turtlebasket
/
openGJK
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Merge pull request #35 from CYDXYYJ/patch-1 

Change In Python Example
fixes-turtlebasket
Mattia Montanari 2022-11-01 09:56:43 +01:00 committed by GitHub
parent ccd90cc811 8cac752e6a
commit 018b27cc08
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 5 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
examples/python/pyopenGJK.cpp
View File

@ -8,9 +8,9 @@ PYBIND11_MODULE(opengjkc, m) {
[](Eigen::Array<double, Eigen::Dynamic, 3, Eigen::RowMajor> &arr1, [](Eigen::Array<double, Eigen::Dynamic, 3, Eigen::RowMajor> &arr1,
Eigen::Array<double, Eigen::Dynamic, 3, Eigen::RowMajor> &arr2) Eigen::Array<double, Eigen::Dynamic, 3, Eigen::RowMajor> &arr2)
-> double { -> double {
struct simplex s; gkSimplex s;
struct bd bd1; gkPolytope bd1;
struct bd bd2; gkPolytope bd2;
bd1.numpoints = arr1.rows(); bd1.numpoints = arr1.rows();
std::vector<double *> arr1_rows(arr1.rows()); std::vector<double *> arr1_rows(arr1.rows());
for (int i = 0; i < arr1.rows(); ++i) for (int i = 0; i < arr1.rows(); ++i)
@ -23,7 +23,7 @@ PYBIND11_MODULE(opengjkc, m) {
arr2_rows[i] = arr2.row(i).data(); arr2_rows[i] = arr2.row(i).data();
bd2.coord = arr2_rows.data(); bd2.coord = arr2_rows.data();
double a = gjk(bd1, bd2, &s); double a = compute_minimum_distance(bd1, bd2, &s);
return a; return a;
}); });