| Directory: | ./ |
|---|---|
| File: | include/pinocchio/bindings/python/multibody/geometry-model.hpp |
| Date: | 2025-02-12 21:03:38 |
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| Lines: | 39 | 39 | 100.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2015-2023 CNRS INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #ifndef __pinocchio_python_geometry_model_hpp__ | ||
| 6 | #define __pinocchio_python_geometry_model_hpp__ | ||
| 7 | |||
| 8 | #include <eigenpy/memory.hpp> | ||
| 9 | |||
| 10 | #include "pinocchio/bindings/python/utils/address.hpp" | ||
| 11 | #include "pinocchio/bindings/python/utils/printable.hpp" | ||
| 12 | #include "pinocchio/bindings/python/utils/copyable.hpp" | ||
| 13 | #include "pinocchio/bindings/python/utils/registration.hpp" | ||
| 14 | #include "pinocchio/bindings/python/utils/pickle.hpp" | ||
| 15 | #include "pinocchio/bindings/python/serialization/serializable.hpp" | ||
| 16 | |||
| 17 | #include "pinocchio/multibody/geometry.hpp" | ||
| 18 | |||
| 19 | #if EIGENPY_VERSION_AT_MOST(2, 8, 1) | ||
| 20 | EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::GeometryModel) | ||
| 21 | #endif | ||
| 22 | |||
| 23 | namespace pinocchio | ||
| 24 | { | ||
| 25 | namespace python | ||
| 26 | { | ||
| 27 | namespace bp = boost::python; | ||
| 28 | |||
| 29 | struct GeometryModelPythonVisitor | ||
| 30 | : public boost::python::def_visitor<GeometryModelPythonVisitor> | ||
| 31 | { | ||
| 32 | public: | ||
| 33 | /* --- Exposing C++ API to python through the handler ----------------- */ | ||
| 34 | template<class PyClass> | ||
| 35 | 65 | void visit(PyClass & cl) const | |
| 36 | { | ||
| 37 |
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65 | cl.def(bp::init<>(bp::arg("self"), "Default constructor")) |
| 38 |
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130 | .def(bp::init<const GeometryModel &>(bp::args("self", "other"), "Copy constructor")) |
| 39 | |||
| 40 |
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65 | .add_property( |
| 41 | "ngeoms", &GeometryModel::ngeoms, | ||
| 42 | "Number of geometries contained in the Geometry Model.") | ||
| 43 |
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65 | .add_property( |
| 44 | "geometryObjects", &GeometryModel::geometryObjects, "Vector of geometries objects.") | ||
| 45 | |||
| 46 |
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130 | .def( |
| 47 | "addGeometryObject", | ||
| 48 | static_cast<GeometryModel::GeomIndex (GeometryModel::*)(const GeometryObject &)>( | ||
| 49 | &GeometryModel::addGeometryObject), | ||
| 50 | bp::args("self", "geometry_object"), | ||
| 51 | "Add a GeometryObject to a GeometryModel.\n" | ||
| 52 | "Parameters\n" | ||
| 53 | "\tgeometry_object : a GeometryObject\n") | ||
| 54 |
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130 | .def( |
| 55 | "addGeometryObject", | ||
| 56 | static_cast<GeometryModel::GeomIndex (GeometryModel::*)( | ||
| 57 | const GeometryObject &, const Model &)>(&GeometryModel::addGeometryObject), | ||
| 58 | bp::args("self", "geometry_object", "model"), | ||
| 59 | "Add a GeometryObject to a GeometryModel and set its parent joint by reading its " | ||
| 60 | "value in the model.\n" | ||
| 61 | "Parameters\n" | ||
| 62 | "\tgeometry_object : a GeometryObject\n" | ||
| 63 | "\tmodel : a Model of the system\n") | ||
| 64 |
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130 | .def( |
| 65 | "removeGeometryObject", &GeometryModel::removeGeometryObject, bp::args("self", "name"), | ||
| 66 | "Remove a GeometryObject. Remove also the collision pairs that contain the object.") | ||
| 67 |
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130 | .def( |
| 68 | "getGeometryId", &GeometryModel::getGeometryId, bp::args("self", "name"), | ||
| 69 | "Returns the index of a GeometryObject given by its name.") | ||
| 70 |
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130 | .def( |
| 71 | "existGeometryName", &GeometryModel::existGeometryName, bp::args("self", "name"), | ||
| 72 | "Checks if a GeometryObject given by its name exists.") | ||
| 73 |
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130 | .def( |
| 74 |
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130 | "createData", &GeometryModelPythonVisitor::createData, bp::arg("self"), |
| 75 | "Create a GeometryData associated to the current model.") | ||
| 76 |
