp::PlanningComponent>&) - Required - The planning component instance.
- **state_name** (std::optional<std::string>) - Optional - The name of the starting state.
- **robot_state** (std::optional<moveit::core::RobotState>) - Optional - The robot state object to be set as the start.
```

--------------------------------

### MoveIt C++ Planning Component Header

Source: https://docs.ros.org/en/jazzy/p/moveit_py/_sources/generated/program_listing_file_src_moveit_moveit_ros_moveit_cpp_planning_component.hpp.rst.txt

This C++ header file defines the interface for MoveIt's PlanningComponent, including functions for motion planning, setting goal states, and setting start states. It also includes utility functions for initializing planning request parameters.

```cpp
/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2022, Peter David Fagan
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of PickNik Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *  LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/ 

 /* Author: Peter David Fagan */
 
 #pragma once
 
 #include <pybind11/pybind11.h>
 #include <pybind11/eigen.h>
 #include <pybind11/stl.h>
 #include <pybind11/numpy.h>
 #include <pybind11/functional.h>
 #include <moveit_py/moveit_py_utils/copy_ros_msg.hpp>
 #include <moveit_py/moveit_py_utils/ros_msg_typecasters.hpp>
 #include <moveit/moveit_cpp/moveit_cpp.hpp>
 #include <moveit/moveit_cpp/planning_component.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <moveit_msgs/msg/constraints.hpp>
 
 #include "moveit_cpp.hpp"
 #include "../planning_scene_monitor/planning_scene_monitor.hpp"
 #include "../../moveit_core/planning_interface/planning_response.hpp"
 
 namespace py = pybind11;
 
 namespace moveit_py
 {
 namespace bind_planning_component
 {
 planning_interface::MotionPlanResponse
 plan(std::shared_ptr<moveit_cpp::PlanningComponent>& planning_component,
 std::shared_ptr<moveit_cpp::PlanningComponent::PlanRequestParameters>& single_plan_parameters,
 std::shared_ptr<moveit_cpp::PlanningComponent::MultiPipelinePlanRequestParameters>& multi_plan_parameters,
 std::shared_ptr<planning_scene::PlanningScene>& planning_scene,
 std::optional<const moveit::planning_pipeline_interfaces::SolutionSelectionFunction> solution_selection_function,
 std::optional<moveit::planning_pipeline_interfaces::StoppingCriterionFunction> stopping_criterion_callback);

 bool setGoal(std::shared_ptr<moveit_cpp::PlanningComponent>& planning_component,
 std::optional<std::string> configuration_name, std::optional<moveit::core::RobotState> robot_state,
 std::optional<geometry_msgs::msg::PoseStamped> pose_stamped_msg, std::optional<std::string> pose_link,
 std::optional<std::vector<moveit_msgs::msg::Constraints>> motion_plan_constraints);

 bool setStartState(std::shared_ptr<moveit_cpp::PlanningComponent>& planning_component,
 std::optional<std::string> configuration_name, std::optional<moveit::core::RobotState> robot_state);

 void initPlanRequestParameters(py::module& m);

 void initMultiPlanRequestParameters(py::module& m);

 void initPlanningComponent(py::module& m);
 }  // namespace bind_planning_component
 }  // namespace moveit_py

```

--------------------------------

### MoveIt MotionPlanResponse C++ Bindings

Source: https://docs.ros.org/en/jazzy/p/moveit_py/generated/program_listing_file_src_moveit_moveit_core_planning_interface_planning_response.hpp.html

This C++ header file defines functions for accessing data from a `planning_interface::MotionPlanResponse` object. It includes utility functions to retrieve the robot trajectory, start state, error codes, planning time, and planner ID. These functions are designed to be bound to Python using pybind11.

