robotic 0.3.4__cp310-cp310-manylinux2014_x86_64.whl → 0.3.4.dev1__cp310-cp310-manylinux2014_x86_64.whl

robotic/include/rai/Geo/mesh.h

@@ -44,8 +44,6 @@ struct Mesh {
 
   rai::Transformation glX; ///< transform (only used for drawing! Otherwise use applyOnPoints)  (optional)
 
-  int version = 0;
-
   uint _support_vertex=0;
   bool isArrayFormatted=false;
 

robotic/include/rai/Geo/signedDistanceFunctions.h

@@ -108,7 +108,7 @@ struct DensityDisplayData {
 
 struct TensorShape : SDF {
   floatA gridData;
-  shared_ptr<DensityDisplayData> _densityDisplayData;
+  // shared_ptr<DensityDisplayData> _densityDisplayData;
   arr color;
 
   TensorShape(const rai::Transformation& _pose, const floatA& _data, const arr& _lo, const arr& _up)

robotic/include/rai/Kin/frame.h

@@ -97,7 +97,7 @@ struct Frame : NonCopyable {
 
   //attachments to the frame
   Joint* joint=nullptr;          ///< this frame is an articulated joint
-  Shape* shape=nullptr;          ///< this frame has a (collision or visual) geometry
+  shared_ptr<Shape> shape;       ///< this frame has a (collision or visual) geometry
   Inertia* inertia=nullptr;      ///< this frame has inertia (is a mass)
   //TODO have a single list of all attached dofs (also joint)
   Array<ForceExchangeDof*> forces;  ///< this frame exchanges forces with other frames
@@ -329,12 +329,12 @@ stdOutPipe(Inertia)
 
 /// a Frame with Shape is a collision or visual object
 struct Shape : NonCopyable {
-  Frame& frame;
-  Enum<ShapeType> _type;
+  Enum<ShapeType> _type = ST_none;
   arr size;
   shared_ptr<Mesh> _mesh;
   shared_ptr<arr> _sscCore;
   double coll_cvxRadius=-1.;
+  int version = 0;
   shared_ptr<SDF> _sdf;
   char cont=0;           ///< are contacts registered (or filtered in the callback)
 
@@ -345,17 +345,14 @@ struct Shape : NonCopyable {
   SDF& sdf() { if(!_sdf) { if(_type==ST_none) _type=ST_sdf; _sdf = make_shared<TensorShape>(); } return *_sdf; }
   double alpha() { arr& C=mesh().C; if(C.N==4 || C.N==2 || (C.nd==2 && C.d1==4)) return C.elem(-1); return 1.; }
 
-  void createMeshes();
-  shared_ptr<ScalarFunction> functional(bool worldCoordinates=true);
-
-  Shape(Frame& f, const Shape* copyShape=nullptr); //new Shape, being added to graph and frame's shape lists
-  virtual ~Shape();
+  void createMeshes(const str& name);
+  shared_ptr<ScalarFunction> functional(const rai::Transformation& pose=0);
 
-  bool canCollideWith(const Frame* f) const;
+  bool canCollide(const rai::Frame* f1, const Frame* f2) const;
 
-  void read(const Graph& ats);
-  void write(std::ostream& os) const;
-  void write(Graph& g);
+  void read(Frame& frame);
+  void write(std::ostream& os, const Frame& frame) const;
+  void write(Graph& g, const Frame& frame);
 };
 
 //===========================================================================

robotic/version.py

@@ -1 +1 @@
-__version__ = '0.3.4'
+__version__ = '0.3.4.dev1'

{robotic-0.3.4.dist-info → robotic-0.3.4.dev1.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: robotic
-Version: 0.3.4
+Version: 0.3.4.dev1
 Summary: Robotic Control Interface & Manipulation Planning Library
 Home-page: https://github.com/MarcToussaint/robotic/
 Author: Marc Toussaint

