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// |
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// Software License Agreement (BSD License) |
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// |
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// Copyright (c) 2019 CNRS-LAAS INRIA |
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// Author: Joseph Mirabel |
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// All rights reserved. |
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// |
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// Redistribution and use in source and binary forms, with or without |
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// modification, are permitted provided that the following conditions |
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// are met: |
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// |
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// * Redistributions of source code must retain the above copyright |
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// notice, this list of conditions and the following disclaimer. |
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// * Redistributions in binary form must reproduce the above |
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// copyright notice, this list of conditions and the following |
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// disclaimer in the documentation and/or other materials provided |
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// with the distribution. |
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// * Neither the name of CNRS-LAAS. nor the names of its |
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// contributors may be used to endorse or promote products derived |
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// from this software without specific prior written permission. |
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// |
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
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// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
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// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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// POSSIBILITY OF SUCH DAMAGE. |
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#include <eigenpy/eigenpy.hpp> |
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#include "fcl.hh" |
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#include <hpp/fcl/fwd.hh> |
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#include <hpp/fcl/distance.h> |
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#ifdef HPP_FCL_HAS_DOXYGEN_AUTODOC |
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#include "doxygen_autodoc/functions.h" |
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#include "doxygen_autodoc/hpp/fcl/collision_data.h" |
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#endif |
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using namespace boost::python; |
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using namespace hpp::fcl; |
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namespace dv = doxygen::visitor; |
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struct DistanceRequestWrapper { |
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static Vec3f getNearestPoint1(const DistanceResult& res) { |
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return res.nearest_points[0]; |
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} |
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static Vec3f getNearestPoint2(const DistanceResult& res) { |
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return res.nearest_points[1]; |
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} |
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}; |
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void exposeDistanceAPI() { |
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✓✗ |
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if (!eigenpy::register_symbolic_link_to_registered_type<DistanceRequest>()) { |
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✓✗ |
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class_<DistanceRequest, bases<QueryRequest> >( |
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"DistanceRequest", doxygen::class_doc<DistanceRequest>(), |
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✓✗ |
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init<optional<bool, FCL_REAL, FCL_REAL> >( |
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✓✗✓✗
✓✗✓✗
✓✗ |
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(arg("self"), arg("enable_nearest_points"), arg("rel_err"), |
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✓✗ |
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arg("abs_err")), |
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"Constructor")) |
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✓✗ |
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.DEF_RW_CLASS_ATTRIB(DistanceRequest, enable_nearest_points) |
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✓✗ |
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.DEF_RW_CLASS_ATTRIB(DistanceRequest, rel_err) |
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✓✗ |
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.DEF_RW_CLASS_ATTRIB(DistanceRequest, abs_err); |
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} |
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if (!eigenpy::register_symbolic_link_to_registered_type< |
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✓✗ |
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std::vector<DistanceRequest> >()) { |
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class_<std::vector<DistanceRequest> >("StdVec_DistanceRequest") |
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✓✗ |
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.def(vector_indexing_suite<std::vector<DistanceRequest> >()); |
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} |
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✓✗ |
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if (!eigenpy::register_symbolic_link_to_registered_type<DistanceResult>()) { |
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class_<DistanceResult, bases<QueryResult> >( |
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"DistanceResult", doxygen::class_doc<DistanceResult>(), no_init) |
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✓✗ |
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.def(dv::init<DistanceResult>()) |
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✓✗ |
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.DEF_RW_CLASS_ATTRIB(DistanceResult, min_distance) |
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✓✗ |
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.DEF_RW_CLASS_ATTRIB(DistanceResult, normal) |
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//.def_readwrite ("nearest_points", &DistanceResult::nearest_points) |
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.def("getNearestPoint1", &DistanceRequestWrapper::getNearestPoint1, |
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✓✗ |
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doxygen::class_attrib_doc<DistanceResult>("nearest_points")) |
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.def("getNearestPoint2", &DistanceRequestWrapper::getNearestPoint2, |
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✓✗ |
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doxygen::class_attrib_doc<DistanceResult>("nearest_points")) |
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✓✗ |
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.DEF_RO_CLASS_ATTRIB(DistanceResult, o1) |
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✓✗ |
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.DEF_RO_CLASS_ATTRIB(DistanceResult, o2) |
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✓✗ |
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.DEF_RW_CLASS_ATTRIB(DistanceResult, b1) |
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✓✗ |
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.DEF_RW_CLASS_ATTRIB(DistanceResult, b2) |
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.def("clear", &DistanceResult::clear, |
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✓✗ |
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doxygen::member_func_doc(&DistanceResult::clear)); |
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} |
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if (!eigenpy::register_symbolic_link_to_registered_type< |
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✓✗ |
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std::vector<DistanceResult> >()) { |
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class_<std::vector<DistanceResult> >("StdVec_DistanceResult") |
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✓✗ |
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.def(vector_indexing_suite<std::vector<DistanceResult> >()); |
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} |
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doxygen::def( |
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"distance", |
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static_cast<FCL_REAL (*)(const CollisionObject*, const CollisionObject*, |
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const DistanceRequest&, DistanceResult&)>( |
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&distance)); |
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doxygen::def( |
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"distance", |
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static_cast<FCL_REAL (*)(const CollisionGeometry*, const Transform3f&, |
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const CollisionGeometry*, const Transform3f&, |
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DistanceRequest&, DistanceResult&)>(&distance)); |
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class_<ComputeDistance>("ComputeDistance", |
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doxygen::class_doc<ComputeDistance>(), no_init) |
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.def(dv::init<ComputeDistance, const CollisionGeometry*, |
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✓✗ |
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const CollisionGeometry*>()) |
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.def("__call__", |
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static_cast<FCL_REAL (ComputeDistance::*)( |
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const Transform3f&, const Transform3f&, DistanceRequest&, |
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✓✗ |
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DistanceResult&) const>(&ComputeDistance::operator())); |
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} |