```cpp
/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2022, Peter David Fagan
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of PickNik Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/ 

/* Author: Peter David Fagan */

#pragma once

#include <pybind11/pybind11.h>
#include <pybind11/eigen.h>
#include <pybind11/stl.h>
#include <moveit_msgs/msg/robot_state.hpp>
#include <moveit_msgs/msg/move_it_error_codes.hpp>
#include <moveit_py/moveit_py_utils/ros_msg_typecasters.hpp>
#include <moveit/planning_interface/planning_response.hpp>

namespace py = pybind11;

namespace moveit_py
{
namespace bind_planning_interface
{
std::shared_ptr<robot_trajectory::RobotTrajectory>
getMotionPlanResponseTrajectory(std::shared_ptr<planning_interface::MotionPlanResponse>& response);

moveit_msgs::msg::RobotState
getMotionPlanResponseStartState(std::shared_ptr<planning_interface::MotionPlanResponse>& response);

moveit_msgs::msg::MoveItErrorCodes
getMotionPlanResponseErrorCode(std::shared_ptr<planning_interface::MotionPlanResponse>& response);

double getMotionPlanResponsePlanningTime(std::shared_ptr<planning_interface::MotionPlanResponse>& response);

std::string getMotionPlanResponsePlannerId(std::shared_ptr<planning_interface::MotionPlanResponse>& response);

void initMotionPlanResponse(py::module& m);
}  // namespace bind_planning_interface
}  // namespace moveit_py

```

--------------------------------

### Get Motion Plan Response Start State

Source: https://docs.ros.org/en/jazzy/p/moveit_py/_sources/generated/function_planning__response_8hpp_1a6571366f4f5733ec36ff48c76fc86056.rst.txt

Retrieves the start state from a MoveIt motion plan response object.

```APIDOC
## Function moveit_py::bind_planning_interface::getMotionPlanResponseStartState

### Description
This function retrieves the start state from a `planning_interface::MotionPlanResponse` object.

### Method
Not applicable (this is a C++ function documentation, not a REST API endpoint).

### Endpoint
Not applicable.

### Parameters
#### Path Parameters
None.

#### Query Parameters
None.

#### Request Body
None.

### Request Example
Not applicable.

### Response
#### Success Response (200)
Not applicable (this is a C++ function documentation).

#### Response Example
Not applicable.
```

--------------------------------

### initPlanningComponent

Source: https://docs.ros.org/en/jazzy/p/moveit_py/generated/namespace_moveit_py__bind_planning_component.html

Initializes the planning component.

```APIDOC
## initPlanningComponent

### Description
Initializes the planning component.

### Method
(Not specified in source)

### Endpoint
(Not specified in source)

### Parameters
(No parameters specified in source)

### Request Example
(No request example specified in source)

### Response
(No response specified in source)
```

--------------------------------

### Function: initPlanningComponent

Source: https://docs.ros.org/en/jazzy/p/moveit_py/_sources/generated/function_planning__component_8hpp_1abf595e61d0f2c2632edf907c487f6dc5.rst.txt

Initializes the planning component module for moveit_py.

```APIDOC
## Function: moveit_py::bind_planning_component::initPlanningComponent

### Description
Initializes the planning component within the moveit_py Python module.

### Parameters
- **m** (py::module&) - Required - The Python module to bind the planning component to.
```

--------------------------------

### Function: moveit_py::bind_planning_component::initPlanningComponent

Source: https://docs.ros.org/en/jazzy/p/moveit_py/generated/function_planning__component_8hpp_1abf595e61d0f2c2632edf907c487f6dc5.html

Initializes the planning component module for Python bindings.

```APIDOC
## Function: moveit_py::bind_planning_component::initPlanningComponent

### Description
Initializes the planning component module for Python bindings. This function is defined in planning_component.hpp.

### Method
C++ Function

### Parameters
- **m** (py::module &) - Required - The Python module to bind the planning component to.
```

--------------------------------

### Get All Transforms

Source: https://docs.ros.org/en/jazzy/p/moveit_py/_sources/generated/program_listing_file_src_moveit_moveit_core_transforms_transforms.hpp.rst.txt

Retrieves all available transformation matrices managed by the MoveIt transforms object.

```APIDOC
## GET /transforms/getAllTransforms

### Description
Retrieves a map of all available coordinate transforms.

### Method
GET

### Endpoint
/transforms/getAllTransforms

### Parameters
#### Query Parameters
- **transforms** (shared_ptr<moveit::core::Transforms>) - Required - A pointer to the MoveIt Transforms object.

