math.cc

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//
// Software License Agreement (BSD License)
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//  Copyright (c) 2019 CNRS-LAAS INRIA
//  Author: Joseph Mirabel
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#include <eigenpy/eigenpy.hpp>
#include <eigenpy/geometry.hpp>

#include <hpp/fcl/fwd.hh>
#include <hpp/fcl/math/transform.h>

#include "fcl.hh"

#ifdef HPP_FCL_HAS_DOXYGEN_AUTODOC
#include "doxygen_autodoc/hpp/fcl/math/transform.h"
#endif

using namespace boost::python;
using namespace hpp::fcl;

namespace dv = doxygen::visitor;

struct TriangleWrapper {
  static Triangle::index_type getitem(const Triangle& t, int i) {
    if (i >= 3 || i <= -3)
      PyErr_SetString(PyExc_IndexError, "Index out of range");
    return t[static_cast<hpp::fcl::Triangle::index_type>(i % 3)];
  }
  static void setitem(Triangle& t, int i, Triangle::index_type v) {
    if (i >= 3 || i <= -3)
      PyErr_SetString(PyExc_IndexError, "Index out of range");
    t[static_cast<hpp::fcl::Triangle::index_type>(i % 3)] = v;
  }
};

void exposeMaths() {
  eigenpy::enableEigenPy();

  if (!eigenpy::register_symbolic_link_to_registered_type<Eigen::Quaterniond>())
    eigenpy::exposeQuaternion();
  if (!eigenpy::register_symbolic_link_to_registered_type<Eigen::AngleAxisd>())
    eigenpy::exposeAngleAxis();

  eigenpy::enableEigenPySpecific<Matrix3f>();
  eigenpy::enableEigenPySpecific<Vec3f>();

  class_<Transform3f>("Transform3f", doxygen::class_doc<Transform3f>(), no_init)
      .def(dv::init<Transform3f>())
      .def(dv::init<Transform3f, const Matrix3f::MatrixBase&,
                    const Vec3f::MatrixBase&>())
      .def(dv::init<Transform3f, const Quaternion3f&,
                    const Vec3f::MatrixBase&>())
      .def(dv::init<Transform3f, const Matrix3f&>())
      .def(dv::init<Transform3f, const Quaternion3f&>())
      .def(dv::init<Transform3f, const Vec3f&>())
      .def(dv::init<Transform3f, const Transform3f&>())

      .def(dv::member_func("getQuatRotation", &Transform3f::getQuatRotation))
      .def("getTranslation", &Transform3f::getTranslation,
           doxygen::member_func_doc(&Transform3f::getTranslation),
           return_value_policy<copy_const_reference>())
      .def("getRotation", &Transform3f::getRotation,
           return_value_policy<copy_const_reference>())
      .def("isIdentity", &Transform3f::isIdentity,
           (bp::arg("self"),
            bp::arg("prec") = Eigen::NumTraits<FCL_REAL>::dummy_precision()),
           doxygen::member_func_doc(&Transform3f::getTranslation))

      .def(dv::member_func("setQuatRotation", &Transform3f::setQuatRotation))
      .def("setTranslation", &Transform3f::setTranslation<Vec3f>)
      .def("setRotation", &Transform3f::setRotation<Matrix3f>)
      .def(dv::member_func("setTransform",
                           &Transform3f::setTransform<Matrix3f, Vec3f>))
      .def(dv::member_func(
          "setTransform",
          static_cast<void (Transform3f::*)(const Quaternion3f&, const Vec3f&)>(
              &Transform3f::setTransform)))
      .def(dv::member_func("setIdentity", &Transform3f::setIdentity))
      .def(dv::member_func("Identity", &Transform3f::Identity))
      .staticmethod("Identity")

      .def(dv::member_func("transform", &Transform3f::transform<Vec3f>))
      .def("inverseInPlace", &Transform3f::inverseInPlace,
           return_internal_reference<>(),
           doxygen::member_func_doc(&Transform3f::inverseInPlace))
      .def(dv::member_func("inverse", &Transform3f::inverse))
      .def(dv::member_func("inverseTimes", &Transform3f::inverseTimes))

      .def(self * self)
      .def(self *= self)
      .def(self == self)
      .def(self != self);

  class_<Triangle>("Triangle", no_init)
      .def(dv::init<Triangle>())
      .def(dv::init<Triangle, Triangle::index_type, Triangle::index_type,
                    Triangle::index_type>())
      .def("__getitem__", &TriangleWrapper::getitem)
      .def("__setitem__", &TriangleWrapper::setitem)
      .def(dv::member_func("set", &Triangle::set))
      .def(dv::member_func("size", &Triangle::size))
      .staticmethod("size")
      .def(self == self);

  if (!eigenpy::register_symbolic_link_to_registered_type<
          std::vector<Vec3f> >()) {
    class_<std::vector<Vec3f> >("StdVec_Vec3f")
        .def(vector_indexing_suite<std::vector<Vec3f> >());
  }
  if (!eigenpy::register_symbolic_link_to_registered_type<
          std::vector<Triangle> >()) {
    class_<std::vector<Triangle> >("StdVec_Triangle")
        .def(vector_indexing_suite<std::vector<Triangle> >());
  }
}