[loops] added compute_loops()

bneveu · Feb 22, 2021 · cddb598 · cddb598
1 parent 1fc32db
commit cddb598
Showing 1 changed file with 11 additions and 0 deletions.
diff --git a/python/src/robotics/codac_py_TPlane.cpp b/python/src/robotics/codac_py_TPlane.cpp
@@ -38,6 +38,17 @@ void export_TPlane(py::module& m)
       TPLANE_VOID_COMPUTE_DETECTIONS_FLOAT_TUBEVECTOR,
       "precision"_a, "p"_a)
 
+    .def("compute_loops", [](TPlane& tplane, float precision, const TubeVector& p, const TubeVector& v)
+      {
+        TubeVector p_(p), v_(v);
+        p_.enable_synthesis(true);
+        v_.enable_synthesis(true);
+        tplane.compute_detections(precision, p_, v_);
+        tplane.compute_proofs(p_, v_);
+      },
+      TPLANE_VOID_COMPUTE_DETECTIONS_FLOAT_TUBEVECTOR_TUBEVECTOR,
+      "precision"_a, "p"_a, "v"_a)
+
     .def("compute_detections", (void (TPlane::*)(float,const TubeVector&,const TubeVector&))&TPlane::compute_detections,
       TPLANE_VOID_COMPUTE_DETECTIONS_FLOAT_TUBEVECTOR_TUBEVECTOR,
       "precision"_a, "p"_a, "v"_a)