py geometry: Bind HalfSpace.MakePose (#13414)

* py geometry: Bind HalfSpace.MakePose
RobotLocomotion · May 27, 2020 · ceedc13 · ceedc13
1 parent 33fda24
commit ceedc13
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Showing 2 changed files with 6 additions and 1 deletion.
diff --git a/bindings/pydrake/geometry_py.cc b/bindings/pydrake/geometry_py.cc
@@ -589,7 +589,9 @@ void DoScalarIndependentDefinitions(py::module m) {
         .def("height", &Box::height, doc.Box.height.doc)
         .def("size", &Box::size, py_reference_internal, doc.Box.size.doc);
     py::class_<HalfSpace, Shape>(m, "HalfSpace", doc.HalfSpace.doc)
-        .def(py::init<>(), doc.HalfSpace.ctor.doc);
+        .def(py::init<>(), doc.HalfSpace.ctor.doc)
+        .def_static("MakePose", &HalfSpace::MakePose, py::arg("Hz_dir_F"),
+            py::arg("p_FB"), doc.HalfSpace.MakePose.doc);
     py::class_<Mesh, Shape>(m, "Mesh", doc.Mesh.doc)
         .def(py::init<std::string, double>(), py::arg("absolute_filename"),
             py::arg("scale") = 1.0, doc.Mesh.ctor.doc)

diff --git a/bindings/pydrake/test/geometry_test.py b/bindings/pydrake/test/geometry_test.py
@@ -246,6 +246,7 @@ def test_shape_constructors(self):
             self.assertIsNot(shape, shape_copy)
 
     def test_shapes(self):
+        RigidTransform = RigidTransform_[float]
         sphere = mut.Sphere(radius=1.0)
         self.assertEqual(sphere.radius(), 1.0)
         cylinder = mut.Cylinder(radius=1.0, length=2.0)
@@ -256,6 +257,8 @@ def test_shapes(self):
         self.assertEqual(box.depth(), 2.0)
         self.assertEqual(box.height(), 3.0)
         numpy_compare.assert_float_equal(box.size(), np.array([1.0, 2.0, 3.0]))
+        X_FH = mut.HalfSpace.MakePose(Hz_dir_F=[0, 1, 0], p_FB=[1, 1, 1])
+        self.assertIsInstance(X_FH, RigidTransform)
         box_mesh_path = FindResourceOrThrow(
             "drake/systems/sensors/test/models/meshes/box.obj")
         mesh = mut.Mesh(absolute_filename=box_mesh_path, scale=1.0)