robotic 0.2.8.dev4__cp311-cp311-manylinux2014_x86_64.whl → 0.2.8.dev5__cp311-cp311-manylinux2014_x86_64.whl

robotic/include/rai/Core/array.ipp

@@ -777,6 +777,7 @@ template<class T> Array<T> Array<T>::operator()(std::pair<int, int> I) const {
 
 /// range reference access
 template<class T> Array<T> Array<T>::operator()(int i, std::pair<int, int> J) const {
+  if(i<0) i += d0;
   Array<T> z;
   z.referToRange(*this, i, J.first, J.second);
 //  if(J.size()==2)
@@ -788,6 +789,8 @@ template<class T> Array<T> Array<T>::operator()(int i, std::pair<int, int> J) co
 
 /// range reference access
 template<class T> Array<T> Array<T>::operator()(int i, int j, std::initializer_list<int> K) const {
+  if(i<0) i += d0;
+  if(j<0) j += d1;
   Array<T> z;
   if(K.size()==2) z.referToRange(*this, i, j, K.begin()[0], K.begin()[1]);
   else if(K.size()==0) z.referToDim(*this, i, j);

robotic/include/rai/Core/graph.h

@@ -120,7 +120,6 @@ struct Graph : NodeL {
   //-- adding nodes
   template<class T> Node_typed<T>* add(const char* key);
   template<class T> Node_typed<T>* add(const char* key, const T& x);
-  template<class T> Node_typed<T>* add(const char* key, const T& x, const NodeL& parents);
   template<class T> Node_typed<T&>* addRef(const char* key, const T& x);
 
   //Node_typed<int>* add(const uintA& parentIdxs); ///< add 'vertex tupes' (like edges) where vertices are referred to by integers
@@ -138,6 +137,9 @@ struct Graph : NodeL {
   NodeL findNodesOfType(const std::type_info& type, const char* key, bool recurseUp=false, bool recurseDown=false) const;
   NodeL findGraphNodesWithTag(const char* tag) const;
 
+  //
+  template<class T> Node* set(const char* key, const T& x){ Node* n = findNodeOfType(typeid(T), key); if(n) n->as<T>()=x; else n=add<T>(key, x); return n; }
+
   //-- get nodes
   Node* operator[](const char* key) const { return findNode(key); } ///< returns nullptr if not found
   Node* getNode(const char* key) const { return findNode(key); } ///< returns nullptr if not found
@@ -369,12 +371,6 @@ struct Node_typed : Node {
     if(is<Graph>()) graph().isNodeOfGraph = this; //this is the only place where isNodeOfGraph is set
   }
 
-  Node_typed(Graph& container, const char* key, const T& _value, const NodeL& parents)
-    : Node(typeid(T), container, key), value(_value) {
-    if(parents.N) setParents(parents);
-    if(is<Graph>()) graph().isNodeOfGraph = this; //this is the only place where isNodeOfGraph is set
-  }
-
   virtual ~Node_typed() {
   }
 
@@ -409,7 +405,7 @@ struct Node_typed : Node {
       g.copy(graph());
       return g.isNodeOfGraph;
     }
-    return container.add<T>(key,  value, parents);
+    return container.add<T>(key,  value)->setParents(parents);
   }
 };
 } //namespace
@@ -536,10 +532,6 @@ template<class T> Node_typed<T>* Graph::add(const char* key, const T& x) {
   return new Node_typed<T>(*this, key, x);
 }
 
-template<class T> Node_typed<T>* Graph::add(const char* key, const T& x, const NodeL& parents) {
-  return new Node_typed<T>(*this, key, x, parents);
-}
-
 template<class T> Node_typed<T&>* Graph::addRef(const char* key, const T& x) {
   return new Node_typed<T&>(*this, key, (T&)x);
 }

robotic/include/rai/Geo/mesh.h

@@ -17,6 +17,7 @@ namespace rai { struct Mesh; }
 typedef rai::Array<rai::Mesh> MeshA;
 typedef rai::Array<rai::Mesh*> MeshL;
 struct ANN;
+struct SharedTextureImage{ byteA img; uint glBufferID=UINT32_MAX; };
 
 namespace rai {
 
@@ -33,7 +34,9 @@ struct Mesh {
   arr   Tn;             ///< triangle normals (optional)
 
   arr texCoords;        ///< texture coordinates for each vertex, dimensionality (V.d0, 2)
-  byteA texImg;         ///< texture image
+  // byteA texImg;         ///< texture image
+  shared_ptr<SharedTextureImage> _texImg;
+  SharedTextureImage& texImg(const char* file=0);
 
