Verified Commit 830c2b46 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

python: expose more quantities from CollisionGeometry

parent d74b4c37
...@@ -312,7 +312,17 @@ void exposeCollisionGeometries () ...@@ -312,7 +312,17 @@ void exposeCollisionGeometries ()
.def ("computeVolume", &CollisionGeometry::computeVolume) .def ("computeVolume", &CollisionGeometry::computeVolume)
.def ("computeMomentofInertiaRelatedToCOM", &CollisionGeometry::computeMomentofInertiaRelatedToCOM) .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).")
; ;
} }
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment