Merge pull request #125 from jcarpent/devel

Add overload of MeshLoader::load

include/hpp/fcl/mesh_loader/loader.h

@@ -4,6 +4,7 @@
  *  Copyright (c) 2011-2014, Willow Garage, Inc.
  *  Copyright (c) 2014-2015, Open Source Robotics Foundation
  *  Copyright (c) 2016, CNRS - LAAS
+ *  Copyright (c) 2020, INRIA
  *  All rights reserved.
  *
  *  Redistribution and use in source and binary forms, with or without
@@ -64,7 +65,7 @@ namespace fcl {
       }
 
       virtual BVHModelPtr_t load (const std::string& filename,
-          const Vec3f& scale);
+                                  const Vec3f& scale = Vec3f::Ones());
 
       MeshLoader (const NODE_TYPE& bvType = BV_OBBRSS) : bvType_ (bvType) {}
 

python/fcl.cc

 //
 // Software License Agreement (BSD License)
 //
-//  Copyright (c) 2019 CNRS-LAAS INRIA
+//  Copyright (c) 2019-2020 CNRS-LAAS INRIA
 //  Author: Joseph Mirabel
 //  All rights reserved.
 //
@@ -46,16 +46,21 @@
 
 #include <hpp/fcl/collision.h>
 
-using namespace boost::python;
-
 using namespace hpp::fcl;
 
+BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(load_overloads,MeshLoader::load,1,2)
+
 void exposeMeshLoader ()
 {
+  using namespace boost::python;
+  
   if(!eigenpy::register_symbolic_link_to_registered_type<MeshLoader>())
   {
-    class_ <MeshLoader> ("MeshLoader", init< optional< NODE_TYPE> >())
-      .def ("load", static_cast <BVHModelPtr_t (MeshLoader::*) (const std::string&, const Vec3f&)> (&MeshLoader::load))
+    class_ <MeshLoader> ("MeshLoader", no_init)
+      .def(init< optional< NODE_TYPE> >(arg("node_type"),"Default constructor"))
+      .def ("load",(BVHModelPtr_t(MeshLoader::*)(const std::string&,const Vec3f&))&MeshLoader::load,
+            load_overloads(args("filename","scale"),
+                           "Load a mesh given by its filename"))
       ;
   }