broadphase-manager.hpp

//
// Copyright (c) 2022-2024 INRIA
//

#pragma once

#include "pinocchio/collision/broadphase-manager.hpp"
#include "pinocchio/bindings/python/collision/broadphase-manager-base.hpp"

#include <eigenpy/eigen-to-python.hpp>
#include <boost/algorithm/string/replace.hpp>

namespace pinocchio
{
 namespace python
 {
 namespace bp = boost::python;

 template<typename Derived>
 struct BroadPhaseManagerPythonVisitor
 : public bp::def_visitor<BroadPhaseManagerPythonVisitor<Derived>>
 {
 public:
 typedef BroadPhaseManagerTpl<Derived> Self;
 typedef typename Self::CollisionObjectVector CollisionObjectVector;

 /* --- Exposing C++ API to python through the handler ----------------- */
 template<class PyClass>
 void visit(PyClass & cl) const
 {
 cl.def(
 bp::init<const Model *, const GeometryModel *, GeometryData *>(
 bp::args("self", "model", "geometry_model", "geometry_data"), "Default constructor")
 [bp::with_custodian_and_ward<1, 2>(), bp::with_custodian_and_ward<1, 3>(),
 bp::with_custodian_and_ward<1, 4>()])
 .def(
 bp::init<const Self &>(
 bp::args("self", "other"), "Copy constructor")[bp::with_custodian_and_ward<1, 2>()])

 .def(
 "getCollisionObjectInflation", &Self::getCollisionObjectInflation, bp::arg("self"),
 "Returns the inflation value related to each collision object.",
 bp::return_internal_reference<>())
 .def(
 "getCollisionObjects",
 (CollisionObjectVector & (Self::*)()) & Self::getCollisionObjects, bp::arg("self"),
 bp::return_internal_reference<>())

 .def(
 "getManager", (Derived & (Self::*)()) & Self::getManager, bp::arg("self"),
 "Returns the internal coal manager", bp::return_internal_reference<>())

 .def(
 "getCollisionObjectStatus", &Self::getCollisionObjectStatus, bp::arg("self"),
 "Returns the status of the collision object.",
 bp::return_value_policy<bp::copy_const_reference>())

 .def(BroadPhaseManagerBasePythonVisitor<Self>());
 }

 /* --- Expose --------------------------------------------------------- */
 static void expose()
 {
 std::string derived_name = boost::typeindex::type_id<Derived>().pretty_name();
 boost::algorithm::replace_all(derived_name, "coal::", "");
 const std::string class_name = "BroadPhaseManager_" + derived_name;

 const std::string class_doc = "Broad phase manager associated to coal::" + derived_name;
 bp::class_<Self> registered_class(class_name.c_str(), class_doc.c_str(), bp::no_init);
 registered_class.def(BroadPhaseManagerPythonVisitor());

 typedef BroadPhaseManagerBase<Self> Base;
 bp::objects::register_dynamic_id<Base>();
 bp::objects::register_conversion<Self, Base>(false);
 }
 };

 } // namespace python
} // namespace pinocchio