### Response
#### Success Response (200)
- **transforms_map** (map<string, Eigen::MatrixXd>) - A map where keys are frame names and values are their corresponding transformation matrices.

#### Response Example
```json
{
  "transforms_map": {
    "world_frame": [
      [1.0, 0.0, 0.0, 0.0],
      [0.0, 1.0, 0.0, 0.0],
      [0.0, 0.0, 1.0, 0.0],
      [0.0, 0.0, 0.0, 1.0]
    ],
    "base_link": [
      [0.999, -0.035, 0.0, 0.0],
      [0.035, 0.999, 0.0, 0.0],
      [0.0, 0.0, 1.0, 0.0],
      [0.0, 0.0, 0.0, 1.0]
    ]
  }
}
```
```

--------------------------------

### Function: moveit_py::bind_planning_scene_monitor::initPlanningSceneMonitor

Source: https://docs.ros.org/en/jazzy/p/moveit_py/generated/function_planning__scene__monitor_8hpp_1ae80f4d6a7b2f581421bc9954e181704f.html

Initializes the Planning Scene Monitor bindings for the Python module.

```APIDOC
## Function: moveit_py::bind_planning_scene_monitor::initPlanningSceneMonitor

### Description
Initializes and binds the Planning Scene Monitor to the provided Python module.

### Definition
Defined in `planning_scene_monitor.hpp`

### Signature
`void moveit_py::bind_planning_scene_monitor::initPlanningSceneMonitor(py::module &m)`

### Parameters
- **m** (py::module&) - Required - The Python module to which the Planning Scene Monitor functionality will be bound.
```

--------------------------------

### Get Planning Scene Message

Source: https://docs.ros.org/en/jazzy/p/moveit_py/_sources/generated/function_planning__scene_8hpp_1ac9e12dec0771e95e66b64f1e87119f30.rst.txt

Retrieves the planning scene message from a given PlanningScene object.

```APIDOC
## Function moveit_py::bind_planning_scene::getPlanningSceneMsg

### Description
Retrieves the planning scene message from a shared pointer to a planning_scene::PlanningScene object.

### Method
This documentation describes a function, not a direct HTTP method. The underlying operation likely involves data retrieval.

### Endpoint
N/A (This is a function call within a Python binding for C++)

### Parameters
#### Path Parameters
N/A

#### Query Parameters
N/A

#### Request Body
N/A

### Request Example
```python
# Assuming 'planning_scene_ptr' is a std::shared_ptr<planning_scene::PlanningScene>
planning_scene_msg = moveit_py.bind_planning_scene.getPlanningSceneMsg(planning_scene_ptr)
```

### Response
#### Success Response (200)
- **planning_scene_msg** (object) - A message object representing the planning scene.

#### Response Example
```json
{
  "example": "PlanningScene message object structure"
}
```
```

--------------------------------

### Get Motion Plan Response Planner ID

Source: https://docs.ros.org/en/jazzy/p/moveit_py/_sources/generated/function_planning__response_8hpp_1ae100a650c54e4f7640723129460708c1.rst.txt

Retrieves the planner ID from a MotionPlanResponse object.

```APIDOC
## GET /planning/response/planner_id

### Description
Retrieves the planner ID from a given `MotionPlanResponse` object.

### Method
GET

### Endpoint
`/planning/response/planner_id`

### Parameters
#### Query Parameters
- **response** (std::shared_ptr<planning_interface::MotionPlanResponse>) - Required - The motion plan response object.

### Response
#### Success Response (200)
- **planner_id** (string) - The ID of the planner used to generate the motion plan.

#### Response Example
```json
{
  "planner_id": "ompl_planner"
}
```
```

--------------------------------

### Initialize MoveIt World Bindings

Source: https://docs.ros.org/en/jazzy/p/moveit_py/generated/program_listing_file_src_moveit_moveit_core_collision_detection_world.hpp.html

Header file defining the initWorld function for pybind11 integration with MoveIt collision detection.

