Directory: | ./ |
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File: | python/contact_patch.cc |
Date: | 2025-04-01 09:23:31 |
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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>()) { |
62 | 10 | enum_<ContactPatch::PatchDirection>("ContactPatchDirection") | |
63 |
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5 | .value("DEFAULT", ContactPatch::PatchDirection::DEFAULT) |
64 |
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5 | .value("INVERTED", ContactPatch::PatchDirection::INVERTED) |
65 |
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5 | .export_values(); |
66 | } | ||
67 | |||
68 |
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5 | if (!eigenpy::register_symbolic_link_to_registered_type<ContactPatch>()) { |
69 |
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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.")) | ||
73 |
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5 | .DEF_RW_CLASS_ATTRIB(ContactPatch, tf) |
74 |
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5 | .DEF_RW_CLASS_ATTRIB(ContactPatch, direction) |
75 |
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5 | .DEF_RW_CLASS_ATTRIB(ContactPatch, penetration_depth) |
76 |
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5 | .DEF_CLASS_FUNC(ContactPatch, size) |
77 |
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5 | .DEF_CLASS_FUNC(ContactPatch, getNormal) |
78 |
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5 | .DEF_CLASS_FUNC(ContactPatch, addPoint) |
79 |
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5 | .DEF_CLASS_FUNC(ContactPatch, getPoint) |
80 |
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5 | .DEF_CLASS_FUNC(ContactPatch, getPointShape1) |
81 |
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5 | .DEF_CLASS_FUNC(ContactPatch, getPointShape2) |
82 |
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5 | .DEF_CLASS_FUNC(ContactPatch, clear) |
83 |
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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>>()) { |
88 | 10 | class_<std::vector<ContactPatch>>("StdVec_ContactPatch") | |
89 |
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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>>( |
97 |
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15 | (arg("self"), arg("max_num_patch"), |
98 |
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15 | 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>>()) | |
102 |
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5 | .DEF_RW_CLASS_ATTRIB(ContactPatchRequest, max_num_patch) |
103 |
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5 | .DEF_CLASS_FUNC(ContactPatchRequest, getNumSamplesCurvedShapes) |
104 |
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5 | .DEF_CLASS_FUNC(ContactPatchRequest, setNumSamplesCurvedShapes) |
105 |
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5 | .DEF_CLASS_FUNC(ContactPatchRequest, getPatchTolerance) |
106 |
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5 | .DEF_CLASS_FUNC(ContactPatchRequest, setPatchTolerance); |
107 | } | ||
108 | |||
109 | 5 | if (!eigenpy::register_symbolic_link_to_registered_type< | |
110 |
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5 | std::vector<ContactPatchRequest>>()) { |
111 | 10 | class_<std::vector<ContactPatchRequest>>("StdVec_ContactPatchRequest") | |
112 |
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5 | .def(vector_indexing_suite<std::vector<ContactPatchRequest>>()); |
113 | } | ||
114 | |||
115 | 5 | if (!eigenpy::register_symbolic_link_to_registered_type< | |
116 |
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5 | ContactPatchResult>()) { |
117 |
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5 | class_<ContactPatchResult>("ContactPatchResult", |
118 | doxygen::class_doc<ContactPatchResult>(), | ||
119 |
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10 | init<>(arg("self"), "Default constructor.")) |
120 |
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5 | .def(dv::init<ContactPatchResult, ContactPatchRequest>()) |
121 |
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5 | .DEF_CLASS_FUNC(ContactPatchResult, numContactPatches) |
122 |
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5 | .DEF_CLASS_FUNC(ContactPatchResult, getUnusedContactPatch) |
123 |
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5 | .DEF_CLASS_FUNC2(ContactPatchResult, getContactPatch, |
124 | return_value_policy<copy_const_reference>()) | ||
125 |
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5 | .DEF_CLASS_FUNC(ContactPatchResult, clear) |
126 |
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5 | .DEF_CLASS_FUNC(ContactPatchResult, set) |
127 |
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5 | .DEF_CLASS_FUNC(ContactPatchResult, check); |
128 | } | ||
129 | |||
130 | 5 | if (!eigenpy::register_symbolic_link_to_registered_type< | |
131 |
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5 | std::vector<ContactPatchResult>>()) { |
132 | 10 | class_<std::vector<ContactPatchResult>>("StdVec_ContactPatchResult") | |
133 |
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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 | 10 | class_<ComputeContactPatch>("ComputeContactPatch", | |
151 | doxygen::class_doc<ComputeContactPatch>(), | ||
152 | no_init) | ||
153 |
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5 | .def(dv::init<ComputeContactPatch, const CollisionGeometry*, |
154 | 10 | const CollisionGeometry*>()) | |
155 |
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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 |