Commit b9e179d6 authored by Joseph Mirabel's avatar Joseph Mirabel
Browse files

[Python] Import hppfcl and bring classed from hppfcl to pinocchio

parent 26f8ed9c
......@@ -14,6 +14,7 @@ namespace pinocchio
void exposeFCL()
{
namespace bp = boost::python;
bp::import ("hppfcl");
typedef ::hpp::fcl::Transform3f Transform3f;
......
......@@ -21,6 +21,7 @@ sys.modules['pinocchio.cholesky'] = cholesky
if pin.WITH_HPP_FCL:
try:
import hppfcl
from hppfcl import Contact, StdVec_Contact, CollisionResult, StdVec_CollisionResult, DistanceResult, StdVec_DistanceResult, CollisionGeometry, MeshLoader, CachedMeshLoader
WITH_HPP_FCL_BINDINGS = True
except ImportError:
WITH_HPP_FCL_BINDINGS = False
......
......@@ -98,9 +98,9 @@ class TestGeometryObjectUrdfBindings(unittest.TestCase):
collision_model = pin.buildGeomFromUrdf(model, self.model_path, self.model_dir, pin.GeometryType.COLLISION)
if pin.WITH_HPP_FCL_BINDINGS:
collision_model = pin.buildGeomFromUrdf(model, self.model_path, hint_list, pin.GeometryType.COLLISION, pin.MeshLoader())
collision_model = pin.buildGeomFromUrdf(model, self.model_path, hint_vec, pin.GeometryType.COLLISION, pin.MeshLoader())
collision_model = pin.buildGeomFromUrdf(model, self.model_path, self.model_dir, pin.GeometryType.COLLISION, pin.MeshLoader())
collision_model = pin.buildGeomFromUrdf(model, self.model_path, hint_list, pin.GeometryType.COLLISION, pin.hppfcl.MeshLoader())
collision_model = pin.buildGeomFromUrdf(model, self.model_path, hint_vec, pin.GeometryType.COLLISION, pin.hppfcl.MeshLoader())
collision_model = pin.buildGeomFromUrdf(model, self.model_path, self.model_dir, pin.GeometryType.COLLISION, pin.hppfcl.MeshLoader())
if __name__ == '__main__':
unittest.main()
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