Merge branch 'production' of github.com:rdiankov/openrave into truckb…

…otv2
rdiankov · Jan 29, 2024 · 4e27bf5 · 4e27bf5
2 parents 5b3401e + 6323362
commit 4e27bf5
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Showing 3 changed files with 17 additions and 14 deletions.
diff --git a/plugins/configurationcache/configurationjitterer.cpp b/plugins/configurationcache/configurationjitterer.cpp
@@ -740,7 +740,7 @@ By default will sample the robot's active DOFs. Parameters part of the interface
                                 }
                             }
                             ss << "]";
-                            RAVELOG_VERBOSE_FORMAT("env=%s, link '%s' exceeded linkdisthresh=%e. ellipdist[%e] > rhs[%e], %s", GetEnv()->GetNameId()%_linkdistthresh%_vLinks[ilink]->GetName()%ellipdist%rhs%ss.str());
+                            RAVELOG_VERBOSE_FORMAT("env=%s, link '%s' exceeded linkdisthresh=%e. ellipdist[%e] > rhs[%e], %s", GetEnv()->GetNameId()%_vLinks[ilink]->GetName()%_linkdistthresh%ellipdist%rhs%ss.str());
                         }
                         break;
                     }

diff --git a/python/bindings/openravepy_int.cpp b/python/bindings/openravepy_int.cpp
@@ -2472,13 +2472,13 @@ object PyEnvironmentBase::plot3(object opoints,float pointsize,object ocolors, i
         return toPyGraphHandle(phandle);
     }
     BOOST_ASSERT(vcolors.size()<=4);
-    RaveVector<float> vcolor;
-    for(int i = 0; i < (int)vcolors.size(); ++i) {
-        vcolor[i] = vcolors[i];
-    }
     GraphHandlePtr phandle;
     {
         PythonThreadSaver saver;
+        RaveVector<float> vcolor;
+        for(int i = 0; i < (int)vcolors.size(); ++i) {
+            vcolor[i] = vcolors[i];
+        }
         phandle = _penv->plot3(vpoints.data(),sizes.first,sizeof(float)*3,pointsize,vcolor,drawstyle);
     }
     return toPyGraphHandle(phandle);

diff --git a/python/bindings/openravepy_kinbody.cpp b/python/bindings/openravepy_kinbody.cpp
@@ -366,10 +366,10 @@ object PyGeometryInfo::SerializeJSON(dReal fUnitScale, object options)
 {
     rapidjson::Document doc;
     KinBody::GeometryInfoPtr pgeominfo = GetGeometryInfo();
-    const int intOption = pyGetIntFromPy(options, 0);
+    const int intOptions = pyGetIntFromPy(options, 0);
     {
         openravepy::PythonThreadSaver threadsaver;
-        pgeominfo->SerializeJSON(doc, doc.GetAllocator(), fUnitScale, intOption);
+        pgeominfo->SerializeJSON(doc, doc.GetAllocator(), fUnitScale, intOptions);
     }
     return toPyObject(doc);
 }
@@ -379,10 +379,10 @@ void PyGeometryInfo::DeserializeJSON(object obj, dReal fUnitScale, object option
     rapidjson::Document doc;
     toRapidJSONValue(obj, doc, doc.GetAllocator());
     KinBody::GeometryInfoPtr pgeominfo = GetGeometryInfo();
-    const int intOption = pyGetIntFromPy(options, 0);
+    const int intOptions = pyGetIntFromPy(options, 0);
     {
         openravepy::PythonThreadSaver threadsaver;
-        pgeominfo->DeserializeJSON(doc, fUnitScale, intOption);
+        pgeominfo->DeserializeJSON(doc, fUnitScale, intOptions);
     }
     Init(*pgeominfo);
 }
@@ -616,10 +616,10 @@ py::object PyLinkInfo::SerializeJSON(dReal fUnitScale, object options)
 {
     rapidjson::Document doc;
     KinBody::LinkInfoPtr pInfo = GetLinkInfo();
-    const int intOption = pyGetIntFromPy(options, 0);
+    const int intOptions = pyGetIntFromPy(options, 0);
     {
         openravepy::PythonThreadSaver threadsaver;
-        pInfo->SerializeJSON(doc, doc.GetAllocator(), fUnitScale, intOption);
+        pInfo->SerializeJSON(doc, doc.GetAllocator(), fUnitScale, intOptions);
     }
     return toPyObject(doc);
 }
@@ -629,10 +629,10 @@ void PyLinkInfo::DeserializeJSON(object obj, dReal fUnitScale, py::object option
     rapidjson::Document doc;
     toRapidJSONValue(obj, doc, doc.GetAllocator());
     KinBody::LinkInfoPtr pInfo = GetLinkInfo();
-    const int intOption = pyGetIntFromPy(options, 0);
+    const int intOptions = pyGetIntFromPy(options, 0);
     {
         openravepy::PythonThreadSaver threadsaver;
-        pInfo->DeserializeJSON(doc, fUnitScale, intOption);
+        pInfo->DeserializeJSON(doc, fUnitScale, intOptions);
     }
     _Update(*pInfo);
 }
@@ -4294,7 +4294,10 @@ PyStateRestoreContextBase* PyKinBody::CreateKinBodyStateSaver(object options)
 object PyKinBody::ExtractInfo(ExtractInfoOptions options) const
 {
     KinBody::KinBodyInfo info;
-    _pbody->ExtractInfo(info, options);
+    {
+        openravepy::PythonThreadSaver threadsaver;
+        _pbody->ExtractInfo(info, options);
+    }
     return py::to_object(boost::shared_ptr<PyKinBody::PyKinBodyInfo>(new PyKinBody::PyKinBodyInfo(info)));
 }
-Original file line number
+Diff line change
@@ Expand Up @@
                                     }
                                 }
                                 ss << "]";
-                                RAVELOG_VERBOSE_FORMAT("env=%s, link '%s' exceeded linkdisthresh=%e. ellipdist[%e] > rhs[%e], %s", GetEnv()->GetNameId()%_linkdistthresh%_vLinks[ilink]->GetName()%ellipdist%rhs%ss.str());
+                                RAVELOG_VERBOSE_FORMAT("env=%s, link '%s' exceeded linkdisthresh=%e. ellipdist[%e] > rhs[%e], %s", GetEnv()->GetNameId()%_vLinks[ilink]->GetName()%_linkdistthresh%ellipdist%rhs%ss.str());
                             }
                             break;
                         }
@@ Expand Down @@