fcl.cc 3.62 KB
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//
// Software License Agreement (BSD License)
//
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//  Copyright (c) 2019-2020 CNRS-LAAS INRIA
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//  Author: Joseph Mirabel
//  All rights reserved.
//
//  Redistribution and use in source and binary forms, with or without
//  modification, are permitted provided that the following conditions
//  are met:
//
//   * Redistributions of source code must retain the above copyright
//     notice, this list of conditions and the following disclaimer.
//   * Redistributions in binary form must reproduce the above
//     copyright notice, this list of conditions and the following
//     disclaimer in the documentation and/or other materials provided
//     with the distribution.
//   * Neither the name of CNRS-LAAS. nor the names of its
//     contributors may be used to endorse or promote products derived
//     from this software without specific prior written permission.
//
//  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
//  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
//  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
//  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
//  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
//  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
//  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
//  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
//  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
//  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
//  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
//  POSSIBILITY OF SUCH DAMAGE.

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#include <eigenpy/eigenpy.hpp>
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#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>

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

#include "../doc/python/doxygen.hh"
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#include "../doc/python/doxygen-boost.hh"
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using namespace hpp::fcl;
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namespace dv = doxygen::visitor;
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#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wconversion"
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(load_overloads,MeshLoader::load,1,2)
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#pragma GCC diagnostic pop
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void exposeMeshLoader ()
{
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  using namespace boost::python;
  
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  if(!eigenpy::register_symbolic_link_to_registered_type<MeshLoader>())
  {
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    class_ <MeshLoader, shared_ptr<MeshLoader> > ("MeshLoader",
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        doxygen::class_doc<MeshLoader>(),
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        init< optional< NODE_TYPE> >((arg("self"),arg("node_type")),
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          doxygen::constructor_doc<MeshLoader, const NODE_TYPE&>()))
      .def ("load",&MeshLoader::load,
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            load_overloads((arg("self"),arg("filename"),arg("scale")),
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                           doxygen::member_func_doc(&MeshLoader::load)))
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      .def (dv::member_func("loadOctree",&MeshLoader::loadOctree))
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      ;
  }
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  if(!eigenpy::register_symbolic_link_to_registered_type<CachedMeshLoader>())
  {
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    class_ <CachedMeshLoader, bases<MeshLoader>, shared_ptr<CachedMeshLoader> > (
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        "CachedMeshLoader",
        doxygen::class_doc<MeshLoader>(),
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        init< optional< NODE_TYPE> >((arg("self"),arg("node_type")),
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          doxygen::constructor_doc<CachedMeshLoader, const NODE_TYPE&>()))
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    ;
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  }
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}

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