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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 <eigenpy/geometry.hpp> |
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#include <hpp/fcl/fwd.hh> |
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#include <hpp/fcl/math/transform.h> |
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#include "fcl.hh" |
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#ifdef HPP_FCL_HAS_DOXYGEN_AUTODOC |
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#include "doxygen_autodoc/hpp/fcl/math/transform.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 TriangleWrapper { |
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static Triangle::index_type getitem(const Triangle& t, int i) { |
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if (i >= 3 || i <= -3) |
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PyErr_SetString(PyExc_IndexError, "Index out of range"); |
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return t[static_cast<hpp::fcl::Triangle::index_type>(i % 3)]; |
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} |
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static void setitem(Triangle& t, int i, Triangle::index_type v) { |
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if (i >= 3 || i <= -3) |
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PyErr_SetString(PyExc_IndexError, "Index out of range"); |
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t[static_cast<hpp::fcl::Triangle::index_type>(i % 3)] = v; |
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} |
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}; |
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void exposeMaths() { |
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eigenpy::enableEigenPy(); |
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✓✗ |
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if (!eigenpy::register_symbolic_link_to_registered_type<Eigen::Quaterniond>()) |
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eigenpy::exposeQuaternion(); |
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✓✗ |
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if (!eigenpy::register_symbolic_link_to_registered_type<Eigen::AngleAxisd>()) |
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eigenpy::exposeAngleAxis(); |
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eigenpy::enableEigenPySpecific<Matrix3f>(); |
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eigenpy::enableEigenPySpecific<Vec3f>(); |
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class_<Transform3f>("Transform3f", doxygen::class_doc<Transform3f>(), no_init) |
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✓✗ |
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.def(dv::init<Transform3f>()) |
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.def(dv::init<Transform3f, const Matrix3f::MatrixBase&, |
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✓✗ |
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const Vec3f::MatrixBase&>()) |
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.def(dv::init<Transform3f, const Quaternion3f&, |
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✓✗ |
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const Vec3f::MatrixBase&>()) |
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✓✗ |
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.def(dv::init<Transform3f, const Matrix3f&>()) |
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✓✗ |
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.def(dv::init<Transform3f, const Quaternion3f&>()) |
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✓✗ |
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.def(dv::init<Transform3f, const Vec3f&>()) |
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✓✗ |
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.def(dv::init<Transform3f, const Transform3f&>()) |
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✓✗✓✗
|
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.def(dv::member_func("getQuatRotation", &Transform3f::getQuatRotation)) |
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.def("getTranslation", &Transform3f::getTranslation, |
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doxygen::member_func_doc(&Transform3f::getTranslation), |
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✓✗ |
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return_value_policy<copy_const_reference>()) |
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.def("getRotation", &Transform3f::getRotation, |
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✓✗ |
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return_value_policy<copy_const_reference>()) |
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.def("isIdentity", &Transform3f::isIdentity, |
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(bp::arg("self"), |
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✓✗✓✗
✓✗ |
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bp::arg("prec") = Eigen::NumTraits<FCL_REAL>::dummy_precision()), |
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✓✗✓✗
|
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doxygen::member_func_doc(&Transform3f::getTranslation)) |
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✓✗✓✗
|
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.def(dv::member_func("setQuatRotation", &Transform3f::setQuatRotation)) |
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.def("setTranslation", &Transform3f::setTranslation<Vec3f>) |
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✓✗ |
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.def("setRotation", &Transform3f::setRotation<Matrix3f>) |
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.def(dv::member_func("setTransform", |
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✓✗✓✗
✓✗ |
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&Transform3f::setTransform<Matrix3f, Vec3f>)) |
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.def(dv::member_func( |
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"setTransform", |
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static_cast<void (Transform3f::*)(const Quaternion3f&, const Vec3f&)>( |
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✓✗✓✗
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&Transform3f::setTransform))) |
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✓✗✓✗
|
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.def(dv::member_func("setIdentity", &Transform3f::setIdentity)) |
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✓✗✓✗
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.def(dv::member_func("Identity", &Transform3f::Identity)) |
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✓✗ |
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.staticmethod("Identity") |
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✓✗✓✗
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.def(dv::member_func("transform", &Transform3f::transform<Vec3f>)) |
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.def("inverseInPlace", &Transform3f::inverseInPlace, |
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return_internal_reference<>(), |
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✓✗ |
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doxygen::member_func_doc(&Transform3f::inverseInPlace)) |
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✓✗✓✗
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.def(dv::member_func("inverse", &Transform3f::inverse)) |
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✓✗✓✗
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.def(dv::member_func("inverseTimes", &Transform3f::inverseTimes)) |
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✓✗ |
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.def(self * self) |
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✓✗ |
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.def(self *= self) |
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✓✗ |
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.def(self == self) |
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✓✗ |
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.def(self != self); |
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class_<Triangle>("Triangle", no_init) |
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✓✗ |
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.def(dv::init<Triangle>()) |
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.def(dv::init<Triangle, Triangle::index_type, Triangle::index_type, |
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✓✗ |
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Triangle::index_type>()) |
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✓✗ |
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.def("__getitem__", &TriangleWrapper::getitem) |
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✓✗ |
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.def("__setitem__", &TriangleWrapper::setitem) |
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✓✗✓✗
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.def(dv::member_func("set", &Triangle::set)) |
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✓✗✓✗
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.def(dv::member_func("size", &Triangle::size)) |
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✓✗ |
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.staticmethod("size") |
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✓✗ |
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.def(self == self); |
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if (!eigenpy::register_symbolic_link_to_registered_type< |
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✓✗ |
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std::vector<Vec3f> >()) { |
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class_<std::vector<Vec3f> >("StdVec_Vec3f") |
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✓✗ |
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.def(vector_indexing_suite<std::vector<Vec3f> >()); |
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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<Triangle> >()) { |
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class_<std::vector<Triangle> >("StdVec_Triangle") |
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✓✗ |
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.def(vector_indexing_suite<std::vector<Triangle> >()); |
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} |
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} |