fcl.cc

//
// Software License Agreement (BSD License)
//
//  Copyright (c) 2019-2020 CNRS-LAAS INRIA
//  Author: Joseph Mirabel
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#include <eigenpy/eigenpy.hpp>

#include "fcl.hh"

#include <hpp/fcl/fwd.hh>
#include <hpp/fcl/shape/geometric_shapes.h>
#include <hpp/fcl/BVH/BVH_model.h>

#include <hpp/fcl/mesh_loader/loader.h>

#include <hpp/fcl/collision.h>

#ifdef HPP_FCL_HAS_DOXYGEN_AUTODOC
#include "doxygen_autodoc/hpp/fcl/mesh_loader/loader.h"
#endif

#include "../doc/python/doxygen.hh"
#include "../doc/python/doxygen-boost.hh"

using namespace hpp::fcl;
namespace dv = doxygen::visitor;

#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wconversion"
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(load_overloads,MeshLoader::load,1,2)
#pragma GCC diagnostic pop

void exposeMeshLoader ()
{
  using namespace boost::python;
  
  if(!eigenpy::register_symbolic_link_to_registered_type<MeshLoader>())
  {
    class_ <MeshLoader, shared_ptr<MeshLoader> > ("MeshLoader",
        doxygen::class_doc<MeshLoader>(),
        init< optional< NODE_TYPE> >((arg("self"),arg("node_type")),
          doxygen::constructor_doc<MeshLoader, const NODE_TYPE&>()))
      .def ("load",&MeshLoader::load,
            load_overloads((arg("self"),arg("filename"),arg("scale")),
                           doxygen::member_func_doc(&MeshLoader::load)))
      .def (dv::member_func("loadOctree",&MeshLoader::loadOctree))
      ;
  }

  if(!eigenpy::register_symbolic_link_to_registered_type<CachedMeshLoader>())
  {
    class_ <CachedMeshLoader, bases<MeshLoader>, shared_ptr<CachedMeshLoader> > (
        "CachedMeshLoader",
        doxygen::class_doc<MeshLoader>(),
        init< optional< NODE_TYPE> >((arg("self"),arg("node_type")),
          doxygen::constructor_doc<CachedMeshLoader, const NODE_TYPE&>()))
    ;
  }
}

BOOST_PYTHON_MODULE(hppfcl)
{
  namespace bp = boost::python;
  
  PyImport_ImportModule("warnings");
  
  exposeVersion();
  exposeMaths();
  exposeCollisionGeometries();
  exposeCollisionObject();
  exposeMeshLoader();
  exposeCollisionAPI();
  exposeDistanceAPI();
  exposeGJK();
#ifdef HPP_FCL_HAS_OCTOMAP
  exposeOctree();
#endif
}