From 7108b7476ccff009f921b087c166101193259dfd Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Thu, 14 Nov 2019 12:20:36 +0100
Subject: [PATCH] [Python] Add StdVec_DistanceResult and StdVec_CollisionResult
---
python/collision.cc | 4 ++++
python/distance.cc | 5 +++++
2 files changed, 9 insertions(+)
diff --git a/python/collision.cc b/python/collision.cc
index dfadc27a..47be7f5e 100644
--- a/python/collision.cc
+++ b/python/collision.cc
@@ -92,6 +92,10 @@ void exposeCollisionAPI ()
.def ("clear", &CollisionResult::clear)
;
+ class_< std::vector<CollisionResult> >("CollisionResult")
+ .def(vector_indexing_suite< std::vector<CollisionResult> >())
+ ;
+
def ("collide", static_cast< std::size_t (*)(const CollisionObject*, const CollisionObject*,
const CollisionRequest&, CollisionResult&) > (&collide));
def ("collide", static_cast< std::size_t (*)(
diff --git a/python/distance.cc b/python/distance.cc
index 56d58bbb..d7ca2e8f 100644
--- a/python/distance.cc
+++ b/python/distance.cc
@@ -33,6 +33,7 @@
// POSSIBILITY OF SUCH DAMAGE.
#include <boost/python.hpp>
+#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
#include "fcl.hh"
@@ -73,6 +74,10 @@ void exposeDistanceAPI ()
.def ("clear", &DistanceResult::clear)
;
+ class_< std::vector<DistanceResult> >("StdVec_DistanceResult")
+ .def(vector_indexing_suite< std::vector<DistanceResult> >())
+ ;
+
def ("distance", static_cast< FCL_REAL (*)(const CollisionObject*, const CollisionObject*,
const DistanceRequest&, DistanceResult&) > (&distance));
def ("distance", static_cast< FCL_REAL (*)(
--
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