[Python] Remove CollisionGeometry

bindings/python/CMakeLists.txt

@@ -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
     )
 

bindings/python/multibody/fcl/collision-geometry.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__

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

@@ -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