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// |
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// Copyright (c) 2015-2021 CNRS INRIA |
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// |
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#ifndef __pinocchio_python_geometry_data_hpp__ |
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#define __pinocchio_python_geometry_data_hpp__ |
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#include <eigenpy/memory.hpp> |
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#include "pinocchio/serialization/geometry.hpp" |
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#include "pinocchio/bindings/python/utils/printable.hpp" |
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#include "pinocchio/bindings/python/utils/copyable.hpp" |
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#include "pinocchio/bindings/python/utils/deprecation.hpp" |
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#include "pinocchio/bindings/python/utils/std-vector.hpp" |
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#include "pinocchio/bindings/python/serialization/serializable.hpp" |
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#if EIGENPY_VERSION_AT_MOST(2,8,1) |
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EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::GeometryData) |
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#endif |
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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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/* --- COLLISION PAIR --------------------------------------------------- */ |
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/* --- COLLISION PAIR --------------------------------------------------- */ |
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/* --- COLLISION PAIR --------------------------------------------------- */ |
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struct CollisionPairPythonVisitor |
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: public boost::python::def_visitor<CollisionPairPythonVisitor> |
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{ |
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static void expose() |
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{ |
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bp::class_<CollisionPair> ("CollisionPair", |
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"Pair of ordered index defining a pair of collisions", |
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bp::no_init) |
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✓✗ |
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.def(bp::init<> |
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✓✗ |
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(bp::args("self"), |
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✓✗ |
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"Empty constructor.")) |
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✓✗ |
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.def(bp::init<const GeomIndex &, const GeomIndex &> |
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✓✗ |
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(bp::args("self","index1", "index2"), |
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"Initializer of collision pair.")) |
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✓✗ |
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.def(PrintableVisitor<CollisionPair>()) |
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✓✗ |
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.def(CopyableVisitor<CollisionPair>()) |
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✓✗ |
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.def(bp::self == bp::self) |
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✓✗ |
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.def(bp::self != bp::self) |
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✓✗ |
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.def_readwrite("first",&CollisionPair::first) |
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✓✗ |
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.def_readwrite("second",&CollisionPair::second); |
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✓✗✓✗
✓✗ |
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StdVectorPythonVisitor<CollisionPair>::expose("StdVec_CollisionPair"); |
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serialize< std::vector<CollisionPair> >(); |
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} |
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}; // struct CollisionPairPythonVisitor |
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struct GeometryDataPythonVisitor |
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: public boost::python::def_visitor< GeometryDataPythonVisitor > |
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{ |
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/* --- Exposing C++ API to python through the handler ----------------- */ |
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template<class PyClass> |
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void visit(PyClass& cl) const |
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{ |
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✓✗ |
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cl |
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.def(bp::init<GeometryModel>(bp::args("self","geometry_model"), |
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"Default constructor from a given GeometryModel")) |
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✓✗✓✗
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.def_readonly("oMg", |
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&GeometryData::oMg, |
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"Vector of collision objects placement relative to the world frame.\n" |
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"note: These quantities have to be updated by calling updateGeometryPlacements.") |
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✓✗ |
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.def_readonly("activeCollisionPairs", |
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&GeometryData::activeCollisionPairs, |
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"Vector of active CollisionPairs") |
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#ifdef PINOCCHIO_WITH_HPP_FCL |
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✓✗ |
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.def_readonly("distanceRequests", |
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&GeometryData::distanceRequests, |
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"Defines which information should be computed by FCL for distance computations") |
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✓✗ |
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.def_readonly("distanceResults", |
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&GeometryData::distanceResults, |
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"Vector of distance results.") |
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✓✗ |
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.def_readonly("collisionRequests", |
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&GeometryData::collisionRequests, |
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"Defines which information should be computed by FCL for collision computations.\n\n" |
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"Note: it is possible to define a security_margin and a break_distance for a collision request.\n" |
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"Most likely, for robotics application, these thresholds will be different for each collision pairs\n" |
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"(e.g. the two hands can have a large security margin while the two hips cannot.)") |
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.def_readonly("collisionResults", |
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&GeometryData::collisionResults, |
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"Vector of collision results.") |
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✓✗ |
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.def_readonly("radius", |
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&GeometryData::radius, |
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"Vector of radius of bodies, i.e. the distance between the further point of the geometry object from the joint center.\n" |
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"note: This radius information might be usuful in continuous collision checking") |
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#endif // PINOCCHIO_WITH_HPP_FCL |
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✓✗ |
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.def("fillInnerOuterObjectMaps", |
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&GeometryData::fillInnerOuterObjectMaps, |
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bp::args("self","geometry_model"), |
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"Fill inner and outer objects maps") |
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✓✗ |
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.def("activateCollisionPair", |
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static_cast<void (GeometryData::*)(const PairIndex)>(&GeometryData::activateCollisionPair), |
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bp::args("self","pair_id"), |
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"Activate the collsion pair pair_id in geomModel.collisionPairs if it exists.\n" |
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"note: Only active pairs are check for collision and distance computations.") |
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.def("setGeometryCollisionStatus", |
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&GeometryData::setGeometryCollisionStatus, |
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bp::args("self","geom_model","geom_id","enable_collision"), |
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"Enable or disable collision for the given geometry given by its geometry id with all the other geometries registered in the list of collision pairs.") |
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.def("setActiveCollisionPairs", |
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&GeometryData::setActiveCollisionPairs, |
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setActiveCollisionPairs_overload(bp::args("self","geometry_model","collision_map","upper"), |
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"Set the collision pair association from a given input array.\n" |
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"Each entry of the input matrix defines the activation of a given collision pair.")) |
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✓✗✓✗
✓✗ |
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.def("deactivateCollisionPair", |
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&GeometryData::deactivateCollisionPair, |
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bp::args("self","pair_id"), |
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"Deactivate the collsion pair pair_id in geomModel.collisionPairs if it exists.") |
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.def("deactivateAllCollisionPairs", |
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&GeometryData::deactivateAllCollisionPairs, |
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bp::args("self"), |
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"Deactivate all collision pairs.") |
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#ifdef PINOCCHIO_WITH_HPP_FCL |
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.def("setSecurityMargins", |
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&GeometryData::setSecurityMargins, |
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setSecurityMargins_overload(bp::args("self","geometry_model","security_margin_map","upper"), |
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"Set the security margin of all the collision request in a row, according to the values stored in the associative map.")) |
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#endif // PINOCCHIO_WITH_HPP_FCL |
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✓✗✓✗
✓✗ |
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.def(bp::self == bp::self) |
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✓✗✓✗
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.def(bp::self != bp::self) |
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; |
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} |
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/* --- Expose --------------------------------------------------------- */ |
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static void expose() |
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{ |
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bp::class_<GeometryData>("GeometryData", |
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"Geometry data linked to a Geometry Model and a Data struct.", |
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bp::no_init) |
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✓✗ |
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.def(GeometryDataPythonVisitor()) |
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✓✗ |
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.def(PrintableVisitor<GeometryData>()) |
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✓✗ |
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.def(CopyableVisitor<GeometryData>()) |
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✓✗ |
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.def(SerializableVisitor<GeometryData>()) |
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; |
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} |
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protected: |
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(setActiveCollisionPairs_overload,GeometryData::setActiveCollisionPairs,2,3) |
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(setSecurityMargins_overload,GeometryData::setSecurityMargins,2,3) |
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}; |
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}} // namespace pinocchio::python |
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#endif // ifndef __pinocchio_python_geometry_data_hpp__ |