From abcdb7e74c2c27720332eb00dc5ecf1295e3c802 Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Mon, 27 Jan 2020 17:54:42 +0100
Subject: [PATCH] python: full expose of AABB
---
python/collision-geometries.cc | 79 +++++++++++++++++++++++++++++++++-
1 file changed, 78 insertions(+), 1 deletion(-)
diff --git a/python/collision-geometries.cc b/python/collision-geometries.cc
index 80b5fb73..61233e54 100644
--- a/python/collision-geometries.cc
+++ b/python/collision-geometries.cc
@@ -1,7 +1,7 @@
//
// Software License Agreement (BSD License)
//
-// Copyright (c) 2019 CNRS-LAAS INRIA
+// Copyright (c) 2019-2020 CNRS-LAAS INRIA
// Author: Joseph Mirabel
// All rights reserved.
//
@@ -183,6 +183,13 @@ void exposeShapes ()
}
+boost::python::tuple AABB_distance_proxy(const AABB & self, const AABB & other)
+{
+ Vec3f P,Q;
+ FCL_REAL distance = self.distance(other,&P,&Q);
+ return boost::python::tuple((distance,P,Q));
+}
+
void exposeCollisionGeometries ()
{
@@ -220,6 +227,76 @@ void exposeCollisionGeometries ()
.value ("GEOM_OCTREE" , GEOM_OCTREE)
;
}
+
+ namespace bp = boost::python;
+
+ class_<AABB>("AABB",
+ "A class describing the AABB collision structure, which is a box in 3D space determined by two diagonal points",
+ no_init)
+ .def(init<>("Default constructor"))
+ .def(init<Vec3f>(bp::arg("v"),"Creating an AABB at position v with zero size."))
+ .def(init<Vec3f,Vec3f>(bp::args("a","b"),"Creating an AABB with two endpoints a and b."))
+ .def(init<AABB,Vec3f>(bp::args("core","delta"),"Creating an AABB centered as core and is of half-dimension delta."))
+ .def(init<Vec3f,Vec3f,Vec3f>(bp::args("a","b","c"),"Creating an AABB contains three points."))
+
+ .def("contain",
+ (bool (AABB::*)(const Vec3f &) const)&AABB::contain,
+ bp::args("self","p"),
+ "Check whether the AABB contains a point p.")
+ .def("contain",
+ (bool (AABB::*)(const AABB &) const)&AABB::contain,
+ bp::args("self","other"),
+ "Check whether the AABB contains another AABB.")
+
+ .def("overlap",
+ (bool (AABB::*)(const AABB &) const)&AABB::overlap,
+ bp::args("self","other"),
+ "Check whether two AABB are overlap.")
+ .def("overlap",
+ (bool (AABB::*)(const AABB&, AABB&) const)&AABB::overlap,
+ bp::args("self","other","overlapping_part"),
+ "Check whether two AABB are overlaping and return the overloaping part if true.")
+
+ .def("distance",
+ (FCL_REAL (AABB::*)(const AABB &) const)&AABB::distance,
+ bp::args("self","other"),
+ "Distance between two AABBs.")
+// .def("distance",
+// AABB_distance_proxy,
+// bp::args("self","other"),
+// "Distance between two AABBs.")
+
+ .def(bp::self + bp::self)
+ .def(bp::self += bp::self)
+ .def(bp::self += Vec3f())
+
+ .def("size",&AABB::volume,bp::arg("self"),"Size of the AABB.")
+ .def("center",&AABB::center,bp::arg("self"),"Center of the AABB.")
+ .def("width",&AABB::width,bp::arg("self"),"Width of the AABB.")
+ .def("height",&AABB::height,bp::arg("self"),"Height of the AABB.")
+ .def("depth",&AABB::depth,bp::arg("self"),"Depth of the AABB.")
+ .def("volume",&AABB::volume,bp::arg("self"),"Volume of the AABB.")
+
+ .def("expand",
+ (AABB& (AABB::*)(const AABB &, FCL_REAL))&AABB::expand,
+ bp::args("self","core","ratio"),
+ "Expand the AABB by increase the thickness of the plate by a ratio.",
+ bp::return_internal_reference<>())
+ .def("expand",
+ (AABB& (AABB::*)(const Vec3f &))&AABB::expand,
+ bp::args("self","delta"),
+ "Expand the half size of the AABB by delta, and keep the center unchanged.",
+ bp::return_internal_reference<>());
+
+ def("translate",
+ (AABB (*)(const AABB&, const Vec3f&))&translate,
+ bp::args("aabb","t"),
+ "Translate the center of AABB by t");
+
+ def("rotate",
+ (AABB (*)(const AABB&, const Matrix3f&))&rotate,
+ bp::args("aabb","R"),
+ "Rotate the AABB object by R");
if(!eigenpy::register_symbolic_link_to_registered_type<CollisionGeometry>())
{
--
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