collision/pool/expose-pool.cpp

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//
// Copyright (c) 2024 INRIA
//
 
#include "pinocchio/bindings/python/fwd.hpp"
#include "pinocchio/bindings/python/multibody/pool/model.hpp"
 
#include "pinocchio/bindings/python/collision/pool/geometry.hpp"
#include "pinocchio/bindings/python/collision/pool/broadphase-manager.hpp"
#include "pinocchio/collision/tree-broadphase-manager.hpp"
 
#include <hpp/fcl/broadphase/broadphase_dynamic_AABB_tree.h>
#include <hpp/fcl/broadphase/broadphase_dynamic_AABB_tree_array.h>
#include <hpp/fcl/broadphase/broadphase_SSaP.h>
#include <hpp/fcl/broadphase/broadphase_SaP.h>
#include <hpp/fcl/broadphase/broadphase_bruteforce.h>
#include <hpp/fcl/broadphase/broadphase_interval_tree.h>
#include <hpp/fcl/broadphase/broadphase_spatialhash.h>
 
namespace pinocchio
{
  namespace python
  {
 
    void exposePoolCollision()
    {
      GeometryPoolPythonVisitor<GeometryPool>::expose();
      BroadPhaseManagerPoolPythonVisitor<
        BroadPhaseManagerPool<hpp::fcl::DynamicAABBTreeCollisionManager, double>>::expose();
      BroadPhaseManagerPoolPythonVisitor<
        TreeBroadPhaseManagerPool<hpp::fcl::DynamicAABBTreeCollisionManager, double>>::expose();
    }
 
  } // namespace python
} // namespace pinocchio