geometry-object.hpp

//
// Copyright (c) 2017-2023 CNRS INRIA
//

#ifndef __pinocchio_python_geometry_object_hpp__
#define __pinocchio_python_geometry_object_hpp__

#include <eigenpy/memory.hpp>
#include <eigenpy/eigen-from-python.hpp>
#include <eigenpy/eigen-to-python.hpp>
#include <eigenpy/variant.hpp>

#include "pinocchio/bindings/python/utils/address.hpp"
#include "pinocchio/bindings/python/utils/copyable.hpp"
#include "pinocchio/bindings/python/utils/registration.hpp"
#include "pinocchio/bindings/python/utils/deprecation.hpp"
#include "pinocchio/bindings/python/utils/pickle.hpp"
#include "pinocchio/bindings/python/serialization/serializable.hpp"

#include "pinocchio/multibody/geometry.hpp"

#if EIGENPY_VERSION_AT_MOST(2, 8, 1)
EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::GeometryObject)
#endif

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

 struct GeometryObjectPythonVisitor
 : public boost::python::def_visitor<GeometryObjectPythonVisitor>
 {

 typedef GeometryObject::CollisionGeometryPtr CollisionGeometryPtr;

 template<class PyClass>
 void visit(PyClass & cl) const
 {
 typedef eigenpy::VariantConverter<GeometryMaterial> Converter;
 Converter::registration();

 cl.def(bp::init<
 std::string, JointIndex, FrameIndex, const SE3 &, CollisionGeometryPtr,
 bp::optional<
 std::string, const Eigen::Vector3d &, bool, const Eigen::Vector4d &, std::string,
 GeometryMaterial>>(
 bp::args(
 "self", "name", "parent_joint", "parent_frame", "placement",
 "collision_geometry", "mesh_path", "mesh_scale", "override_material",
 "mesh_color", "mesh_texture_path", "mesh_material"),
 "Full constructor of a GeometryObject."))
 .def(bp::init<
 std::string, JointIndex, const SE3 &, CollisionGeometryPtr,
 bp::optional<
 std::string, const Eigen::Vector3d &, bool, const Eigen::Vector4d &, std::string,
 GeometryMaterial>>(
 bp::args(
 "self", "name", "parent_joint", "placement", "collision_geometry", "mesh_path",
 "mesh_scale", "override_material", "mesh_color", "mesh_texture_path",
 "mesh_material"),
 "Reduced constructor of a GeometryObject. This constructor does not require to specify "
 "the parent frame index."))
 .def(bp::init<
 std::string, FrameIndex, JointIndex, CollisionGeometryPtr, const SE3 &,
 bp::optional<
 std::string, const Eigen::Vector3d &, bool, const Eigen::Vector4d &, std::string,
 GeometryMaterial>>(
 bp::args(
 "self", "name", "parent_frame", "parent_joint", "collision_geometry", "placement",
 "mesh_path", "mesh_scale", "override_material", "mesh_color",
 "mesh_texture_path"
 "mesh_material"),
 "Deprecated. Full constructor of a GeometryObject.")[deprecated_function<>()])
 .def(bp::init<
 std::string, JointIndex, CollisionGeometryPtr, const SE3 &,
 bp::optional<
 std::string, const Eigen::Vector3d &, bool, const Eigen::Vector4d &, std::string,
 GeometryMaterial>>(
 bp::args(
 "self", "name", "parent_joint", "collision_geometry", "placement", "mesh_path",
 "mesh_scale", "override_material", "mesh_color", "mesh_texture_path",
 "mesh_material"),
 "Deprecated. Reduced constructor of a GeometryObject. This constructor does not "
 "require to specify the parent frame index.")[deprecated_function<>()])
 .def(bp::init<const GeometryObject &>(
 bp::args("self", "otherGeometryObject"), "Copy constructor"))
 .add_property(
 "meshScale",
 bp::make_getter(&GeometryObject::meshScale, bp::return_internal_reference<>()),
 bp::make_setter(&GeometryObject::meshScale), "Scaling parameter of the mesh.")
 .add_property(
 "meshColor",
 bp::make_getter(&GeometryObject::meshColor, bp::return_internal_reference<>()),
 bp::make_setter(&GeometryObject::meshColor), "Color rgba of the mesh.")
 .def_readwrite(
 "geometry", &GeometryObject::geometry,
 "The FCL CollisionGeometry associated to the given GeometryObject.")
 .def_readwrite(
 "name", &GeometryObject::name, "Name associated to the given GeometryObject.")
 .def_readwrite("parentJoint", &GeometryObject::parentJoint, "Index of the parent joint.")
 .def_readwrite("parentFrame", &GeometryObject::parentFrame, "Index of the parent frame.")
 .def_readwrite(
 "placement", &GeometryObject::placement,
 "Position of geometry object in parent joint's frame.")
 .def_readwrite("meshPath", &GeometryObject::meshPath, "Path to the mesh file.")
 .def_readwrite(
 "overrideMaterial", &GeometryObject::overrideMaterial,
 "Boolean that tells whether material information is stored inside the "
 "given GeometryObject.")
 .def_readwrite(
 "meshTexturePath", &GeometryObject::meshTexturePath, "Path to the mesh texture file.")
 .def_readwrite(
 "disableCollision", &GeometryObject::disableCollision,
 "If true, no collision or distance check will be done between the "
 "Geometry and any other geometry.")
 .def(
 "clone", &GeometryObject::clone, bp::arg("self"),
 "Perform a deep copy of this. It will create a copy of the underlying FCL geometry.")
 .add_property(
 "meshMaterial",
 bp::make_getter(&GeometryObject::meshMaterial, Converter::return_internal_reference()),
 bp::make_setter(&GeometryObject::meshMaterial),
 "Material associated to the mesh (applied only if overrideMaterial is True)")