```cpp
/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2023, Jafar Uruç
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the copyright holder nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

/* Author: Jafar Uruç */

#pragma once

#include <pybind11/pybind11.h>
#include <pybind11/eigen.h>
#include <pybind11/stl.h>
#include <moveit/collision_detection/world.hpp>

namespace py = pybind11;

namespace moveit_py
{
namespace bind_collision_detection
{
void initWorld(py::module& m);
}  // namespace bind_collision_detection
}  // namespace moveit_py
```

--------------------------------

### Function: initPlanningScene

Source: https://docs.ros.org/en/jazzy/p/moveit_py/_sources/generated/function_planning__scene_8hpp_1a25844450b808ada77d0d4e730cc08a42.rst.txt

Initializes the planning scene module for the MoveIt Python bindings.

```APIDOC
## Function: moveit_py::bind_planning_scene::initPlanningScene

### Description
Initializes the planning scene module within the MoveIt Python bindings. This function is typically called during the module loading process to register planning scene functionality.

### Parameters
- **m** (py::module&) - Required - The Python module object to which the planning scene bindings will be added.
```

--------------------------------

### Get Robot Trajectory Message

Source: https://docs.ros.org/en/jazzy/p/moveit_py/_sources/generated/function_robot__trajectory_8hpp_1aa8776d0ca716ba8dc566ba76d45fa8b9.rst.txt

Retrieves the Robot Trajectory message from a given Robot Trajectory object.

```APIDOC
## Function moveit_py::bind_robot_trajectory::getRobotTrajectoryMsg

### Description
Retrieves the Robot Trajectory message from a given Robot Trajectory object.

### Method
Not specified (likely a getter function)

### Endpoint
Not applicable (C++ function)

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
None

### Request Example
```cpp
// Example usage within C++ code
// Assuming robot_trajectory_ptr is a valid RobotTrajectoryConstPtr
// and joint_names is a std::vector<std::string>

moveit_py::bind_robot_trajectory::getRobotTrajectoryMsg(robot_trajectory_ptr, joint_names);
```

### Response
#### Success Response (200)
- **RobotTrajectoryMsg** (type) - The Robot Trajectory message.

#### Response Example
```json
{
  "example": "RobotTrajectoryMsg object"
}
```
```

--------------------------------

### Function: initPlanRequestParameters

Source: https://docs.ros.org/en/jazzy/p/moveit_py/_sources/generated/function_planning__component_8hpp_1ad2af5806f2cf7f21e17dfdbc70628e4b.rst.txt

Initializes plan request parameters for the MoveIt planning component via Python bindings.

```APIDOC
## Function: moveit_py::bind_planning_component::initPlanRequestParameters

### Description
Initializes the plan request parameters for the MoveIt planning component within the Python module.

### Parameters
- **m** (py::module&) - Required - The Python module to which the planning component parameters will be bound.
```

--------------------------------

### Get a Specific Transform

Source: https://docs.ros.org/en/jazzy/p/moveit_py/_sources/generated/program_listing_file_src_moveit_moveit_core_transforms_transforms.hpp.rst.txt

Retrieves a specific transformation matrix from a given source frame to the current world frame.

```APIDOC
## GET /transforms/getTransform

### Description
Retrieves the transformation matrix from the specified `from_frame` to the world frame.

### Method
GET

### Endpoint
/transforms/getTransform

### Parameters
#### Query Parameters
- **transforms** (shared_ptr<moveit::core::Transforms>) - Required - A pointer to the MoveIt Transforms object.
- **from_frame** (string) - Required - The name of the source frame for the transformation.

### Response
#### Success Response (200)
- **transform** (Eigen::MatrixXd) - The transformation matrix.

#### Response Example
```json
{
  "transform": [
    [1.0, 0.0, 0.0, 0.0],
    [0.0, 1.0, 0.0, 0.0],
    [0.0, 0.0, 1.0, 0.0],
    [0.0, 0.0, 0.0, 1.0]
  ]
}
```
```

--------------------------------

### Function: moveit_py::bind_planning_component::initPlanRequestParameters

Source: https://docs.ros.org/en/jazzy/p/moveit_py/generated/function_planning__component_8hpp_1ad2af5806f2cf7f21e17dfdbc70628e4b.html

Initializes planning request parameters for the MoveIt Python bindings.

