diff --git a/armer/armer.py b/armer/armer.py index 6c6a544..b46d9e3 100644 --- a/armer/armer.py +++ b/armer/armer.py @@ -306,7 +306,7 @@ def global_collision_check(self, robot: ROSRobot): debug=True ) end = timeit.default_timer() - print(f"[KD Setup] full collision check: {1/(end-start)} hz") + # print(f"[KD Setup] full collision check: {1/(end-start)} hz") # print(f"[Check Links] -> {check_links}") # Alternative Method @@ -323,7 +323,7 @@ def global_collision_check(self, robot: ROSRobot): check_links = check_links ) end = timeit.default_timer() - print(f"[Actual Link Check] full collision check: {1/(end-start)} hz") + # print(f"[Actual Link Check] full collision check: {1/(end-start)} hz") if col_link_id >= 0: rospy.logwarn(f"Global Collision Check -> Robot [{robot.name}] in collision with link {robot.collision_sliced_links[col_link_id].name}") @@ -435,7 +435,7 @@ def update_dynamic_objects(self, robot: ROSRobot) -> None: else: # Check if the current robot has any newly added objects to add to the backend # NOTE: this loop is run everytime at the moment (not an issue with limited shapes but needs better optimisation for scale) - for dynamic_obj in robot.dynamic_collision_dict.values(): + for dynamic_obj in robot.dynamic_collision_dict.copy().values(): if dynamic_obj.is_added == False: rospy.loginfo(f"Adding Dynamic Object: {dynamic_obj}") dynamic_obj.id = self.backend.add(dynamic_obj.shape) diff --git a/armer/cython/collision_handler.cpp b/armer/cython/collision_handler.cpp index 63934be..0966e50 100644 --- a/armer/cython/collision_handler.cpp +++ b/armer/cython/collision_handler.cpp @@ -1218,15 +1218,6 @@ static CYTHON_INLINE float __PYX_NAN() { #include #include #include -#include - - /* Using NumPy API declarations from "numpy/__init__.cython-30.pxd" */ - -#include "numpy/arrayobject.h" -#include "numpy/ndarrayobject.h" -#include "numpy/ndarraytypes.h" -#include "numpy/arrayscalars.h" -#include "numpy/ufuncobject.h" #include #ifdef _OPENMP #include @@ -1490,34 +1481,10 @@ static int __pyx_clineno = 0; static const char * __pyx_cfilenm = __FILE__; static const char *__pyx_filename; -/* Header.proto */ -#if !defined(CYTHON_CCOMPLEX) - #if defined(__cplusplus) - #define CYTHON_CCOMPLEX 1 - #elif (defined(_Complex_I) && !defined(_MSC_VER)) || ((defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) && !defined(__STDC_NO_COMPLEX__)) - #define CYTHON_CCOMPLEX 1 - #else - #define CYTHON_CCOMPLEX 0 - #endif -#endif -#if CYTHON_CCOMPLEX - #ifdef __cplusplus - #include - #else - #include - #endif -#endif -#if CYTHON_CCOMPLEX && !defined(__cplusplus) && defined(__sun__) && defined(__GNUC__) - #undef _Complex_I - #define _Complex_I 1.0fj -#endif - /* #### Code section: filename_table ### */ static const char *__pyx_f[] = { "armer/cython/collision_handler.pyx", - "__init__.cython-30.pxd", - "type.pxd", }; /* #### Code section: utility_code_proto_before_types ### */ /* ForceInitThreads.proto */ @@ -1526,268 +1493,10 @@ static const char *__pyx_f[] = { #endif /* #### Code section: numeric_typedefs ### */ - -/* "../../../../../../usr/local/lib/python3.8/dist-packages/numpy/__init__.cython-30.pxd":731 - * # in Cython to enable them only on the right systems. - * - * ctypedef npy_int8 int8_t # <<<<<<<<<<<<<< - * ctypedef npy_int16 int16_t - * ctypedef npy_int32 int32_t - */ -typedef npy_int8 __pyx_t_5numpy_int8_t; - -/* "../../../../../../usr/local/lib/python3.8/dist-packages/numpy/__init__.cython-30.pxd":732 - * - * ctypedef npy_int8 int8_t - * ctypedef npy_int16 int16_t # <<<<<<<<<<<<<< - * ctypedef npy_int32 int32_t - * ctypedef npy_int64 int64_t - */ -typedef npy_int16 __pyx_t_5numpy_int16_t; - -/* "../../../../../../usr/local/lib/python3.8/dist-packages/numpy/__init__.cython-30.pxd":733 - * ctypedef npy_int8 int8_t - * ctypedef