GCC Code Coverage Report

Directory: ./
File: bindings/python/collision/expose-broadphase.cpp
Date: 2024-08-27 18:20:05
Exec Total Coverage
Lines: 29 29 100.0%
Branches: 32 64 50.0%
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1 //
2 // Copyright (c) 2022 INRIA
3 //
4
5 #include "pinocchio/bindings/python/collision/broadphase-manager.hpp"
6 #include "pinocchio/bindings/python/collision/tree-broadphase-manager.hpp"
7
8 #include "pinocchio/bindings/python/utils/std-vector.hpp"
9
10 #include "pinocchio/collision/broadphase.hpp"
11
12 #include <hpp/fcl/broadphase/broadphase_dynamic_AABB_tree.h>
13 #include <hpp/fcl/broadphase/broadphase_dynamic_AABB_tree_array.h>
14 #include <hpp/fcl/broadphase/broadphase_SSaP.h>
15 #include <hpp/fcl/broadphase/broadphase_SaP.h>
16 #include <hpp/fcl/broadphase/broadphase_bruteforce.h>
17 #include <hpp/fcl/broadphase/broadphase_interval_tree.h>
18 #include <hpp/fcl/broadphase/broadphase_spatialhash.h>
19
20 namespace pinocchio
21 {
22 namespace python
23 {
24 void exposeBroadphaseCallbacks(); // fwd
25
26 template<typename BroadPhaseManager>
27 480 void _exposeBroadphaseAlgo()
28 {
29
30 typedef BroadPhaseManager Manager;
31 typedef BroadPhaseManagerBase<BroadPhaseManager> BaseManager;
32
33
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 480 bp::def(
34 "computeCollisions", (bool (*)(BaseManager &, CollisionCallBackBase *)) & computeCollisions,
35
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 960 (bp::arg("manager"), bp::arg("callback")),
36 "Determine if all collision pairs are effectively in collision or not.\n"
37 "This function assumes that updateGeometryPlacements and broadphase_manager.update() "
38 "have been called first.");
39
40
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 480 bp::def(
41 "computeCollisions", (bool (*)(BaseManager &, const bool)) & computeCollisions,
42
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 960 (bp::arg("manager"), bp::arg("stop_at_first_collision") = false),
43 "Determine if all collision pairs are effectively in collision or not.\n"
44 "This function assumes that updateGeometryPlacements and broadphase_manager.update() "
45 "have been called first.");
46
47
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 1920 bp::def(
48 "computeCollisions",
49 (bool (*)(
50 const Model &, Data &, BaseManager &, const Eigen::MatrixBase<Eigen::VectorXd> &,
51 const bool))
52 & computeCollisions<double, 0, JointCollectionDefaultTpl, Manager, Eigen::VectorXd>,
53
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 1920 (bp::arg("model"), bp::arg("data"), bp::arg("broadphase_manager"), bp::arg("q"),
54
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 960 bp::arg("stop_at_first_collision") = false),
55 "Compute the forward kinematics, update the geometry placements and run the "
56 "collision detection using the broadphase manager.");
57
58
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 1920 bp::def(
59 "computeCollisions",
60 (bool (*)(
61 const Model &, Data &, BaseManager &, CollisionCallBackBase *,
62 const Eigen::MatrixBase<Eigen::VectorXd> &))
63 & computeCollisions<double, 0, JointCollectionDefaultTpl, Manager, Eigen::VectorXd>,
64
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 960 bp::arg("q")),
66 "Compute the forward kinematics, update the geometry placements and run the "
67 "collision detection using the broadphase manager.");
68 480 }
69
70 template<typename BroadPhaseManager>
71 240 void exposeBroadphaseAlgo()
72 {
73 240 BroadPhaseManagerPythonVisitor<BroadPhaseManager>::expose();
74 240 _exposeBroadphaseAlgo<BroadPhaseManagerTpl<BroadPhaseManager>>();
75
76 240 TreeBroadPhaseManagerPythonVisitor<BroadPhaseManager>::expose();
77 240 _exposeBroadphaseAlgo<TreeBroadPhaseManagerTpl<BroadPhaseManager>>();
78 240 }
79
80 20 void exposeBroadphase()
81 {
82 using namespace Eigen;
83 20 exposeBroadphaseCallbacks();
84
85 typedef ::hpp::fcl::CollisionObject * CollisionObjectPointer;
86
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 20 StdVectorPythonVisitor<std::vector<CollisionObjectPointer>>::expose(
87 "StdVec_FCL_CollisionObjectPointer");
88
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 20 StdVectorPythonVisitor<std::vector<CollisionObject>>::expose("StdVec_CollisionObject");
89
90 20 exposeBroadphaseAlgo<hpp::fcl::DynamicAABBTreeCollisionManager>();
91 20 exposeBroadphaseAlgo<hpp::fcl::DynamicAABBTreeArrayCollisionManager>();
92 20 exposeBroadphaseAlgo<hpp::fcl::SSaPCollisionManager>();
93 20 exposeBroadphaseAlgo<hpp::fcl::SaPCollisionManager>();
94 20 exposeBroadphaseAlgo<hpp::fcl::NaiveCollisionManager>();
95 20 exposeBroadphaseAlgo<hpp::fcl::IntervalTreeCollisionManager>();
96 // exposeBroadphaseAlgo<hpp::fcl::SpatialHashingCollisionManager<> >();
97 20 }
98 } // namespace python
99 } // namespace pinocchio
100