```APIDOC
## Function: moveit_py::bind_planning_component::initPlanRequestParameters

### Description
Initializes the planning request parameters within the Python module bindings for MoveIt.

### Definition
Defined in `planning_component.hpp`

### Signature
`void moveit_py::bind_planning_component::initPlanRequestParameters(py::module &m)`

### Parameters
- **m** (py::module&) - Required - The Python module to which the planning request parameters will be bound.
```

--------------------------------

### Function: initMotionPlanResponse

Source: https://docs.ros.org/en/jazzy/p/moveit_py/_sources/generated/function_planning__response_8hpp_1a60f8b1ce85b4646ece9ddf1462eba3bb.rst.txt

Initializes the motion plan response bindings for the moveit_py module.

```APIDOC
## Function: moveit_py::bind_planning_interface::initMotionPlanResponse

### Description
Initializes the motion plan response bindings for the Python interface. This function is defined in the moveit_core planning_interface.

### Parameters
- **m** (py::module&) - Required - The Python module to which the planning response interface will be bound.
```

--------------------------------

### C++ Declarations for Planning Scene

Source: https://docs.ros.org/en/jazzy/p/moveit_py/generated/program_listing_file_src_moveit_moveit_core_planning_scene_planning_scene.hpp.html

This C++ code declares functions for interacting with MoveIt's planning scene, including applying collision objects, getting frame transforms, and retrieving planning scene messages. It utilizes pybind11 for Python bindings.

```cpp
/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2022, Peter David Fagan
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of PickNik Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/ 

/* Author: Peter David Fagan */

#pragma once

#include <pybind11/pybind11.h>
#include <pybind11/eigen.h>
#include <pybind11/stl.h>
#include <moveit_py/moveit_py_utils/copy_ros_msg.hpp>
#include <moveit_py/moveit_py_utils/ros_msg_typecasters.hpp>
#include <moveit/planning_scene/planning_scene.hpp>

namespace py = pybind11;

namespace moveit_py
{
namespace bind_planning_scene
{
void applyCollisionObject(std::shared_ptr<planning_scene::PlanningScene>& planning_scene,
                          moveit_msgs::msg::CollisionObject& collision_object_msg,
                          std::optional<moveit_msgs::msg::ObjectColor> color_msg);

Eigen::MatrixXd getFrameTransform(std::shared_ptr<planning_scene::PlanningScene>& planning_scene, const std::string& id);

moveit_msgs::msg::PlanningScene getPlanningSceneMsg(std::shared_ptr<planning_scene::PlanningScene>& planning_scene);

void initPlanningScene(py::module& m);
}
}

```

--------------------------------

### moveit_py::bind_planning_scene::initPlanningScene

Source: https://docs.ros.org/en/jazzy/p/moveit_py/generated/function_planning__scene_8hpp_1a25844450b808ada77d0d4e730cc08a42.html

Initializes the planning scene bindings for the MoveIt Py Python interface.

```APIDOC
## void moveit_py::bind_planning_scene::initPlanningScene(py::module &m)

### Description
Initializes the planning scene bindings for the MoveIt Py Python interface.

### Method
C++ Function

### Endpoint
N/A (C++ function)

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
None

### Request Example
N/A (C++ function)

### Response
#### Success Response (void)
This function does not return a value.

#### Response Example
N/A (C++ function)
```

--------------------------------

### Planning Scene Monitor Initialization

Source: https://docs.ros.org/en/jazzy/p/moveit_py/generated/namespace_moveit_py__bind_planning_scene_monitor.html

Functions for initializing and managing planning scene contexts.

```APIDOC
## Function moveit_py::bind_planning_scene_monitor::initContextManagers

### Description
Initializes the context managers for the planning scene.

### Method
(Not specified, likely internal C++ function)

### Endpoint
N/A

### Parameters
None explicitly listed.

### Request Example
N/A

### Response
N/A

## Function moveit_py::bind_planning_scene_monitor::initPlanningSceneMonitor

### Description
Initializes the planning scene monitor.

### Method
(Not specified, likely internal C++ function)

### Endpoint
N/A

### Parameters
None explicitly listed.

### Request Example
N/A

### Response
N/A
```

--------------------------------

### initPlanningSceneMonitor

Source: https://docs.ros.org/en/jazzy/p/moveit_py/_sources/generated/function_planning__scene__monitor_8hpp_1ae80f4d6a7b2f581421bc9954e181704f.rst.txt

Initializes the Planning Scene Monitor within the moveit_py module.