npy_int16 int16_t - * ctypedef npy_int32 int32_t # <<<<<<<<<<<<<< - * ctypedef npy_int64 int64_t - * #ctypedef npy_int96 int96_t - */ -typedef npy_int32 __pyx_t_5numpy_int32_t; - -/* "../../../../../../usr/local/lib/python3.8/dist-packages/numpy/__init__.cython-30.pxd":734 - * ctypedef npy_int16 int16_t - * ctypedef npy_int32 int32_t - * ctypedef npy_int64 int64_t # <<<<<<<<<<<<<< - * #ctypedef npy_int96 int96_t - * #ctypedef npy_int128 int128_t - */ -typedef npy_int64 __pyx_t_5numpy_int64_t; - -/* "../../../../../../usr/local/lib/python3.8/dist-packages/numpy/__init__.cython-30.pxd":738 - * #ctypedef npy_int128 int128_t - * - * ctypedef npy_uint8 uint8_t # <<<<<<<<<<<<<< - * ctypedef npy_uint16 uint16_t - * ctypedef npy_uint32 uint32_t - */ -typedef npy_uint8 __pyx_t_5numpy_uint8_t; - -/* "../../../../../../usr/local/lib/python3.8/dist-packages/numpy/__init__.cython-30.pxd":739 - * - * ctypedef npy_uint8 uint8_t - * ctypedef npy_uint16 uint16_t # <<<<<<<<<<<<<< - * ctypedef npy_uint32 uint32_t - * ctypedef npy_uint64 uint64_t - */ -typedef npy_uint16 __pyx_t_5numpy_uint16_t; - -/* "../../../../../../usr/local/lib/python3.8/dist-packages/numpy/__init__.cython-30.pxd":740 - * ctypedef npy_uint8 uint8_t - * ctypedef npy_uint16 uint16_t - * ctypedef npy_uint32 uint32_t # <<<<<<<<<<<<<< - * ctypedef npy_uint64 uint64_t - * #ctypedef npy_uint96 uint96_t - */ -typedef npy_uint32 __pyx_t_5numpy_uint32_t; - -/* "../../../../../../usr/local/lib/python3.8/dist-packages/numpy/__init__.cython-30.pxd":741 - * ctypedef npy_uint16 uint16_t - * ctypedef npy_uint32 uint32_t - * ctypedef npy_uint64 uint64_t # <<<<<<<<<<<<<< - * #ctypedef npy_uint96 uint96_t - * #ctypedef npy_uint128 uint128_t - */ -typedef npy_uint64 __pyx_t_5numpy_uint64_t; - -/* "../../../../../../usr/local/lib/python3.8/dist-packages/numpy/__init__.cython-30.pxd":745 - * #ctypedef npy_uint128 uint128_t - * - * ctypedef npy_float32 float32_t # <<<<<<<<<<<<<< - * ctypedef npy_float64 float64_t - * #ctypedef npy_float80 float80_t - */ -typedef npy_float32 __pyx_t_5numpy_float32_t; - -/* "../../../../../../usr/local/lib/python3.8/dist-packages/numpy/__init__.cython-30.pxd":746 - * - * ctypedef npy_float32 float32_t - * ctypedef npy_float64 float64_t # <<<<<<<<<<<<<< - * #ctypedef npy_float80 float80_t - * #ctypedef npy_float128 float128_t - */ -typedef npy_float64 __pyx_t_5numpy_float64_t; - -/* "../../../../../../usr/local/lib/python3.8/dist-packages/numpy/__init__.cython-30.pxd":755 - * # The int types are mapped a bit surprising -- - * # numpy.int corresponds to 'l' and numpy.long to 'q' - * ctypedef npy_long int_t # <<<<<<<<<<<<<< - * ctypedef npy_longlong long_t - * ctypedef npy_longlong longlong_t - */ -typedef npy_long __pyx_t_5numpy_int_t; - -/* "../../../../../../usr/local/lib/python3.8/dist-packages/numpy/__init__.cython-30.pxd":756 - * # numpy.int corresponds to 'l' and numpy.long to 'q' - * ctypedef npy_long int_t - * ctypedef npy_longlong long_t # <<<<<<<<<<<<<< - * ctypedef npy_longlong longlong_t - * - */ -typedef npy_longlong __pyx_t_5numpy_long_t; - -/* "../../../../../../usr/local/lib/python3.8/dist-packages/numpy/__init__.cython-30.pxd":757 - * ctypedef npy_long int_t - * ctypedef npy_longlong long_t - * ctypedef npy_longlong longlong_t # <<<<<<<<<<<<<< - * - * ctypedef npy_ulong uint_t - */ -typedef npy_longlong __pyx_t_5numpy_longlong_t; - -/* "../../../../../../usr/local/lib/python3.8/dist-packages/numpy/__init__.cython-30.pxd":759 - * ctypedef npy_longlong longlong_t - * - * ctypedef npy_ulong uint_t # <<<<<<<<<<<<<< - * ctypedef npy_ulonglong ulong_t - * ctypedef npy_ulonglong ulonglong_t - */ -typedef npy_ulong __pyx_t_5numpy_uint_t; - -/* "../../../../../../usr/local/lib/python3.8/dist-packages/numpy/__init__.cython-30.pxd":760 - * - * ctypedef