Removed unnecessary wrappers

alpyca · Jan 13, 2019 · dc7b9d7 · dc7b9d7
1 parent 1ef7669
commit dc7b9d7
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Showing 2 changed files with 46 additions and 86 deletions.
diff --git a/include/alpyca/sim/contact_sensor_wrapper.h b/include/alpyca/sim/contact_sensor_wrapper.h
@@ -19,81 +19,6 @@ namespace py = pybind11;
 
 namespace gazebo
 {
-    class ContactWrapper
-    {
-    public:
-        ContactWrapper(msgs::Contact _contact) : contact(_contact)
-        {
-        }
-
-        std::vector<double> depth()
-        {
-            std::vector<double> dep = {};
-            for (unsigned int i = 0; i < contact.position_size(); ++i)
-            {
-                dep.push_back(contact.depth(i));
-            }
-
-            return dep;
-        }
-
-        const::std::string & collision1()
-        {
-            return contact.collision1();
-        }
-
-        const::std::string & collision2()
-        {
-            return contact.collision2();
-        }
-
-        std::vector<gazebo::msgs::Vector3d> position()
-        {
-            std::vector<gazebo::msgs::Vector3d> pos = {};
-            for (unsigned int i = 0; i < contact.position_size(); ++i)
-            {
-                pos.push_back(contact.position(i));
-            }
-
-            return pos;
-        }
-
-        std::vector<gazebo::msgs::Vector3d> normal()
-        {
-            std::vector<gazebo::msgs::Vector3d> norm = {};
-            for (unsigned int i = 0; i < contact.position_size(); ++i)
-            {
-                norm.push_back(contact.normal(i));
-            }
-
-            return norm;
-        }
-
-    private:
-        msgs::Contact contact;
-    };
-
-    class ContactsWrapper
-    {
-    public:
-        ContactsWrapper(msgs::Contacts _contacts) : contacts(_contacts)
-        {
-        }
-
-        ContactWrapper contact(int index)
-        {
-            if(index >= contacts.contact_size())
-            {
-                throw py::index_error();
-            }
-
-            return contacts.contact(index);           
-        }
-
-    private:
-        msgs::Contacts contacts;
-    };
-
     class ContactSensorWrapper : public SensorWrapper
     {
     public:
@@ -102,9 +27,9 @@ namespace gazebo
             parentSensor = std::dynamic_pointer_cast<sensors::ContactSensor>(_sensor);
         }
 
-        ContactsWrapper Contacts()
+        msgs::Contacts Contacts()
         {
-            return ContactsWrapper(parentSensor->Contacts());
+            return parentSensor->Contacts();
         }
 
     private:

diff --git a/src/alpyca/sim/py_contact_sensor.cpp b/src/alpyca/sim/py_contact_sensor.cpp
@@ -23,14 +23,49 @@ namespace gazebo
         .def_property_readonly("y", &gazebo::msgs::Vector3d::y)
         .def_property_readonly("z", &gazebo::msgs::Vector3d::z);
 
-        py::class_<ContactWrapper>(m, "PyContact")
-        .def_property_readonly("collision1", &ContactWrapper::collision1)
-        .def_property_readonly("collision2", &ContactWrapper::collision2)
-        .def_property_readonly("position", &ContactWrapper::position)
-        .def_property_readonly("normal", &ContactWrapper::normal)
-        .def_property_readonly("depth", &ContactWrapper::depth);
-
-        py::class_<ContactsWrapper>(m, "PyContacts")
-        .def("__getitem__", &ContactsWrapper::contact);
+        py::class_<msgs::Contact>(m, "PyContact")
+        .def_property_readonly("collision1", &msgs::Contact::collision1)
+        .def_property_readonly("collision2", &msgs::Contact::collision2)
+        .def_property_readonly("depth", [](msgs::Contact *contact) -> std::vector<double>
+        {
+            std::vector<double> dep = {};
+            for (unsigned int i = 0; i < contact->position_size(); ++i)
+            {
+                dep.push_back(contact->depth(i));
+            }
+
+            return dep;
+        })
+        .def_property_readonly("position", [](msgs::Contact *contact) -> std::vector<gazebo::msgs::Vector3d>
+        {
+            std::vector<gazebo::msgs::Vector3d> pos = {};
+            for (unsigned int i = 0; i < contact->position_size(); ++i)
+            {
+                pos.push_back(contact->position(i));
+            }
+
+            return pos;
+        })
+        .def_property_readonly("normal", [](msgs::Contact *contact) -> std::vector<gazebo::msgs::Vector3d>
+        {
+            std::vector<gazebo::msgs::Vector3d> norm = {};
+            for (unsigned int i = 0; i < contact->position_size(); ++i)
+            {
+                norm.push_back(contact->normal(i));
+            }
+
+            return norm;
+        });
+
+        py::class_<msgs::Contacts>(m, "PyContacts")
+        .def("__getitem__", [](msgs::Contacts *contacts, int index) -> msgs::Contact
+        {
+            if(index >= contacts->contact_size())
+            {
+                throw py::index_error();
+            }
+
+            return contacts->contact(index);
+        });
     }
 }