void init_openravepy_viewer()
{
memset(&s_signalActionPrev,0,sizeof(s_signalActionPrev));
{
void (PyViewerBase::*setcamera1)(object) = &PyViewerBase::SetCamera;
void (PyViewerBase::*setcamera2)(object,float) = &PyViewerBase::SetCamera;
scope viewer = class_<PyViewerBase, boost::shared_ptr<PyViewerBase>, bases<PyInterfaceBase> >("Viewer", DOXY_CLASS(ViewerBase), no_init)
.def("main",&PyViewerBase::main, main_overloads(args("show","sig_thread_id"), DOXY_FN(ViewerBase,main)))
.def("quitmainloop",&PyViewerBase::quitmainloop, DOXY_FN(ViewerBase,quitmainloop))
.def("SetSize",&PyViewerBase::SetSize, DOXY_FN(ViewerBase,SetSize))
.def("Move",&PyViewerBase::Move, DOXY_FN(ViewerBase,Move))
.def("Show",&PyViewerBase::Show, DOXY_FN(ViewerBase,Show))
.def("SetTitle",&PyViewerBase::SetName, DOXY_FN(ViewerBase,SetName))
.def("SetName",&PyViewerBase::SetName, DOXY_FN(ViewerBase,SetName))
.def("GetName",&PyViewerBase::GetName, DOXY_FN(ViewerBase,GetName))
.def("RegisterCallback",&PyViewerBase::RegisterCallback, args("callback"), DOXY_FN(ViewerBase,RegisterItemSelectionCallback))
.def("RegisterItemSelectionCallback",&PyViewerBase::RegisterItemSelectionCallback, args("callback"), DOXY_FN(ViewerBase,RegisterItemSelectionCallback))
.def("EnvironmentSync",&PyViewerBase::EnvironmentSync, DOXY_FN(ViewerBase,EnvironmentSync))
.def("SetCamera",setcamera1,args("transform"), DOXY_FN(ViewerBase,SetCamera))
.def("SetCamera",setcamera2,args("transform","focalDistance"), DOXY_FN(ViewerBase,SetCamera))
.def("SetBkgndColor",&PyViewerBase::SetBkgndColor,DOXY_FN(ViewerBase,SetBkgndColor))
.def("GetCameraTransform",&PyViewerBase::GetCameraTransform, DOXY_FN(ViewerBase,GetCameraTransform))
.def("GetCameraDistanceToFocus", &PyViewerBase::GetCameraDistanceToFocus, DOXY_FN(ViewerBase, GetCameraDistanceToFocus))
.def("GetCameraImage",&PyViewerBase::GetCameraImage,args("width","height","transform","K"), DOXY_FN(ViewerBase,GetCameraImage))
;
// enum_<ViewerBase::ViewerEvents>("Events" DOXY_ENUM(ViewerEvents))
// .value("ItemSelection",ViewerBase::VE_ItemSelection)
// ;
}
def("RaveCreateViewer",openravepy::RaveCreateViewer,args("env","name"),DOXY_FN1(RaveCreateViewer));
}
void init_openravepy_physicsengine()
{
class_<PyPhysicsEngineBase, boost::shared_ptr<PyPhysicsEngineBase>, bases<PyInterfaceBase> >("PhysicsEngine", DOXY_CLASS(PhysicsEngineBase), no_init)
.def("GetPhysicsOptions",&PyPhysicsEngineBase::GetPhysicsOptions, DOXY_FN(PhysicsEngineBase,GetPhysicsOptions))
.def("SetPhysicsOptions",&PyPhysicsEngineBase::SetPhysicsOptions, DOXY_FN(PhysicsEngineBase,SetPhysicsOptions "int"))
.def("InitEnvironment",&PyPhysicsEngineBase::InitEnvironment, DOXY_FN(PhysicsEngineBase,InitEnvironment))
.def("DestroyEnvironment",&PyPhysicsEngineBase::DestroyEnvironment, DOXY_FN(PhysicsEngineBase,DestroyEnvironment))
.def("InitKinBody",&PyPhysicsEngineBase::InitKinBody, DOXY_FN(PhysicsEngineBase,InitKinBody))
.def("SetLinkVelocity",&PyPhysicsEngineBase::SetLinkVelocity, args("link","velocity"), DOXY_FN(PhysicsEngineBase,SetLinkVelocity))
.def("SetLinkVelocities",&PyPhysicsEngineBase::SetLinkVelocity, args("body","velocities"), DOXY_FN(PhysicsEngineBase,SetLinkVelocities))
.def("GetLinkVelocity",&PyPhysicsEngineBase::GetLinkVelocity, DOXY_FN(PhysicsEngineBase,GetLinkVelocity))
.def("GetLinkVelocities",&PyPhysicsEngineBase::GetLinkVelocity, DOXY_FN(PhysicsEngineBase,GetLinkVelocities))
.def("SetBodyForce",&PyPhysicsEngineBase::SetBodyForce, DOXY_FN(PhysicsEngineBase,SetBodyForce))
.def("SetBodyTorque",&PyPhysicsEngineBase::SetBodyTorque, DOXY_FN(PhysicsEngineBase,SetBodyTorque))
.def("AddJointTorque",&PyPhysicsEngineBase::AddJointTorque, DOXY_FN(PhysicsEngineBase,AddJointTorque))
