[Python] Remove MeshLoader (provided by hppfcl)

bindings/python/CMakeLists.txt

@@ -83,7 +83,6 @@ IF(NOT BUILD_WITH_HPP_FCL_SUPPORT)
     multibody/fcl/collision-result.hpp
     multibody/fcl/distance-result.hpp
     multibody/fcl/collision-geometry.hpp
-    multibody/fcl/mesh-loader.hpp
     multibody/fcl/transform.hpp
     )
 

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

@@ -7,7 +7,6 @@
 #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/mesh-loader.hpp"
 #include "pinocchio/bindings/python/multibody/fcl/transform.hpp"
 
 #include "pinocchio/bindings/python/utils/std-vector.hpp"
@@ -90,17 +89,6 @@ namespace pinocchio
         CollisionGeometryPythonVisitor::expose();
       }
       
-      typedef ::hpp::fcl::MeshLoader MeshLoader;
-      typedef ::hpp::fcl::CachedMeshLoader CachedMeshLoader;
-
-      if(!eigenpy::register_symbolic_link_to_registered_type<MeshLoader>())
-        MeshLoaderPythonVisitor<MeshLoader>::
-        expose("Class to create CollisionGeometry from mesh files.");
-
-      if(!eigenpy::register_symbolic_link_to_registered_type<CachedMeshLoader>())
-        MeshLoaderPythonVisitor<CachedMeshLoader>::
-        expose("Class to create CollisionGeometry from mesh files with cache mechanism.");
-      
       typedef ::hpp::fcl::Transform3f Transform3f;
       
       // Register implicit conversion SE3 <=> ::hpp::fcl::Transform3f

bindings/python/multibody/fcl/mesh-loader.hpp

-//
-// Copyright (c) 2017-2020 CNRS INRIA
-//
-
-#ifndef __pinocchio_python_fcl_mesh_loader_hpp__
-#define __pinocchio_python_fcl_mesh_loader_hpp__
-
-#include "pinocchio/spatial/fcl-pinocchio-conversions.hpp"
-#include <hpp/fcl/mesh_loader/loader.h>
-
-#include <boost/python.hpp>
-#include <boost/python/type_id.hpp>
-
-namespace pinocchio
-{
-  namespace python
-  {
-    namespace fcl
-    {
-      
-      namespace bp = boost::python;
-      
-      template<typename MeshLoader>
-      struct MeshLoaderPythonVisitor
-      : public bp::def_visitor< MeshLoaderPythonVisitor<MeshLoader> >
-      {
-        typedef boost::shared_ptr<MeshLoader> MeshLoaderPtr_t;
-        
-        template <typename T>
-        static boost::shared_ptr<T> create()
-        {
-          return boost::shared_ptr<T>(new T);
-        }
-
-        template<class PyClass>
-        void visit(PyClass& cl) const
-        {
-          cl
-          .def(bp::init<>(bp::arg("self"),"Default constructor"))
-          .def("create",&MeshLoaderPythonVisitor::create<MeshLoader>,"Create a new object.")
-          .staticmethod("create")
-          ;
-        }
-        
-        static void expose(const std::string & doc = "")
-        {
-          static const bp::type_info info = bp::type_id<MeshLoader>();
-          static const std::string class_name = info.name();
-          static const std::string class_name_without_namespace = class_name.substr(class_name.find_last_of(':')+1);
-          
-          bp::class_<MeshLoader, MeshLoaderPtr_t>
-            (class_name_without_namespace.c_str(),
-             doc.c_str(),
-             bp::no_init)
-            .def(MeshLoaderPythonVisitor())
-          ;
-        }
-        
-      };
-      
-    } // namespace fcl
-    
-  } // namespace python
-} // namespace pinocchio
-
-#endif // namespace __pinocchio_python_fcl_mesh_loader_hpp__