   uintA cvxParts;
   uintAA graph;         ///< for every vertex, the set of neighboring vertices

robotic/include/rai/Gui/RenderData.h

@@ -25,8 +25,9 @@ enum RenderType { _solid, _shadow, _tensor, _text, _marker, _transparent, _all }
 
 struct RenderAsset{
   floatA vertices, colors, normals;  //for 2D textures: colors are vertex-wise texture coordinates
-  byteA texture;
-  GLuint vao, vertexBuffer, colorBuffer, normalBuffer, textureBuffer;
+  GLuint vao, vertexBuffer, colorBuffer, normalBuffer;
+  shared_ptr<SharedTextureImage> _texture;
+  SharedTextureImage& texture(){ if(!_texture) _texture=make_shared<SharedTextureImage>(); return *_texture; }
   GLenum mode=GL_TRIANGLES;
   uint textureDim=0;
   bool initialized=false;

robotic/include/rai/Kin/kin.h

@@ -272,6 +272,7 @@ public:
   FeatherstoneInterface& fs();
   bool hasView();
   int view(bool pause=false, const char* txt=nullptr);
+  void view_savePng(str saveVideoPath="z.vid/", int count=-1);
   void saveVideoPic(uint& t, const char* pathPrefix="vid/");
   void glAdd(void (*call)(void*, OpenGL&), void* classP);
   int glAnimate();

robotic/version.py

@@ -1 +1 @@
-__version__ = '0.2.8.dev4'
+__version__ = '0.2.8.dev5'

{robotic-0.2.8.dev4.dist-info → robotic-0.2.8.dev5.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.2
 Name: robotic
-Version: 0.2.8.dev4
+Version: 0.2.8.dev5
 Summary: Robotic Control Interface & Manipulation Planning Library
 Home-page: https://github.com/MarcToussaint/robotic/
 Author: Marc Toussaint

