fcl.cc

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//
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//  Author: Joseph Mirabel
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#include <eigenpy/eigenpy.hpp>

#include "fcl.hh"

#include <hpp/fcl/fwd.hh>
#include <hpp/fcl/shape/geometric_shapes.h>
#include <hpp/fcl/BVH/BVH_model.h>

#include <hpp/fcl/mesh_loader/loader.h>

#include <hpp/fcl/collision.h>

#ifdef HPP_FCL_HAS_DOXYGEN_AUTODOC
#include "doxygen_autodoc/hpp/fcl/mesh_loader/loader.h"
#endif

#include "../doc/python/doxygen.hh"
#include "../doc/python/doxygen-boost.hh"

using namespace hpp::fcl;
namespace dv = doxygen::visitor;

#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wconversion"
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(load_overloads, MeshLoader::load, 1, 2)
#pragma GCC diagnostic pop

void exposeMeshLoader() {
  using namespace boost::python;

  if (!eigenpy::register_symbolic_link_to_registered_type<MeshLoader>()) {
    class_<MeshLoader, shared_ptr<MeshLoader> >(
        "MeshLoader", doxygen::class_doc<MeshLoader>(),
        init<optional<NODE_TYPE> >(
            (arg("self"), arg("node_type")),
            doxygen::constructor_doc<MeshLoader, const NODE_TYPE&>()))
        .def("load", &MeshLoader::load,
             load_overloads((arg("self"), arg("filename"), arg("scale")),
                            doxygen::member_func_doc(&MeshLoader::load)))
        .def(dv::member_func("loadOctree", &MeshLoader::loadOctree));
  }

  if (!eigenpy::register_symbolic_link_to_registered_type<CachedMeshLoader>()) {
    class_<CachedMeshLoader, bases<MeshLoader>, shared_ptr<CachedMeshLoader> >(
        "CachedMeshLoader", doxygen::class_doc<MeshLoader>(),
        init<optional<NODE_TYPE> >(
            (arg("self"), arg("node_type")),
            doxygen::constructor_doc<CachedMeshLoader, const NODE_TYPE&>()));
  }
}

BOOST_PYTHON_MODULE(hppfcl) {
  namespace bp = boost::python;

  PyImport_ImportModule("warnings");
  eigenpy::enableEigenPy();

  exposeVersion();
  exposeMaths();
  exposeCollisionGeometries();
  exposeCollisionObject();
  exposeMeshLoader();
  exposeCollisionAPI();
  exposeDistanceAPI();
  exposeGJK();
#ifdef HPP_FCL_HAS_OCTOMAP
  exposeOctree();
#endif
  exposeBroadPhase();
}