GCC Code Coverage Report

Directory: ./
File: include/pinocchio/bindings/python/collision/tree-broadphase-manager.hpp
Date: 2025-02-12 21:03:38
Exec Total Coverage
Lines: 19 20 95.0%
Branches: 18 36 50.0%
Line Branch Exec Source
1 //
2 // Copyright (c) 2022-2024 INRIA
3 //
4
5 #ifndef __pinocchio_python_collision_tree_broadphase_manager_hpp__
6 #define __pinocchio_python_collision_tree_broadphase_manager_hpp__
7
8 #include "pinocchio/collision/tree-broadphase-manager.hpp"
9 #include "pinocchio/bindings/python/collision/broadphase-manager-base.hpp"
10
11 #include <eigenpy/eigen-to-python.hpp>
12 #include <boost/algorithm/string/replace.hpp>
13
14 namespace pinocchio
15 {
16 namespace python
17 {
18 namespace bp = boost::python;
19
20 template<typename Derived>
21 struct TreeBroadPhaseManagerPythonVisitor
22 : public bp::def_visitor<TreeBroadPhaseManagerPythonVisitor<Derived>>
23 {
24 public:
25 typedef TreeBroadPhaseManagerTpl<Derived> Self;
26 typedef typename Self::BroadPhaseManagerVector BroadPhaseManagerVector;
27
28 /* --- Exposing C++ API to python through the handler ----------------- */
29 template<class PyClass>
30 780 void visit(PyClass & cl) const
31 {
32 cl
33
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 780 .def(bp::init<const Model *, const GeometryModel *, GeometryData *>(
34 bp::args("self", "model", "geometry_model", "geometry_data"), "Default constructor")
35 [bp::with_custodian_and_ward<1, 2>(), bp::with_custodian_and_ward<1, 3>(),
36 ✗ bp::with_custodian_and_ward<1, 4>()])
37
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 2340 .def(bp::init<const Self &>(
38
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 780 bp::args("self", "other"), "Copy constructor")[bp::with_custodian_and_ward<1, 2>()])
39
40
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 780 .def(
41 "getBroadPhaseManagers",
42
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 780 (BroadPhaseManagerVector & (Self::*)()) & Self::getBroadPhaseManagers, bp::arg("self"),
43 780 "Returns the internal broad phase managers", bp::return_internal_reference<>())
44
45
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 780 .def(BroadPhaseManagerBasePythonVisitor<Self>());
46 780 }
47
48 /* --- Expose --------------------------------------------------------- */
49 780 static void expose()
50 {
51
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 780 std::string derived_name = boost::typeindex::type_id<Derived>().pretty_name();
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 780 boost::algorithm::replace_all(derived_name, "coal::", "");
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 780 const std::string class_name = "TreeBroadPhaseManager_" + derived_name;
54
55
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 780 const std::string class_doc =
56 "Tree-based broad phase manager associated to coal::" + derived_name;
57
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 780 bp::class_<Self> registered_class(class_name.c_str(), class_doc.c_str(), bp::no_init);
58
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 780 registered_class.def(TreeBroadPhaseManagerPythonVisitor());
59
60 typedef BroadPhaseManagerBase<Self> Base;
61
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 780 bp::objects::register_dynamic_id<Base>();
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 780 bp::objects::register_conversion<Self, Base>(false);
63 780 }
64 };
65
66 } // namespace python
67 } // namespace pinocchio
68
69 #endif // ifndef __pinocchio_python_collision_tree_broadphase_manager_hpp__
70