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// Copyright (c) 2019, LAAS-CNRS |
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// Authors: Joseph Mirabel (joseph.mirabel@laas.fr) |
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// |
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// This file is part of gepetto-viewer. |
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// gepetto-viewer is free software: you can redistribute it |
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// and/or modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation, either version |
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// 3 of the License, or (at your option) any later version. |
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// |
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// gepetto-viewer is distributed in the hope that it will be |
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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// General Lesser Public License for more details. You should have |
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// received a copy of the GNU Lesser General Public License along with |
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// gepetto-viewer. If not, see <http://www.gnu.org/licenses/>. |
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#include "../../src/gui/python-bindings.hh" |
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#include <gepetto/viewer/windows-manager.h> |
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#include <boost/python.hpp> |
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#include <boost/python/suite/indexing/vector_indexing_suite.hpp> |
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#include <gepetto/gui/windows-manager.hh> |
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namespace bp = boost::python; |
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namespace gv = gepetto::viewer; |
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namespace gg = gepetto::gui; |
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using boost::noncopyable; |
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#define GV_DEF(func) .def(#func, &WindowsManager::func) |
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#define GV_DEF0(func, ret) \ |
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.def(#func, static_cast<ret (WindowsManager::*)()>(&WindowsManager::func)) |
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#define GV_DEF1(func, ret, arg0) \ |
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.def(#func, static_cast<ret (WindowsManager::*)(arg0)>(&WindowsManager::func)) |
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#define GV_DEF2(func, ret, arg0, arg1) \ |
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.def(#func, static_cast<ret (WindowsManager::*)(arg0, arg1)>( \ |
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&WindowsManager::func)) |
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#define GV_DEF3(func, ret, arg0, arg1, arg2) \ |
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.def(#func, static_cast<ret (WindowsManager::*)(arg0, arg1, arg2)>( \ |
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&WindowsManager::func)) |
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#define GV_DEF4(func, ret, arg0, arg1, arg2, arg3) \ |
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.def(#func, static_cast<ret (WindowsManager::*)(arg0, arg1, arg2, arg3)>( \ |
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&WindowsManager::func)) |
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struct to_python_converters { |
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static PyObject* convert(const osgVector3& v) { |
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return bp::incref(bp::make_tuple(v[0], v[1], v[2]).ptr()); |
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} |
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static PyObject* convert(const osgQuat& v) { |
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return bp::incref(bp::make_tuple(v[0], v[1], v[2], v[3]).ptr()); |
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} |
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static PyObject* convert(const gv::Configuration& v) { |
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return bp::incref(bp::make_tuple(v.position[0], v.position[1], |
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v.position[2], v.quat[0], v.quat[1], |
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v.quat[2], v.quat[3]) |
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.ptr()); |
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} |
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}; |
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template <typename V> |
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inline void set(V& v, int i, const double& d) { |
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v[i] = (float)d; |
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} |
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inline void set(gv::Configuration& v, int i, const double& d) { |
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if (i < 3) |
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v.position[i] = (float)d; |
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else |
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v.quat[i - 3] = d; |
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} |
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template <typename V, int N> |
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struct from_python_converters { |
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from_python_converters() { |
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boost::python::converter::registry::push_back(&convertible, &construct, |
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boost::python::type_id<V>()); |
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} |
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// Determine if obj_ptr can be converted in a QString |
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static void* convertible(PyObject* obj_ptr) { |
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if (!PyIter_Check(obj_ptr)) return 0; |
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PyObject* iterator = PyObject_GetIter(obj_ptr); |
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PyObject* item; |
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for (int i = 0; i < N; ++i) { |
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item = PyIter_Next(iterator); |
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if (item == NULL) { |
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Py_DECREF(iterator); |
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return 0; |
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} |
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bool isFloat = PyFloat_Check(item); |
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Py_DECREF(item); |
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if (!isFloat) { |
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Py_DECREF(iterator); |
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return 0; |
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} |
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} |
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item = PyIter_Next(iterator); |
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Py_DECREF(iterator); |
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if (item != NULL) { |
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Py_DECREF(item); |
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return 0; |
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} |
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return obj_ptr; |
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} |
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// Convert obj_ptr into a QString |
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static void construct( |
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PyObject* obj_ptr, |
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boost::python::converter::rvalue_from_python_stage1_data* data) { |
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// Grab pointer to memory into which to construct the new QString |
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void* storage = |
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((boost::python::converter::rvalue_from_python_storage<V>*)data) |
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->storage.bytes; |
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// in-place construct the new QString using the character data |
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// extraced from the python object |
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new (storage) V; |
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V& value(*(V*)storage); |
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PyObject* iterator = PyObject_GetIter(obj_ptr); |
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for (int i = 0; i < N; ++i) { |
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PyObject* item = PyIter_Next(iterator); |
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set(value, i, PyFloat_AsDouble(item)); |
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Py_DECREF(item); |
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} |
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Py_DECREF(iterator); |
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// Stash the memory chunk pointer for later use by boost.python |
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data->convertible = storage; |
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} |
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}; |
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void exposeOSG() { |
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bp::class_<std::vector<std::string> >("string_vector") |
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.def(bp::vector_indexing_suite<std::vector<std::string> >()); |
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bp::to_python_converter<osgVector3, to_python_converters>(); |
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bp::to_python_converter<osgQuat, to_python_converters>(); |
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bp::to_python_converter<gv::Configuration, to_python_converters>(); |
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from_python_converters<osgVector3, 3>(); |
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from_python_converters<osgQuat, 4>(); |