```APIDOC
## Function: initPlanningSceneMonitor

### Description
Initializes the Planning Scene Monitor for the moveit_py Python bindings.

### Parameters
- **m** (py::module&) - Required - The Python module to bind the Planning Scene Monitor functionality to.

### Definition
Defined in: src/moveit/moveit_ros/planning_scene_monitor/planning_scene_monitor.hpp
```

--------------------------------

### Function: moveit_py::bind_planning_interface::initMotionPlanResponse

Source: https://docs.ros.org/en/jazzy/p/moveit_py/generated/function_planning__response_8hpp_1a60f8b1ce85b4646ece9ddf1462eba3bb.html

Initializes the motion plan response bindings for the MoveIt Python interface.

```APIDOC
## Function: moveit_py::bind_planning_interface::initMotionPlanResponse

### Description
Initializes the motion plan response bindings for the MoveIt Python interface, defined in planning_response.hpp.

### Method
C++ Function Call

### Parameters
- **m** (py::module&) - Required - The pybind11 module to which the motion plan response bindings will be added.
```

--------------------------------

### Planning Component Header File

Source: https://docs.ros.org/en/jazzy/p/moveit_py/generated/program_listing_file_src_moveit_moveit_ros_moveit_cpp_planning_component.hpp.html

Contains the declarations for binding the MoveIt PlanningComponent to Python using pybind11.

```cpp
/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2022, Peter David Fagan
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of PickNik Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

/* Author: Peter David Fagan */

#pragma once

#include <pybind11/pybind11.h>
#include <pybind11/eigen.h>
#include <pybind11/stl.h>
#include <pybind11/numpy.h>
#include <pybind11/functional.h>
#include <moveit_py/moveit_py_utils/copy_ros_msg.hpp>
#include <moveit_py/moveit_py_utils/ros_msg_typecasters.hpp>
#include <moveit/moveit_cpp/moveit_cpp.hpp>
#include <moveit/moveit_cpp/planning_component.hpp>
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <moveit_msgs/msg/constraints.hpp>

#include "moveit_cpp.hpp"
#include "../planning_scene_monitor/planning_scene_monitor.hpp"
#include "../../moveit_core/planning_interface/planning_response.hpp"

namespace py = pybind11;

namespace moveit_py
{
namespace bind_planning_component
{
planning_interface::MotionPlanResponse
plan(std::shared_ptr<moveit_cpp::PlanningComponent>& planning_component,
     std::shared_ptr<moveit_cpp::PlanningComponent::PlanRequestParameters>& single_plan_parameters,
     std::shared_ptr<moveit_cpp::PlanningComponent::MultiPipelinePlanRequestParameters>& multi_plan_parameters,
     std::shared_ptr<planning_scene::PlanningScene>& planning_scene,
     std::optional<const moveit::planning_pipeline_interfaces::SolutionSelectionFunction> solution_selection_function,
     std::optional<moveit::planning_pipeline_interfaces::StoppingCriterionFunction> stopping_criterion_callback);

bool setGoal(std::shared_ptr<moveit_cpp::PlanningComponent>& planning_component,
             std::optional<std::string> configuration_name, std::optional<moveit::core::RobotState> robot_state,
             std::optional<geometry_msgs::msg::PoseStamped> pose_stamped_msg, std::optional<std::string> pose_link,
             std::optional<std::vector<moveit_msgs::msg::Constraints>> motion_plan_constraints);

bool setStartState(std::shared_ptr<moveit_cpp::PlanningComponent>& planning_component,
                   std::optional<std::string> configuration_name, std::optional<moveit::core::RobotState> robot_state);

void initPlanRequestParameters(py::module& m);

void initMultiPlanRequestParameters(py::module& m);

void initPlanningComponent(py::module& m);
}  // namespace bind_planning_component
}  // namespace moveit_py
```

--------------------------------

### initMultiPlanRequestParameters Function

Source: https://docs.ros.org/en/jazzy/p/moveit_py/_sources/generated/function_planning__component_8hpp_1aba5b22ecb6295343061ab3d3d256f36b.rst.txt

Initializes multi-plan request parameters for the planning component.

