python/octree: add bindings

python/CMakeLists.txt

@@ -101,6 +101,10 @@ SET(${LIBRARY_NAME}_SOURCES
   gjk.cc
   )
 
+IF(HPP_FCL_HAS_OCTOMAP)
+  LIST(APPEND ${LIBRARY_NAME}_SOURCES octree.cc)
+ENDIF(HPP_FCL_HAS_OCTOMAP)
+
 ADD_LIBRARY(${LIBRARY_NAME} SHARED ${${LIBRARY_NAME}_SOURCES} ${${LIBRARY_NAME}_HEADERS})
 TARGET_INCLUDE_DIRECTORIES(${LIBRARY_NAME} SYSTEM PRIVATE ${PYTHON_INCLUDE_DIRS})
 TARGET_INCLUDE_DIRECTORIES(${LIBRARY_NAME} PRIVATE "${CMAKE_SOURCE_DIR}/src" "${CMAKE_CURRENT_BINARY_DIR}")

python/fcl.cc

@@ -98,4 +98,7 @@ BOOST_PYTHON_MODULE(hppfcl)
   exposeCollisionAPI();
   exposeDistanceAPI();
   exposeGJK();
+#ifdef HPP_FCL_HAS_OCTOMAP
+  exposeOctree();
+#endif
 }

python/fcl.hh

@@ -18,3 +18,7 @@ void exposeCollisionAPI();
 void exposeDistanceAPI();
 
 void exposeGJK();
+
+#ifdef HPP_FCL_HAS_OCTOMAP
+void exposeOctree();
+#endif

python/octree.cc

+
+#include <boost/python.hpp>
+
+#include <hpp/fcl/fwd.hh>
+#include <hpp/fcl/octree.h>
+
+#include "fcl.hh"
+
+#ifdef HPP_FCL_HAS_DOXYGEN_AUTODOC
+#include "doxygen_autodoc/functions.h"
+#endif
+
+#include "../doc/python/doxygen.hh"
+#include "../doc/python/doxygen-boost.hh"
+
+void exposeOctree()
+{
+  using namespace hpp::fcl;
+  namespace bp = boost::python;
+  namespace dv = doxygen::visitor;
+  
+  bp::class_<OcTree, bp::bases<CollisionGeometry> >("OcTree",doxygen::class_doc<OcTree>(),bp::no_init)
+  .def(dv::init<OcTree,FCL_REAL>())
+  .def(dv::member_func("getTreeDepth",&OcTree::getTreeDepth))
+  .def(dv::member_func("getOccupancyThres",&OcTree::getOccupancyThres))
+  .def(dv::member_func("getFreeThres",&OcTree::getFreeThres))
+  .def(dv::member_func("getDefaultOccupancy",&OcTree::getDefaultOccupancy))
+  .def(dv::member_func("setCellDefaultOccupancy",&OcTree::setCellDefaultOccupancy))
+  .def(dv::member_func("setOccupancyThres",&OcTree::setOccupancyThres))
+  .def(dv::member_func("setFreeThres",&OcTree::setFreeThres))
+  .def(dv::member_func("getRootBV",&OcTree::getRootBV))
+  ;
+  
+  doxygen::def("makeOctree",&makeOctree);
+}