npy_ulong uint_t - * ctypedef npy_ulonglong ulong_t # <<<<<<<<<<<<<< - * ctypedef npy_ulonglong ulonglong_t - * - */ -typedef npy_ulonglong __pyx_t_5numpy_ulong_t; - -/* "../../../../../../usr/local/lib/python3.8/dist-packages/numpy/__init__.cython-30.pxd":761 - * ctypedef npy_ulong uint_t - * ctypedef npy_ulonglong ulong_t - * ctypedef npy_ulonglong ulonglong_t # <<<<<<<<<<<<<< - * - * ctypedef npy_intp intp_t - */ -typedef npy_ulonglong __pyx_t_5numpy_ulonglong_t; - -/* "../../../../../../usr/local/lib/python3.8/dist-packages/numpy/__init__.cython-30.pxd":763 - * ctypedef npy_ulonglong ulonglong_t - * - * ctypedef npy_intp intp_t # <<<<<<<<<<<<<< - * ctypedef npy_uintp uintp_t - * - */ -typedef npy_intp __pyx_t_5numpy_intp_t; - -/* "../../../../../../usr/local/lib/python3.8/dist-packages/numpy/__init__.cython-30.pxd":764 - * - * ctypedef npy_intp intp_t - * ctypedef npy_uintp uintp_t # <<<<<<<<<<<<<< - * - * ctypedef npy_double float_t - */ -typedef npy_uintp __pyx_t_5numpy_uintp_t; - -/* "../../../../../../usr/local/lib/python3.8/dist-packages/numpy/__init__.cython-30.pxd":766 - * ctypedef npy_uintp uintp_t - * - * ctypedef npy_double float_t # <<<<<<<<<<<<<< - * ctypedef npy_double double_t - * ctypedef npy_longdouble longdouble_t - */ -typedef npy_double __pyx_t_5numpy_float_t; - -/* "../../../../../../usr/local/lib/python3.8/dist-packages/numpy/__init__.cython-30.pxd":767 - * - * ctypedef npy_double float_t - * ctypedef npy_double double_t # <<<<<<<<<<<<<< - * ctypedef npy_longdouble longdouble_t - * - */ -typedef npy_double __pyx_t_5numpy_double_t; - -/* "../../../../../../usr/local/lib/python3.8/dist-packages/numpy/__init__.cython-30.pxd":768 - * ctypedef npy_double float_t - * ctypedef npy_double double_t - * ctypedef npy_longdouble longdouble_t # <<<<<<<<<<<<<< - * - * ctypedef npy_cfloat cfloat_t - */ -typedef npy_longdouble __pyx_t_5numpy_longdouble_t; - -/* "collision_handler.pyx":10 - * cnp.import_array() - * DTYPE = np.float64 - * ctypedef cnp.float64_t DTYPE_t # <<<<<<<<<<<<<< - * - * cdef extern from "" namespace "std": - */ -typedef __pyx_t_5numpy_float64_t __pyx_t_17collision_handler_DTYPE_t; /* #### Code section: complex_type_declarations ### */ -/* Declarations.proto */ -#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) - #ifdef __cplusplus - typedef ::std::complex< float > __pyx_t_float_complex; - #else - typedef float _Complex __pyx_t_float_complex; - #endif -#else - typedef struct { float real, imag; } __pyx_t_float_complex; -#endif -static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float, float); - -/* Declarations.proto */ -#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) - #ifdef __cplusplus - typedef ::std::complex< double > __pyx_t_double_complex; - #else - typedef double _Complex __pyx_t_double_complex; - #endif -#else - typedef struct { double real, imag; } __pyx_t_double_complex; -#endif -static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double, double); - /* #### Code section: type_declarations ### */ /*--- Type declarations ---*/ - -/* "../../../../../../usr/local/lib/python3.8/dist-packages/numpy/__init__.cython-30.pxd":770 - * ctypedef npy_longdouble longdouble_t - * - * ctypedef npy_cfloat cfloat_t # <<<<<<<<<<<<<< - * ctypedef npy_cdouble cdouble_t - * ctypedef npy_clongdouble clongdouble_t - */ -typedef npy_cfloat __pyx_t_5numpy_cfloat_t; - -/* "../../../../../../usr/local/lib/python3.8/dist-packages/numpy/__init__.cython-30.pxd":771 - * - * ctypedef npy_cfloat cfloat_t - * ctypedef npy_cdouble cdouble_t # <<<<<<<<<<<<<< - * ctypedef npy_clongdouble clongdouble_t - * - */ -typedef npy_cdouble __pyx_t_5numpy_cdouble_t; - -/* "../../../../../../usr/local/lib/python3.8/dist-packages/numpy/__init__.cython-30.pxd":772 - * ctypedef npy_cfloat cfloat_t - * ctypedef