```APIDOC
## Function moveit_py::bind_planning_component::initMultiPlanRequestParameters

### Description
Initializes multi-plan request parameters for the planning component.

### Method
Not applicable (Python function binding)

### Endpoint
Not applicable (Python function binding)

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
None

### Request Example
```python
# This is a Python function binding, not a direct HTTP request.
# Example usage would involve calling the function within a Python script:
# moveit_py.bind_planning_component.initMultiPlanRequestParameters(pybind11_module)
```

### Response
#### Success Response (200)
None (Function modifies internal state or binds Python objects)

#### Response Example
None
```

--------------------------------

### MoveIt Py Bindings Overview

Source: https://docs.ros.org/en/jazzy/p/moveit_py/genindex.html

The moveit_py project provides Python bindings for various MoveIt C++ components. These functions allow for the initialization of planning components, robot models, and trajectory management.

```APIDOC
## MoveIt Py C++ Bindings

### Description
This module provides the interface between Python and the MoveIt C++ core. It includes bindings for collision detection, kinematic constraints, planning components, and robot state management.

### Key Components
- **Collision Detection**: `initAcm`, `initCollisionRequest`, `initCollisionResult`, `initWorld`
- **Planning Components**: `initPlanningComponent`, `plan`, `setGoal`, `setStartState`
- **Robot State**: `initRobotState`, `getJacobian`, `getPose`, `update`
- **Planning Scene Monitor**: `LockedPlanningSceneContextManagerRO`, `LockedPlanningSceneContextManagerRW`
- **Trajectory Execution**: `initTrajectoryExecutionManager`
```

--------------------------------

### Initialize Collision Detection World Bindings

Source: https://docs.ros.org/en/jazzy/p/moveit_py/_sources/generated/program_listing_file_src_moveit_moveit_core_collision_detection_world.hpp.rst.txt

Header file defining the initWorld function for pybind11 bindings within the moveit_py namespace.

```cpp
/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2023, Jafar UruÃ§
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the copyright holder nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

/* Author: Jafar UruÃ§ */

#pragma once

#include <pybind11/pybind11.h>
#include <pybind11/eigen.h>
#include <pybind11/stl.h>
#include <moveit/collision_detection/world.hpp>

namespace py = pybind11;

namespace moveit_py
{
namespace bind_collision_detection
{
void initWorld(py::module& m);
}  // namespace bind_collision_detection
}  // namespace moveit_py
```

--------------------------------

### Initialize Trajectory Execution Manager Bindings

Source: https://docs.ros.org/en/jazzy/p/moveit_py/generated/program_listing_file_src_moveit_moveit_ros_trajectory_execution_manager_trajectory_execution_manager.hpp.html

Header file defining the initTrajectoryExecutionManager function for pybind11 integration.

```cpp
/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2023, Matthijs van der Burgh
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the copyright holder nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

/* Author: Matthijs van der Burgh */

#pragma once

#include <pybind11/pybind11.h>
#include <pybind11/functional.h>
#include <pybind11/stl.h>
#include <moveit_py/moveit_py_utils/copy_ros_msg.hpp>
#include <moveit_py/moveit_py_utils/ros_msg_typecasters.hpp>
#include <rclcpp/rclcpp.hpp>
#include <moveit/trajectory_execution_manager/trajectory_execution_manager.hpp>

namespace py = pybind11;

namespace moveit_py
{
namespace bind_trajectory_execution_manager
{

void initTrajectoryExecutionManager(py::module& m);

}  // namespace bind_trajectory_execution_manager
}  // namespace moveit_py
```

--------------------------------

### C++ Planning Scene Monitor Header

Source: https://docs.ros.org/en/jazzy/p/moveit_py/_sources/generated/program_listing_file_src_moveit_moveit_ros_planning_scene_monitor_planning_scene_monitor.hpp.rst.txt

This C++ header file defines classes and functions for managing the planning scene in MoveIt, including context managers for read-write and read-only access. It also includes necessary includes for pybind11 and ROS.