{robotic-0.2.8.dev4.dist-info → robotic-0.2.8.dev5.dist-info}/RECORD

@@ -1,10 +1,10 @@
 robotic/DataGen.pyi,sha256=Psut6_CMYC1lkRWIfpem1vjiHeDA1bDRYh5WmALUuDw,3239
 robotic/__init__.py,sha256=k-hVqPB7vN-huwpRzQLt3f--6sNdjaCQ_hWw66dWkA8,297
 robotic/_robotic.pyi,sha256=n3SGnLZXHD2OAYfdyUs7D_0exUox-4ZOY4Z2g_TrPx4,73626
-robotic/_robotic.so,sha256=sZxFu_4AIORjWMmXVeXlzkY9G1LXcbvqti_0UA_vqQQ,1222400
-robotic/librai.so,sha256=wG2xwkWhOxujPDmOVFi4hKp7Wmp6PRykAvMP40W-fA4,40187688
+robotic/_robotic.so,sha256=xOLeKgrGplxwpIHEVg8eb44wwd71gz_q5X-HlbL6el4,1222400
+robotic/librai.so,sha256=W_YrlbvnMsVHG3BrSei6m4sN1A2mVDv-VRWvMdTWOoc,40175496
 robotic/manipulation.py,sha256=EhM_Zuv3vl8H4SBNqqYMD3NT9AzFUpOhr4PIzM4U7tM,22374
-robotic/meshTool,sha256=o2BWBOG3MkBEJ_QhYL3uQ1-KhBh5NHylJ0CDTnYCYk4,52168
+robotic/meshTool,sha256=VjGOnOwgoO0iujNEhKJ8D_AOscHs_mlIWi1tuWoCKVw,48072
 robotic/nlp.py,sha256=n9_hOj3i707DdL_r49Yd2eWyjsSOahW8DmJrEhQlNFw,3200
 robotic/render.py,sha256=OE1dvyWHD7Oyzk4wlhXZ7m3v3xxa3zAL5_LCV1RgJXk,4662
 robotic/ry-bot,sha256=nd2yWqaDsFbwAmr7ySdOjq06ek0E1FMHTxPRO-7e2Q8,2294
@@ -16,7 +16,7 @@ robotic/ry-urdf2rai,sha256=88CFu5ikKsjy4wQixvCZqtNOqCheBiT18cjZfOsJA8A,7736
 robotic/ry-urdf2yaml,sha256=D36MR8Ui6Ry9V0TqJOBaPCWC89OZa43Fytz4P7Y4v0w,8543
 robotic/ry-view,sha256=T1Omn1QS7cNAtjQhBjMJTNz7aW5FgoOf9vBIfW0mFME,613
 robotic/test.pyi,sha256=vVxwRSerjUG4bpB7pIhof7ZatrBqwg3Bj5voywa-YTI,917
-robotic/version.py,sha256=ZXURDm-5GIDwe3tGJPR-rwsbLBgY-2r_P4FqGqGXp-8,27
+robotic/version.py,sha256=s5KdV62VO2S1RtYm6EQ3img4TW3bs_GI6AGDMl0qS_A,27
 robotic/include/rai/Algo/MLcourse.h,sha256=TGkAJWC5ollGfPw0-gcYL0TZeDJiHtWFzkHSMK8_lqU,1828
 robotic/include/rai/Algo/RidgeRegression.h,sha256=VXiv6-xr3j--CN7DJTzUg9Xb49zV9FZ9dwzxP1CmcPM,3730
 robotic/include/rai/Algo/SplineCtrlFeed.h,sha256=9ZtYLHXx9sExj0lZV6F5ZWaCtkm0R4hMiYb-KJjktnc,3339
@@ -46,10 +46,10 @@ robotic/include/rai/Control/control.h,sha256=_dJefR6WzvdQMaJIYIBuYP8NwoKgNeG4owh
 robotic/include/rai/Control/ctrlMsg.h,sha256=uGuwAaKM1UsQW3hTNv4AihW99MJMuow4cxa9-AU9AmA,1121
 robotic/include/rai/Control/timingOpt.h,sha256=Ne_IH8QuFCID0Sy88LS5i3qkp1nL1FbIgREqSjRctz0,2045
 robotic/include/rai/Core/array.h,sha256=YYdSaiZ0o7RoC_Zv6S1oGWMuFBdSrOWIIt-6KuaiO0Q,25290
-robotic/include/rai/Core/array.ipp,sha256=hdyULakmWOdt6Gi_-4338uzkWbrkw2_eCh-H3nXFwuo,58314
+robotic/include/rai/Core/array.ipp,sha256=ELRBdyAqrIi3taDBe74rjPQRDYp5MwYFn4eYAhwE8EI,58371
 robotic/include/rai/Core/arrayDouble.h,sha256=ACvesIGz_0UP3G-x7-LlfGzodKB7EVsGeX5z2RbMFx8,28869
 robotic/include/rai/Core/defines.h,sha256=hBTgf5EiJ50rQYW1saGw8Ox87aKVFOYVKnFw0jojVW0,6894
-robotic/include/rai/Core/graph.h,sha256=Eo0j8q8IbY_M7V2FwzKAi9E8makxgRBvrFcPfJKuCtE,20890
+robotic/include/rai/Core/graph.h,sha256=YlDZVq5woqF7nYSgqk2hn6ynVPpA4SJakjPic2cjA2c,20534