npy_cdouble cdouble_t - * ctypedef npy_clongdouble clongdouble_t # <<<<<<<<<<<<<< - * - * ctypedef npy_cdouble complex_t - */ -typedef npy_clongdouble __pyx_t_5numpy_clongdouble_t; - -/* "../../../../../../usr/local/lib/python3.8/dist-packages/numpy/__init__.cython-30.pxd":774 - * ctypedef npy_clongdouble clongdouble_t - * - * ctypedef npy_cdouble complex_t # <<<<<<<<<<<<<< - * - * cdef inline object PyArray_MultiIterNew1(a): - */ -typedef npy_cdouble __pyx_t_5numpy_complex_t; /* #### Code section: utility_code_proto ### */ /* --- Runtime support code (head) --- */ @@ -1934,40 +1643,6 @@ static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, P /* GetBuiltinName.proto */ static PyObject *__Pyx_GetBuiltinName(PyObject *name); -/* GetTopmostException.proto */ -#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE -static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); -#endif - -/* SaveResetException.proto */ -#if CYTHON_FAST_THREAD_STATE -#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) -static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); -#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) -static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); -#else -#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) -#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) -#endif - -/* GetException.proto */ -#if CYTHON_FAST_THREAD_STATE -#define __Pyx_GetException(type, value, tb) __Pyx__GetException(__pyx_tstate, type, value, tb) -static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); -#else -static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb); -#endif - -/* PyObjectCall.proto */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); -#else -#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) -#endif - -/* RaiseException.proto */ -static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); - /* GetItemInt.proto */ #define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ @@ -2004,12 +1679,6 @@ static PyObject *__Pyx_PyDict_GetItem(PyObject *d, PyObject* key); #define __Pyx_PyObject_Dict_GetItem(obj, name) PyObject_GetItem(obj, name) #endif -/* PySequenceContains.proto */ -static CYTHON_INLINE int __Pyx_PySequence_ContainsTF(PyObject* item, PyObject* seq, int eq) { - int result = PySequence_Contains(seq, item); - return unlikely(result < 0) ? result : (result == (eq == Py_EQ)); -} - /* PyFunctionFastCall.proto */ #if CYTHON_FAST_PYCALL #if !CYTHON_VECTORCALL @@ -2045,6 +1714,13 @@ static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, #endif #endif +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + /* PyObjectCallMethO.proto */ #if CYTHON_COMPILING_IN_CPYTHON static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); @@ -2066,9 +1742,6 @@ static CYTHON_INLINE int __Pyx_IterFinish(void); /* UnpackItemEndCheck.proto */ static int __Pyx_IternextUnpackEndCheck(PyObject *retval, Py_ssize_t expected); -/* ExtTypeTest.proto */ -static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type); - /* TupleAndListFromArray.proto */ #if CYTHON_COMPILING_IN_CPYTHON static CYTHON_INLINE PyObject* __Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n); @@ -2164,80 +1837,11 @@ static CYTHON_INLINE int __Pyx_PyDict_ContainsTF(PyObject* item, PyObject* dict, return unlikely(result < 0) ? result : (result == (eq == Py_EQ)); } -/* TypeImport.proto */ -#ifndef __PYX_HAVE_RT_ImportType_proto_3_0_5 -#define __PYX_HAVE_RT_ImportType_proto_3_0_5 -#if defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L -#include -#endif -#if (defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) || __cplusplus >= 201103L -#define __PYX_GET_STRUCT_ALIGNMENT_3_0_5(s) alignof(s) -#else -#define __PYX_GET_STRUCT_ALIGNMENT_3_0_5(s) sizeof(void*) -#endif -enum __Pyx_ImportType_CheckSize_3_0_5 { - __Pyx_ImportType_CheckSize_Error_3_0_5 = 0, - __Pyx_ImportType_CheckSize_Warn_3_0_5 = 1, - __Pyx_ImportType_CheckSize_Ignore_3_0_5 = 2 -}; -static PyTypeObject *__Pyx_ImportType_3_0_5(PyObject* module, const char *module_name, const char *class_name, size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_5 check_size); -#endif - -/* Import.proto */ -static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); - -/* ImportDottedModule.proto */ -static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple); -#if PY_MAJOR_VERSION >= 3 -static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple); -#endif - -/* PyDictVersioning.proto */ -#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS -#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) -#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) -#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ - (version_var) = __PYX_GET_DICT_VERSION(dict);\ - (cache_var) = (value); -#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ - static PY_UINT64_T __pyx_dict_version = 0;\ - static PyObject *__pyx_dict_cached_value = NULL;\ - if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ - (VAR) = __pyx_dict_cached_value;\ - } else {\ - (VAR) = __pyx_dict_cached_value = (LOOKUP);\ - __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ - }\ +/* PySequenceContains.proto */ +static CYTHON_INLINE int __Pyx_PySequence_ContainsTF(PyObject* item, PyObject* seq, int eq) { + int result = PySequence_Contains(seq, item); + return unlikely(result < 0) ? result : (result == (eq == Py_EQ)); } -static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); -static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); -static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); -#else -#define __PYX_GET_DICT_VERSION(dict) (0) -#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) -#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); -#endif - -/* GetModuleGlobalName.proto */ -#if CYTHON_USE_DICT_VERSIONS -#define __Pyx_GetModuleGlobalName(var, name) do {\ - static PY_UINT64_T __pyx_dict_version = 0;\ - static PyObject *__pyx_dict_cached_value = NULL;\ - (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ - (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ - __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ -} while(0) -#define __Pyx_GetModuleGlobalNameUncached(var, name) do {\ - PY_UINT64_T __pyx_dict_version;\ - PyObject *__pyx_dict_cached_value;\ - (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ -} while(0) -static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); -#else -#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) -#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) -static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); -#endif /* IncludeStructmemberH.proto */ #include @@ -2387,6 +1991,32 @@ static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, PyObject *module, PyObject *globals, PyObject* code); +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + /* CLineInTraceback.proto */ #ifdef CYTHON_CLINE_IN_TRACEBACK #define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) @@ -2420,113 +2050,12 @@ static void __Pyx_AddTraceback(const char *funcname, int c_line, #define __Pyx_HAS_GCC_DIAGNOSTIC #endif -/* RealImag.proto */ -#if CYTHON_CCOMPLEX - #ifdef __cplusplus - #define __Pyx_CREAL(z) ((z).real()) - #define __Pyx_CIMAG(z) ((z).imag()) - #else - #define __Pyx_CREAL(z) (__real__(z)) - #define __Pyx_CIMAG(z) (__imag__(z)) - #endif -#else - #define __Pyx_CREAL(z) ((z).real) - #define __Pyx_CIMAG(z) ((z).imag) -#endif -#if defined(__cplusplus) && CYTHON_CCOMPLEX\ - && (defined(_WIN32) || defined(__clang__) || (defined(__GNUC__) && (__GNUC__ >= 5 || __GNUC__ == 4 && __GNUC_MINOR__ >= 4 )) || __cplusplus >= 201103) - #define __Pyx_SET_CREAL(z,x) ((z).real(x)) - #define __Pyx_SET_CIMAG(z,y) ((z).imag(y)) -#else - #define __Pyx_SET_CREAL(z,x) __Pyx_CREAL(z) = (x) - #define __Pyx_SET_CIMAG(z,y) __Pyx_CIMAG(z) = (y) -#endif - -/* Arithmetic.proto */ -#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) - #define __Pyx_c_eq_float(a, b) ((a)==(b)) - #define __Pyx_c_sum_float(a, b) ((a)+(b)) - #define __Pyx_c_diff_float(a, b) ((a)-(b)) - #define __Pyx_c_prod_float(a, b) ((a)*(b)) - #define __Pyx_c_quot_float(a, b) ((a)/(b)) - #define __Pyx_c_neg_float(a) (-(a)) - #ifdef __cplusplus - #define __Pyx_c_is_zero_float(z) ((z)==(float)0) - #define __Pyx_c_conj_float(z) (::std::conj(z)) - #if 1 - #define __Pyx_c_abs_float(z) (::std::abs(z)) - #define __Pyx_c_pow_float(a, b) (::std::pow(a, b)) - #endif - #else - #define __Pyx_c_is_zero_float(z) ((z)==0) - #define __Pyx_c_conj_float(z) (conjf(z)) - #if 1 - #define __Pyx_c_abs_float(z) (cabsf(z)) - #define __Pyx_c_pow_float(a, b) (cpowf(a, b)) - #endif - #endif -#else - static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex, __pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex, __pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex, __pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex, __pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex, __pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex); - static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex); - #if 1 - static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex); - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex, __pyx_t_float_complex); - #endif -#endif - -/* Arithmetic.proto */ -#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) - #define __Pyx_c_eq_double(a, b) ((a)==(b)) - #define __Pyx_c_sum_double(a, b) ((a)+(b)) - #define __Pyx_c_diff_double(a, b) ((a)-(b)) - #define __Pyx_c_prod_double(a, b) ((a)*(b)) - #define __Pyx_c_quot_double(a, b) ((a)/(b)) - #define __Pyx_c_neg_double(a) (-(a)) - #ifdef __cplusplus - #define __Pyx_c_is_zero_double(z) ((z)==(double)0) - #define __Pyx_c_conj_double(z) (::std::conj(z)) - #if 1 - #define __Pyx_c_abs_double(z) (::std::abs(z)) - #define __Pyx_c_pow_double(a, b) (::std::pow(a, b)) - #endif - #else - #define __Pyx_c_is_zero_double(z) ((z)==0) - #define __Pyx_c_conj_double(z) (conj(z)) - #if 1 - #define __Pyx_c_abs_double(z) (cabs(z)) - #define __Pyx_c_pow_double(a, b) (cpow(a, b)) - #endif - #endif -#else - static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex, __pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex, __pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex, __pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex, __pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex, __pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex); - static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex); - #if 1 - static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex); - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex, __pyx_t_double_complex); - #endif -#endif - /* CIntFromPy.proto */ static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); /* CIntToPy.proto */ static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); -/* CIntToPy.proto */ -static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); - /* FormatTypeName.proto */ #if CYTHON_COMPILING_IN_LIMITED_API typedef PyObject *__Pyx_TypeName; @@ -2540,6 +2069,9 @@ typedef const char *__Pyx_TypeName; #define __Pyx_DECREF_TypeName(obj) #endif +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + /* CIntFromPy.proto */ static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); @@ -2568,13 +2100,6 @@ static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); /* #### Code section: module_declarations ### */ -static