Merge pull request #243 from jcarpent/devel

Fix exposition of vertices

cmake @ ee7a773c

-Subproject commit 9078d521dc23fabae72e3fe8d7c0068c68364eef
+Subproject commit ee7a773c5c23f83dd21eb0ccfa96277e068b0456

python/CMakeLists.txt

@@ -42,6 +42,7 @@ SET(LIBRARY_NAME hppfcl)
 
 SET(${LIBRARY_NAME}_HEADERS
   fcl.hh
+  deprecation.hh
   )
 
 SET(ENABLE_PYTHON_DOXYGEN_AUTODOC TRUE CACHE BOOL "Enable automatic documentation of Python bindings from Doxygen documentation")

python/collision-geometries.cc

@@ -36,6 +36,7 @@
 #include <eigenpy/eigen-to-python.hpp>
 
 #include "fcl.hh"
+#include "deprecation.hh"
 
 #include <hpp/fcl/fwd.hh>
 #include <hpp/fcl/shape/geometric_shapes.h>
@@ -82,7 +83,7 @@ struct BVHModelBaseWrapper
   typedef Eigen::Map<RowMatrixX3> MapRowMatrixX3;
   typedef Eigen::Ref<RowMatrixX3> RefRowMatrixX3;
   
-  static Vec3f & vertice (BVHModelBase & bvh, int i)
+  static Vec3f & vertex (BVHModelBase & bvh, int i)
   {
     if (i >= bvh.num_vertices) throw std::out_of_range("index is out of range");
     return bvh.vertices[i];
@@ -471,12 +472,18 @@ void exposeCollisionGeometries ()
 
   class_ <BVHModelBase, bases<CollisionGeometry>, BVHModelPtr_t, noncopyable>
     ("BVHModelBase", no_init)
-    .def ("vertice", &BVHModelBaseWrapper::vertice,
+    .def ("vertex", &BVHModelBaseWrapper::vertex,
           bp::args("self","index"),"Retrieve the vertex given by its index.",
           bp::return_internal_reference<>())
+    .def ("vertices", &BVHModelBaseWrapper::vertex,
+          bp::args("self","index"),"Retrieve the vertex given by its index.",
+          ::hpp::fcl::python::deprecated_member< bp::return_internal_reference<> >())
     .def ("vertices", &BVHModelBaseWrapper::vertices,
-          bp::args("self"),"Retrieve the vertex given by its index.",
+          bp::args("self"),"Retrieve all the vertices.",
           bp::with_custodian_and_ward_postcall<0,1>())
+//    .add_property ("vertices",
+//                   bp::make_function(&BVHModelBaseWrapper::vertices,bp::with_custodian_and_ward_postcall<0,1>()),
+//                   "Vertices of the BVH.")
     .def ("tri_indices", &BVHModelBaseWrapper::tri_indices,
           bp::args("self","index"),"Retrieve the triangle given by its index.")
     .def_readonly ("num_vertices", &BVHModelBase::num_vertices)

python/deprecation.hh

+//
+// Copyright (c) 2020-2021 INRIA
+//
+
+#ifndef HPP_FCL_PYTHON_UTILS_DEPRECATION_H
+#define HPP_FCL_PYTHON_UTILS_DEPRECATION_H
+
+#include <Python.h>
+#include <boost/python.hpp>
+#include <string>
+
+namespace hpp {
+namespace fcl {
+namespace python {
+
+  template<class Policy = boost::python::default_call_policies>
+  struct deprecated_warning_policy : Policy
+  {
+    deprecated_warning_policy(const std::string & warning_message = "")
+    : Policy()
+    , m_warning_message(warning_message)
+    {}
+  
+    template <class ArgumentPackage>
+    bool precall(ArgumentPackage const & args) const
+    {
+      PyErr_WarnEx(PyExc_UserWarning,m_warning_message.c_str(),1);
+      return static_cast<const Policy*>(this)->precall(args);
+    }
+  
+    typedef typename Policy::result_converter result_converter;
+    typedef typename Policy::argument_package argument_package;
+  
+  protected:
+  
+    const std::string m_warning_message;
+  };
+
+  template<class Policy = boost::python::default_call_policies>
+  struct deprecated_member : deprecated_warning_policy<Policy>
+  {
+    deprecated_member(const std::string & warning_message
+                      = "This class member has been marked as deprecated and will be removed in a future release.")
+    : deprecated_warning_policy<Policy>(warning_message)
+    {}
+  };
+
+  template<class Policy = boost::python::default_call_policies>
+  struct deprecated_function : deprecated_warning_policy<Policy>
+  {
+    deprecated_function(const std::string & warning_message
+                        = "This function has been marked as deprecated and will be removed in a future release.")
+    : deprecated_warning_policy<Policy>(warning_message)
+    {}
+  };
+
+}
+}
+}
+
+#endif // ifndef HPP_FCL_PYTHON_UTILS_DEPRECATION_H

python/fcl.cc

@@ -89,6 +89,7 @@ void exposeMeshLoader ()
 
 BOOST_PYTHON_MODULE(hppfcl)
 {
+  boost::python::import("warnings");
   exposeVersion();
   exposeMaths();
   exposeCollisionGeometries();