| Directory: | ./ |
|---|---|
| File: | bindings/python/collision/expose-collision.cpp |
| Date: | 2024-08-27 18:20:05 |
| Exec | Total | Coverage | |
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| Lines: | 28 | 31 | 90.3% |
| Branches: | 33 | 66 | 50.0% |
| Line | Branch | Exec | Source |
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| 1 | // | ||
| 2 | // Copyright (c) 2024 INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #include "pinocchio/fwd.hpp" | ||
| 6 | #include "pinocchio/bindings/python/utils/std-aligned-vector.hpp" | ||
| 7 | #include "pinocchio/bindings/python/collision/geometry-functors.hpp" | ||
| 8 | #include "pinocchio/bindings/python/collision/collision.hpp" | ||
| 9 | |||
| 10 | #include "pinocchio/collision/collision.hpp" | ||
| 11 | #include "pinocchio/collision/distance.hpp" | ||
| 12 | |||
| 13 | #include <Eigen/Core> | ||
| 14 | |||
| 15 | namespace pinocchio | ||
| 16 | { | ||
| 17 | namespace python | ||
| 18 | { | ||
| 19 | |||
| 20 | template< | ||
| 21 | typename Scalar, | ||
| 22 | int Options, | ||
| 23 | template<typename, int> | ||
| 24 | class JointCollectionTpl, | ||
| 25 | typename ConfigVectorType> | ||
| 26 | ✗ | static std::size_t computeDistances_proxy( | |
| 27 | const ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 28 | DataTpl<Scalar, Options, JointCollectionTpl> & data, | ||
| 29 | const GeometryModel & geom_model, | ||
| 30 | GeometryData & geom_data, | ||
| 31 | const Eigen::MatrixBase<ConfigVectorType> & q) | ||
| 32 | { | ||
| 33 | ✗ | return computeDistances(model, data, geom_model, geom_data, q); | |
| 34 | } | ||
| 35 | |||
| 36 | 20 | void exposeCollision() | |
| 37 | { | ||
| 38 | using namespace Eigen; | ||
| 39 | |||
| 40 | 20 | bp::register_ptr_to_python<std::shared_ptr<hpp::fcl::CollisionGeometry const>>(); | |
| 41 | |||
| 42 | 20 | bp::class_<ComputeCollision>( | |
| 43 | "ComputeCollision", "Collision function between two geometry objects.\n\n", bp::no_init) | ||
| 44 |
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20 | .def(GeometryFunctorPythonVisitor<ComputeCollision>()); |
| 45 |
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20 | StdAlignedVectorPythonVisitor<ComputeCollision>::expose("StdVec_ComputeCollision"); |
| 46 | |||
| 47 | 20 | bp::class_<ComputeDistance>( | |
| 48 | "ComputeDistance", "Distance function between two geometry objects.\n\n", bp::no_init) | ||
| 49 |
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20 | .def(GeometryFunctorPythonVisitor<ComputeDistance>()); |
| 50 |
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20 | StdAlignedVectorPythonVisitor<ComputeDistance>::expose("StdVec_ComputeDistance"); |
| 51 | |||
| 52 |
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20 | bp::def( |
| 53 | "computeCollision", | ||
| 54 | static_cast<bool (*)( | ||
| 55 | const GeometryModel &, GeometryData &, const PairIndex, fcl::CollisionRequest &)>( | ||
| 56 | computeCollision), | ||
| 57 | 40 | bp::args("geometry_model", "geometry_data", "pair_index", "collision_request"), | |
| 58 | "Check if the collision objects of a collision pair for a given Geometry Model and " | ||
| 59 | "Data are in collision.\n" | ||
| 60 | "The collision pair is given by the two index of the collision objects."); | ||
| 61 | |||
| 62 |
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20 | bp::def( |
| 63 | "computeCollision", | ||
| 64 | static_cast<bool (*)(const GeometryModel &, GeometryData &, const PairIndex)>( | ||
| 65 | computeCollision), | ||
| 66 | 40 | bp::args("geometry_model", "geometry_data", "pair_index"), | |
| 67 | "Check if the collision objects of a collision pair for a given Geometry Model and " | ||
| 68 | "Data are in collision.\n" | ||
| 69 | "The collision pair is given by the two index of the collision objects."); | ||
| 70 | |||
| 71 |
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20 | bp::def( |
| 72 | "computeCollisions", | ||
| 73 | (bool (*)(const GeometryModel &, GeometryData &, const bool)) & computeCollisions, | ||
| 74 |
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60 | (bp::arg("geometry_model"), bp::arg("geometry_data"), |
| 75 |
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40 | bp::arg("stop_at_first_collision") = false), |
| 76 | "Determine if all collision pairs are effectively in collision or not."); | ||
| 77 | |||
| 78 |
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20 | bp::def( |
| 79 | "computeCollisions", &computeCollisions<double, 0, JointCollectionDefaultTpl, VectorXd>, | ||
| 80 |
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60 | (bp::arg("model"), bp::arg("data"), bp::arg("geometry_model"), bp::arg("geometry_data"), |
| 81 |
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60 | bp::arg("q"), bp::arg("stop_at_first_collision") = false), |
| 82 | "Update the geometry for a given configuration and " | ||
| 83 | "determine if all collision pairs are effectively in collision or not."); | ||
| 84 | |||
| 85 |
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20 | bp::def( |
| 86 | "computeDistance", &computeDistance, | ||
| 87 |
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40 | bp::args("geometry_model", "geometry_data", "pair_index"), |
| 88 | "Compute the distance between the two geometry objects of a given collision pair for " | ||
| 89 | "a GeometryModel and associated GeometryData.", | ||
| 90 | ✗ | bp::with_custodian_and_ward_postcall< | |
| 91 | 0, 2, bp::return_value_policy<bp::reference_existing_object>>()); | ||
| 92 | |||
| 93 |
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20 | bp::def( |
| 94 | "computeDistances", | ||
| 95 | (std::size_t(*)(const GeometryModel &, GeometryData &)) & computeDistances, | ||
| 96 | 40 | bp::args("geometry_model", "geometry_data"), | |
| 97 | "Compute the distance between each collision pair for a given GeometryModel and " | ||
| 98 | "associated GeometryData."); | ||
| 99 | |||
| 100 |
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20 | bp::def( |
| 101 | "computeDistances", &computeDistances_proxy<double, 0, JointCollectionDefaultTpl, VectorXd>, | ||
| 102 | 40 | bp::args("model", "data", "geometry_model", "geometry_data", "q"), | |
| 103 | "Update the geometry for a given configuration and " | ||
| 104 | "compute the distance between each collision pair"); | ||
| 105 | |||
| 106 |
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20 | bp::def( |
| 107 | "computeBodyRadius", &computeBodyRadius<double, 0, JointCollectionDefaultTpl>, | ||
| 108 | 40 | bp::args("model", "geometry_model", "geometry_data"), | |
| 109 | "Compute the radius of the geometry volumes attached to every joints."); | ||
| 110 | |||
| 111 | 20 | exposeBroadphase(); | |
| 112 | 20 | } | |
| 113 | |||
| 114 | } // namespace python | ||
| 115 | } // namespace pinocchio | ||
| 116 |