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130 | .def("clone", &GeometryModel::clone, bp::arg("self"), "Create a deep copy of *this.") |
| 77 |
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65 | .add_property( |
| 78 | "collisionPairs", &GeometryModel::collisionPairs, "Vector of collision pairs.") | ||
| 79 |
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65 | .add_property( |
| 80 | "collisionPairMapping", &GeometryModel::collisionPairMapping, | ||
| 81 | "Matrix relating the collision pair ID to a pair of two GeometryObject indexes.") | ||
| 82 |
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130 | .def( |
| 83 | "addCollisionPair", &GeometryModel::addCollisionPair, | ||
| 84 | bp::args("self", "collision_pair"), | ||
| 85 | "Add a collision pair given by the index of the two collision objects.") | ||
| 86 |
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65 | .def( |
| 87 | "addAllCollisionPairs", &GeometryModel::addAllCollisionPairs, | ||
| 88 | "Add all collision pairs.\n" | ||
| 89 | "note : collision pairs between geometries having the same parent joint are not added.") | ||
| 90 |
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130 | .def( |
| 91 | "setCollisionPairs", &GeometryModel::setCollisionPairs, | ||
| 92 |
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195 | (bp::arg("self"), bp::arg("collision_map"), bp::arg("upper") = true), |
| 93 | "Set the collision pairs from a given input array.\n" | ||
| 94 | "Each entry of the input matrix defines the activation of a given collision pair" | ||
| 95 | "(map[i,j] == True means that the pair (i,j) is active).") | ||
| 96 |
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130 | .def( |
| 97 | "removeCollisionPair", &GeometryModel::removeCollisionPair, | ||
| 98 | bp::args("self", "collision_pair"), "Remove a collision pair.") | ||
| 99 |
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65 | .def( |
| 100 | "removeAllCollisionPairs", &GeometryModel::removeAllCollisionPairs, | ||
| 101 | "Remove all collision pairs.") | ||
| 102 |
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130 | .def( |
| 103 | "existCollisionPair", &GeometryModel::existCollisionPair, | ||
| 104 | bp::args("self", "collision_pair"), "Check if a collision pair exists.") | ||
| 105 |
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130 | .def( |
| 106 | "findCollisionPair", &GeometryModel::findCollisionPair, | ||
| 107 | bp::args("self", "collision_pair"), "Return the index of a collision pair.") | ||
| 108 | |||
| 109 |
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65 | .def(bp::self == bp::self) |
| 110 |
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65 | .def(bp::self != bp::self); |
| 111 | |||
| 112 | 65 | bp::register_ptr_to_python<std::shared_ptr<GeometryModel>>(); | |
| 113 | 65 | } | |
| 114 | |||
| 115 | 38 | static GeometryData createData(const GeometryModel & geomModel) | |
| 116 | { | ||
| 117 | 38 | return GeometryData(geomModel); | |
| 118 | } | ||
| 119 | |||
| 120 | /* --- Expose --------------------------------------------------------- */ | ||
| 121 | 65 | static void expose() | |
| 122 | { | ||
| 123 |
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65 | if (!register_symbolic_link_to_registered_type<GeometryModel>()) |
| 124 | { | ||
| 125 | 130 | bp::class_<GeometryModel>( | |
| 126 | "GeometryModel", | ||
| 127 | "Geometry model containing the collision or visual geometries associated to a model.", | ||
| 128 | bp::no_init) | ||
| 129 |
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65 | .def(GeometryModelPythonVisitor()) |
| 130 |
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65 | .def(PrintableVisitor<GeometryModel>()) |
| 131 |
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65 | .def(SerializableVisitor<GeometryModel>()) |
| 132 |
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65 | .def(CopyableVisitor<GeometryModel>()) |
| 133 |
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65 | .def(AddressVisitor<GeometryModel>()) |
| 134 | #ifndef PINOCCHIO_PYTHON_NO_SERIALIZATION | ||
| 135 |
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65 | .def_pickle(PickleFromStringSerialization<GeometryModel>()) |
| 136 | #endif | ||
| 137 | ; | ||
| 138 | } | ||
| 139 | 65 | } | |
| 140 | }; | ||
| 141 | |||
| 142 | } // namespace python | ||
| 143 | } // namespace pinocchio | ||
| 144 | |||
| 145 | #endif // ifndef __pinocchio_python_geometry_model_hpp__ | ||
| 146 |