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Pierre Fernbach
curves
Commits
fb08cd39
Commit
fb08cd39
authored
Feb 10, 2020
by
Pierre Fernbach
Browse files
[Python] correctly register the shared poiters to the base abstract classes
parent
841fbabf
Changes
1
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python/curves/curves_python.cpp
View file @
fb08cd39
...
...
@@ -14,6 +14,7 @@
#include
<boost/python/call_method.hpp>
#include
<boost/ref.hpp>
#include
<boost/utility.hpp>
#include
<boost/python/register_ptr_to_python.hpp>
namespace
curves
{
using
namespace
boost
::
python
;
...
...
@@ -468,6 +469,7 @@ BOOST_PYTHON_MODULE(curves) {
/*eigenpy::exposeAngleAxis();
eigenpy::exposeQuaternion();*/
/** END eigenpy init**/
/** Expose base abstracts class for each dimension/type : **/
class_
<
curve_abc_t
,
boost
::
noncopyable
,
boost
::
shared_ptr
<
curve_abc_callback
>
>
(
"curve"
)
.
def
(
"__call__"
,
&
curve_abc_t
::
operator
(),
"Evaluate the curve at the given time."
,
args
(
"self"
,
"t"
))
...
...
@@ -555,6 +557,11 @@ BOOST_PYTHON_MODULE(curves) {
args
(
"self"
,
"t"
,
"N"
))
#endif // CURVES_WITH_PINOCCHIO_SUPPORT
;
register_ptr_to_python
<
curve_ptr_t
>
();
register_ptr_to_python
<
curve3_ptr_t
>
();
register_ptr_to_python
<
curve_rotation_ptr_t
>
();
register_ptr_to_python
<
curve_SE3_ptr_t
>
();
/** END base abstracts class for each dimension/type : **/
/** BEGIN bezier3 curve**/
class_
<
bezier3_t
,
bases
<
curve_3_t
>
,
boost
::
shared_ptr
<
bezier3_t
>
>
(
"bezier3"
,
init
<>
())
...
...
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