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Humanoid Path Planner
hpp-fcl
Commits
bd643945
Commit
bd643945
authored
May 07, 2020
by
Joseph Mirabel
Browse files
Bind QueryRequest and QueryResult.
parent
d1cf9e8d
Changes
2
Hide whitespace changes
Inline
Side-by-side
python/collision.cc
View file @
bd643945
...
...
@@ -78,17 +78,26 @@ void exposeCollisionAPI ()
;
}
if
(
!
eigenpy
::
register_symbolic_link_to_registered_type
<
QueryRequest
>
())
{
class_
<
QueryRequest
>
(
"QueryRequest"
,
doxygen
::
class_doc
<
QueryRequest
>
(),
no_init
)
.
DEF_RW_CLASS_ATTRIB
(
QueryRequest
,
enable_cached_gjk_guess
)
.
DEF_RW_CLASS_ATTRIB
(
QueryRequest
,
cached_gjk_guess
)
.
DEF_RW_CLASS_ATTRIB
(
QueryRequest
,
cached_support_func_guess
)
.
DEF_CLASS_FUNC
(
QueryRequest
,
updateGuess
)
;
}
if
(
!
eigenpy
::
register_symbolic_link_to_registered_type
<
CollisionRequest
>
())
{
class_
<
CollisionRequest
>
(
"CollisionRequest"
,
class_
<
CollisionRequest
,
bases
<
QueryRequest
>
>
(
"CollisionRequest"
,
doxygen
::
class_doc
<
CollisionRequest
>
(),
no_init
)
.
def
(
dv
::
init
<
CollisionRequest
>
())
.
def
(
dv
::
init
<
CollisionRequest
,
const
CollisionRequestFlag
,
size_t
>
())
.
DEF_RW_CLASS_ATTRIB
(
CollisionRequest
,
num_max_contacts
)
.
DEF_RW_CLASS_ATTRIB
(
CollisionRequest
,
enable_contact
)
.
DEF_RW_CLASS_ATTRIB
(
CollisionRequest
,
enable_distance_lower_bound
)
.
DEF_RW_CLASS_ATTRIB
(
CollisionRequest
,
enable_cached_gjk_guess
)
.
DEF_RW_CLASS_ATTRIB
(
CollisionRequest
,
cached_gjk_guess
)
.
DEF_RW_CLASS_ATTRIB
(
CollisionRequest
,
security_margin
)
.
DEF_RW_CLASS_ATTRIB
(
CollisionRequest
,
break_distance
)
;
...
...
@@ -119,9 +128,18 @@ void exposeCollisionAPI ()
;
}
if
(
!
eigenpy
::
register_symbolic_link_to_registered_type
<
QueryResult
>
())
{
class_
<
QueryResult
>
(
"QueryResult"
,
doxygen
::
class_doc
<
QueryResult
>
(),
no_init
)
.
DEF_RW_CLASS_ATTRIB
(
QueryResult
,
cached_gjk_guess
)
.
DEF_RW_CLASS_ATTRIB
(
QueryResult
,
cached_support_func_guess
)
;
}
if
(
!
eigenpy
::
register_symbolic_link_to_registered_type
<
CollisionResult
>
())
{
class_
<
CollisionResult
>
(
"CollisionResult"
,
class_
<
CollisionResult
,
bases
<
QueryResult
>
>
(
"CollisionResult"
,
doxygen
::
class_doc
<
CollisionResult
>
(),
no_init
)
.
def
(
dv
::
init
<
CollisionResult
>
())
.
DEF_CLASS_FUNC
(
CollisionResult
,
isCollision
)
...
...
python/distance.cc
View file @
bd643945
...
...
@@ -78,7 +78,7 @@ void exposeDistanceAPI ()
{
if
(
!
eigenpy
::
register_symbolic_link_to_registered_type
<
DistanceRequest
>
())
{
class_
<
DistanceRequest
>
(
"DistanceRequest"
,
class_
<
DistanceRequest
,
bases
<
QueryRequest
>
>
(
"DistanceRequest"
,
doxygen
::
class_doc
<
DistanceRequest
>
(),
init
<
optional
<
bool
,
FCL_REAL
,
FCL_REAL
>
>
((
arg
(
"self"
),
arg
(
"enable_nearest_points"
),
...
...
@@ -92,7 +92,7 @@ void exposeDistanceAPI ()
if
(
!
eigenpy
::
register_symbolic_link_to_registered_type
<
DistanceResult
>
())
{
class_
<
DistanceResult
>
(
"DistanceResult"
,
class_
<
DistanceResult
,
bases
<
QueryResult
>
>
(
"DistanceResult"
,
doxygen
::
class_doc
<
DistanceResult
>
(),
no_init
)
.
def
(
dv
::
init
<
DistanceResult
>
())
...
...
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