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from_python_converters<gv::Configuration, 7>(); |
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} |
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void exposeGV() { |
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typedef gepetto::viewer::WindowsManager WindowsManager; |
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bp::class_<WindowsManager, noncopyable>("WindowsManagerBase", bp::no_init) GV_DEF( |
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getNodeList) GV_DEF(getGroupNodeList) GV_DEF(getSceneList) GV_DEF(getWindowList) |
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GV_DEF(getWindowID) |
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GV_DEF(createScene) GV_DEF(createSceneWithFloor) GV_DEF( |
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addSceneToWindow) |
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GV_DEF(attachCameraToNode) GV_DEF(detachCamera) |
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GV_DEF(nodeExists) |
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GV_DEF(addFloor) GV_DEF(addBox) GV_DEF(addCapsule) GV_DEF(resizeCapsule) GV_DEF( |
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addArrow) GV_DEF(resizeArrow) GV_DEF(addRod) GV_DEF(addMesh) GV_DEF(removeLightSources) |
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GV_DEF(addCone) GV_DEF(addCylinder) GV_DEF(addSphere) GV_DEF( |
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addLight) GV_DEF(addLine) GV_DEF(setLineStartPoint) GV_DEF(setLineEndPoint) |
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GV_DEF(setLineExtremalPoints) GV_DEF(addCurve) GV_DEF( |
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setCurvePoints) GV_DEF(setCurveMode) GV_DEF(setCurvePointsSubset) |
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GV_DEF(setCurveLineWidth) GV_DEF(addSquareFace) GV_DEF( |
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setTexture) GV_DEF(addTriangleFace) GV_DEF(addXYZaxis) |
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GV_DEF(createRoadmap) GV_DEF( |
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addEdgeToRoadmap) GV_DEF(addNodeToRoadmap) |
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GV_DEF2( |
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addURDF, bool, const std::string&, |
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const std:: |
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string&) GV_DEF3(addURDF, |
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bool, |
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const std:: |
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string&, |
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const std:: |
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string&, |
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const std:: |
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string&) |
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GV_DEF2( |
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addUrdfCollision, bool, |
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const std::string&, |
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const std:: |
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string&) GV_DEF3(addUrdfCollision, |
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bool, |
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const std:: |
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string&, |
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const std:: |
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string&, |
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const std:: |
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string&) |
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GV_DEF3( |
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addUrdfObjects, void, |
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const std::string&, |
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const std::string&, |
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bool) GV_DEF4(addUrdfObjects, |
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void, |
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const std:: |
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string&, |
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const std:: |
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string&, |
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const std:: |
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string&, |
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bool) |
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GV_DEF(createGroup) GV_DEF( |
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addToGroup) |
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GV_DEF(removeFromGroup) GV_DEF( |
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deleteNode) |
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GV_DEF( |
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applyConfiguration) |
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GV_DEF( |
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applyConfigurations) |
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GV_DEF( |
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addLandmark) |
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GV_DEF( |
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deleteLandmark) |
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// virtual Configuration getStaticTransform (const std::string& nodeName) |
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// const; |
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GV_DEF(setStaticTransform) |
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GV_DEF(setVisibility) GV_DEF2( |
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setScale, bool, const std::string&, |
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const osgVector3&) GV_DEF2(setScale, bool, const std::string&, |
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const float&) GV_DEF2(setScale, bool, |
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const std:: |
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string&, |
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const int&) |
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GV_DEF(setColor) GV_DEF(setWireFrameMode) GV_DEF(setLightingMode) GV_DEF( |
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setHighlight) GV_DEF2(setAlpha, bool, const std::string&, |
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const float&) GV_DEF2(setAlpha, bool, |
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const std:: |
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string&, |
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const int&) |
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GV_DEF(setCaptureTransform) GV_DEF( |
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captureTransformOnRefresh) GV_DEF(captureTransform) |
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GV_DEF(writeBlenderScript) GV_DEF(writeNodeFile) GV_DEF( |
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writeWindowFile) GV_DEF(setBackgroundColor1) |
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GV_DEF(setBackgroundColor2) GV_DEF( |
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getCameraTransform) GV_DEF(setCameraTransform) |
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GV_DEF(getPropertyNames) GV_DEF(getPropertyTypes) |
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GV_DEF(getStringProperty) GV_DEF( |
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setStringProperty) GV_DEF(getVector2Property) |
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GV_DEF(setVector2Property) GV_DEF( |
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getVector3Property) |
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GV_DEF(setVector3Property) GV_DEF( |
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getColorProperty) |
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GV_DEF(setColorProperty) GV_DEF( |
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getFloatProperty) |
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GV_DEF(setFloatProperty) GV_DEF( |
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getBoolProperty) |
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GV_DEF(setBoolProperty) |
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GV_DEF(getIntProperty) |
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GV_DEF( |
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setIntProperty) |
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// WindowManagerPtr_t getWindowManager (const WindowID wid, bool |
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// throwIfDoesntExist = false) const; GroupNodePtr_t getGroup (const |
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// std::string groupName, bool throwIfDoesntExist = false) const; |
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// NodePtr_t getNode (const std::string& nodeName, bool throwIfDoesntExist |
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// = false) const; Configuration getNodeGlobalTransform(const std::string |
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// nodeName) const; |
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; |
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} |
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void exposeGG() { |
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typedef gepetto::gui::WindowsManager WindowsManager; |
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using boost::noncopyable; |
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bp::class_<WindowsManager, bp::bases<gv::WindowsManager>, noncopyable>( |
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"WindowsManager", |
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bp::no_init) GV_DEF(captureFrame) GV_DEF(startCapture) GV_DEF(stopCapture) |
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GV_DEF(refresh) |
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GV_DEF1(createWindow, WindowsManager::WindowID, const std::string&); |
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} |
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#undef GV_DEF |
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#undef GV_DEF0 |
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#undef GV_DEF1 |
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#undef GV_DEF2 |
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#undef GV_DEF3 |
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#undef GV_DEF4 |
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