Commit b948c619 authored by Gabriele Buondonno's avatar Gabriele Buondonno
Browse files

[python] Simplify Box bindings

parent fa1d6864
......@@ -103,17 +103,6 @@ struct ConvexWrapper
}
};
Eigen::Vector3d getHalfSide(const ::hpp::fcl::Box & box)
{
Eigen::Vector3d halfSide = box.halfSide;
return halfSide;
}
void setHalfSide(::hpp::fcl::Box & box, const Eigen::Vector3d & halfSide)
{
box.halfSide = halfSide;
}
void exposeShapes ()
{
class_ <ShapeBase, bases<CollisionGeometry>, shared_ptr<ShapeBase>, noncopyable>
......@@ -125,7 +114,9 @@ void exposeShapes ()
("Box", init<>())
.def (init<FCL_REAL,FCL_REAL,FCL_REAL>())
.def (init<Vec3f>())
.add_property("halfSide", make_function(getHalfSide), make_function(setHalfSide))
.add_property("halfSide",
make_getter(&Box::halfSide, return_value_policy<return_by_value>()),
make_setter(&Box::halfSide, return_value_policy<return_by_value>()));
;
class_ <Capsule, bases<ShapeBase>, shared_ptr<Capsule> >
......
......@@ -69,9 +69,6 @@ void exposeMaths ()
if(!eigenpy::register_symbolic_link_to_registered_type<Eigen::AngleAxisd>())
eigenpy::exposeAngleAxis();
eigenpy::enableEigenPySpecific<Matrix3f>();
eigenpy::enableEigenPySpecific<Vec3f >();
class_ <Transform3f> ("Transform3f", init<>())
.def (init<Matrix3f, Vec3f>())
.def (init<Quaternion3f, Vec3f>())
......
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