Commit dfaf425c authored by Joseph Mirabel's avatar Joseph Mirabel
Browse files

[Python] Remove CollisionGeometry

parent f1063e87
......@@ -82,7 +82,6 @@ IF(NOT BUILD_WITH_HPP_FCL_SUPPORT)
multibody/fcl/contact.hpp
multibody/fcl/collision-result.hpp
multibody/fcl/distance-result.hpp
multibody/fcl/collision-geometry.hpp
multibody/fcl/transform.hpp
)
......
//
// Copyright (c) 2017-2019 CNRS INRIA
//
#ifndef __pinocchio_python_fcl_collision_geometry_hpp__
#define __pinocchio_python_fcl_collision_geometry_hpp__
#include "pinocchio/spatial/fcl-pinocchio-conversions.hpp"
#include <hpp/fcl/collision_object.h>
#include <boost/python/copy_const_reference.hpp>
#include <boost/python/return_internal_reference.hpp>
#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
#include <eigenpy/registration.hpp>
namespace pinocchio
{
namespace python
{
namespace fcl
{
namespace bp = boost::python;
struct CollisionGeometryPythonVisitor : public bp::def_visitor<CollisionGeometryPythonVisitor>
{
typedef ::hpp::fcl::CollisionGeometry CollisionGeometry;
template<class PyClass>
void visit(PyClass& cl) const
{
cl
.def("getObjectType",&CollisionGeometry::getObjectType,"Get the type of the object.")
.def("getNodeType",&CollisionGeometry::getNodeType,"Get the node type.")
.def("computeLocalAABB",&CollisionGeometry::computeLocalAABB)
.def_readwrite("aabb_radius",&CollisionGeometry::aabb_radius,"AABB radius")
;
}
static void expose()
{
bp::class_<CollisionGeometry,boost::noncopyable>("CollisionGeometry",
"The geometry for the object for collision or distance computation.",
bp::no_init)
.def(CollisionGeometryPythonVisitor())
;
}
};
} // namespace fcl
} // namespace python
} // namespace pinocchio
#endif // namespace __pinocchio_python_fcl_collision_geometry_hpp__
......@@ -6,11 +6,12 @@
#include "pinocchio/bindings/python/multibody/fcl/contact.hpp"
#include "pinocchio/bindings/python/multibody/fcl/collision-result.hpp"
#include "pinocchio/bindings/python/multibody/fcl/distance-result.hpp"
#include "pinocchio/bindings/python/multibody/fcl/collision-geometry.hpp"
#include "pinocchio/bindings/python/multibody/fcl/transform.hpp"
#include "pinocchio/bindings/python/utils/std-vector.hpp"
#include <eigenpy/registration.hpp>
namespace pinocchio
{
namespace python
......@@ -84,11 +85,6 @@ namespace pinocchio
StdVectorPythonVisitor<DistanceResultPythonVisitor::DistanceResult>::expose("StdVec_DistanceResult");
}
if(!eigenpy::register_symbolic_link_to_registered_type< ::hpp::fcl::CollisionGeometry>())
{
CollisionGeometryPythonVisitor::expose();
}
typedef ::hpp::fcl::Transform3f Transform3f;
// Register implicit conversion SE3 <=> ::hpp::fcl::Transform3f
......
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