geometry-functors.hpp

//
// Copyright (c) 2021 INRIA
//

#pragma once

#include "pinocchio/geometry.hpp"

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

 template<typename GeometryFunctor>
 struct GeometryFunctorPythonVisitor
 : public boost::python::def_visitor<GeometryFunctorPythonVisitor<GeometryFunctor>>
 {

 template<class PyClass>
 void visit(PyClass & cl) const
 {
 const std::string class_name = bp::type_id<GeometryFunctor>().name();

 cl.def(
 bp::init<const GeometryObject &, const GeometryObject &>(
 bp::args("self", "geometry_object1", "geometry_object2"),
 (std::string("Constructor of a ") + class_name).c_str()))
 .def(
 "run", &GeometryFunctor::run, bp::args("self", "tf1", "tf2", "request", "result"),
 "Call the function and return the result")

 .def(
 "getGeometryObject1", &GeometryFunctor::getGeometryObject1,
 bp::return_value_policy<bp::copy_const_reference>())
 .def(
 "getGeometryObject2", &GeometryFunctor::getGeometryObject2,
 bp::return_value_policy<bp::copy_const_reference>())

 .def("print", &print);
 }

 static void print(const GeometryFunctor & self)
 {
 std::cout << "address #1: " << &self.getGeometryObject1() << std::endl;
 std::cout << "address #2: " << &self.getGeometryObject2() << std::endl;
 }
 };

 } // namespace python
} // namespace pinocchio