object Check(object oq0, object oq1, object odq0, object odq1, dReal timeelapsed, IntervalType interval=IT_Closed, uint32_t options=0xffff, bool filterreturn=false)//, ConstraintFilterReturnPtr filterreturn = ConstraintFilterReturnPtr())
{
std::vector<dReal> q0 = ExtractArray<dReal>(oq0);
std::vector<dReal> q1 = ExtractArray<dReal>(oq1);
std::vector<dReal> dq0 = ExtractArray<dReal>(odq0);
std::vector<dReal> dq1 = ExtractArray<dReal>(odq1);
if( filterreturn ) {
ConstraintFilterReturnPtr pfilterreturn(new ConstraintFilterReturn());
_pconstraints->Check(q0, q1, dq0, dq1, timeelapsed, interval, options, pfilterreturn);
boost::python::dict ofilterreturn;
ofilterreturn["configurations"] = toPyArray(pfilterreturn->_configurations);
ofilterreturn["configurationtimes"] = toPyArray(pfilterreturn->_configurationtimes);
ofilterreturn["invalidvalues"] = toPyArray(pfilterreturn->_invalidvalues);
ofilterreturn["invalidvelocities"] = toPyArray(pfilterreturn->_invalidvelocities);
ofilterreturn["fTimeWhenInvalid"] = pfilterreturn->_fTimeWhenInvalid;
ofilterreturn["returncode"] = pfilterreturn->_returncode;
ofilterreturn["reportstr"] = pfilterreturn->_report.__str__();
return ofilterreturn;
}
else {
return object(_pconstraints->Check(q0, q1, dq0, dq1, timeelapsed, interval, options));
}
}
object GetCameraImage(int width, int height, object extrinsic, object oKK)
{
vector<float> vKK = ExtractArray<float>(oKK);
if( vKK.size() != 4 ) {
throw openrave_exception("KK needs to be of size 4");
}
SensorBase::CameraIntrinsics KK(vKK[0],vKK[1],vKK[2],vKK[3]);
vector<uint8_t> memory;
if( !_pviewer->GetCameraImage(memory, width,height,RaveTransform<float>(ExtractTransform(extrinsic)), KK) ) {
throw openrave_exception("failed to get camera image");
}
std::vector<npy_intp> dims(3); dims[0] = height; dims[1] = width; dims[2] = 3;
return toPyArray(memory,dims);
}