{robotic-0.3.4.dist-info → robotic-0.3.4.dev1.dist-info}/RECORD

@@ -1,11 +1,11 @@
 robotic/DataGen.pyi,sha256=qDQjATpbIgFvOrWk7F3ZTVbOuyXjT5nwHxrsRfGxWRU,3716
 robotic/__init__.py,sha256=h8LG-Fle7lAtkJ-ZE1u5kWTyuayhugNxtFX9T_JKQGY,476
 robotic/_robotic.pyi,sha256=cmdhpWzjTIOjayzcAio8wbhI9yYAjekS3zW_J_mb87Q,77158
-robotic/_robotic.so,sha256=s-Od3HUPKNJzN-givDZJMl8ucq_D4mTcZfR9EUkYHd8,1271656
+robotic/_robotic.so,sha256=fPVv7Wrf1bcSJvxE2kyHaejiRtbfP9QV0R693R_HVDY,1271656
 robotic/algo.pyi,sha256=hAN3ZPvf4VnhcdoRP-EecAwUge_JMxovJ9lAOIgWX2Q,730
-robotic/librai.so,sha256=gZSBFk5RKYiiTML8FfCZ9GjGD8-9kqvofePpwhgxOC4,38890176
+robotic/librai.so,sha256=k5nsbOF742eJiWao-zSOV-k99ForiS4AFvAPo0DnJ5M,38886080
 robotic/manipulation.py,sha256=0B7UzU9J7b4f19thz67TbvknoncxffQEMHSBB6ez1Jg,22279
-robotic/meshTool,sha256=y37JhkzqsoL87TjtqXj9HD8A_cGg_8e-uVskHcrLkk0,56280
+robotic/meshTool,sha256=2qh3VPeinawY7HvFbFH7aREfavrgES7PGB-i7xrTdwY,56280
 robotic/mujoco-import.py,sha256=8eC8ldlFwnYQfqII3FVdWEQ7zd1PkSdAF-oyryIQtkY,231
 robotic/nlp.py,sha256=n9_hOj3i707DdL_r49Yd2eWyjsSOahW8DmJrEhQlNFw,3200
 robotic/render.py,sha256=OE1dvyWHD7Oyzk4wlhXZ7m3v3xxa3zAL5_LCV1RgJXk,4662
@@ -17,7 +17,7 @@ robotic/ry-test,sha256=MYMwRyOwCDxsgUwSPj9etNRSKJWvc6jwVWUJNkxlw-U,979
 robotic/ry-urdfConvert.py,sha256=8Efnq3PU202rrZrVEZiGwzFOJdvrLjTJ2q-gnY6-tiU,2556
 robotic/ry-view,sha256=T1Omn1QS7cNAtjQhBjMJTNz7aW5FgoOf9vBIfW0mFME,613
 robotic/test.pyi,sha256=vVxwRSerjUG4bpB7pIhof7ZatrBqwg3Bj5voywa-YTI,917
-robotic/version.py,sha256=Yyz9rKJSsP7kA7oh3l-XTxOFzEuuSR9Ly7oYXA1hfFM,22
+robotic/version.py,sha256=FpPEmzsKx6hTzWWdVU3adASkw6jb_QzVwwVUnboVuRo,27
 robotic/include/rai/Algo/MLcourse.h,sha256=TGkAJWC5ollGfPw0-gcYL0TZeDJiHtWFzkHSMK8_lqU,1828
 robotic/include/rai/Algo/RidgeRegression.h,sha256=SndbBtDte12eUAEFwagmg-xjXIA11z6iTTBxJd_fKAo,3742
 robotic/include/rai/Algo/SplineCtrlFeed.h,sha256=yILBoUh9Ce0YtzGVZeAKmdUqsf0xeCGjXGC8bXNzZ3o,3339
@@ -69,10 +69,10 @@ 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=d89JFW3WKI64gOdQSGs6uFdE7NcMavNg89BMHhzMDac,984
 robotic/include/rai/Geo/geo.h,sha256=6bjl_R_Olr_pvlKcxPNdiu8brWFfYJMVQrKSbx3zhpA,14937
-robotic/include/rai/Geo/mesh.h,sha256=zCJu2wnxH0kL8mtaVKzajGKS-5hUsZL0BYCnvsj0LTE,6914
+robotic/include/rai/Geo/mesh.h,sha256=OH1M7cRuJih8DOeCat1cktnfU4jD45nYhtlhEwxNLEg,6894
 robotic/include/rai/Geo/pairCollision.h,sha256=TeV_Vpu9MuXG9wwI0zOyOZX7l54gAjxKnrJJyLR2gDU,4258
 robotic/include/rai/Geo/qhull.h,sha256=dRAAHIdvujPPW1fXW4hXMjgixpBDajDg-y_OX1JMi_0,1890
-robotic/include/rai/Geo/signedDistanceFunctions.h,sha256=7t0PmcyTcGVOX7MV8TVYTWCjlMr_8RR8v7cFBNFRj5k,4734
+robotic/include/rai/Geo/signedDistanceFunctions.h,sha256=qOPr-m6krqG9XQJX6BsCfu4WLmFjXGtxmZpm-pXd5N0,4737
 robotic/include/rai/Geo/stbImage.h,sha256=R5MRPs3KLL-GOipzAN_jdV-pdlBCTkUFaA5LnYEIElw,100
 robotic/include/rai/Geo/stb_image.h,sha256=3GREaSd1mttRQgl4onz7bVjl5FGNMROXlWCXoK94G6g,251785
 robotic/include/rai/Geo/testProblems_Geo.h,sha256=PAO_y2X6KFjbfpCBoy59GkVq_A82ovg-stLO3EJ7iuE,927
