Directory: | ./ |
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File: | include/pinocchio/bindings/python/collision/broadphase-manager.hpp |
Date: | 2024-08-27 18:20:05 |
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Lines: | 28 | 29 | 96.6% |
Branches: | 24 | 48 | 50.0% |
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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(); |
65 |
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240 | boost::algorithm::replace_all(derived_name, "hpp::fcl::", ""); |
66 |
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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; |
69 |
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240 | bp::class_<Self> registered_class(class_name.c_str(), class_doc.c_str(), bp::no_init); |
70 |
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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>(); |
74 |
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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 |