Bind ConvexBase::convexHull

doc/python/xml_docstring.py

@@ -88,10 +88,10 @@ class XmlDocString (object):
 
     def otherTags (self, node):
         if node.text:
-            self._write (node.text.strip())
+            self._write (node.text.strip().replace('"', r'\"'))
         for c in node.iterchildren():
             self.visit (c)
-            if c.tail: self._write (c.tail.strip())
+            if c.tail: self._write (c.tail.strip().replace('"', r'\"'))
 
     def emphasis (self, node):
         self._write ("*")
@@ -103,10 +103,10 @@ class XmlDocString (object):
         self.otherTags (node)
 
     def para (self, node):
-        if node.text: self._write (node.text)
+        if node.text: self._write (node.text.replace('"', r'\"'))
         for c in node.iterchildren():
             self.visit (c)
-            if c.tail: self._write (c.tail)
+            if c.tail: self._write (c.tail.replace('"', r'\"'))
         self._newline()
 
     def ref (self, node):

python/collision-geometries.cc

@@ -120,6 +120,13 @@ struct ConvexBaseWrapper
       n.append (convex.neighbors[i][j]);
     return n;
   }
+
+  static ConvexBase* convexHull (const Vec3fs& points, bool keepTri,
+      const char* qhullCommand)
+  {
+    return ConvexBase::convexHull (points.data(), (int)points.size(), keepTri,
+        qhullCommand);
+  }
 };
 
 template <typename PolygonT>
@@ -179,6 +186,10 @@ void exposeShapes ()
     .DEF_RO_CLASS_ATTRIB (ConvexBase, num_points)
     .def ("points", &ConvexBaseWrapper::points)
     .def ("neighbors", &ConvexBaseWrapper::neighbors)
+    .def ("convexHull", &ConvexBaseWrapper::convexHull,
+        doxygen::member_func_doc(&ConvexBase::convexHull),
+        return_value_policy<manage_new_object>())
+    .staticmethod("convexHull")
     ;
 
   class_ <Convex<Triangle>, bases<ConvexBase>, shared_ptr<Convex<Triangle> >, noncopyable>

test/python_unit/geometric_shapes.py

@@ -156,5 +156,12 @@ class TestGeometricShapes(TestCase):
         faces.append(hppfcl.Triangle(0,1,2))
         convex = hppfcl.Convex(verts, faces)
 
+        verts.append (np.array([0, 0, 1]))
+        convexHull = hppfcl.Convex.convexHull(verts, False, None)
+        convexHull = hppfcl.Convex.convexHull(verts, False, "")
+
+        convexHull = hppfcl.Convex.convexHull(verts, True, "")
+
+
 if __name__ == '__main__':
     unittest.main()