Directory: | ./ |
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File: | python/octree.cc |
Date: | 2025-04-01 09:23:31 |
Exec | Total | Coverage | |
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Lines: | 21 | 29 | 72.4% |
Branches: | 28 | 62 | 45.2% |
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1 | |||
2 | #include "coal.hh" | ||
3 | |||
4 | #include <eigenpy/std-vector.hpp> | ||
5 | |||
6 | #include "coal/fwd.hh" | ||
7 | #include "coal/octree.h" | ||
8 | |||
9 | #ifdef COAL_HAS_DOXYGEN_AUTODOC | ||
10 | #include "doxygen_autodoc/functions.h" | ||
11 | #include "doxygen_autodoc/coal/octree.h" | ||
12 | #endif | ||
13 | |||
14 | ✗ | bp::object toPyBytes(std::vector<uint8_t>& bytes) { | |
15 | #if PY_MAJOR_VERSION == 2 | ||
16 | PyObject* py_buf = | ||
17 | PyBuffer_FromMemory((char*)bytes.data(), Py_ssize_t(bytes.size())); | ||
18 | return bp::object(bp::handle<>(py_buf)); | ||
19 | #else | ||
20 | ✗ | PyObject* py_buf = PyMemoryView_FromMemory( | |
21 | ✗ | (char*)bytes.data(), Py_ssize_t(bytes.size()), PyBUF_READ); | |
22 | ✗ | return bp::object(bp::handle<>(PyBytes_FromObject(py_buf))); | |
23 | #endif | ||
24 | } | ||
25 | |||
26 | ✗ | bp::object tobytes(const coal::OcTree& self) { | |
27 | ✗ | std::vector<uint8_t> bytes = self.tobytes(); | |
28 | ✗ | return toPyBytes(bytes); | |
29 | } | ||
30 | |||
31 | 5 | void exposeOctree() { | |
32 | using namespace coal; | ||
33 | namespace bp = boost::python; | ||
34 | namespace dv = doxygen::visitor; | ||
35 | |||
36 | 5 | bp::class_<OcTree, bp::bases<CollisionGeometry>, shared_ptr<OcTree> >( | |
37 | "OcTree", doxygen::class_doc<OcTree>(), bp::no_init) | ||
38 |
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5 | .def(dv::init<OcTree, Scalar>()) |
39 |
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5 | .def("clone", &OcTree::clone, doxygen::member_func_doc(&OcTree::clone), |
40 | ✗ | bp::return_value_policy<bp::manage_new_object>()) | |
41 |
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5 | .def(dv::member_func("getTreeDepth", &OcTree::getTreeDepth)) |
42 |
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5 | .def(dv::member_func("size", &OcTree::size)) |
43 |
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5 | .def(dv::member_func("getResolution", &OcTree::getResolution)) |
44 |
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5 | .def(dv::member_func("getOccupancyThres", &OcTree::getOccupancyThres)) |
45 |
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5 | .def(dv::member_func("getFreeThres", &OcTree::getFreeThres)) |
46 |
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5 | .def(dv::member_func("getDefaultOccupancy", &OcTree::getDefaultOccupancy)) |
47 |
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5 | .def(dv::member_func("setCellDefaultOccupancy", |
48 |
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5 | &OcTree::setCellDefaultOccupancy)) |
49 |
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5 | .def(dv::member_func("setOccupancyThres", &OcTree::setOccupancyThres)) |
50 |
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5 | .def(dv::member_func("setFreeThres", &OcTree::setFreeThres)) |
51 |
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5 | .def(dv::member_func("getRootBV", &OcTree::getRootBV)) |
52 |
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5 | .def(dv::member_func("toBoxes", &OcTree::toBoxes)) |
53 |
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5 | .def("tobytes", tobytes, doxygen::member_func_doc(&OcTree::tobytes)); |
54 | |||
55 | 5 | doxygen::def("makeOctree", &makeOctree); | |
56 | 5 | eigenpy::enableEigenPySpecific<Vec6s>(); | |
57 |
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5 | eigenpy::StdVectorPythonVisitor<std::vector<Vec6s>, true>::expose( |
58 | "StdVec_Vec6"); | ||
59 | 5 | } | |
60 |