From 830c2b46c29902ca08f07f42738e47ee8fd7bc72 Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Mon, 27 Jan 2020 17:55:47 +0100
Subject: [PATCH] python: expose more quantities from CollisionGeometry
---
python/collision-geometries.cc | 12 +++++++++++-
1 file changed, 11 insertions(+), 1 deletion(-)
diff --git a/python/collision-geometries.cc b/python/collision-geometries.cc
index bec3db5c..b0a6f559 100644
--- a/python/collision-geometries.cc
+++ b/python/collision-geometries.cc
@@ -312,7 +312,17 @@ void exposeCollisionGeometries ()
.def ("computeVolume", &CollisionGeometry::computeVolume)
.def ("computeMomentofInertiaRelatedToCOM", &CollisionGeometry::computeMomentofInertiaRelatedToCOM)
- .def_readwrite("aabb_radius",&CollisionGeometry::aabb_radius,"AABB radius")
+ .def_readwrite("aabb_radius",&CollisionGeometry::aabb_radius,"AABB radius.")
+ .def_readwrite("aabb_center",&CollisionGeometry::aabb_center,"AABB center in local coordinate.")
+ .def_readwrite("aabb_local",&CollisionGeometry::aabb_local,"AABB in local coordinate, used for tight AABB when only translation transform.")
+
+ .def("isOccupied",&CollisionGeometry::isOccupied,bp::arg("self"),"Whether the object is completely occupied.")
+ .def("isFree",&CollisionGeometry::isFree,bp::arg("self"),"Whether the object is completely free.")
+ .def("isUncertain",&CollisionGeometry::isUncertain,bp::arg("self"),"Whether the object has some uncertainty.")
+
+ .def_readwrite("cost_density",&CollisionGeometry::cost_density,"Collision cost for unit volume.")
+ .def_readwrite("threshold_occupied",&CollisionGeometry::threshold_occupied,"Threshold for occupied ( >= is occupied).")
+ .def_readwrite("threshold_free",&CollisionGeometry::threshold_free,"Threshold for free (<= is free).")
;
}
--
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