core: Setup back GeometryObject deprecated constructor (deprecated si…

…nce pinocchio 3)
stack-of-tasks · May 24, 2024 · 7f8b46a · 7f8b46a
1 parent fabb713
commit 7f8b46a
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Showing 3 changed files with 106 additions and 1 deletion.
diff --git a/.cmake-format.yaml b/.cmake-format.yaml
@@ -51,7 +51,7 @@ parse:
         MODULE: 1
         FILES: '*'
     add_project_dependency:
-      pargs: "*"
+      pargs: '*'
       kwargs:
         PKG_CONFIG_REQUIRES: 1
         FOR_COMPONENT: 1

diff --git a/include/pinocchio/bindings/python/multibody/geometry-object.hpp b/include/pinocchio/bindings/python/multibody/geometry-object.hpp
@@ -12,6 +12,7 @@
 #include "pinocchio/bindings/python/utils/address.hpp"
 #include "pinocchio/bindings/python/utils/copyable.hpp"
 #include "pinocchio/bindings/python/utils/registration.hpp"
+#include "pinocchio/bindings/python/utils/deprecation.hpp"
 #include "pinocchio/bindings/python/utils/pickle.hpp"
 #include "pinocchio/bindings/python/serialization/serializable.hpp"
 
@@ -127,6 +128,28 @@ namespace pinocchio
               "mesh_material"),
             "Reduced constructor of a GeometryObject. This constructor does not require to specify "
             "the parent frame index."))
+          .def(bp::init<
+               std::string, FrameIndex, JointIndex, CollisionGeometryPtr, const SE3 &,
+               bp::optional<
+                 std::string, const Eigen::Vector3d &, bool, const Eigen::Vector4d &, std::string,
+                 GeometryMaterial>>(
+            bp::args(
+              "self", "name", "parent_frame", "parent_joint", "collision_geometry", "placement",
+              "mesh_path", "mesh_scale", "override_material", "mesh_color",
+              "mesh_texture_path"
+              "mesh_material"),
+            "Deprecated. Full constructor of a GeometryObject.")[deprecated_function<>()])
+          .def(bp::init<
+               std::string, JointIndex, CollisionGeometryPtr, const SE3 &,
+               bp::optional<
+                 std::string, const Eigen::Vector3d &, bool, const Eigen::Vector4d &, std::string,
+                 GeometryMaterial>>(
+            bp::args(
+              "self", "name", "parent_joint", "collision_geometry", "placement", "mesh_path",
+              "mesh_scale", "override_material", "mesh_color", "mesh_texture_path",
+              "mesh_material"),
+            "Deprecated. Reduced constructor of a GeometryObject. This constructor does not "
+            "require to specify the parent frame index.")[deprecated_function<>()])
           .def(bp::init<const GeometryObject &>(
             bp::args("self", "otherGeometryObject"), "Copy constructor"))
           .add_property(

diff --git a/include/pinocchio/multibody/geometry-object.hpp b/include/pinocchio/multibody/geometry-object.hpp
@@ -211,6 +211,88 @@ namespace pinocchio
     {
     }
 
+    ///
+    /// \brief Full constructor.
+    ///
+    /// \param[in] name  Name of the geometry object.
+    /// \param[in] parent_frame  Index of the parent frame.
+    /// \param[in] parent_joint  Index of the parent joint (that supports the geometry).
+    /// \param[in] collision_geometry The FCL collision geometry object.
+    /// \param[in] placement Placement of the geometry with respect to the joint frame.
+    /// \param[in] meshPath Path of the mesh (may be needed extarnally to load the mesh inside a
+    /// viewer for instance) [if applicable]. \param[in] meshScale Scale of the mesh [if
+    /// applicable]. \param[in] overrideMaterial If true, this option allows to overrite the
+    /// material [if applicable]. \param[in] meshColor Color of the mesh [if applicable]. \param[in]
+    /// meshTexturePath Path to the file containing the texture information [if applicable].
+    /// \param[in] meshMaterial Material of the mesh [if applicable].
+    ///
+    /// \deprecated This constructor is now deprecated, and its argument order has been changed.
+    ///
+    PINOCCHIO_DEPRECATED GeometryObject(
+      const std::string & name,
+      const FrameIndex parent_frame,
+      const JointIndex parent_joint,
+      const CollisionGeometryPtr & collision_geometry,
+      const SE3 & placement,
+      const std::string & meshPath = "",
+      const Eigen::Vector3d & meshScale = Eigen::Vector3d::Ones(),
+      const bool overrideMaterial = false,
+      const Eigen::Vector4d & meshColor = Eigen::Vector4d(0, 0, 0, 1),
+      const std::string & meshTexturePath = "",
+      const GeometryMaterial & meshMaterial = GeometryNoMaterial())
+    : Base(name, parent_joint, parent_frame, placement)
+    , geometry(collision_geometry)
+    , meshPath(meshPath)
+    , meshScale(meshScale)
+    , overrideMaterial(overrideMaterial)
+    , meshColor(meshColor)
+    , meshMaterial(meshMaterial)
+    , meshTexturePath(meshTexturePath)
+    , disableCollision(false)
+    {
+    }
+
+    ///
+    /// \brief Reduced constructor.
+    /// \remarks Compared to the other constructor, this one assumes that there is no parentFrame
+    /// associated to the geometry.
+    ///
+    /// \param[in] name  Name of the geometry object.
+    /// \param[in] parent_joint  Index of the parent joint (that supports the geometry).
+    /// \param[in] collision_geometry The FCL collision geometry object.
+    /// \param[in] placement Placement of the geometry with respect to the joint frame.
+    /// \param[in] meshPath Path of the mesh (may be needed extarnally to load the mesh inside a
+    /// viewer for instance) [if applicable]. \param[in] meshScale Scale of the mesh [if
+    /// applicable]. \param[in] overrideMaterial If true, this option allows to overrite the
+    /// material [if applicable]. \param[in] meshColor Color of the mesh [if applicable]. \param[in]
+    /// meshTexturePath Path to the file containing the texture information [if applicable].
+    /// \param[in] meshMaterial Material of the mesh [if applicable].
+    ///
+    /// \deprecated This constructor is now deprecated, and its argument order has been changed.
+    ///
+    PINOCCHIO_DEPRECATED GeometryObject(
+      const std::string & name,
+      const JointIndex parent_joint,
+      const CollisionGeometryPtr & collision_geometry,
+      const SE3 & placement,
+      const std::string & meshPath = "",
+      const Eigen::Vector3d & meshScale = Eigen::Vector3d::Ones(),
+      const bool overrideMaterial = false,
+      const Eigen::Vector4d & meshColor = Eigen::Vector4d(0, 0, 0, 1),
+      const std::string & meshTexturePath = "",
+      const GeometryMaterial & meshMaterial = GeometryNoMaterial())
+    : Base(name, parent_joint, std::numeric_limits<FrameIndex>::max(), placement)
+    , geometry(collision_geometry)
+    , meshPath(meshPath)
+    , meshScale(meshScale)
+    , overrideMaterial(overrideMaterial)
+    , meshColor(meshColor)
+    , meshMaterial(meshMaterial)
+    , meshTexturePath(meshTexturePath)
+    , disableCollision(false)
+    {
+    }
+
     GeometryObject(const GeometryObject & other) = default;
     GeometryObject & operator=(const GeometryObject & other) = default;