Merge pull request #99 from jmirabel/python

[Python] Update bindings with requirements from Pinocchio.

CMakeLists.txt

@@ -147,8 +147,6 @@ SET(${PROJECT_NAME}_HEADERS
   include/hpp/fcl/mesh_loader/loader.h
   include/hpp/fcl/internal/BV_fitter.h
   include/hpp/fcl/internal/BV_splitter.h
-  include/hpp/fcl/internal/collision_node.h
-  include/hpp/fcl/internal/geometric_shapes_utility.h
   include/hpp/fcl/internal/intersect.h
   include/hpp/fcl/internal/tools.h
   include/hpp/fcl/internal/traversal_node_base.h
@@ -159,7 +157,6 @@ SET(${PROJECT_NAME}_HEADERS
   include/hpp/fcl/internal/traversal_node_shapes.h
   include/hpp/fcl/internal/traversal_recurse.h
   include/hpp/fcl/internal/traversal.h
-  include/hpp/fcl/internal/traits_traversal.h
   )
 
 add_subdirectory(src)

python/collision-geometries.cc

@@ -222,6 +222,8 @@ void exposeCollisionGeometries ()
     .def ("computeMomentofInertia", &CollisionGeometry::computeMomentofInertia)
     .def ("computeVolume", &CollisionGeometry::computeVolume)
     .def ("computeMomentofInertiaRelatedToCOM", &CollisionGeometry::computeMomentofInertiaRelatedToCOM)
+
+    .def_readwrite("aabb_radius",&CollisionGeometry::aabb_radius,"AABB radius")
     ;
 
   exposeShapes();

python/collision.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"
 
@@ -65,7 +66,9 @@ void exposeCollisionAPI ()
     .def_readwrite ("break_distance"             , &CollisionRequest::break_distance)
     ;
 
-  class_ <Contact> ("Contact", no_init)
+  class_ <Contact> ("Contact", init<>())
+    //.def(init<CollisionGeometryPtr_t, CollisionGeometryPtr_t, int, int>())
+    //.def(init<CollisionGeometryPtr_t, CollisionGeometryPtr_t, int, int, Vec3f, Vec3f, FCL_REAL>())
     .def_readonly ("o1", &Contact::o1)
     .def_readonly ("o2", &Contact::o2)
     .def_readwrite ("b1", &Contact::b1)
@@ -76,12 +79,23 @@ void exposeCollisionAPI ()
     .def (self == self)
     ;
 
+  class_< std::vector<Contact> >("StdVec_Contact")
+    .def(vector_indexing_suite< std::vector<Contact> >())
+    ;
+
   class_ <CollisionResult> ("CollisionResult", init<>())
     .def ("isCollision", &CollisionResult::isCollision)
     .def ("numContacts", &CollisionResult::numContacts)
+    .def ("getContact" , &CollisionResult::getContact , return_value_policy<copy_const_reference>())
+    .def ("getContacts", &CollisionResult::getContacts, return_internal_reference<>())
+    .def ("addContact" , &CollisionResult::addContact )
     .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 (*)(

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"
 
@@ -45,6 +46,12 @@ using namespace hpp::fcl;
 using boost::shared_ptr;
 using boost::noncopyable;
 
+struct DistanceRequestWrapper
+{
+  static Vec3f getNearestPoint1(const DistanceResult & res) { return res.nearest_points[0]; }
+  static Vec3f getNearestPoint2(const DistanceResult & res) { return res.nearest_points[1]; }
+};
+
 void exposeDistanceAPI ()
 {
   class_ <DistanceRequest> ("DistanceRequest", init<optional<bool,FCL_REAL,FCL_REAL> >())
@@ -57,6 +64,8 @@ void exposeDistanceAPI ()
     .def_readwrite ("min_distance", &DistanceResult::min_distance)
     .def_readwrite ("normal", &DistanceResult::normal)
     //.def_readwrite ("nearest_points", &DistanceResult::nearest_points)
+    .def("getNearestPoint1",&DistanceRequestWrapper::getNearestPoint1)
+    .def("getNearestPoint2",&DistanceRequestWrapper::getNearestPoint2)
     .def_readonly ("o1", &DistanceResult::o1)
     .def_readonly ("o2", &DistanceResult::o2)
     .def_readwrite ("b1", &DistanceResult::b1)
@@ -65,6 +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 (*)(