[visual] Fully remove scale, adapt python bindings

jrl-umi3218 · Feb 2, 2024 · 8da227a · 8da227a
1 parent 46aa32c
commit 8da227a
Show file tree

Hide file tree

Showing 3 changed files with 6 additions and 8 deletions.
diff --git a/binding/python/rbdyn/parsers/c_parsers.pxd b/binding/python/rbdyn/parsers/c_parsers.pxd
@@ -21,7 +21,7 @@ cdef extern from "<RBDyn/parsers/common.h>" namespace "rbd::parsers":
 
     cdef cppclass GeometryMesh "rbd::parsers::Geometry::Mesh":
         string filename
-        double scale
+        Vector3d scaleV
 
     cdef cppclass GeometryBox "rbd::parsers::Geometry::Box":
         Vector3d size

diff --git a/binding/python/rbdyn/parsers/parsers.pyx b/binding/python/rbdyn/parsers/parsers.pyx
@@ -40,20 +40,20 @@ cdef class GeometryMesh(object):
     property filename:
         def __get__(self):
             return self.impl.filename
-    property scale:
+    property scaleV:
         def __get__(self):
-            return self.impl.scale
+            return eigen.Vector3dFromC(self.impl.scaleV)
 
     def __richcmp__(GeometryMesh self, GeometryMesh other, int op):
         if op == 2:
             return (
                 self.impl.filename == other.impl.filename
-                and self.impl.scale == other.impl.scale
+                and self.impl.scaleV == other.impl.scaleV
             )
         elif op == 3:
             return (
                 self.impl.filename != other.impl.filename
-                and self.impl.scale != other.impl.scale
+                and self.impl.scaleV != other.impl.scaleV
             )
         else:
             raise NotImplementedError("This comparison is not supported")

diff --git a/src/parsers/yaml.cpp b/src/parsers/yaml.cpp
@@ -317,13 +317,11 @@ bool RBDynFromYAML::parseGeometry(const YAML::Node & geometry, Geometry & data)
         if(maybeScaleV.size() == 3)
         {
           mesh_data.scaleV = Eigen::Map<Eigen::Vector3d>(maybeScaleV.data(), 3);
-          mesh_data.scale = mesh_data.scaleV(2);
         }
         else
         {
           assert(maybeScaleV.size() == 1);
-          mesh_data.scale = maybeScaleV[0];
-          mesh_data.scaleV.setConstant(mesh_data.scale);
+          mesh_data.scaleV.setConstant(maybeScaleV[0]);
         }
         has_geometry = true;
         data.data = mesh_data;