Directory: | ./ |
---|---|
File: | include/pinocchio/bindings/python/collision/geometry-functors.hpp |
Date: | 2024-08-27 18:20:05 |
Exec | Total | Coverage | |
---|---|---|---|
Lines: | 10 | 14 | 71.4% |
Branches: | 12 | 24 | 50.0% |
Line | Branch | Exec | Source |
---|---|---|---|
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 |
2/4✓ Branch 3 taken 40 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 40 times.
✗ Branch 7 not taken.
|
80 | const std::string class_name = bp::type_id<GeometryFunctor>().name(); |
27 | |||
28 |
4/8✓ Branch 1 taken 40 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 40 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 40 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 40 times.
✗ Branch 12 not taken.
|
160 | cl.def(bp::init<const GeometryObject &, const GeometryObject &>( |
29 | bp::args("self", "geometry_object1", "geometry_object2"), | ||
30 |
1/2✓ Branch 2 taken 40 times.
✗ Branch 3 not taken.
|
160 | (std::string("Constructor of a ") + class_name).c_str())) |
31 |
1/2✓ Branch 1 taken 40 times.
✗ Branch 2 not taken.
|
160 | .def( |
32 | "run", &GeometryFunctor::run, bp::args("self", "tf1", "tf2", "request", "result"), | ||
33 | "Call the function and return the result") | ||
34 | |||
35 |
1/2✓ Branch 1 taken 40 times.
✗ Branch 2 not taken.
|
80 | .def( |
36 | "getGeometryObject1", &GeometryFunctor::getGeometryObject1, | ||
37 | ✗ | bp::return_value_policy<bp::copy_const_reference>()) | |
38 |
1/2✓ Branch 1 taken 40 times.
✗ Branch 2 not taken.
|
80 | .def( |
39 | "getGeometryObject2", &GeometryFunctor::getGeometryObject2, | ||
40 | 80 | bp::return_value_policy<bp::copy_const_reference>()) | |
41 | |||
42 |
2/4✓ Branch 1 taken 40 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 40 times.
✗ Branch 5 not taken.
|
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 |