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Guilhem Saurel
hpp-fcl
Commits
830c2b46
Verified
Commit
830c2b46
authored
Jan 27, 2020
by
Justin Carpentier
Browse files
python: expose more quantities from CollisionGeometry
parent
d74b4c37
Changes
1
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Side-by-side
python/collision-geometries.cc
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830c2b46
...
...
@@ -312,7 +312,17 @@ void exposeCollisionGeometries ()
.
def
(
"computeVolume"
,
&
CollisionGeometry
::
computeVolume
)
.
def
(
"computeMomentofInertiaRelatedToCOM"
,
&
CollisionGeometry
::
computeMomentofInertiaRelatedToCOM
)
.
def_readwrite
(
"aabb_radius"
,
&
CollisionGeometry
::
aabb_radius
,
"AABB radius"
)
.
def_readwrite
(
"aabb_radius"
,
&
CollisionGeometry
::
aabb_radius
,
"AABB radius."
)
.
def_readwrite
(
"aabb_center"
,
&
CollisionGeometry
::
aabb_center
,
"AABB center in local coordinate."
)
.
def_readwrite
(
"aabb_local"
,
&
CollisionGeometry
::
aabb_local
,
"AABB in local coordinate, used for tight AABB when only translation transform."
)
.
def
(
"isOccupied"
,
&
CollisionGeometry
::
isOccupied
,
bp
::
arg
(
"self"
),
"Whether the object is completely occupied."
)
.
def
(
"isFree"
,
&
CollisionGeometry
::
isFree
,
bp
::
arg
(
"self"
),
"Whether the object is completely free."
)
.
def
(
"isUncertain"
,
&
CollisionGeometry
::
isUncertain
,
bp
::
arg
(
"self"
),
"Whether the object has some uncertainty."
)
.
def_readwrite
(
"cost_density"
,
&
CollisionGeometry
::
cost_density
,
"Collision cost for unit volume."
)
.
def_readwrite
(
"threshold_occupied"
,
&
CollisionGeometry
::
threshold_occupied
,
"Threshold for occupied ( >= is occupied)."
)
.
def_readwrite
(
"threshold_free"
,
&
CollisionGeometry
::
threshold_free
,
"Threshold for free (<= is free)."
)
;
}
...
...
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