Commit bd643945 authored by Joseph Mirabel's avatar Joseph Mirabel
Browse files

Bind QueryRequest and QueryResult.

parent d1cf9e8d
...@@ -78,17 +78,26 @@ void exposeCollisionAPI () ...@@ -78,17 +78,26 @@ void exposeCollisionAPI ()
; ;
} }
if(!eigenpy::register_symbolic_link_to_registered_type<QueryRequest>())
{
class_ <QueryRequest> ("QueryRequest",
doxygen::class_doc<QueryRequest>(), no_init)
.DEF_RW_CLASS_ATTRIB (QueryRequest, enable_cached_gjk_guess )
.DEF_RW_CLASS_ATTRIB (QueryRequest, cached_gjk_guess )
.DEF_RW_CLASS_ATTRIB (QueryRequest, cached_support_func_guess )
.DEF_CLASS_FUNC (QueryRequest, updateGuess)
;
}
if(!eigenpy::register_symbolic_link_to_registered_type<CollisionRequest>()) if(!eigenpy::register_symbolic_link_to_registered_type<CollisionRequest>())
{ {
class_ <CollisionRequest> ("CollisionRequest", class_ <CollisionRequest, bases<QueryRequest> > ("CollisionRequest",
doxygen::class_doc<CollisionRequest>(), no_init) doxygen::class_doc<CollisionRequest>(), no_init)
.def (dv::init<CollisionRequest>()) .def (dv::init<CollisionRequest>())
.def (dv::init<CollisionRequest, const CollisionRequestFlag, size_t>()) .def (dv::init<CollisionRequest, const CollisionRequestFlag, size_t>())
.DEF_RW_CLASS_ATTRIB (CollisionRequest, num_max_contacts ) .DEF_RW_CLASS_ATTRIB (CollisionRequest, num_max_contacts )
.DEF_RW_CLASS_ATTRIB (CollisionRequest, enable_contact ) .DEF_RW_CLASS_ATTRIB (CollisionRequest, enable_contact )
.DEF_RW_CLASS_ATTRIB (CollisionRequest, enable_distance_lower_bound) .DEF_RW_CLASS_ATTRIB (CollisionRequest, enable_distance_lower_bound)
.DEF_RW_CLASS_ATTRIB (CollisionRequest, enable_cached_gjk_guess )
.DEF_RW_CLASS_ATTRIB (CollisionRequest, cached_gjk_guess )
.DEF_RW_CLASS_ATTRIB (CollisionRequest, security_margin ) .DEF_RW_CLASS_ATTRIB (CollisionRequest, security_margin )
.DEF_RW_CLASS_ATTRIB (CollisionRequest, break_distance ) .DEF_RW_CLASS_ATTRIB (CollisionRequest, break_distance )
; ;
...@@ -119,9 +128,18 @@ void exposeCollisionAPI () ...@@ -119,9 +128,18 @@ void exposeCollisionAPI ()
; ;
} }
if(!eigenpy::register_symbolic_link_to_registered_type<QueryResult>())
{
class_ <QueryResult> ("QueryResult",
doxygen::class_doc<QueryResult>(), no_init)
.DEF_RW_CLASS_ATTRIB (QueryResult, cached_gjk_guess )
.DEF_RW_CLASS_ATTRIB (QueryResult, cached_support_func_guess)
;
}
if(!eigenpy::register_symbolic_link_to_registered_type< CollisionResult >()) if(!eigenpy::register_symbolic_link_to_registered_type< CollisionResult >())
{ {
class_ <CollisionResult> ("CollisionResult", class_ <CollisionResult, bases<QueryResult> > ("CollisionResult",
doxygen::class_doc<CollisionResult>(), no_init) doxygen::class_doc<CollisionResult>(), no_init)
.def (dv::init<CollisionResult>()) .def (dv::init<CollisionResult>())
.DEF_CLASS_FUNC (CollisionResult, isCollision) .DEF_CLASS_FUNC (CollisionResult, isCollision)
......
...@@ -78,7 +78,7 @@ void exposeDistanceAPI () ...@@ -78,7 +78,7 @@ void exposeDistanceAPI ()
{ {
if(!eigenpy::register_symbolic_link_to_registered_type<DistanceRequest>()) if(!eigenpy::register_symbolic_link_to_registered_type<DistanceRequest>())
{ {
class_ <DistanceRequest> ("DistanceRequest", class_ <DistanceRequest, bases<QueryRequest> > ("DistanceRequest",
doxygen::class_doc<DistanceRequest>(), doxygen::class_doc<DistanceRequest>(),
init<optional<bool,FCL_REAL,FCL_REAL> >((arg("self"), init<optional<bool,FCL_REAL,FCL_REAL> >((arg("self"),
arg("enable_nearest_points"), arg("enable_nearest_points"),
...@@ -92,7 +92,7 @@ void exposeDistanceAPI () ...@@ -92,7 +92,7 @@ void exposeDistanceAPI ()
if(!eigenpy::register_symbolic_link_to_registered_type<DistanceResult>()) if(!eigenpy::register_symbolic_link_to_registered_type<DistanceResult>())
{ {
class_ <DistanceResult> ("DistanceResult", class_ <DistanceResult, bases<QueryResult> > ("DistanceResult",
doxygen::class_doc<DistanceResult>(), doxygen::class_doc<DistanceResult>(),
no_init) no_init)
.def (dv::init<DistanceResult>()) .def (dv::init<DistanceResult>())
......
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