| 86 | namespace python { |
| 87 | |
| 88 | void ShapeFrame(py::module& m) |
| 89 | { |
| 90 | ::py::class_< |
| 91 | dart::dynamics::ShapeFrame, |
| 92 | // dart::common::EmbedPropertiesOnTopOf< |
| 93 | // dart::dynamics::ShapeFrame, |
| 94 | // dart::dynamics::detail::ShapeFrameProperties, |
| 95 | // dart::common::SpecializedForAspect< |
| 96 | // dart::dynamics::VisualAspect, |
| 97 | // dart::dynamics::CollisionAspect, |
| 98 | // dart::dynamics::DynamicsAspect> >, |
| 99 | dart::dynamics::Frame, |
| 100 | std::shared_ptr<dart::dynamics::ShapeFrame>>(m, "ShapeFrame") |
| 101 | .def( |
| 102 | "setProperties", |
| 103 | +[](dart::dynamics::ShapeFrame* self, |
| 104 | const dart::dynamics::ShapeFrame::UniqueProperties& properties) { |
| 105 | self->setProperties(properties); |
| 106 | }, |
| 107 | ::py::arg("properties")) |
| 108 | .def( |
| 109 | "setAspectProperties", |
| 110 | +[](dart::dynamics::ShapeFrame* self, |
| 111 | const dart::common::EmbedPropertiesOnTopOf< |
| 112 | dart::dynamics::ShapeFrame, |
| 113 | dart::dynamics::detail::ShapeFrameProperties, |
| 114 | dart::common::SpecializedForAspect< |
| 115 | dart::dynamics::VisualAspect, |
| 116 | dart::dynamics::CollisionAspect, |
| 117 | dart::dynamics::DynamicsAspect>>::AspectProperties& |
| 118 | properties) { self->setAspectProperties(properties); }, |
| 119 | ::py::arg("properties")) |
| 120 | .def( |
| 121 | "setShape", |
| 122 | +[](dart::dynamics::ShapeFrame* self, |
| 123 | const dart::dynamics::ShapePtr& shape) { self->setShape(shape); }, |
| 124 | ::py::arg("shape")) |
| 125 | .def( |
| 126 | "getShape", |
| 127 | +[](dart::dynamics::ShapeFrame* self) -> dart::dynamics::ShapePtr { |
| 128 | return self->getShape(); |
| 129 | }) |
| 130 | .def( |
| 131 | "getShape", |
| 132 | +[](const dart::dynamics::ShapeFrame* self) |
| 133 | -> dart::dynamics::ConstShapePtr { return self->getShape(); }) |
| 134 | // clang-format off |
| 135 | DARTPY_DEFINE_SPECIALIZED_ASPECT(VisualAspect) |
| 136 | DARTPY_DEFINE_SPECIALIZED_ASPECT(CollisionAspect) |
| 137 | DARTPY_DEFINE_SPECIALIZED_ASPECT(DynamicsAspect) |
| 138 | // clang-format on |
| 139 | .def( |
| 140 | "isShapeNode", |
| 141 | +[](const dart::dynamics::ShapeFrame* self) -> bool { |
| 142 | return self->isShapeNode(); |
| 143 | }) |
| 144 | .def( |
| 145 | "asShapeNode", |
no test coverage detected