GCC Code Coverage Report

Directory: ./
File: include/pinocchio/bindings/python/collision/broadphase-manager.hpp
Date: 2024-08-27 18:20:05
Exec Total Coverage
Lines: 28 29 96.6%
Branches: 24 48 50.0%
Line Branch Exec Source
1 //
2 // Copyright (c) 2022 INRIA
3 //
4
5 #ifndef __pinocchio_python_collision_broadphase_manager_hpp__
6 #define __pinocchio_python_collision_broadphase_manager_hpp__
7
8 #include "pinocchio/collision/broadphase-manager.hpp"
9 #include "pinocchio/bindings/python/collision/broadphase-manager-base.hpp"
10
11 #include <eigenpy/eigen-to-python.hpp>
12 #include <boost/algorithm/string/replace.hpp>
13
14 namespace pinocchio
15 {
16 namespace python
17 {
18 namespace bp = boost::python;
19
20 template<typename Derived>
21 struct BroadPhaseManagerPythonVisitor
22 : public bp::def_visitor<BroadPhaseManagerPythonVisitor<Derived>>
23 {
24 public:
25 typedef BroadPhaseManagerTpl<Derived> Self;
26 typedef typename Self::CollisionObjectVector CollisionObjectVector;
27
28 /* --- Exposing C++ API to python through the handler ----------------- */
29 template<class PyClass>
30 240 void visit(PyClass & cl) const
31 {
32 cl
33
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 240 .def(bp::init<const Model *, const GeometryModel *, GeometryData *>(
34 bp::args("self", "model", "geometry_model", "geometry_data"), "Default constructor")
35 [bp::with_custodian_and_ward<1, 2>(), bp::with_custodian_and_ward<1, 3>(),
36 ✗ bp::with_custodian_and_ward<1, 4>()])
37
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 720 .def(bp::init<const Self &>(
38
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 240 bp::args("self", "other"), "Copy constructor")[bp::with_custodian_and_ward<1, 2>()])
39
40 480 .def(
41
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 240 "getCollisionObjectInflation", &Self::getCollisionObjectInflation, bp::arg("self"),
42 "Returns the inflation value related to each collision object.",
43 240 bp::return_internal_reference<>())
44
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 480 .def(
45 "getCollisionObjects",
46
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 240 (CollisionObjectVector & (Self::*)()) & Self::getCollisionObjects, bp::arg("self"),
47 240 bp::return_internal_reference<>())
48
49
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 240 .def(
50
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 240 "getManager", (Derived & (Self::*)()) & Self::getManager, bp::arg("self"),
51 240 "Returns the internal FCL manager", bp::return_internal_reference<>())
52
53 480 .def(
54
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 240 "getCollisionObjectStatus", &Self::getCollisionObjectStatus, bp::arg("self"),
55 "Returns the status of the collision object.",
56 240 bp::return_value_policy<bp::copy_const_reference>())
57
58
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 240 .def(BroadPhaseManagerBasePythonVisitor<Self>());
59 240 }
60
61 /* --- Expose --------------------------------------------------------- */
62 240 static void expose()
63 {
64
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 240 std::string derived_name = boost::typeindex::type_id<Derived>().pretty_name();
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 240 boost::algorithm::replace_all(derived_name, "hpp::fcl::", "");
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 240 const std::string class_name = "BroadPhaseManager_" + derived_name;
67
68
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 240 const std::string class_doc = "Broad phase manager associated to hpp::fcl::" + derived_name;
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 240 bp::class_<Self> registered_class(class_name.c_str(), class_doc.c_str(), bp::no_init);
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 240 registered_class.def(BroadPhaseManagerPythonVisitor());
71
72 typedef BroadPhaseManagerBase<Self> Base;
73
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 240 bp::objects::register_dynamic_id<Base>();
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 240 bp::objects::register_conversion<Self, Base>(false);
75 240 }
76 };
77
78 } // namespace python
79 } // namespace pinocchio
80
81 #endif // ifndef __pinocchio_python_collision_broadphase_manager_hpp__
82