.def("GetLinkForceTorque",&PyPhysicsEngineBase::GetLinkForceTorque, DOXY_FN(PhysicsEngineBase,GetLinkForceTorque))
.def("SetGravity",&PyPhysicsEngineBase::SetGravity, DOXY_FN(PhysicsEngineBase,SetGravity))
.def("GetGravity",&PyPhysicsEngineBase::GetGravity, DOXY_FN(PhysicsEngineBase,GetGravity))
.def("SimulateStep",&PyPhysicsEngineBase::SimulateStep, DOXY_FN(PhysicsEngineBase,SimulateStep))
;
def("RaveCreatePhysicsEngine",openravepy::RaveCreatePhysicsEngine,args("env","name"),DOXY_FN1(RaveCreatePhysicsEngine));
}
void init_openravepy_trajectory()
{
void (PyTrajectoryBase::*Insert1)(size_t,object) = &PyTrajectoryBase::Insert;
void (PyTrajectoryBase::*Insert2)(size_t,object,bool) = &PyTrajectoryBase::Insert;
void (PyTrajectoryBase::*Insert3)(size_t,object,PyConfigurationSpecificationPtr) = &PyTrajectoryBase::Insert;
void (PyTrajectoryBase::*Insert4)(size_t,object,PyConfigurationSpecificationPtr,bool) = &PyTrajectoryBase::Insert;
object (PyTrajectoryBase::*Sample1)(dReal) const = &PyTrajectoryBase::Sample;
object (PyTrajectoryBase::*Sample2)(dReal, PyConfigurationSpecificationPtr) const = &PyTrajectoryBase::Sample;
object (PyTrajectoryBase::*GetWaypoints1)(size_t,size_t) const = &PyTrajectoryBase::GetWaypoints;
object (PyTrajectoryBase::*GetWaypoints2)(size_t,size_t,PyConfigurationSpecificationPtr) const = &PyTrajectoryBase::GetWaypoints;
object (PyTrajectoryBase::*GetWaypoints2D1)(size_t,size_t) const = &PyTrajectoryBase::GetWaypoints2D;
object (PyTrajectoryBase::*GetWaypoints2D2)(size_t,size_t,PyConfigurationSpecificationPtr) const = &PyTrajectoryBase::GetWaypoints2D;
object (PyTrajectoryBase::*GetWaypoint1)(int) const = &PyTrajectoryBase::GetWaypoint;
object (PyTrajectoryBase::*GetWaypoint2)(int,PyConfigurationSpecificationPtr) const = &PyTrajectoryBase::GetWaypoint;
class_<PyTrajectoryBase, boost::shared_ptr<PyTrajectoryBase>, bases<PyInterfaceBase> >("Trajectory", DOXY_CLASS(TrajectoryBase), no_init)
.def("Init",&PyTrajectoryBase::Init,args("spec"),DOXY_FN(TrajectoryBase,Init))
.def("Insert",Insert1,args("index","data"),DOXY_FN(TrajectoryBase,Insert "size_t; const std::vector; bool"))
.def("Insert",Insert2,args("index","data","overwrite"),DOXY_FN(TrajectoryBase,Insert "size_t; const std::vector; bool"))
.def("Insert",Insert3,args("index","data","spec"),DOXY_FN(TrajectoryBase,Insert "size_t; const std::vector; const ConfigurationSpecification; bool"))
.def("Insert",Insert4,args("index","data","spec","overwrite"),DOXY_FN(TrajectoryBase,Insert "size_t; const std::vector; const ConfigurationSpecification; bool"))
.def("Remove",&PyTrajectoryBase::Remove,args("startindex","endindex"),DOXY_FN(TrajectoryBase,Remove))
.def("Sample",Sample1,args("time"),DOXY_FN(TrajectoryBase,Sample "std::vector; dReal"))
.def("Sample",Sample2,args("time","spec"),DOXY_FN(TrajectoryBase,Sample "std::vector; dReal; const ConfigurationSpecification"))
.def("GetConfigurationSpecification",&PyTrajectoryBase::GetConfigurationSpecification,DOXY_FN(TrajectoryBase,GetConfigurationSpecification))
.def("GetNumWaypoints",&PyTrajectoryBase::GetNumWaypoints,DOXY_FN(TrajectoryBase,GetNumWaypoints))
.def("GetWaypoints",GetWaypoints1,args("startindex","endindex"),DOXY_FN(TrajectoryBase, GetWaypoints "size_t; size_t; std::vector"))
.def("GetWaypoints",GetWaypoints2,args("startindex","endindex","spec"),DOXY_FN(TrajectoryBase, GetWaypoints "size_t; size_t; std::vector, const ConfigurationSpecification&"))
.def("GetWaypoints2D",GetWaypoints2D1,args("startindex","endindex"),DOXY_FN(TrajectoryBase, GetWaypoints "size_t; size_t; std::vector"))
