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pinocchio
Commits
7b69a24a
Unverified
Commit
7b69a24a
authored
Jun 07, 2021
by
Justin Carpentier
Committed by
GitHub
Jun 07, 2021
Browse files
Merge pull request #1458 from jcarpent/topic/fcl
Fix serialization
parents
2da34f31
bf0726b3
Pipeline
#14855
passed with stage
in 161 minutes and 42 seconds
Changes
3
Pipelines
1
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CMakeLists.txt
View file @
7b69a24a
...
...
@@ -163,7 +163,7 @@ ENDIF(BUILD_PYTHON_INTERFACE)
IF
(
BUILD_WITH_HPP_FCL_SUPPORT
)
ADD_DEFINITIONS
(
-DPINOCCHIO_WITH_HPP_FCL
)
LIST
(
APPEND CFLAGS_DEPENDENCIES
"-DPINOCCHIO_WITH_HPP_FCL"
)
ADD_PROJECT_DEPENDENCY
(
hpp-fcl 1.7.
1
REQUIRED PKG_CONFIG_REQUIRES
"hpp-fcl >= 1.7.
1
"
)
ADD_PROJECT_DEPENDENCY
(
hpp-fcl 1.7.
3
REQUIRED PKG_CONFIG_REQUIRES
"hpp-fcl >= 1.7.
3
"
)
# Check whether hpp-fcl python bindings are available.
SET
(
BUILD_WITH_HPP_FCL_PYTHON_BINDINGS FALSE
)
IF
(
BUILD_PYTHON_INTERFACE
)
...
...
bindings/python/multibody/fcl/expose-fcl.cpp
View file @
7b69a24a
...
...
@@ -8,6 +8,7 @@
#define HPP_FCL_SKIP_EIGEN_BOOST_SERIALIZATION
#include
<hpp/fcl/serialization/BVH_model.h>
#include
<hpp/fcl/serialization/geometric_shapes.h>
#undef HPP_FCL_SKIP_EIGEN_BOOST_SERIALIZATION
namespace
pinocchio
...
...
@@ -26,6 +27,15 @@ namespace pinocchio
bp
::
implicitly_convertible
<
Transform3f
,
SE3
>
();
// Expose serialization of basic geometries to binary buffers
serialize
<
TriangleP
>
();
serialize
<
Sphere
>
();
serialize
<
Capsule
>
();
serialize
<
Box
>
();
serialize
<
Cone
>
();
serialize
<
Cylinder
>
();
serialize
<
Plane
>
();
serialize
<
Halfspace
>
();
serialize
<
BVHModel
<
OBB
>
>
();
serialize
<
BVHModel
<
RSS
>
>
();
serialize
<
BVHModel
<
OBBRSS
>
>
();
...
...
package.xml
View file @
7b69a24a
<?xml version="1.0"?>
<package
format=
"3"
>
<name>
pinocchio
</name>
<version>
2.6.
0
</version>
<version>
2.6.
1
</version>
<description>
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives.
</description>
<!-- The maintainer listed here is for the ROS release to receive emails for the buildfarm.
Please check the repository URL for full list of authors and maintainers. -->
...
...
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