gjk.cc
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34 
35 #include <eigenpy/eigenpy.hpp>
36 
37 #include "fcl.hh"
38 
39 #include <hpp/fcl/fwd.hh>
41 
42 #ifdef HPP_FCL_HAS_DOXYGEN_AUTODOC
43 #include "doxygen_autodoc/functions.h"
44 #include "doxygen_autodoc/hpp/fcl/narrowphase/gjk.h"
45 #endif
46 
47 using namespace boost::python;
48 using namespace hpp::fcl;
52 
53 void exposeGJK() {
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)
59  .export_values();
60  }
61 
62  if (!eigenpy::register_symbolic_link_to_registered_type<MinkowskiDiff>()) {
63  class_<MinkowskiDiff>("MinkowskiDiff", doxygen::class_doc<MinkowskiDiff>(),
64  no_init)
65  .def(doxygen::visitor::init<MinkowskiDiff>())
66  .def("set",
67  static_cast<void (MinkowskiDiff::*)(
68  const ShapeBase*, const ShapeBase*)>(&MinkowskiDiff::set),
70  static_cast<void (MinkowskiDiff::*)(
71  const ShapeBase*, const ShapeBase*)>(&MinkowskiDiff::set)))
72  .def("set",
73  static_cast<void (MinkowskiDiff::*)(
74  const ShapeBase*, const ShapeBase*, const Transform3f& tf0,
75  const Transform3f& tf1)>(&MinkowskiDiff::set),
77  static_cast<void (MinkowskiDiff::*)(
78  const ShapeBase*, const ShapeBase*, const Transform3f& tf0,
79  const Transform3f& tf1)>(&MinkowskiDiff::set)))
80  .DEF_CLASS_FUNC(MinkowskiDiff, support0)
81  .DEF_CLASS_FUNC(MinkowskiDiff, support1)
82  .DEF_CLASS_FUNC(MinkowskiDiff, support)
83  .DEF_RW_CLASS_ATTRIB(MinkowskiDiff, inflation)
84  .DEF_RW_CLASS_ATTRIB(MinkowskiDiff, normalize_support_direction);
85  }
86 
87  if (!eigenpy::register_symbolic_link_to_registered_type<GJKVariant>()) {
88  enum_<GJKVariant>("GJKVariant")
89  .value("DefaultGJK", GJKVariant::DefaultGJK)
90  .value("NesterovAcceleration", GJKVariant::NesterovAcceleration)
91  .export_values();
92  }
93 
96  enum_<GJKConvergenceCriterion>("GJKConvergenceCriterion")
97  .value("VDB", GJKConvergenceCriterion::VDB)
98  .value("DualityGap", GJKConvergenceCriterion::DualityGap)
99  .value("Hybrid", GJKConvergenceCriterion::Hybrid)
100  .export_values();
101  }
102 
105  enum_<GJKConvergenceCriterionType>("GJKConvergenceCriterionType")
106  .value("Absolute", GJKConvergenceCriterionType::Absolute)
107  .value("Relative", GJKConvergenceCriterionType::Relative)
108  .export_values();
109  }
110 
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>())
114  .DEF_RW_CLASS_ATTRIB(GJK, distance)
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)
123  .DEF_CLASS_FUNC(GJK, getClosestPoints)
124  .DEF_CLASS_FUNC(GJK, setDistanceEarlyBreak)
125  .DEF_CLASS_FUNC(GJK, getGuessFromSimplex)
126  .DEF_CLASS_FUNC(GJK, getIterations);
127  }
128 }
hpp::fcl::GJKConvergenceCriterionType
GJKConvergenceCriterionType
Wether the convergence criterion is scaled on the norm of the solution or not.
Definition: data_types.h:93
boost::python
exposeGJK
void exposeGJK()
Definition: gjk.cc:53
hpp::fcl::details::details::getClosestPoints
bool getClosestPoints(const GJK::Simplex &simplex, Vec3f &w0, Vec3f &w1)
Definition: src/narrowphase/gjk.cpp:532
gjk.h
hpp::fcl::details::GJK
class for GJK algorithm
Definition: gjk.h:141
eigenpy.hpp
hpp::fcl::VDB
@ VDB
Definition: data_types.h:89
hpp::fcl::details::EPA
class for EPA algorithm
Definition: gjk.h:312
eigenpy::register_symbolic_link_to_registered_type
bool register_symbolic_link_to_registered_type()
hpp::fcl::DefaultGJK
@ DefaultGJK
Definition: data_types.h:83
gjk.tf1
tuple tf1
Definition: test/scripts/gjk.py:27
hpp::fcl::GJKConvergenceCriterion
GJKConvergenceCriterion
Which convergence criterion is used to stop the algorithm (when the shapes are not in collision)....
Definition: data_types.h:89
distance
double distance(const std::vector< Transform3f > &tf, const BVHModel< BV > &m1, const BVHModel< BV > &m2, bool verbose)
Definition: benchmark.cpp:93
fcl.hh
hpp::fcl::Hybrid
@ Hybrid
Definition: data_types.h:89
hpp::fcl::details::MinkowskiDiff
Minkowski difference class of two shapes.
Definition: gjk.h:59
hpp::fcl::Relative
@ Relative
Definition: data_types.h:93
hpp::fcl
Definition: broadphase_bruteforce.h:45
hpp::fcl::Transform3f
Simple transform class used locally by InterpMotion.
Definition: transform.h:54
fwd.hh
hpp::fcl::DualityGap
@ DualityGap
Definition: data_types.h:89
hpp::fcl::Absolute
@ Absolute
Definition: data_types.h:93
hpp::fcl::ShapeBase
Base class for all basic geometric shapes.
Definition: shape/geometric_shapes.h:51
doxygen::member_func_doc
const char * member_func_doc(FuncPtr)
Definition: doxygen.hh:33
hpp::fcl::NesterovAcceleration
@ NesterovAcceleration
Definition: data_types.h:83


hpp-fcl
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autogenerated on Fri Aug 2 2024 02:45:13