collision_common.cpp

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/* Author: Peter David Fagan */
 
#include "collision_common.h"
 
namespace moveit_py
{
namespace bind_collision_detection
{
void initCollisionRequest(py::module& m)
{
  py::module collision_detection = m.def_submodule("collision_detection");
 
  py::class_<collision_detection::CollisionRequest>(collision_detection, "CollisionRequest", R"(
      Representation of a collision checking request.
      )")
 
      .def(py::init<>())
 
      .def_readwrite("joint_model_group_name", &collision_detection::CollisionRequest::group_name,
                     R"(
                     str: The group name to check collisions for (optional; if empty, assume the complete robot)
                     )")
 
      .def_readwrite("distance", &collision_detection::CollisionRequest::distance,
                     R"(
                     bool: If true, compute proximity distance.
                     )")
 
      .def_readwrite("cost", &collision_detection::CollisionRequest::cost,
                     R"(
                     bool: If true, a collision cost is computed.
                     )")
 
      .def_readwrite("contacts", &collision_detection::CollisionRequest::contacts,
                     R"(
                     bool: If true, compute contacts.
                     )")
 
      .def_readwrite("max_contacts", &collision_detection::CollisionRequest::max_contacts,
                     R"(
                     int: Overall maximum number of contacts to compute.
                     )")
 
      .def_readwrite("max_contacts_per_pair", &collision_detection::CollisionRequest::max_contacts_per_pair,
                     R"(
                     int: Maximum number of contacts to compute per pair of bodies (multiple bodies may be in contact at different configurations).
                     )")
 
      .def_readwrite("max_cost_sources", &collision_detection::CollisionRequest::max_cost_sources,
                     R"(
                     int: When costs are computed, this value defines how many of the top cost sources should be returned.
                     )")
 
      // TODO (peterdavidfagan): define is_done as function call.
      //.def_readwrite("is_done", &collision_detection::CollisionRequest::is_done,
      //               R"(
      //               )")
 
      .def_readwrite("verbose", &collision_detection::CollisionRequest::verbose,
                     R"(
                     bool: Flag indicating whether information about detected collisions should be reported.
                     )");
}
 
void initCollisionResult(py::module& m)
{
  py::module collision_detection = m.def_submodule("collision_detection");
 
  py::class_<collision_detection::CollisionResult>(collision_detection, "CollisionResult", R"(
      Representation of a collision checking result.
      )")
 
      .def(py::init<>())
 
      .def_readwrite("collision", &collision_detection::CollisionResult::collision,
                     R"(
                     bool: True if collision was found, false otherwise.
                     )")
 
      .def_readwrite("distance", &collision_detection::CollisionResult::distance,
                     R"(
                     float: Closest distance between two bodies.
                     )")
 
      .def_readwrite("contact_count", &collision_detection::CollisionResult::contact_count,
                     R"(
                     int: Number of contacts returned.
                     )")
 
      // TODO (peterdavidfagan): define binding and test for ContactMap.
      .def_readwrite("contacts", &collision_detection::CollisionResult::contacts,
                     R"(
                     dict: A dict returning the pairs of ids of the bodies in contact, plus information about the contacts themselves.
                     )")
 
      .def_readwrite("cost_sources", &collision_detection::CollisionResult::cost_sources,
                     R"(
                     dict: The individual cost sources from computed costs.
                     )");
}
}  // namespace bind_collision_detection
}  // namespace moveit_py