Merge pull request #500 from lmontaut/topic/hppfcl3x/expose-gjk-initi…

…al-guess [python] Expose GJKInitialGuess
humanoid-path-planner · Dec 15, 2023 · 714c20f · 714c20f
2 parents 49e5020 + 09bf499
commit 714c20f
Showing 1 changed file with 8 additions and 0 deletions.
diff --git a/python/gjk.cc b/python/gjk.cc
@@ -92,6 +92,14 @@ void exposeGJK() {
         .export_values();
   }
 
+  if (!eigenpy::register_symbolic_link_to_registered_type<GJKInitialGuess>()) {
+    enum_<GJKInitialGuess>("GJKInitialGuess")
+        .value("DefaultGuess", GJKInitialGuess::DefaultGuess)
+        .value("CachedGuess", GJKInitialGuess::CachedGuess)
+        .value("BoundingVolumeGuess", GJKInitialGuess::BoundingVolumeGuess)
+        .export_values();
+  }
+
   if (!eigenpy::register_symbolic_link_to_registered_type<
           GJKConvergenceCriterion>()) {
     enum_<GJKConvergenceCriterion>("GJKConvergenceCriterion")