GCC Code Coverage Report

Directory: ./
File: include/pinocchio/bindings/python/multibody/geometry-data.hpp
Date: 2024-08-27 18:20:05
Exec Total Coverage
Lines: 49 49 100.0%
Branches: 66 132 50.0%
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1 //
2 // Copyright (c) 2015-2022 CNRS INRIA
3 //
4
5 #ifndef __pinocchio_python_geometry_data_hpp__
6 #define __pinocchio_python_geometry_data_hpp__
7
8 #include <eigenpy/memory.hpp>
9
10 #include "pinocchio/serialization/geometry.hpp"
11
12 #include "pinocchio/bindings/python/utils/address.hpp"
13 #include "pinocchio/bindings/python/utils/printable.hpp"
14 #include "pinocchio/bindings/python/utils/copyable.hpp"
15 #include "pinocchio/bindings/python/utils/std-vector.hpp"
16 #include "pinocchio/bindings/python/utils/registration.hpp"
17 #include "pinocchio/bindings/python/serialization/serializable.hpp"
18
19 #if EIGENPY_VERSION_AT_MOST(2, 8, 1)
20 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::GeometryData)
21 #endif
22
23 namespace pinocchio
24 {
25 namespace python
26 {
27 namespace bp = boost::python;
28
29 /* --- COLLISION PAIR --------------------------------------------------- */
30 /* --- COLLISION PAIR --------------------------------------------------- */
31 /* --- COLLISION PAIR --------------------------------------------------- */
32 struct CollisionPairPythonVisitor
33 : public boost::python::def_visitor<CollisionPairPythonVisitor>
34 {
35 20 static void expose()
36 {
37
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 20 if (!register_symbolic_link_to_registered_type<CollisionPair>())
38 {
39 20 bp::class_<CollisionPair>(
40 "CollisionPair", "Pair of ordered index defining a pair of collisions", bp::no_init)
41
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 40 .def(bp::init<>(bp::args("self"), "Empty constructor."))
42
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 20 .def(bp::init<const GeomIndex &, const GeomIndex &>(
43
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 40 bp::args("self", "index1", "index2"), "Initializer of collision pair."))
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 20 .def(PrintableVisitor<CollisionPair>())
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 20 .def(CopyableVisitor<CollisionPair>())
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 20 .def(bp::self == bp::self)
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 20 .def(bp::self != bp::self)
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 20 .def_readwrite("first", &CollisionPair::first)
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 20 .def_readwrite("second", &CollisionPair::second);
50
51
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 20 StdVectorPythonVisitor<std::vector<CollisionPair>>::expose("StdVec_CollisionPair");
52 20 serialize<std::vector<CollisionPair>>();
53 }
54 20 }
55 }; // struct CollisionPairPythonVisitor
56
57 struct GeometryDataPythonVisitor : public boost::python::def_visitor<GeometryDataPythonVisitor>
58 {
59
60 /* --- Exposing C++ API to python through the handler ----------------- */
61 template<class PyClass>
62 20 void visit(PyClass & cl) const
63 {
64 cl
65
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 20 .def(bp::init<const GeometryModel &>(
66 bp::args("self", "geometry_model"), "Default constructor from a given GeometryModel."))
67
68
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 20 .def_readwrite(
69 "oMg", &GeometryData::oMg,
70 "Vector of collision objects placement relative to the world frame.\n"
71 "note: These quantities have to be updated by calling updateGeometryPlacements.")
72
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 20 .def_readwrite(
73 "activeCollisionPairs", &GeometryData::activeCollisionPairs,
74 "Vector of active CollisionPairs")
75
76 #ifdef PINOCCHIO_WITH_HPP_FCL
77
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 20 .def_readwrite(
78 "distanceRequests", &GeometryData::distanceRequests,
79 "Defines which information should be computed by FCL for distance computations")
80
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 20 .def_readwrite(
81 "distanceResults", &GeometryData::distanceResults, "Vector of distance results.")
