success to initialize AstarSearch instance

Signed-off-by: Takumi Ito <[email protected]>

planning/freespace_planning_algorithms/CMakeLists.txt

@@ -2,7 +2,10 @@ cmake_minimum_required(VERSION 3.14)
 project(freespace_planning_algorithms)
 
 find_package(autoware_cmake REQUIRED)
+find_package(python_cmake_module REQUIRED)
+
 autoware_package()
+ament_python_install_package(${PROJECT_NAME})
 
 ament_auto_add_library(reeds_shepp SHARED
   src/reeds_shepp.cpp
@@ -54,9 +57,9 @@ install(PROGRAMS
 )
 
 find_package(Python3 REQUIRED COMPONENTS Interpreter Development)
-# find_package(pybind11_vendor REQUIRED)
-# find_package(pybind11 REQUIRED)
-add_subdirectory(pybind11)
+find_package(pybind11_vendor REQUIRED)
+find_package(pybind11 REQUIRED)
+# add_subdirectory(pybind11)
 
 pybind11_add_module(freespace_planning_algorithms_python SHARED
   scripts/module/astar_search_python.cpp
@@ -67,4 +70,8 @@ include_directories(freespace_planning_algorithms_python PRIVATE
 )
 target_link_libraries(freespace_planning_algorithms_python PRIVATE
   freespace_planning_algorithms
+)
+
+install(TARGETS freespace_planning_algorithms_python
+  DESTINATION "${PYTHON_INSTALL_DIR}/${PROJECT_NAME}"
 )

planning/freespace_planning_algorithms/package.xml

@@ -15,7 +15,8 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
-
+  <buildtool_depend>python_cmake_module</buildtool_depend>
+
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>
   <depend>nlohmann-json-dev</depend>

planning/freespace_planning_algorithms/scripts/module/astar_search_python.cpp

@@ -8,16 +8,13 @@ using namespace freespace_planning_algorithms;
 
 PYBIND11_MODULE(freespace_planning_algorithms_python, p)
 {
-    py::class_<AbstractPlanningAlgorithm>(p, "AbstractPlanningAlgorithm");
-
-    py::class_<AstarSearch, AbstractPlanningAlgorithm>(p, "AstarSearch")
-            .def(py::init<PlannerCommonParam &, VehicleShape &, AstarParam &>());
-
-    py::class_<AstarParam>(p, "AstarParam", py::dynamic_attr())
+    auto pyAstarParam = py::class_<AstarParam>(p, "AstarParam", py::dynamic_attr())
+            .def(py::init<>())
             .def_readwrite("only_behind_solutions", &AstarParam::only_behind_solutions)
             .def_readwrite("use_back", &AstarParam::use_back)
             .def_readwrite("distance_heuristic_weight", &AstarParam::distance_heuristic_weight);
-    py::class_<PlannerCommonParam>(p, "PlannerCommonParam", py::dynamic_attr())
+    auto pyPlannerCommonParam = py::class_<PlannerCommonParam>(p, "PlannerCommonParam", py::dynamic_attr())
+            .def(py::init<>())
             .def_readwrite("time_limit", &PlannerCommonParam::time_limit)
             .def_readwrite("minimum_tuning_radius", &PlannerCommonParam::time_limit)
             .def_readwrite("maximum_tuning_radius", &PlannerCommonParam::time_limit)
@@ -29,10 +26,14 @@ PYBIND11_MODULE(freespace_planning_algorithms_python, p)
             .def_readwrite("longitudinal_goal_range", &PlannerCommonParam::longitudinal_goal_range)
             .def_readwrite("angle_goal_range", &PlannerCommonParam::angle_goal_range)
             .def_readwrite("obstacle_threshold", &PlannerCommonParam::obstacle_threshold);
-    py::class_<VehicleShape>(p, "VehicleShape", py::dynamic_attr())
+    auto pyVSehicleShape = py::class_<VehicleShape>(p, "VehicleShape", py::dynamic_attr())
             .def(py::init<>())
             .def(py::init<double, double, double>())
             .def_readwrite("length", &VehicleShape::length)
             .def_readwrite("width", &VehicleShape::width)
             .def_readwrite("base2back", &VehicleShape::base2back);
+
+    py::class_<AbstractPlanningAlgorithm>(p, "AbstractPlanningAlgorithm");
+    py::class_<AstarSearch, AbstractPlanningAlgorithm>(p, "AstarSearch")
+    .def(py::init<PlannerCommonParam &, VehicleShape &, AstarParam &>());
 }

planning/freespace_planning_algorithms/scripts/parameter_tuning_tools/test.py

@@ -1,11 +1,13 @@
 import sys
 
-sys.path.append("/home/takumiito/pilot-auto.freespace_param_tuning/build/freespace_planning_algorithms")
+# sys.path.append("/home/takumiito/pilot-auto.freespace_param_tuning/build/freespace_planning_algorithms")
 
-import freespace_planning_algorithms_python as fp
+import freespace_planning_algorithms.freespace_planning_algorithms_python as fp
 
 vehicle_shape = fp.VehicleShape(3, 2, 1)
-astar_param = fp.AstarParam
-planner_param = fp.PlannerCommonParam
+astar_param = fp.AstarParam()
+planner_param = fp.PlannerCommonParam()
 
-# astar = fp.AstarSearch(planner_param, vehicle_shape, astar_param)
+astar = fp.AstarSearch(planner_param, vehicle_shape, astar_param)
+
+print(astar)