Merge pull request #394 from nmansard/devel

[Python] Added static method in geometry API to create a capsule object

bindings/python/multibody/geometry-model.hpp

@@ -80,6 +80,8 @@ namespace se3
         ;
       }
       
+      
+
       /* --- Expose --------------------------------------------------------- */
       static void expose()
       {

bindings/python/multibody/geometry-object.hpp

@@ -55,9 +55,20 @@ namespace se3
         .def_readonly("meshPath", &GeometryObject::meshPath, "Absolute path to the mesh file")
         .def_readonly("overrideMaterial", &GeometryObject::overrideMaterial, "Boolean that tells whether material information is stored in Geometry object")
         .def_readonly("meshTexturePath", &GeometryObject::meshTexturePath, "Absolute path to the mesh texture file")
+
+          .def("CreateCapsule", &GeometryObjectPythonVisitor::maker_capsule)
+          .staticmethod("CreateCapsule")
         ;
       }
 
+      static GeometryObject maker_capsule( const double radius , const double length)
+      {
+        return GeometryObject("",FrameIndex(0),JointIndex(0),
+                              boost::shared_ptr<fcl::CollisionGeometry>(new fcl::Capsule (radius, length)),
+                              SE3::Identity());
+
+      }
+
       static void expose()
       {
         bp::class_<GeometryObject>("GeometryObject",