PyVoidHandle RegisterItemSelectionCallback(object fncallback)
{
if( !fncallback ) {
throw openrave_exception("callback not specified");
}
boost::shared_ptr<void> p = _pviewer->RegisterItemSelectionCallback(boost::bind(&PyViewerBase::_ViewerCallback,fncallback,_pyenv,_1,_2,_3));
if( !p ) {
throw openrave_exception("no registration callback returned");
}
return PyVoidHandle(p);
}
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);
}
VideoGlobalState() {
/* first let's make sure we are running on 1.1 */
WORD wVer = HIWORD(VideoForWindowsVersion());
if (wVer < 0x010a) {
throw openrave_exception("can't init avi library");
}
AVIFileInit();
}
void InterfaceBase::Clone(InterfaceBaseConstPtr preference, int cloningoptions)
{
if( !preference ) {
throw openrave_exception("invalid cloning reference",ORE_InvalidArguments);
}
// cannot clone the user data since it can be environment dependent!
//__mapUserData = preference->__mapUserData;
__struri = preference->__struri;
__mapReadableInterfaces = preference->__mapReadableInterfaces;
__description = preference->__description;
}
int PlannerBase::PlannerParameters::SetStateValues(const std::vector<dReal>& values, int options) const
{
if( !!_setstatevaluesfn ) {
return _setstatevaluesfn(values, options);
}
if( !!_setstatefn ) {
RAVELOG_VERBOSE("Using deprecated PlannerParameters::_setstatefn, please set _setstatevaluesfn instead");
_setstatefn(values);
return 0;
}
throw openrave_exception("need to set PlannerParameters::_setstatevaluesfn");
}
bool InterfaceBase::SendCommand(ostream& sout, istream& sinput)
{
string cmd;
sinput >> cmd;
if( !sinput ) {
throw openrave_exception("invalid command",ORE_InvalidArguments);
}
boost::shared_ptr<InterfaceCommand> interfacecmd;
{
boost::shared_lock< boost::shared_mutex > lock(_mutexInterface);
CMDMAP::iterator it = __mapCommands.find(cmd);
if( it == __mapCommands.end() ) {
throw openrave_exception(str(boost::format("failed to find command '%s' in interface %s\n")%cmd.c_str()%GetXMLId()),ORE_CommandNotSupported);
}
interfacecmd = it->second;
}
if( !interfacecmd->fn(sout,sinput) ) {
RAVELOG_VERBOSE(str(boost::format("command failed in interface %s: %s\n")%GetXMLId()%cmd));
return false;
}
return true;
}
virtual bool AttachController(ControllerBasePtr controller, const std::vector<int>& dofindices, int nControlTransformation)
{
boost::mutex::scoped_lock lock(_mutex);
if( nControlTransformation && !!_ptransformcontroller ) {
throw openrave_exception("controller already attached for transformation",ORE_InvalidArguments);
}
FOREACHC(it,dofindices) {
if( !!_vcontrollersbydofs.at(*it) ) {
throw openrave_exception(str(boost::format("controller already attached to dof %d")%*it));
}
}
if( !controller->Init(_probot,dofindices,nControlTransformation) ) {
return false;
}
if( nControlTransformation ) {
_ptransformcontroller = controller;
}
FOREACHC(it,dofindices) {
_vcontrollersbydofs.at(*it) = controller;
}
_listcontrollers.push_back(controller);
return true;
}
