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Gabriele Buondonno
pinocchio
Commits
269cf49d
Commit
269cf49d
authored
Jun 25, 2017
by
Nicolas Mansard
Committed by
GitHub
Jun 25, 2017
Browse files
Merge pull request #394 from nmansard/devel
[Python] Added static method in geometry API to create a capsule object
parents
a4454e84
585cc406
Changes
2
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Inline
Side-by-side
bindings/python/multibody/geometry-model.hpp
View file @
269cf49d
...
...
@@ -80,6 +80,8 @@ namespace se3
;
}
/* --- Expose --------------------------------------------------------- */
static
void
expose
()
{
...
...
bindings/python/multibody/geometry-object.hpp
View file @
269cf49d
...
...
@@ -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"
,
...
...
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