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// |
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// Copyright (c) 2017-2021 CNRS INRIA |
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// |
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#ifndef __pinocchio_python_geometry_object_hpp__ |
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#define __pinocchio_python_geometry_object_hpp__ |
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#include <boost/python.hpp> |
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#include <eigenpy/memory.hpp> |
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#include <eigenpy/eigen-to-python.hpp> |
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#include "pinocchio/multibody/geometry.hpp" |
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EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::GeometryObject) |
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namespace pinocchio |
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{ |
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namespace python |
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{ |
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namespace bp = boost::python; |
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struct GeometryObjectPythonVisitor |
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: public boost::python::def_visitor< GeometryObjectPythonVisitor > |
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{ |
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typedef GeometryObject::CollisionGeometryPtr CollisionGeometryPtr; |
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template<class PyClass> |
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void visit(PyClass& cl) const |
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{ |
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cl |
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.def(bp::init<std::string,FrameIndex,JointIndex,CollisionGeometryPtr,SE3, |
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bp::optional<std::string,Eigen::Vector3d,bool,Eigen::Vector4d,std::string> > |
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( |
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bp::args("self","name","parent_frame","parent_joint","collision_geometry", |
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"placement", "mesh_path", "mesh_scale", "override_material", "mesh_color", "mesh_texture_path"), |
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"Full constructor of a GeometryObject.")) |
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✓✗✓✗ |
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.def(bp::init<std::string,JointIndex,CollisionGeometryPtr,SE3, |
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bp::optional<std::string,Eigen::Vector3d,bool,Eigen::Vector4d,std::string> > |
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( |
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bp::args("self","name","parent_joint","collision_geometry", |
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"placement", "mesh_path", "mesh_scale", "override_material", "mesh_color", "mesh_texture_path"), |
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"Reduced constructor of a GeometryObject. This constructor does not require to specify the parent frame index." |
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)) |
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✓✗✓✗ ✓✗ |
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.def(bp::init<const GeometryObject&> |
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( |
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bp::args("self","otherGeometryObject"), |
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"Copy constructor" |
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)) |
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✓✗✓✗ ✓✗ |
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.add_property("meshScale", |
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bp::make_getter(&GeometryObject::meshScale, |
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bp::return_internal_reference<>()), |
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bp::make_setter(&GeometryObject::meshScale), |
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"Scaling parameter of the mesh.") |
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✓✗✓✗ ✓✗ |
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.add_property("meshColor", |
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bp::make_getter(&GeometryObject::meshColor, |
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bp::return_internal_reference<>()), |
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bp::make_setter(&GeometryObject::meshColor), |
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"Color rgba of the mesh.") |
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✓✗✓✗ ✓✗ |
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.def_readwrite("geometry", &GeometryObject::geometry, |
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"The FCL CollisionGeometry associated to the given GeometryObject.") |
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✓✗ | 19 |
.def_readwrite("name", &GeometryObject::name, |
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"Name associated to the given GeometryObject.") |
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.def_readwrite("parentJoint", &GeometryObject::parentJoint, |
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"Index of the parent joint.") |
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✓✗ | 19 |
.def_readwrite("parentFrame", &GeometryObject::parentFrame, |
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"Index of the parent frame.") |
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✓✗ | 19 |
.def_readwrite("placement",&GeometryObject::placement, |
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"Position of geometry object in parent joint's frame.") |
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.def_readwrite("meshPath", &GeometryObject::meshPath, |
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"Path to the mesh file.") |
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.def_readwrite("overrideMaterial", &GeometryObject::overrideMaterial, |
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"Boolean that tells whether material information is stored inside the given GeometryObject.") |
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✓✗ | 19 |
.def_readwrite("meshTexturePath", &GeometryObject::meshTexturePath, |
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"Path to the mesh texture file.") |
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.def_readwrite("disableCollision", &GeometryObject::disableCollision, |
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"If true, no collision or distance check will be done between the Geometry and any other geometry.") |
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✓✗ | 19 |
.def(bp::self == bp::self) |
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✓✗ | 38 |
.def(bp::self != bp::self) |
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#ifdef PINOCCHIO_WITH_HPP_FCL |
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✓✗ | 19 |
.def("CreateCapsule", &GeometryObjectPythonVisitor::maker_capsule) |
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✓✗✓✗ |
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.staticmethod("CreateCapsule") |
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#endif // PINOCCHIO_WITH_HPP_FCL |
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; |
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// Check registration |
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{ |
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const bp::type_info info = bp::type_id<CollisionGeometryPtr>(); |
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✓✗ | 19 |
const bp::converter::registration* reg = bp::converter::registry::query(info); |
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// We just need to check if the type shared_ptr<CollisionGeometry> exist in the registry |
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✗✓ | 19 |
if(!reg) |
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bp::register_ptr_to_python<CollisionGeometryPtr>(); |
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} |
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} |
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#ifdef PINOCCHIO_WITH_HPP_FCL |
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static GeometryObject maker_capsule(const double radius, const double length) |
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{ |
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return GeometryObject("",FrameIndex(0),JointIndex(0), |
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pinocchio::shared_ptr<fcl::CollisionGeometry>(new fcl::Capsule(radius, length)), |
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SE3::Identity()); |
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} |
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#endif // PINOCCHIO_WITH_HPP_FCL |
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static void expose() |
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{ |
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bp::class_<GeometryObject>("GeometryObject", |
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"A wrapper on a collision geometry including its parent joint, parent frame, placement in parent joint's frame.\n\n", |
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bp::no_init |
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) |
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✓✗ | 19 |
.def(GeometryObjectPythonVisitor()) |
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; |
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bp::enum_<GeometryType>("GeometryType") |
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✓✗ | 19 |
.value("VISUAL",VISUAL) |
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.value("COLLISION",COLLISION) |
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✓✗ | 19 |
.export_values() |
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; |
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} |
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}; |
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} // namespace python |
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} // namespace pinocchio |
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#endif // ifndef __pinocchio_python_geometry_object_hpp__ |
| Generated by: GCOVR (Version 4.2) |