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

bindings/python/multibody/fcl/expose-fcl.cpp

@@ -14,6 +14,7 @@ namespace pinocchio
     void exposeFCL()
     {
       namespace bp = boost::python;
+      bp::import ("hppfcl");
       
       typedef ::hpp::fcl::Transform3f Transform3f;
       

bindings/python/pinocchio/__init__.py

@@ -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

unittest/python/bindings_geometry_model_urdf.py

@@ -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()