From cdb0a72d172add45fc5521c4539480458d4d6d09 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Thu, 14 Nov 2019 11:36:21 +0100
Subject: [PATCH] [Python] Update bindings with requirements from Pinocchio.
---
python/collision-geometries.cc | 2 ++
python/collision.cc | 12 +++++++++++-
python/distance.cc | 8 ++++++++
3 files changed, 21 insertions(+), 1 deletion(-)
diff --git a/python/collision-geometries.cc b/python/collision-geometries.cc
index 6f2744b6..fc604318 100644
--- a/python/collision-geometries.cc
+++ b/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();
diff --git a/python/collision.cc b/python/collision.cc
index 4a69c70b..dfadc27a 100644
--- a/python/collision.cc
+++ b/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)
@@ -76,9 +79,16 @@ 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)
;
diff --git a/python/distance.cc b/python/distance.cc
index 9e136ebe..56d58bbb 100644
--- a/python/distance.cc
+++ b/python/distance.cc
@@ -45,6 +45,12 @@ 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 +63,8 @@ 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)
--
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