| Directory: | ./ |
|---|---|
| File: | include/pinocchio/bindings/python/collision/geometry-functors.hpp |
| Date: | 2024-08-27 18:20:05 |
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| Lines: | 10 | 14 | 71.4% |
| Branches: | 12 | 24 | 50.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2021 INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #ifndef __pinocchio_python_collision_geometry_functors_hpp__ | ||
| 6 | #define __pinocchio_python_collision_geometry_functors_hpp__ | ||
| 7 | |||
| 8 | #include "pinocchio/bindings/python/utils/registration.hpp" | ||
| 9 | |||
| 10 | #include "pinocchio/multibody/geometry.hpp" | ||
| 11 | |||
| 12 | namespace pinocchio | ||
| 13 | { | ||
| 14 | namespace python | ||
| 15 | { | ||
| 16 | namespace bp = boost::python; | ||
| 17 | |||
| 18 | template<typename GeometryFunctor> | ||
| 19 | struct GeometryFunctorPythonVisitor | ||
| 20 | : public boost::python::def_visitor<GeometryFunctorPythonVisitor<GeometryFunctor>> | ||
| 21 | { | ||
| 22 | |||
| 23 | template<class PyClass> | ||
| 24 | 80 | void visit(PyClass & cl) const | |
| 25 | { | ||
| 26 |
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80 | const std::string class_name = bp::type_id<GeometryFunctor>().name(); |
| 27 | |||
| 28 |
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160 | cl.def(bp::init<const GeometryObject &, const GeometryObject &>( |
| 29 | bp::args("self", "geometry_object1", "geometry_object2"), | ||
| 30 |
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160 | (std::string("Constructor of a ") + class_name).c_str())) |
| 31 |
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160 | .def( |
| 32 | "run", &GeometryFunctor::run, bp::args("self", "tf1", "tf2", "request", "result"), | ||
| 33 | "Call the function and return the result") | ||
| 34 | |||
| 35 |
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80 | .def( |
| 36 | "getGeometryObject1", &GeometryFunctor::getGeometryObject1, | ||
| 37 | ✗ | bp::return_value_policy<bp::copy_const_reference>()) | |
| 38 |
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80 | .def( |
| 39 | "getGeometryObject2", &GeometryFunctor::getGeometryObject2, | ||
| 40 | 80 | bp::return_value_policy<bp::copy_const_reference>()) | |
| 41 | |||
| 42 |
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80 | .def("print", &print); |
| 43 | 80 | } | |
| 44 | |||
| 45 | ✗ | static void print(const GeometryFunctor & self) | |
| 46 | { | ||
| 47 | ✗ | std::cout << "address #1: " << &self.getGeometryObject1() << std::endl; | |
| 48 | ✗ | std::cout << "address #2: " << &self.getGeometryObject2() << std::endl; | |
| 49 | } | ||
| 50 | }; | ||
| 51 | |||
| 52 | } // namespace python | ||
| 53 | } // namespace pinocchio | ||
| 54 | |||
| 55 | #endif // ifndef __pinocchio_python_collision_geometry_functors_hpp__ | ||
| 56 |