42 #ifdef HPP_FCL_HAS_DOXYGEN_AUTODOC
43 #include "doxygen_autodoc/functions.h"
44 #include "doxygen_autodoc/hpp/fcl/narrowphase/gjk.h"
54 if (!eigenpy::register_symbolic_link_to_registered_type<GJK::Status>()) {
55 enum_<GJK::Status>(
"GJKStatus")
56 .value(
"Valid", GJK::Valid)
57 .value(
"Inside", GJK::Inside)
58 .value(
"Failed", GJK::Failed)
62 if (!eigenpy::register_symbolic_link_to_registered_type<MinkowskiDiff>()) {
63 class_<MinkowskiDiff>(
"MinkowskiDiff", doxygen::class_doc<MinkowskiDiff>(),
65 .def(doxygen::visitor::init<MinkowskiDiff>())
84 .DEF_RW_CLASS_ATTRIB(
MinkowskiDiff, normalize_support_direction);
87 if (!eigenpy::register_symbolic_link_to_registered_type<GJKVariant>()) {
88 enum_<GJKVariant>(
"GJKVariant")
96 enum_<GJKConvergenceCriterion>(
"GJKConvergenceCriterion")
105 enum_<GJKConvergenceCriterionType>(
"GJKConvergenceCriterionType")
111 if (!eigenpy::register_symbolic_link_to_registered_type<GJK>()) {
112 class_<GJK>(
"GJK", doxygen::class_doc<GJK>(), no_init)
113 .def(doxygen::visitor::init<GJK, unsigned int, FCL_REAL>())
115 .DEF_RW_CLASS_ATTRIB(
GJK, ray)
116 .DEF_RW_CLASS_ATTRIB(
GJK, support_hint)
117 .DEF_RW_CLASS_ATTRIB(
GJK, gjk_variant)
118 .DEF_RW_CLASS_ATTRIB(
GJK, convergence_criterion)
119 .DEF_RW_CLASS_ATTRIB(
GJK, convergence_criterion_type)
120 .DEF_CLASS_FUNC(
GJK, evaluate)
121 .DEF_CLASS_FUNC(
GJK, hasClosestPoints)
122 .DEF_CLASS_FUNC(
GJK, hasPenetrationInformation)
124 .DEF_CLASS_FUNC(
GJK, setDistanceEarlyBreak)
125 .DEF_CLASS_FUNC(
GJK, getGuessFromSimplex)
126 .DEF_CLASS_FUNC(
GJK, getIterations);