@@ -119,7 +119,7 @@ robotic/include/rai/Kin/dof_particles.h,sha256=PboLndC5a5extUKAfUPAIsJEGTTs6_ACD
 robotic/include/rai/Kin/dof_path.h,sha256=XRPj3bH90JUIdkTS4jxwbAb5n9yAsRoemWUWUV1xDtQ,792
 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=AJ8U5pE_Akb0gd_ySbrCOyqQr4T6_DXKR3ErBMn5mMo,14654
+robotic/include/rai/Kin/frame.h,sha256=BiBxcR9-6ErLJW3KU0ksZzc_agkpH0xKxrHDA-qlMU4,14614
 robotic/include/rai/Kin/kin.h,sha256=mzHgBV-j46PstUXzXsvVg_b64Q0jUNNk3bPfbnH7Vag,16120
 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
@@ -367,15 +367,15 @@ robotic/src/meshlabFilters.mlx,sha256=SCIiIk7XZusvKEKY62pHSem_R3TcMUP8BFaLTVUcnE
 robotic/src/mujoco_io.py,sha256=drLNE4yo30hpOY01-AsuCWKLvNoG5w2YDSzR_rlyfz0,9474
 robotic/src/urdf_io.py,sha256=bbPcJWS9rnYk8CWgEZTmx1XJRBIDrfwgCj-S_RFxl9U,8800
 robotic/src/yaml_helper.py,sha256=Jf9QaKSNQrPkUPqd5FUDv7_h0wDlGXrhCdMwu6y-Nh0,925
-robotic-0.3.4.data/scripts/ry-bot,sha256=LBNbbQeNNNd_tupI5463Xe-RKSD6xy4HGTbJloisCGk,2280
-robotic-0.3.4.data/scripts/ry-h5info,sha256=6orNP37WPoobKup0PcLXQvbiCVWqeRR_JQyMH1iXHJk,449
-robotic-0.3.4.data/scripts/ry-info,sha256=fL5QXJL4Xx-Q42L2C29HHbj1XsmWdWiKIv9rVfc5sm4,425
-robotic-0.3.4.data/scripts/ry-meshTool,sha256=h4f4wFPNaey3ziz870SrEvy6SsQSL-ZnR_cH3UuAZxE,101
-robotic-0.3.4.data/scripts/ry-test,sha256=YTCSIuTA4JYk7j7TAr-t7IIp5g6hdLRlTPxJZBxQVpk,965
-robotic-0.3.4.data/scripts/ry-urdfConvert.py,sha256=762MIDmAhdCCj55QftY7wsy9gOEs-TDEWcRPt5dECyc,2542
-robotic-0.3.4.data/scripts/ry-view,sha256=_GjUbVS2X3AWnlXqIHwU5dofLmUKA2-NUPySgS-QJNI,599
-robotic-0.3.4.dist-info/licenses/LICENSE,sha256=oT-pAsUSXiuMq2_3omR87-GFBeBnegQYixH4Bm_7wag,1071
-robotic-0.3.4.dist-info/METADATA,sha256=AcAwrcR_u4mqL9CytG2zqGvKF9KUxMMJZtnX8bGsdCo,6658
-robotic-0.3.4.dist-info/WHEEL,sha256=0-G7woG4LgutcYzUGJCOYFgoh749-FtfhSMeIPLVGS0,104
-robotic-0.3.4.dist-info/top_level.txt,sha256=x5A4haAZ18y9FpO1IhXSVJ2TFdhVAgT5JMkejHUg_9U,8
-robotic-0.3.4.dist-info/RECORD,,
+robotic-0.3.4.dev1.data/scripts/ry-bot,sha256=LBNbbQeNNNd_tupI5463Xe-RKSD6xy4HGTbJloisCGk,2280
+robotic-0.3.4.dev1.data/scripts/ry-h5info,sha256=6orNP37WPoobKup0PcLXQvbiCVWqeRR_JQyMH1iXHJk,449
+robotic-0.3.4.dev1.data/scripts/ry-info,sha256=fL5QXJL4Xx-Q42L2C29HHbj1XsmWdWiKIv9rVfc5sm4,425
+robotic-0.3.4.dev1.data/scripts/ry-meshTool,sha256=h4f4wFPNaey3ziz870SrEvy6SsQSL-ZnR_cH3UuAZxE,101
+robotic-0.3.4.dev1.data/scripts/ry-test,sha256=YTCSIuTA4JYk7j7TAr-t7IIp5g6hdLRlTPxJZBxQVpk,965
+robotic-0.3.4.dev1.data/scripts/ry-urdfConvert.py,sha256=762MIDmAhdCCj55QftY7wsy9gOEs-TDEWcRPt5dECyc,2542
+robotic-0.3.4.dev1.data/scripts/ry-view,sha256=_GjUbVS2X3AWnlXqIHwU5dofLmUKA2-NUPySgS-QJNI,599
+robotic-0.3.4.dev1.dist-info/licenses/LICENSE,sha256=oT-pAsUSXiuMq2_3omR87-GFBeBnegQYixH4Bm_7wag,1071
+robotic-0.3.4.dev1.dist-info/METADATA,sha256=OICX5bQ74SsUTb7fHrwbel6qelPEWZOZ7QlOmGLF_f0,6663
+robotic-0.3.4.dev1.dist-info/WHEEL,sha256=0-G7woG4LgutcYzUGJCOYFgoh749-FtfhSMeIPLVGS0,104
+robotic-0.3.4.dev1.dist-info/top_level.txt,sha256=x5A4haAZ18y9FpO1IhXSVJ2TFdhVAgT5JMkejHUg_9U,8
+robotic-0.3.4.dev1.dist-info/RECORD,,