(moveit_py) add __bool__ to ExecutionStatus

moveit · Oct 6, 2023 · be8b177 · be8b177
1 parent 4a3c754
commit be8b177
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diff --git a/moveit_py/moveit/core/controller_manager.pyi b/moveit_py/moveit/core/controller_manager.pyi
@@ -4,3 +4,4 @@ class ExecutionStatus:
     def __init__(self, *args, **kwargs) -> None: ...
     @property
     def status(self) -> Any: ...
+    def __bool__(self) -> Any: ...
diff --git a/moveit_py/src/moveit/moveit_core/controller_manager/controller_manager.cpp b/moveit_py/src/moveit/moveit_core/controller_manager/controller_manager.cpp
@@ -46,7 +46,11 @@ void init_execution_status(py::module& m)
 
   py::class_<moveit_controller_manager::ExecutionStatus, std::shared_ptr<moveit_controller_manager::ExecutionStatus>>(
       controller_manager, "ExecutionStatus", R"( Execution status of planned robot trajectory. )")
-      .def_property_readonly("status", &moveit_controller_manager::ExecutionStatus::asString);
+      .def_property_readonly("status", &moveit_controller_manager::ExecutionStatus::asString)
+
+      .def("__bool__", [](std::shared_ptr<moveit_controller_manager::ExecutionStatus>& status) {
+          return static_cast<bool>(status);
+      });
 }
 }  // namespace bind_controller_manager
 }  // namespace moveit_py