 .def(bp::self == bp::self)
 .def(bp::self != bp::self)

#ifdef PINOCCHIO_WITH_HPP_FCL
 .def("CreateCapsule", &GeometryObjectPythonVisitor::maker_capsule)
 .staticmethod("CreateCapsule")
#endif // PINOCCHIO_WITH_HPP_FCL
 ;

 // Check registration
 {
 const bp::type_info info = bp::type_id<CollisionGeometryPtr>();
 const bp::converter::registration * reg = bp::converter::registry::query(info);
 // We just need to check if the type shared_ptr<CollisionGeometry> exist in the registry
 if (!reg)
 bp::register_ptr_to_python<CollisionGeometryPtr>();
 }
 }

#ifdef PINOCCHIO_WITH_HPP_FCL
 static GeometryObject maker_capsule(const double radius, const double length)
 {
 return GeometryObject(
 "", JointIndex(0), FrameIndex(0), SE3::Identity(),
 std::shared_ptr<fcl::CollisionGeometry>(new fcl::Capsule(radius, length)));
 }
#endif // PINOCCHIO_WITH_HPP_FCL

 static void expose()
 {
 if (!register_symbolic_link_to_registered_type<GeometryObject>())
 {
 bp::class_<GeometryObject>(
 "GeometryObject",
 "A wrapper on a collision geometry including its parent "
 "joint, parent frame, placement in parent joint's frame.\n\n",
 bp::no_init)
 .def(GeometryObjectPythonVisitor())
 .def(CopyableVisitor<GeometryObject>())
 .def(AddressVisitor<GeometryObject>())
 .def(SerializableVisitor<GeometryObject>())
#ifndef PINOCCHIO_PYTHON_NO_SERIALIZATION
 .def_pickle(PickleFromStringSerialization<GeometryObject>())
#endif
 ;
 }

#ifdef PINOCCHIO_WITH_HPP_FCL
 if (!register_symbolic_link_to_registered_type<CollisionObject>())
 {
 bp::class_<CollisionObject, bp::bases<::hpp::fcl::CollisionObject>>(
 "CollisionObject", "A Pinocchio collision object derived from FCL CollisionObject.",
 bp::no_init)
 .def(bp::init<
 const std::shared_ptr<::hpp::fcl::CollisionGeometry> &,
 bp::optional<const size_t, bool>>(
 (bp::arg("self"), bp::arg("collision_geometry"),
 bp::arg("geometryObjectIndex") = (std::numeric_limits<size_t>::max)(),
 bp::arg("compute_local_aabb") = true),
 "Constructor"))
 .def(bp::init<
 const std::shared_ptr<::hpp::fcl::CollisionGeometry> &, SE3,
 bp::optional<const size_t, bool>>(
 (bp::arg("self"), bp::arg("collision_geometry"), bp::arg("placement"),
 bp::arg("geometryObjectIndex") = (std::numeric_limits<size_t>::max)(),
 bp::arg("compute_local_aabb") = true),
 "Constructor"));
 }
#endif

 if (!register_symbolic_link_to_registered_type<GeometryNoMaterial>())
 {
 bp::class_<GeometryNoMaterial>("GeometryNoMaterial", bp::init<>())
 .def(bp::init<GeometryNoMaterial>());
 }

 if (!register_symbolic_link_to_registered_type<GeometryPhongMaterial>())
 {
 bp::class_<GeometryPhongMaterial>("GeometryPhongMaterial", bp::init<>())
 .def(bp::init<GeometryPhongMaterial>())
 .def(bp::init<Eigen::Vector4d, Eigen::Vector4d, double>())
 .add_property(
 "meshEmissionColor",
 bp::make_getter(
 &GeometryPhongMaterial::meshEmissionColor, bp::return_internal_reference<>()),
 bp::make_setter(&GeometryPhongMaterial::meshEmissionColor),
 "RGBA emission (ambient) color value of the mesh")
 .add_property(
 "meshSpecularColor",
 bp::make_getter(
 &GeometryPhongMaterial::meshSpecularColor, bp::return_internal_reference<>()),
 bp::make_setter(&GeometryPhongMaterial::meshSpecularColor),
 "RGBA specular value of the mesh")
 .def_readwrite(
 "meshShininess", &GeometryPhongMaterial::meshShininess,
 "Shininess associated to the specular lighting model (between 0 and 1)");
 }
 if (!register_symbolic_link_to_registered_type<GeometryType>())
 {
 bp::enum_<GeometryType>("GeometryType")
 .value("VISUAL", VISUAL)
 .value("COLLISION", COLLISION)
 .export_values();
 }
 }
 };

 } // namespace python
} // namespace pinocchio

#endif // ifndef __pinocchio_python_geometry_object_hpp__