 robotic/include/rai/Core/h5.h,sha256=FzIP0eLL7XYg5eRjJgfPIt9SwY5HBaazy4ddoCcpkSU,1057
 robotic/include/rai/Core/thread.h,sha256=wjwvXACwI8B6rhZSf2UDruWUb8kT9Xjm-VE-OnUQpwk,18248
 robotic/include/rai/Core/util.h,sha256=KhBcYsprUaZXt2BMpsOACoOcmEWLEtOG4WM9Dcooamc,19514
@@ -64,7 +64,7 @@ robotic/include/rai/Geo/assimpInterface.h,sha256=2Jg7v2GZ83nz4kkgPLzbSWTIBmL9nZg
 robotic/include/rai/Geo/depth2PointCloud.h,sha256=0mXJnTk0sMB--KDE9CO_2gKgGw4gHXUe7xg6DcROhvk,1168
 robotic/include/rai/Geo/fclInterface.h,sha256=iNdxNc_DSOgYCLyCajxP8lxdnrNcyoKQmjUlVmjxjQM,940
 robotic/include/rai/Geo/geo.h,sha256=qZFXffvHa2sM2JsvvKWkRnlQ59gdD8qvsGyDtXrk_Oo,14715
-robotic/include/rai/Geo/mesh.h,sha256=ompiO_tbsImfg-QqGognNsoqJxW77Kk10Fe6jiS_CNY,6639
+robotic/include/rai/Geo/mesh.h,sha256=cmEhGxaTaBc9K2Z7lOjm7ZFzH9teVYA6I_Kr1B3sxlg,6803
 robotic/include/rai/Geo/pairCollision.h,sha256=kFEtQpkgPV_VKJ6YBDBKdb3ko62_s7HKDUti0kB2yYI,4374
 robotic/include/rai/Geo/qhull.h,sha256=dRAAHIdvujPPW1fXW4hXMjgixpBDajDg-y_OX1JMi_0,1890
 robotic/include/rai/Geo/signedDistanceFunctions.h,sha256=hrC838CsYWQ6TXm536iNRwB8W5-62LNb-JPqPoDAFPE,4831
@@ -87,7 +87,7 @@ robotic/include/rai/Geo/ccd_rai/support.h,sha256=B9KBuOctG7Hx-e1TXpnkU667WVH7SP4
 robotic/include/rai/Geo/ccd_rai/vec3.h,sha256=ARkNnQz8yWf_Cs3vgt22zclN1cLeGmwWPTVHVpvmfEA,8115
 robotic/include/rai/Geo/ply/ply.h,sha256=_oAXgQ5CyHvUMtPDBxYtOBbnKDVoZf5PKMswisqvOeI,9384
 robotic/include/rai/Geo/vhacd/VHACD.h,sha256=QT_cT6PPzec_mxKODsS9cJGr6nBt6S8cUJF7dCeBQCc,258343
-robotic/include/rai/Gui/RenderData.h,sha256=FPN7ApW8SK-MAI5wIoCU8_ezJbJogUMxfhAvK6GSAJ4,4775
+robotic/include/rai/Gui/RenderData.h,sha256=PpNfJ6-k2mPTMv2CemQ8Ki8rPzQWrburopSgtosvb-k,4897
 robotic/include/rai/Gui/color.h,sha256=4ElBkpWgwBuqQEFD4Mdhv_afZE4ul6NkptwFQ2oDS5o,2596
 robotic/include/rai/Gui/opengl.h,sha256=sRvOz-QGHwgrf11UiQV4At4G2FjClveTTJorXyer1Fw,9036
 robotic/include/rai/Gui/plot.h,sha256=xhTBY84UN4KpgZsX7SJQGqVKd1jU7jojGVKFv02v0xU,2341
@@ -117,7 +117,7 @@ robotic/include/rai/Kin/dof_path.h,sha256=XRPj3bH90JUIdkTS4jxwbAb5n9yAsRoemWUWUV
 robotic/include/rai/Kin/feature.h,sha256=xicsrElMcYnYXdIXdO5LBLmXxvCGVUVgZJY2NIarO5I,3935
 robotic/include/rai/Kin/featureSymbols.h,sha256=JVXbXoW43PlEGOgwHPpULlbXUQzkl79F1EFnfl-0wyk,1984
 robotic/include/rai/Kin/frame.h,sha256=lYP6v7yZodtCQrfVg61H9qwtOsiYab9l7y2BHLOmeXY,14440
-robotic/include/rai/Kin/kin.h,sha256=BFZAdY7RRHhBtcjSkZf32EFhJswot1u3mIUn3P13qt4,15547
+robotic/include/rai/Kin/kin.h,sha256=IBnhAcpn1R6ubXCh1dSac-NBhKZA_i8-GCK7eJBwme4,15610
 robotic/include/rai/Kin/kin_bullet.h,sha256=y8aApXpXY4bD5QN_WmDAU2vNEvvbdo1Rd4zY7qo-FKE,1970
 robotic/include/rai/Kin/kin_feather.h,sha256=o-hOJA8UcmIBKx_qPzoG9R7fxzz-4zhBNMBmBTK21oA,1627
 robotic/include/rai/Kin/kin_ode.h,sha256=zwB8Le1WMGRkQBc9bssndJICkjO1lZ_y1aZKCwP4c1Y,3686
@@ -398,16 +398,16 @@ robotic/rai-robotModels/ur10/ur_description/meshes/ur10/visual/UpperArm.ply,sha2
