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Merge pull request #618 from jongyaoY/devel
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fix issue #590
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@jcarpent
jcarpent authored Aug 22, 2024
2 parents 412cf10 + ccba515 commit 7e3f33b
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Showing 2 changed files with 69 additions and 14 deletions.
1 change: 1 addition & 0 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
- Optimize EPA: ignore useless faces in EPA's polytope; warm-start support computation for `Convex`; fix edge-cases witness points computation.
- Add `Serializable` trait to transform, collision data, collision geometries, bounding volumes, bvh models, hfields. Collision problems can now be serialized from C++ and sent to python and vice versa.
- CMake: allow use of installed jrl-cmakemodules ([#564](https://github.com/humanoid-path-planner/hpp-fcl/pull/564))
- Python: add id() support for geometries ([#618](https://github.com/humanoid-path-planner/hpp-fcl/pull/618)).

### Fixed

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82 changes: 68 additions & 14 deletions python/collision-geometries.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,9 @@

#include <eigenpy/eigenpy.hpp>
#include <eigenpy/eigen-to-python.hpp>

#if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
#include <eigenpy/id.hpp>
#endif
#include "fcl.hh"
#include "deprecation.hh"

Expand Down Expand Up @@ -116,7 +118,11 @@ void exposeBVHModel(const std::string& bvname) {
.def("clone", &BVH::clone, doxygen::member_func_doc(&BVH::clone),
return_value_policy<manage_new_object>())
.def_pickle(PickleObject<BVH>())
.def(SerializableVisitor<BVH>());
.def(SerializableVisitor<BVH>())
#if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
.def(eigenpy::IdVisitor<BVH>())
#endif
;
}

template <typename BV>
Expand Down Expand Up @@ -157,7 +163,11 @@ void exposeHeightField(const std::string& bvname) {
Geometry::getBV),
bp::return_internal_reference<>())
.def_pickle(PickleObject<Geometry>())
.def(SerializableVisitor<Geometry>());
.def(SerializableVisitor<Geometry>())
#if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
.def(eigenpy::IdVisitor<Geometry>())
#endif
;
}

struct ConvexBaseWrapper {
Expand Down Expand Up @@ -284,7 +294,11 @@ void exposeShapes() {
.def("clone", &Box::clone, doxygen::member_func_doc(&Box::clone),
return_value_policy<manage_new_object>())
.def_pickle(PickleObject<Box>())
.def(SerializableVisitor<Box>());
.def(SerializableVisitor<Box>())
#if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
.def(eigenpy::IdVisitor<Box>())
#endif
;

class_<Capsule, bases<ShapeBase>, shared_ptr<Capsule>>(
"Capsule", doxygen::class_doc<Capsule>(), no_init)
Expand All @@ -296,7 +310,11 @@ void exposeShapes() {
.def("clone", &Capsule::clone, doxygen::member_func_doc(&Capsule::clone),
return_value_policy<manage_new_object>())
.def_pickle(PickleObject<Capsule>())
.def(SerializableVisitor<Capsule>());
.def(SerializableVisitor<Capsule>())
#if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
.def(eigenpy::IdVisitor<Capsule>())
#endif
;

class_<Cone, bases<ShapeBase>, shared_ptr<Cone>>(
"Cone", doxygen::class_doc<Cone>(), no_init)
Expand All @@ -308,7 +326,11 @@ void exposeShapes() {
.def("clone", &Cone::clone, doxygen::member_func_doc(&Cone::clone),
return_value_policy<manage_new_object>())
.def_pickle(PickleObject<Cone>())
.def(SerializableVisitor<Cone>());
.def(SerializableVisitor<Cone>())
#if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
.def(eigenpy::IdVisitor<Cone>())
#endif
;

class_<ConvexBase, bases<ShapeBase>, shared_ptr<ConvexBase>, noncopyable>(
"ConvexBase", doxygen::class_doc<ConvexBase>(), no_init)
Expand Down Expand Up @@ -356,7 +378,11 @@ void exposeShapes() {
.DEF_RO_CLASS_ATTRIB(Convex<Triangle>, num_polygons)
.def("polygons", &ConvexWrapper<Triangle>::polygons)
.def_pickle(PickleObject<Convex<Triangle>>())
.def(SerializableVisitor<Convex<Triangle>>());
.def(SerializableVisitor<Convex<Triangle>>())
#if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
.def(eigenpy::IdVisitor<Convex<Triangle>>())
#endif
;