82
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 20 .def_readwrite(
83 "collisionRequests", &GeometryData::collisionRequests,
84 "Defines which information should be computed by FCL for collision computations.\n\n"
85 "Note: it is possible to define a security_margin and a break_distance for a collision "
86 "request.\n"
87 "Most likely, for robotics application, these thresholds will be different for each "
88 "collision pairs\n"
89 "(e.g. the two hands can have a large security margin while the two hips cannot.)")
90
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 20 .def_readwrite(
91 "collisionResults", &GeometryData::collisionResults, "Vector of collision results.")
92
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 20 .def_readwrite(
93 "collision_functors", &GeometryData::collision_functors,
94 "Vector of collision functors.")
95
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 20 .def_readwrite(
96 "distance_functors", &GeometryData::distance_functors, "Vector of distance functors.")
97
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 20 .def_readwrite(
98 "radius", &GeometryData::radius,
99 "Vector of radius of bodies, i.e. the distance between the further point of the "
100 "geometry object from the joint center.\n"
101 "note: This radius information might be usuful in continuous collision checking")
102 #endif // PINOCCHIO_WITH_HPP_FCL
103
104
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 40 .def(
105 "fillInnerOuterObjectMaps", &GeometryData::fillInnerOuterObjectMaps,
106 bp::args("self", "geometry_model"), "Fill inner and outer objects maps")
107
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 40 .def(
108 "activateCollisionPair",
109 static_cast<void (GeometryData::*)(const PairIndex)>(
110 &GeometryData::activateCollisionPair),
111 bp::args("self", "pair_id"),
112 "Activate the collsion pair pair_id in geomModel.collisionPairs if it exists.\n"
113 "note: Only active pairs are check for collision and distance computations.")
114
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 40 .def(
115 "setGeometryCollisionStatus", &GeometryData::setGeometryCollisionStatus,
116 bp::args("self", "geom_model", "geom_id", "enable_collision"),
117 "Enable or disable collision for the given geometry given by its geometry id with "
118 "all the other geometries registered in the list of collision pairs.")
119
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 60 .def(
120 "setActiveCollisionPairs", &GeometryData::setActiveCollisionPairs,
121
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 60 (bp::arg("self"), bp::arg("geometry_model"), bp::arg("collision_map"),
122
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 40 bp::arg("upper") = true),
123 "Set the collision pair association from a given input array.\n"
124 "Each entry of the input matrix defines the activation of a given collision pair.")
125
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 40 .def(
126 "deactivateCollisionPair", &GeometryData::deactivateCollisionPair,
127 bp::args("self", "pair_id"),
128 "Deactivate the collsion pair pair_id in geomModel.collisionPairs if it exists.")
129
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 40 .def(
130 "deactivateAllCollisionPairs", &GeometryData::deactivateAllCollisionPairs,
131 bp::args("self"), "Deactivate all collision pairs.")
132 #ifdef PINOCCHIO_WITH_HPP_FCL
133
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 60 .def(
134 "setSecurityMargins", &GeometryData::setSecurityMargins,
135
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 60 (bp::arg("self"), bp::arg("geometry_model"), bp::arg("security_margin_map"),
136
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 40 bp::arg("upper") = true, bp::arg("sync_distance_upper_bound") = true),
137 "Set the security margin of all the collision request in a row, according to the "
138 "values stored in the associative map.")
139 #endif // PINOCCHIO_WITH_HPP_FCL
140
141
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 20 .def(bp::self == bp::self)
142
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 20 .def(bp::self != bp::self)
143
144 ;
145 20 }
146
147 /* --- Expose --------------------------------------------------------- */
148 20 static void expose()
149 {
150
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 20 if (!register_symbolic_link_to_registered_type<GeometryData>())
151 {
152 40 bp::class_<GeometryData>(
153 "GeometryData", "Geometry data linked to a Geometry Model and a Data struct.",
154 bp::no_init)
155
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 20 .def(GeometryDataPythonVisitor())
156
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 20 .def(PrintableVisitor<GeometryData>())
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 20 .def(SerializableVisitor<GeometryData>())
159
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 20 .def(AddressVisitor<GeometryModel>());
160 }
161 20 }
162 };
163
164 } // namespace python
165 } // namespace pinocchio
166
167 #endif // ifndef __pinocchio_python_geometry_data_hpp__
168