 robotic/rai-robotModels/ur10/ur_description/meshes/ur10/visual/Wrist1.ply,sha256=Qmlgt3g046pi8GPzlUBKbDcR-4JehZkXfSRNabe_RVI,282487
 robotic/rai-robotModels/ur10/ur_description/meshes/ur10/visual/Wrist2.ply,sha256=br9zVxfiGNlEMAuVm36e2dJ0chDKpVMe3H1MCh-318E,784726
 robotic/rai-robotModels/ur10/ur_description/meshes/ur10/visual/Wrist3.ply,sha256=el2jO6EOzwgz3ybkKjz9XcjCIQJWCpOCgTA7DSFHz6U,25593
-robotic-0.2.8.dev4.data/scripts/ry-bot,sha256=LBNbbQeNNNd_tupI5463Xe-RKSD6xy4HGTbJloisCGk,2280
-robotic-0.2.8.dev4.data/scripts/ry-h5info,sha256=J-0Q4NRASUaQ_Xgii4Zyiw5mLp5XvvrrJvp-L248Ia4,606
-robotic-0.2.8.dev4.data/scripts/ry-info,sha256=fL5QXJL4Xx-Q42L2C29HHbj1XsmWdWiKIv9rVfc5sm4,425
-robotic-0.2.8.dev4.data/scripts/ry-meshTool,sha256=h4f4wFPNaey3ziz870SrEvy6SsQSL-ZnR_cH3UuAZxE,101
-robotic-0.2.8.dev4.data/scripts/ry-test,sha256=61CnOEa-OqBsNznvXlZ_Xo5aCXx8QKYeokhsHcEUZac,962
-robotic-0.2.8.dev4.data/scripts/ry-urdf2rai,sha256=oeLKgNzYKV5yZ_vkvCrw65CY3ZAxL2ssFQQKcRuCNeo,7722
-robotic-0.2.8.dev4.data/scripts/ry-urdf2yaml,sha256=Nebu73TLTUx2p40-FLakek9n3y74cRJfRchV0vV0Gf0,8529
-robotic-0.2.8.dev4.data/scripts/ry-view,sha256=_GjUbVS2X3AWnlXqIHwU5dofLmUKA2-NUPySgS-QJNI,599
-robotic-0.2.8.dev4.dist-info/LICENSE,sha256=oT-pAsUSXiuMq2_3omR87-GFBeBnegQYixH4Bm_7wag,1071
-robotic-0.2.8.dev4.dist-info/METADATA,sha256=i8zEwUIA_m8DgisJEtucaDMZBv5kAphNDC-aOllrumg,6694
-robotic-0.2.8.dev4.dist-info/WHEEL,sha256=j8oier4takLUVcFcy0cH_vU6_14W-9VWvzUgXWN1YHo,104
-robotic-0.2.8.dev4.dist-info/top_level.txt,sha256=x5A4haAZ18y9FpO1IhXSVJ2TFdhVAgT5JMkejHUg_9U,8
-robotic-0.2.8.dev4.dist-info/RECORD,,
+robotic-0.2.8.dev5.data/scripts/ry-bot,sha256=LBNbbQeNNNd_tupI5463Xe-RKSD6xy4HGTbJloisCGk,2280
+robotic-0.2.8.dev5.data/scripts/ry-h5info,sha256=J-0Q4NRASUaQ_Xgii4Zyiw5mLp5XvvrrJvp-L248Ia4,606
+robotic-0.2.8.dev5.data/scripts/ry-info,sha256=fL5QXJL4Xx-Q42L2C29HHbj1XsmWdWiKIv9rVfc5sm4,425
+robotic-0.2.8.dev5.data/scripts/ry-meshTool,sha256=h4f4wFPNaey3ziz870SrEvy6SsQSL-ZnR_cH3UuAZxE,101
+robotic-0.2.8.dev5.data/scripts/ry-test,sha256=61CnOEa-OqBsNznvXlZ_Xo5aCXx8QKYeokhsHcEUZac,962
+robotic-0.2.8.dev5.data/scripts/ry-urdf2rai,sha256=oeLKgNzYKV5yZ_vkvCrw65CY3ZAxL2ssFQQKcRuCNeo,7722
+robotic-0.2.8.dev5.data/scripts/ry-urdf2yaml,sha256=Nebu73TLTUx2p40-FLakek9n3y74cRJfRchV0vV0Gf0,8529
+robotic-0.2.8.dev5.data/scripts/ry-view,sha256=_GjUbVS2X3AWnlXqIHwU5dofLmUKA2-NUPySgS-QJNI,599
+robotic-0.2.8.dev5.dist-info/LICENSE,sha256=oT-pAsUSXiuMq2_3omR87-GFBeBnegQYixH4Bm_7wag,1071
+robotic-0.2.8.dev5.dist-info/METADATA,sha256=cbUs_GU5sXHdMrD-en57ntazzYY_A2r3NObjziMkcnY,6694
+robotic-0.2.8.dev5.dist-info/WHEEL,sha256=j8oier4takLUVcFcy0cH_vU6_14W-9VWvzUgXWN1YHo,104
+robotic-0.2.8.dev5.dist-info/top_level.txt,sha256=x5A4haAZ18y9FpO1IhXSVJ2TFdhVAgT5JMkejHUg_9U,8
+robotic-0.2.8.dev5.dist-info/RECORD,,