class_<Cylinder, bases<ShapeBase>, shared_ptr<Cylinder>>(
"Cylinder", doxygen::class_doc<Cylinder>(), no_init)
Expand All @@ -369,7 +395,11 @@ void exposeShapes() {
doxygen::member_func_doc(&Cylinder::clone),
return_value_policy<manage_new_object>())
.def_pickle(PickleObject<Cylinder>())
.def(SerializableVisitor<Cylinder>());
.def(SerializableVisitor<Cylinder>())
#if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
.def(eigenpy::IdVisitor<Cylinder>())
#endif
;

class_<Halfspace, bases<ShapeBase>, shared_ptr<Halfspace>>(
"Halfspace", doxygen::class_doc<Halfspace>(), no_init)
Expand All @@ -383,7 +413,11 @@ void exposeShapes() {
doxygen::member_func_doc(&Halfspace::clone),
return_value_policy<manage_new_object>())
.def_pickle(PickleObject<Halfspace>())
.def(SerializableVisitor<Halfspace>());
.def(SerializableVisitor<Halfspace>())
#if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
.def(eigenpy::IdVisitor<Halfspace>())
#endif
;

class_<Plane, bases<ShapeBase>, shared_ptr<Plane>>(
"Plane", doxygen::class_doc<Plane>(), no_init)
Expand All @@ -396,7 +430,11 @@ void exposeShapes() {
.def("clone", &Plane::clone, doxygen::member_func_doc(&Plane::clone),
return_value_policy<manage_new_object>())
.def_pickle(PickleObject<Plane>())
.def(SerializableVisitor<Plane>());
.def(SerializableVisitor<Plane>())
#if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
.def(eigenpy::IdVisitor<Plane>())
#endif
;

class_<Sphere, bases<ShapeBase>, shared_ptr<Sphere>>(
"Sphere", doxygen::class_doc<Sphere>(), no_init)
Expand All @@ -407,7 +445,11 @@ void exposeShapes() {
.def("clone", &Sphere::clone, doxygen::member_func_doc(&Sphere::clone),
return_value_policy<manage_new_object>())
.def_pickle(PickleObject<Sphere>())
.def(SerializableVisitor<Sphere>());
.def(SerializableVisitor<Sphere>())
#if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
.def(eigenpy::IdVisitor<Sphere>())
#endif
;

class_<Ellipsoid, bases<ShapeBase>, shared_ptr<Ellipsoid>>(
"Ellipsoid", doxygen::class_doc<Ellipsoid>(), no_init)
Expand All @@ -420,7 +462,11 @@ void exposeShapes() {
doxygen::member_func_doc(&Ellipsoid::clone),
return_value_policy<manage_new_object>())
.def_pickle(PickleObject<Ellipsoid>())
.def(SerializableVisitor<Ellipsoid>());
.def(SerializableVisitor<Ellipsoid>())
#if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
.def(eigenpy::IdVisitor<Ellipsoid>())
#endif
;

class_<TriangleP, bases<ShapeBase>, shared_ptr<TriangleP>>(
"TriangleP", doxygen::class_doc<TriangleP>(), no_init)
Expand All @@ -434,7 +480,11 @@ void exposeShapes() {
doxygen::member_func_doc(&TriangleP::clone),
return_value_policy<manage_new_object>())
.def_pickle(PickleObject<TriangleP>())
.def(SerializableVisitor<TriangleP>());
.def(SerializableVisitor<TriangleP>())
#if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
.def(eigenpy::IdVisitor<TriangleP>())
#endif
;
}

boost::python::tuple AABB_distance_proxy(const AABB& self, const AABB& other) {
Expand Down Expand Up @@ -584,7 +634,11 @@ void exposeCollisionGeometries() {
// (AABB::*)(const Vec3f &)>(&AABB::expand)),
bp::return_internal_reference<>())
.def_pickle(PickleObject<AABB>())
.def(SerializableVisitor<AABB>());
.def(SerializableVisitor<AABB>())
#if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
.def(eigenpy::IdVisitor<AABB>())
#endif
;

def("translate", (AABB(*)(const AABB&, const Vec3f&)) & translate,
bp::args("aabb", "t"), "Translate the center of AABB by t");
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