GCC Code Coverage Report

Directory: ./
File: python/contact_patch.cc
Date: 2025-06-03 17:15:40
Exec Total Coverage
Lines: 66 66 100.0%
Functions: 1 1 100.0%
Branches: 80 160 50.0%
Line Branch Exec Source
1 //
2 // Software License Agreement (BSD License)
3 //
4 // Copyright (c) 2024 INRIA
5 // Author: Louis Montaut
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 INRIA 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/fwd.hh"
38 #include "coal/contact_patch.h"
39 #include "coal/serialization/collision_data.h"
40
41 #include "coal.hh"
42 #include "deprecation.hh"
43 #include "serializable.hh"
44
45 #ifdef COAL_HAS_DOXYGEN_AUTODOC
46 #include "doxygen_autodoc/functions.h"
47 #include "doxygen_autodoc/coal/collision_data.h"
48 #endif
49
50 #include "../doc/python/doxygen.hh"
51 #include "../doc/python/doxygen-boost.hh"
52
53 using namespace boost::python;
54 using namespace coal;
55 using namespace coal::python;
56
57 namespace dv = doxygen::visitor;
58
59 5 void exposeContactPatchAPI() {
60 5 if (!eigenpy::register_symbolic_link_to_registered_type<
61
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 5 ContactPatch::PatchDirection>()) {
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 10 enum_<ContactPatch::PatchDirection>("ContactPatchDirection")
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 5 .value("DEFAULT", ContactPatch::PatchDirection::DEFAULT)
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 5 .value("INVERTED", ContactPatch::PatchDirection::INVERTED)
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 5 .export_values();
66 }
67
68
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 5 if (!eigenpy::register_symbolic_link_to_registered_type<ContactPatch>()) {
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 5 class_<ContactPatch>(
70 "ContactPatch", doxygen::class_doc<ContactPatch>(),
71
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 10 init<optional<size_t>>((arg("self"), arg("preallocated_size")),
72 "ContactPatch constructor."))
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 5 .DEF_RW_CLASS_ATTRIB(ContactPatch, tf)
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 5 .DEF_RW_CLASS_ATTRIB(ContactPatch, direction)
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 5 .DEF_RW_CLASS_ATTRIB(ContactPatch, penetration_depth)
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 5 .DEF_CLASS_FUNC(ContactPatch, size)
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 5 .DEF_CLASS_FUNC(ContactPatch, getNormal)
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 5 .DEF_CLASS_FUNC(ContactPatch, addPoint)
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 5 .DEF_CLASS_FUNC(ContactPatch, getPoint)
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 5 .DEF_CLASS_FUNC(ContactPatch, getPointShape1)
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 5 .DEF_CLASS_FUNC(ContactPatch, getPointShape2)
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 5 .DEF_CLASS_FUNC(ContactPatch, clear)
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 5 .DEF_CLASS_FUNC(ContactPatch, isSame);
84 }
85
86 5 if (!eigenpy::register_symbolic_link_to_registered_type<
87
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 5 std::vector<ContactPatch>>()) {
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 10 class_<std::vector<ContactPatch>>("StdVec_ContactPatch")
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 5 .def(vector_indexing_suite<std::vector<ContactPatch>>());
90 }
91
92 5 if (!eigenpy::register_symbolic_link_to_registered_type<
93
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 5 ContactPatchRequest>()) {
94
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 5 class_<ContactPatchRequest>(
95 "ContactPatchRequest", doxygen::class_doc<ContactPatchRequest>(),
96
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 5 init<optional<size_t, size_t, Scalar>>(
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 15 (arg("self"), arg("max_num_patch"),
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 20 arg("num_samples_curved_shapes"), arg("patch_tolerance")),
99 "ContactPatchRequest constructor."))
100
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 5 .def(dv::init<ContactPatchRequest, const CollisionRequest&,
101 5 bp::optional<size_t, Scalar>>())
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 5 .DEF_RW_CLASS_ATTRIB(ContactPatchRequest, max_num_patch)
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 5 .DEF_CLASS_FUNC(ContactPatchRequest, getNumSamplesCurvedShapes)
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 5 .DEF_CLASS_FUNC(ContactPatchRequest, setNumSamplesCurvedShapes)
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 5 .DEF_CLASS_FUNC(ContactPatchRequest, getPatchTolerance)
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 5 .DEF_CLASS_FUNC(ContactPatchRequest, setPatchTolerance);
107 }
108
109 5 if (!eigenpy::register_symbolic_link_to_registered_type<
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 5 std::vector<ContactPatchRequest>>()) {
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 10 class_<std::vector<ContactPatchRequest>>("StdVec_ContactPatchRequest")
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 5 .def(vector_indexing_suite<std::vector<ContactPatchRequest>>());
113 }
114
115 5 if (!eigenpy::register_symbolic_link_to_registered_type<
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 5 ContactPatchResult>()) {
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 5 class_<ContactPatchResult>("ContactPatchResult",
118 doxygen::class_doc<ContactPatchResult>(),
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 10 init<>(arg("self"), "Default constructor."))
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 5 .def(dv::init<ContactPatchResult, ContactPatchRequest>())
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 5 .DEF_CLASS_FUNC(ContactPatchResult, numContactPatches)
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 5 .DEF_CLASS_FUNC(ContactPatchResult, getUnusedContactPatch)
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 5 .DEF_CLASS_FUNC2(ContactPatchResult, getContactPatch,
124 return_value_policy<copy_const_reference>())
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 5 .DEF_CLASS_FUNC(ContactPatchResult, clear)
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 5 .DEF_CLASS_FUNC(ContactPatchResult, set)
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 5 .DEF_CLASS_FUNC(ContactPatchResult, check);
128 }
129
130 5 if (!eigenpy::register_symbolic_link_to_registered_type<
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 5 std::vector<ContactPatchResult>>()) {
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 10 class_<std::vector<ContactPatchResult>>("StdVec_ContactPatchResult")
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 5 .def(vector_indexing_suite<std::vector<ContactPatchResult>>());
134 }
135
136 5 doxygen::def(
137 "computeContactPatch",
138 static_cast<void (*)(const CollisionObject*, const CollisionObject*,
139 const CollisionResult&, const ContactPatchRequest&,
140 ContactPatchResult&)>(&computeContactPatch));
141 5 doxygen::def(
142 "computeContactPatch",
143 static_cast<void (*)(const CollisionGeometry*, const Transform3s&,
144 const CollisionGeometry*, const Transform3s&,
145 const CollisionResult&, const ContactPatchRequest&,
146 ContactPatchResult&)>(&computeContactPatch));
147
148 5 if (!eigenpy::register_symbolic_link_to_registered_type<
149
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 5 ComputeContactPatch>()) {
150
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 10 class_<ComputeContactPatch>("ComputeContactPatch",
151 doxygen::class_doc<ComputeContactPatch>(),
152 no_init)
153
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154 10 const CollisionGeometry*>())
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 5 .def("__call__",
156 static_cast<void (ComputeContactPatch::*)(
157 const Transform3s&, const Transform3s&, const CollisionResult&,
158 const ContactPatchRequest&, ContactPatchResult&) const>(
159 &ComputeContactPatch::operator()));
160 }
161 5 }
162