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// |
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// Software License Agreement (BSD License) |
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// |
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// Copyright (c) 2020 CNRS-LAAS |
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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/narrowphase/gjk.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/narrowphase/gjk.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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using hpp::fcl::details::EPA; |
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using hpp::fcl::details::GJK; |
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using hpp::fcl::details::MinkowskiDiff; |
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void exposeGJK() { |
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✓✗ |
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if (!eigenpy::register_symbolic_link_to_registered_type<GJK::Status>()) { |
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enum_<GJK::Status>("GJKStatus") |
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✓✗ |
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.value("Valid", GJK::Valid) |
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.value("Inside", GJK::Inside) |
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.value("Failed", GJK::Failed) |
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✓✗ |
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.export_values(); |
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} |
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✓✗ |
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if (!eigenpy::register_symbolic_link_to_registered_type<MinkowskiDiff>()) { |
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class_<MinkowskiDiff>("MinkowskiDiff", doxygen::class_doc<MinkowskiDiff>(), |
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no_init) |
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✓✗ |
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.def(doxygen::visitor::init<MinkowskiDiff>()) |
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.def("set", |
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static_cast<void (MinkowskiDiff::*)( |
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const ShapeBase*, const ShapeBase*)>(&MinkowskiDiff::set), |
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doxygen::member_func_doc( |
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static_cast<void (MinkowskiDiff::*)( |
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const ShapeBase*, const ShapeBase*)>(&MinkowskiDiff::set))) |
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.def("set", |
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static_cast<void (MinkowskiDiff::*)( |
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const ShapeBase*, const ShapeBase*, const Transform3f& tf0, |
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const Transform3f& tf1)>(&MinkowskiDiff::set), |
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doxygen::member_func_doc( |
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static_cast<void (MinkowskiDiff::*)( |
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const ShapeBase*, const ShapeBase*, const Transform3f& tf0, |
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✓✗ |
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const Transform3f& tf1)>(&MinkowskiDiff::set))) |
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✓✗✓✗
✓✗ |
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.DEF_CLASS_FUNC(MinkowskiDiff, support0) |
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.DEF_CLASS_FUNC(MinkowskiDiff, support1) |
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.DEF_CLASS_FUNC(MinkowskiDiff, support) |
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.DEF_RW_CLASS_ATTRIB(MinkowskiDiff, inflation) |
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.DEF_RW_CLASS_ATTRIB(MinkowskiDiff, normalize_support_direction); |
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} |
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✓✗ |
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if (!eigenpy::register_symbolic_link_to_registered_type<GJKVariant>()) { |
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enum_<GJKVariant>("GJKVariant") |
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.value("DefaultGJK", GJKVariant::DefaultGJK) |
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.value("NesterovAcceleration", GJKVariant::NesterovAcceleration) |
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.export_values(); |
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} |
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if (!eigenpy::register_symbolic_link_to_registered_type< |
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✓✗ |
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GJKConvergenceCriterion>()) { |
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enum_<GJKConvergenceCriterion>("GJKConvergenceCriterion") |
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.value("VDB", GJKConvergenceCriterion::VDB) |
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.value("DualityGap", GJKConvergenceCriterion::DualityGap) |
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.value("Hybrid", GJKConvergenceCriterion::Hybrid) |
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.export_values(); |
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} |
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if (!eigenpy::register_symbolic_link_to_registered_type< |
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✓✗ |
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GJKConvergenceCriterionType>()) { |
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enum_<GJKConvergenceCriterionType>("GJKConvergenceCriterionType") |
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.value("Absolute", GJKConvergenceCriterionType::Absolute) |
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.value("Relative", GJKConvergenceCriterionType::Relative) |
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.export_values(); |
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} |
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✓✗ |
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if (!eigenpy::register_symbolic_link_to_registered_type<GJK>()) { |
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class_<GJK>("GJK", doxygen::class_doc<GJK>(), no_init) |
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✓✗ |
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.def(doxygen::visitor::init<GJK, unsigned int, FCL_REAL>()) |
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.DEF_RW_CLASS_ATTRIB(GJK, distance) |
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.DEF_RW_CLASS_ATTRIB(GJK, ray) |
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.DEF_RW_CLASS_ATTRIB(GJK, support_hint) |
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.DEF_RW_CLASS_ATTRIB(GJK, gjk_variant) |
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.DEF_RW_CLASS_ATTRIB(GJK, convergence_criterion) |
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.DEF_RW_CLASS_ATTRIB(GJK, convergence_criterion_type) |
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✓✗✓✗
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.DEF_CLASS_FUNC(GJK, evaluate) |
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.DEF_CLASS_FUNC(GJK, hasClosestPoints) |
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.DEF_CLASS_FUNC(GJK, hasPenetrationInformation) |
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.DEF_CLASS_FUNC(GJK, getClosestPoints) |
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.DEF_CLASS_FUNC(GJK, setDistanceEarlyBreak) |
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.DEF_CLASS_FUNC(GJK, getGuessFromSimplex) |
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.DEF_CLASS_FUNC(GJK, getIterations); |
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} |
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} |