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// Copyright (c) 2015-2021 CNRS INRIA |
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// |
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#ifndef __pinocchio_python_geometry_model_hpp__ |
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#define __pinocchio_python_geometry_model_hpp__ |
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#include <eigenpy/memory.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/multibody/geometry.hpp" |
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#if EIGENPY_VERSION_AT_MOST(2,8,1) |
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EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::GeometryModel) |
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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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struct GeometryModelPythonVisitor |
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: public boost::python::def_visitor< GeometryModelPythonVisitor > |
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{ |
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public: |
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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<>(bp::arg("self"),"Default constructor")) |
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✓✗✓✗
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.add_property("ngeoms", &GeometryModel::ngeoms, "Number of geometries contained in the Geometry Model.") |
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✓✗ |
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.add_property("geometryObjects", |
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&GeometryModel::geometryObjects,"Vector of geometries objects.") |
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✓✗ |
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.def("addGeometryObject", |
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static_cast <GeometryModel::GeomIndex (GeometryModel::*)(const GeometryObject &)>(&GeometryModel::addGeometryObject), |
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bp::args("self","geometry_object"), |
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"Add a GeometryObject to a GeometryModel.\n" |
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"Parameters\n" |
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"\tgeometry_object : a GeometryObject\n") |
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✓✗✓✗
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.def("addGeometryObject", |
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static_cast <GeometryModel::GeomIndex (GeometryModel::*)(const GeometryObject &, |
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const Model &)>(&GeometryModel::addGeometryObject), |
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bp::args("self","geometry_object","model"), |
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"Add a GeometryObject to a GeometryModel and set its parent joint by reading its value in the model.\n" |
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"Parameters\n" |
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"\tgeometry_object : a GeometryObject\n" |
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"\tmodel : a Model of the system\n") |
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✓✗✓✗
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.def("removeGeometryObject", |
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&GeometryModel::removeGeometryObject, |
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bp::args("self","name"), |
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"Remove a GeometryObject. Remove also the collision pairs that contain the object.") |
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✓✗ |
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.def("getGeometryId", |
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&GeometryModel::getGeometryId, |
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bp::args("self","name"), |
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"Returns the index of a GeometryObject given by its name.") |
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✓✗✓✗
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.def("existGeometryName", |
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&GeometryModel::existGeometryName, |
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bp::args("self","name"), |
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"Checks if a GeometryObject given by its name exists.") |
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✓✗✓✗
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.def("createData", |
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&GeometryModelPythonVisitor::createData, |
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bp::arg("self"), |
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"Create a GeometryData associated to the current model.") |
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✓✗✓✗
✓✗ |
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.add_property("collisionPairs", |
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&GeometryModel::collisionPairs, |
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"Vector of collision pairs.") |
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✓✗ |
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.def("addCollisionPair",&GeometryModel::addCollisionPair, |
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bp::args("self","collision_pair"), |
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"Add a collision pair given by the index of the two collision objects.") |
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✓✗ |
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.def("addAllCollisionPairs",&GeometryModel::addAllCollisionPairs, |
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"Add all collision pairs.\n" |
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"note : collision pairs between geometries having the same parent joint are not added.") |
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✓✗ |
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.def("setCollisionPairs", |
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&GeometryModel::setCollisionPairs, |
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setCollisionPairs_overload(bp::args("self","collision_map","upper"), |
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"Set the collision pairs 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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"(map[i,j] == True means that the pair (i,j) is active).")) |
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✓✗✓✗
✓✗ |
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.def("removeCollisionPair",&GeometryModel::removeCollisionPair, |
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bp::args("self","collision_pair"), |
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"Remove a collision pair.") |
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✓✗✓✗
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.def("removeAllCollisionPairs",&GeometryModel::removeAllCollisionPairs, |
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"Remove all collision pairs.") |
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✓✗ |
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.def("existCollisionPair",&GeometryModel::existCollisionPair, |
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bp::args("self","collision_pair"), |
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"Check if a collision pair exists.") |
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✓✗✓✗
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.def("findCollisionPair", &GeometryModel::findCollisionPair, |
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bp::args("self","collision_pair"), |
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"Return the index of a collision pair.") |
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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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static GeometryData createData(const GeometryModel & geomModel) |
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{ |
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return GeometryData(geomModel); |
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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_<GeometryModel>("GeometryModel", |
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"Geometry model containing the collision or visual geometries associated to a model.", |
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bp::no_init) |
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✓✗ |
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.def(GeometryModelPythonVisitor()) |
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✓✗ |
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.def(PrintableVisitor<GeometryModel>()) |
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✓✗ |
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.def(CopyableVisitor<GeometryModel>()) |
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; |
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} |
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protected: |
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(setCollisionPairs_overload,GeometryModel::setCollisionPairs,1,2) |
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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_model_hpp__ |