| Directory: | ./ |
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| File: | python/coal.cc |
| Date: | 2025-04-13 14:25:19 |
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| 1 | // | ||
| 2 | // Software License Agreement (BSD License) | ||
| 3 | // | ||
| 4 | // Copyright (c) 2019-2022 CNRS-LAAS INRIA | ||
| 5 | // Author: Joseph Mirabel | ||
| 6 | // All rights reserved. | ||
| 7 | // | ||
| 8 | // Redistribution and use in source and binary forms, with or without | ||
| 9 | // modification, are permitted provided that the following conditions | ||
| 10 | // are met: | ||
| 11 | // | ||
| 12 | // * Redistributions of source code must retain the above copyright | ||
| 13 | // notice, this list of conditions and the following disclaimer. | ||
| 14 | // * Redistributions in binary form must reproduce the above | ||
| 15 | // copyright notice, this list of conditions and the following | ||
| 16 | // disclaimer in the documentation and/or other materials provided | ||
| 17 | // with the distribution. | ||
| 18 | // * Neither the name of CNRS-LAAS. nor the names of its | ||
| 19 | // contributors may be used to endorse or promote products derived | ||
| 20 | // from this software without specific prior written permission. | ||
| 21 | // | ||
| 22 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 23 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 24 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| 25 | // FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| 26 | // COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| 27 | // INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| 28 | // BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 29 | // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| 30 | // CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| 31 | // LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| 32 | // ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| 33 | // POSSIBILITY OF SUCH DAMAGE. | ||
| 34 | |||
| 35 | #include <eigenpy/eigenpy.hpp> | ||
| 36 | |||
| 37 | #include "coal.hh" | ||
| 38 | |||
| 39 | #include "coal/fwd.hh" | ||
| 40 | #include "coal/shape/geometric_shapes.h" | ||
| 41 | #include "coal/BVH/BVH_model.h" | ||
| 42 | |||
| 43 | #include "coal/mesh_loader/loader.h" | ||
| 44 | |||
| 45 | #include "coal/collision.h" | ||
| 46 | |||
| 47 | #ifdef COAL_HAS_DOXYGEN_AUTODOC | ||
| 48 | #include "doxygen_autodoc/coal/mesh_loader/loader.h" | ||
| 49 | #endif | ||
| 50 | |||
| 51 | #include "../doc/python/doxygen.hh" | ||
| 52 | #include "../doc/python/doxygen-boost.hh" | ||
| 53 | |||
| 54 | using namespace coal; | ||
| 55 | namespace dv = doxygen::visitor; | ||
| 56 | |||
| 57 | #pragma GCC diagnostic push | ||
| 58 | #pragma GCC diagnostic ignored "-Wconversion" | ||
| 59 |
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10 | BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(load_overloads, MeshLoader::load, 1, 2) |
| 60 | #pragma GCC diagnostic pop | ||
| 61 | |||
| 62 | 5 | void exposeMeshLoader() { | |
| 63 | using namespace boost::python; | ||
| 64 | |||
| 65 |
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5 | if (!eigenpy::register_symbolic_link_to_registered_type<MeshLoader>()) { |
| 66 |
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5 | class_<MeshLoader, shared_ptr<MeshLoader> >( |
| 67 | "MeshLoader", doxygen::class_doc<MeshLoader>(), | ||
| 68 |
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10 | init<optional<NODE_TYPE> >( |
| 69 |
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10 | (arg("self"), arg("node_type")), |
| 70 | doxygen::constructor_doc<MeshLoader, const NODE_TYPE&>())) | ||
| 71 |
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5 | .def("load", &MeshLoader::load, |
| 72 |
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10 | load_overloads((arg("self"), arg("filename"), arg("scale")), |
| 73 | doxygen::member_func_doc(&MeshLoader::load))) | ||
| 74 |
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5 | .def(dv::member_func("loadOctree", &MeshLoader::loadOctree)); |
| 75 | } | ||
| 76 | |||
| 77 |
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5 | if (!eigenpy::register_symbolic_link_to_registered_type<CachedMeshLoader>()) { |
| 78 |
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5 | class_<CachedMeshLoader, bases<MeshLoader>, shared_ptr<CachedMeshLoader> >( |
| 79 | "CachedMeshLoader", doxygen::class_doc<MeshLoader>(), | ||
| 80 |
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10 | init<optional<NODE_TYPE> >( |
| 81 |
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10 | (arg("self"), arg("node_type")), |
| 82 | doxygen::constructor_doc<CachedMeshLoader, const NODE_TYPE&>())); | ||
| 83 | } | ||
| 84 | 5 | } | |
| 85 | |||
| 86 |
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20 | BOOST_PYTHON_MODULE(coal_pywrap) { |
| 87 | namespace bp = boost::python; | ||
| 88 | |||
| 89 | 10 | PyImport_ImportModule("warnings"); | |
| 90 | 10 | eigenpy::enableEigenPy(); | |
| 91 | |||
| 92 | 10 | exposeVersion(); | |
| 93 | 10 | exposeMaths(); | |
| 94 | 10 | exposeCollisionGeometries(); | |
| 95 | 10 | exposeCollisionObject(); | |
| 96 | 10 | exposeMeshLoader(); | |
| 97 | 10 | exposeCollisionAPI(); | |
| 98 | 10 | exposeContactPatchAPI(); | |
| 99 | 10 | exposeDistanceAPI(); | |
| 100 | 10 | exposeGJK(); | |
| 101 | #ifdef COAL_HAS_OCTOMAP | ||
| 102 | 10 | exposeOctree(); | |
| 103 | #endif | ||
| 104 | 10 | exposeBroadPhase(); | |
| 105 | 10 | } | |
| 106 |