Developer Guide¶

Documentation for developers contributing to or extending tesseract_robotics.

Migration from SWIG¶

These bindings use nanobind instead of SWIG. Key differences are documented in Migration Notes.

Building from Source¶

See Installation for build instructions.

Architecture¶

graph TD
    subgraph "C++ Libraries"
        A[tesseract_environment]
        B[tesseract_kinematics]
        C[tesseract_collision]
        D[tesseract_planning]
    end

    subgraph "nanobind Modules"
        E[tesseract_environment]
        F[tesseract_kinematics]
        G[tesseract_collision]
        H[tesseract_motion_planners]
    end

    subgraph "Python API"
        I[tesseract_robotics.planning]
        J[Robot, Planner, Composer]
    end

    A --> E
    B --> F
    C --> G
    D --> H
    E --> I
    F --> I
    G --> I
    H --> I
    I --> J

Cross-Module Type Resolution¶

nanobind maintains separate type registries per module. When a function accepts a type from another module, special handling is needed. See Migration Notes.

Contributing¶

Fork the repository
Create a feature branch
Run tests: pytest -n auto
Submit a pull request