Adds PositionConfiguration

include/openrave/kinbody.h

@@ -2034,6 +2034,56 @@ class OPENRAVE_API KinBody : public InterfaceBase
     typedef boost::shared_ptr<KinBody::Joint const> JointConstPtr;
     typedef boost::weak_ptr<KinBody::Joint> JointWeakPtr;
 
+    /// \brief Holds a joint value set representing a KinBody/Robot pose
+    ///
+    /// Currently, this structure supports only joints which have single DoF
+    class OPENRAVE_API PositionConfiguration : public InfoBase
+    {
+public:
+        PositionConfiguration() = default;
+        virtual ~PositionConfiguration() = default;
+
+        void Reset() override;
+        void SerializeJSON(rapidjson::Value& value, rapidjson::Document::AllocatorType& allocator, dReal fUnitScale, int options=0) const override;
+        void DeserializeJSON(const rapidjson::Value& value, dReal fUnitScale, int options) override;
+
+        bool operator==(const PositionConfiguration& other) const;
+        bool operator!=(const PositionConfiguration& other) const;
+
+        inline void Swap(PositionConfiguration& rhs) {
+            _id.swap(rhs._id);
+            name.swap(rhs.name);
+            jointConfigurationStates.swap(rhs.jointConfigurationStates);
+        }
+
+        class JointConfigurationState : public InfoBase
+        {
+public:
+            JointConfigurationState() = default;
+            virtual ~JointConfigurationState() = default;
+
+            void Reset() override;
+            void SerializeJSON(rapidjson::Value& value, rapidjson::Document::AllocatorType& allocator, dReal fUnitScale, int options=0) const override;
+            void DeserializeJSON(const rapidjson::Value& value, dReal fUnitScale, int options) override;
+
+            bool operator==(const JointConfigurationState& other) const;
+            bool operator!=(const JointConfigurationState& other) const;
+
+            std::string _id; ///< id of joint configuration state, for incremental update
+            std::string jointName; ///< name of the joint. If the joint belong to a connectedBody, then it's resolved name is connectedBodyName+"_"+jointName
+            dReal jointValue = 0.0;
+            std::string connectedBodyName; ///< the connected body name the jointName comes from
+        };
+        typedef boost::shared_ptr<JointConfigurationState> JointConfigurationStatePtr;
+        typedef boost::shared_ptr<JointConfigurationState const> JointConfigurationStateConstPtr;
+
+        std::string _id; ///< unique id of the configuration used to identify it when changing it.
+        std::string name; ///< name of the configuration
+        std::vector<JointConfigurationState> jointConfigurationStates; ///< joint name to joint values mapping
+    };
+    typedef boost::shared_ptr<PositionConfiguration> PositionConfigurationPtr;
+    typedef boost::shared_ptr<PositionConfiguration const> PositionConfigurationConstPtr;
+
     /// \brief holds all user-set attached sensor information used to initialize the AttachedSensor class.
     ///
     /// This is serializable and independent of environment.

python/bindings/include/openravepy/openravepy_jointinfo.h

@@ -490,6 +490,52 @@ class PyJoint
     int __hash__();
 };
 
+class PyPositionConfiguration_JointConfigurationState
+{
+public:
+    PyPositionConfiguration_JointConfigurationState() = default;
+    PyPositionConfiguration_JointConfigurationState(const KinBody::PositionConfiguration::JointConfigurationState& jointConfigurationState);
+
+    KinBody::PositionConfiguration::JointConfigurationStatePtr GetJointConfigurationState() const;
+    object SerializeJSON(dReal fUnitScale = 1.0, object options = py::none_());
+    void DeserializeJSON(object obj, dReal fUnitScale = 1.0, object options = py::none_());
+
+    std::string __str__();
+    bool __eq__(OPENRAVE_SHARED_PTR<PyPositionConfiguration_JointConfigurationState> p);
+    bool __ne__(OPENRAVE_SHARED_PTR<PyPositionConfiguration_JointConfigurationState> p);
+
+    object _id = py::none_();
+    object jointName = py::none_();
+    dReal jointValue = 0.0;
+    object connectedBodyName = py::none_();
+
+private:
+    void _Update(const KinBody::PositionConfiguration::JointConfigurationState& jointConfigurationState);
+};
+typedef OPENRAVE_SHARED_PTR<PyPositionConfiguration_JointConfigurationState> PyPositionConfiguration_JointConfigurationStatePtr;
+
+class PyPositionConfiguration
+{
+public:
+    PyPositionConfiguration() = default;
+    PyPositionConfiguration(const KinBody::PositionConfiguration& positionConfiguration);
+
+    KinBody::PositionConfigurationPtr GetPositionConfiguration() const;
+    object SerializeJSON(dReal fUnitScale = 1.0, object options = py::none_());
+    void DeserializeJSON(object obj, dReal fUnitScale = 1.0, object options = py::none_());
+
+    std::string __str__();
+    bool __eq__(OPENRAVE_SHARED_PTR<PyPositionConfiguration> p);
+    bool __ne__(OPENRAVE_SHARED_PTR<PyPositionConfiguration> p);
+
+    object _id = py::none_();
+    object name = py::none_();
+    py::list jointConfigurationStates;
+
+private:
+    void _Update(const KinBody::PositionConfiguration& positionConfiguration);
+};
+
 class PyKinBodyStateSaver
 {
     PyEnvironmentBasePtr _pyenv;