.def("GetWaypoints2D",GetWaypoints2D2,args("startindex","endindex","spec"),DOXY_FN(TrajectoryBase, GetWaypoints "size_t; size_t; std::vector, const ConfigurationSpecification&"))
.def("GetWaypoint",GetWaypoint1,args("index"),DOXY_FN(TrajectoryBase, GetWaypoint "int; std::vector"))
.def("GetWaypoint",GetWaypoint2,args("index","spec"),DOXY_FN(TrajectoryBase, GetWaypoint "int; std::vector; const ConfigurationSpecification"))
.def("GetFirstWaypointIndexAfterTime",&PyTrajectoryBase::GetFirstWaypointIndexAfterTime, DOXY_FN(TrajectoryBase, GetFirstWaypointIndexAfterTime))
.def("GetDuration",&PyTrajectoryBase::GetDuration,DOXY_FN(TrajectoryBase, GetDuration))
.def("serialize",&PyTrajectoryBase::serialize,serialize_overloads(args("options"),DOXY_FN(TrajectoryBase,serialize)))
.def("deserialize",&PyTrajectoryBase::deserialize,args("data"),DOXY_FN(TrajectoryBase,deserialize))
.def("Write",&PyTrajectoryBase::Write,args("options"),DOXY_FN(TrajectoryBase,Write))
.def("Read",&PyTrajectoryBase::Read,args("data","robot"),DOXY_FN(TrajectoryBase,Read))
;
def("RaveCreateTrajectory",openravepy::RaveCreateTrajectory,args("env","name"),DOXY_FN1(RaveCreateTrajectory));
}
void init_openravepy_module()
{
class_<PyModuleBase, boost::shared_ptr<PyModuleBase>, bases<PyInterfaceBase> >("Module", DOXY_CLASS(ModuleBase), no_init)
.def("SimulationStep",&PyModuleBase::SimulationStep, DOXY_FN(ModuleBase,"SimulationStep"))
;
def("RaveCreateModule",openravepy::RaveCreateModule,args("env","name"),DOXY_FN1(RaveCreateModule));
def("RaveCreateProblem",openravepy::RaveCreateModule,args("env","name"),DOXY_FN1(RaveCreateModule));
def("RaveCreateProblemInstance",openravepy::RaveCreateModule,args("env","name"),DOXY_FN1(RaveCreateModule));
}
void init_openravepy_spacesampler()
{
{
scope spacesampler = class_<PySpaceSamplerBase, boost::shared_ptr<PySpaceSamplerBase>, bases<PyInterfaceBase> >("SpaceSampler", DOXY_CLASS(SpaceSamplerBase), no_init)
.def("SetSeed",&PySpaceSamplerBase::SetSeed, args("seed"), DOXY_FN(SpaceSamplerBase,SetSeed))
.def("SetSpaceDOF",&PySpaceSamplerBase::SetSpaceDOF, args("dof"), DOXY_FN(SpaceSamplerBase,SetSpaceDOF))
.def("GetDOF",&PySpaceSamplerBase::GetDOF, DOXY_FN(SpaceSamplerBase,GetDOF))
.def("GetNumberOfValues",&PySpaceSamplerBase::GetNumberOfValues, args("seed"), DOXY_FN(SpaceSamplerBase,GetNumberOfValues))
.def("Supports",&PySpaceSamplerBase::Supports, args("seed"), DOXY_FN(SpaceSamplerBase,Supports))
.def("GetLimits",&PySpaceSamplerBase::GetLimits, args("seed"), DOXY_FN(SpaceSamplerBase,GetLimits))
.def("SampleSequence",&PySpaceSamplerBase::SampleSequence, SampleSequence_overloads(args("type", "num","interval"), DOXY_FN(SpaceSamplerBase,SampleSequence "std::vector; size_t; IntervalType")))
.def("SampleSequence2D",&PySpaceSamplerBase::SampleSequence2D, SampleSequence2D_overloads(args("type", "num","interval"), DOXY_FN(SpaceSamplerBase,SampleSequence "std::vector; size_t; IntervalType")))
.def("SampleSequenceOneReal", &PySpaceSamplerBase::SampleSequenceOneReal, SampleSequenceOneReal_overloads(args("interval"), DOXY_FN(SpaceSamplerBase,SampleSequenceOneReal)))
.def("SampleSequenceOneUInt32", &PySpaceSamplerBase::SampleSequenceOneUInt32, DOXY_FN(SpaceSamplerBase,SampleSequenceOneUInt32))
.def("SampleComplete",&PySpaceSamplerBase::SampleComplete, SampleComplete_overloads(args("type", "num","interval"), DOXY_FN(SpaceSamplerBase,SampleComplete "std::vector; size_t; IntervalType")))
.def("SampleComplete2D",&PySpaceSamplerBase::SampleComplete2D, SampleComplete2D_overloads(args("type", "num","interval"), DOXY_FN(SpaceSamplerBase,SampleComplete "std::vector; size_t; IntervalType")))
;
}
def("RaveCreateSpaceSampler",openravepy::RaveCreateSpaceSampler,args("env","name"),DOXY_FN1(RaveCreateSpaceSampler));
}