```cpp
/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2022, Peter David Fagan
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of PickNik Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/ 

 /* Author: Peter David Fagan */ 
 
 #pragma once
 
 #include <pybind11/pybind11.h>
 #include <pybind11/stl.h>
 #include <moveit_py/moveit_py_utils/copy_ros_msg.hpp>
 #include <moveit_py/moveit_py_utils/ros_msg_typecasters.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <moveit_msgs/msg/planning_scene.hpp>
 #include <moveit_msgs/srv/apply_planning_scene.hpp>
 #include <moveit/planning_scene_monitor/planning_scene_monitor.hpp>
 #include <moveit_py/moveit_py_utils/rclpy_time_typecaster.hpp> 
 
 namespace py = pybind11;
 
 namespace moveit_py
 {
 namespace bind_planning_scene_monitor
 {
 class LockedPlanningSceneContextManagerRW
 {
 public:
  const planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
  std::unique_ptr<const planning_scene_monitor::LockedPlanningSceneRW> ls_rw_;
 
  LockedPlanningSceneContextManagerRW(const planning_scene_monitor::PlanningSceneMonitorPtr& psm)
    : planning_scene_monitor_(psm)
  {
    ls_rw_ = std::make_unique<const planning_scene_monitor::LockedPlanningSceneRW>(planning_scene_monitor_);
  }
 
  const planning_scene::PlanningScenePtr& lockedPlanningSceneRwEnter();
 
  void lockedPlanningSceneRwExit(const py::object& type, const py::object& value, const py::object& traceback);
 };
 
 class LockedPlanningSceneContextManagerRO
 {
 public:
  const planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
  std::unique_ptr<const planning_scene_monitor::LockedPlanningSceneRO> ls_ro_;
 
  LockedPlanningSceneContextManagerRO(const planning_scene_monitor::PlanningSceneMonitorPtr& psm)
    : planning_scene_monitor_(psm)
  {
    ls_ro_ = std::make_unique<const planning_scene_monitor::LockedPlanningSceneRO>(planning_scene_monitor_);
  }
 
  const planning_scene::PlanningSceneConstPtr& lockedPlanningSceneRoEnter() const;
 
  void lockedPlanningSceneRoExit(const py::object& type, const py::object& value, const py::object& traceback);
 };
 
 LockedPlanningSceneContextManagerRW
 readWrite(const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);
 
 LockedPlanningSceneContextManagerRO
 readOnly(const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);
 
 void initPlanningSceneMonitor(py::module& m);
 
 void initContextManagers(py::module& m);
 }
 }
 }

```

--------------------------------

### moveit_py::bind_planning_scene Functions

Source: https://docs.ros.org/en/jazzy/p/moveit_py/generated/namespace_moveit_py__bind_planning_scene.html

Overview of the available functions within the moveit_py::bind_planning_scene namespace.

```APIDOC
## Functions in moveit_py::bind_planning_scene

### applyCollisionObject
- Description: Applies a collision object to the planning scene.

### getFrameTransform
- Description: Retrieves the transform for a specific frame.

### getPlanningSceneMsg
- Description: Retrieves the current planning scene as a message.

### initPlanningScene
- Description: Initializes the planning scene environment.
```

--------------------------------

### License and Includes for utils.hpp

Source: https://docs.ros.org/en/jazzy/p/moveit_py/_sources/generated/program_listing_file_src_moveit_moveit_core_kinematic_constraints_utils.hpp.rst.txt

This snippet includes the BSD license, author information, and necessary C++ headers for kinematic constraint utilities. It sets up the pybind11 namespace and includes headers for ROS 2, MoveIt robot model, and MoveIt messages.

```cpp
/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2022, Peter David Fagan
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of PickNik Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/ 

 /* Author: Peter David Fagan */
 
 #pragma once
 
 #include <pybind11/pybind11.h>
 #include <pybind11/eigen.h>
 #include <pybind11/stl.h>
 #include <rclcpp/rclcpp.hpp>
 #include <moveit/robot_model/robot_model.hpp>
 #include <moveit_msgs/msg/constraints.hpp>
 
 namespace py = pybind11;
 
 namespace moveit_py
 {
 namespace bind_kinematic_constraints
 {

```
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