CYTHON_INLINE PyObject *__pyx_f_5numpy_7ndarray_4base_base(PyArrayObject *__pyx_v_self); /* proto*/ -static CYTHON_INLINE PyArray_Descr *__pyx_f_5numpy_7ndarray_5descr_descr(PyArrayObject *__pyx_v_self); /* proto*/ -static CYTHON_INLINE int __pyx_f_5numpy_7ndarray_4ndim_ndim(PyArrayObject *__pyx_v_self); /* proto*/ -static CYTHON_INLINE npy_intp *__pyx_f_5numpy_7ndarray_5shape_shape(PyArrayObject *__pyx_v_self); /* proto*/ -static CYTHON_INLINE npy_intp *__pyx_f_5numpy_7ndarray_7strides_strides(PyArrayObject *__pyx_v_self); /* proto*/ -static CYTHON_INLINE npy_intp __pyx_f_5numpy_7ndarray_4size_size(PyArrayObject *__pyx_v_self); /* proto*/ -static CYTHON_INLINE char *__pyx_f_5numpy_7ndarray_4data_data(PyArrayObject *__pyx_v_self); /* proto*/ /* Module declarations from "libc.math" */ @@ -2586,25 +2111,7 @@ static CYTHON_INLINE char *__pyx_f_5numpy_7ndarray_4data_data(PyArrayObject *__p /* Module declarations from "cython" */ -/* Module declarations from "libc.stdio" */ - -/* Module declarations from "__builtin__" */ - -/* Module declarations from "cpython.type" */ - -/* Module declarations from "cpython" */ - -/* Module declarations from "cpython.object" */ - -/* Module declarations from "cpython.ref" */ - -/* Module declarations from "numpy" */ - -/* Module declarations from "numpy" */ -static CYTHON_INLINE int __pyx_f_5numpy_import_array(void); /*proto*/ - /* Module declarations from "collision_handler" */ -static PyObject *__pyx_f_17collision_handler_closest_dist_query(PyObject *, PyObject *, int, PyObject *, PyObject *, int __pyx_skip_dispatch); /*proto*/ static int __pyx_f_17collision_handler_col_check(PyObject *, PyObject *, int, PyObject *, int __pyx_skip_dispatch); /*proto*/ static int __pyx_f_17collision_handler_global_check(PyObject *, PyObject *, int, PyObject *, int, PyObject *, PyObject *, PyObject *, int __pyx_skip_dispatch); /*proto*/ static int __pyx_f_17collision_handler_test(int, int, int __pyx_skip_dispatch); /*proto*/ @@ -2617,57 +2124,39 @@ int __pyx_module_is_main_collision_handler = 0; /* Implementation of "collision_handler" */ /* #### Code section: global_var ### */ static PyObject *__pyx_builtin_range; -static PyObject *__pyx_builtin_ImportError; /* #### Code section: string_decls ### */ -static const char __pyx_k__3[] = "*"; -static const char __pyx_k_np[] = "np"; -static const char __pyx_k__12[] = "?"; +static const char __pyx_k__7[] = "?"; static const char __pyx_k_copy[] = "copy"; static const char __pyx_k_main[] = "__main__"; static const char __pyx_k_name[] = "name"; -static const char __pyx_k_spec[] = "__spec__"; static const char __pyx_k_test[] = "test"; static const char __pyx_k_val1[] = "val1"; static const char __pyx_k_val2[] = "val2"; -static const char __pyx_k_DTYPE[] = "DTYPE"; -static const char __pyx_k_numpy[] = "numpy"; static const char __pyx_k_range[] = "range"; -static const char __pyx_k_import[] = "__import__"; static const char __pyx_k_name_2[] = "__name__"; static const char __pyx_k_test_2[] = "__test__"; -static const char __pyx_k_float64[] = "float64"; -static const char __pyx_k_col_dict[] = "col_dict"; static const char __pyx_k_col_check[] = "col_check"; static const char __pyx_k_collision[] = "collision"; static const char __pyx_k_len_links[] = "len_links"; static const char __pyx_k_len_robots[] = "len_robots"; static const char __pyx_k_robot_name[] = "robot_name"; -static const char __pyx_k_ImportError[] = "ImportError"; static const char __pyx_k_check_links[] = "check_links"; static const char __pyx_k_global_dict[] = "global_dict"; static const char __pyx_k_robot_links[] = "robot_links"; static const char __pyx_k_robot_names[] = "robot_names"; static const char __pyx_k_global_check[] = "global_check"; -static const char __pyx_k_initializing[] = "_initializing"; static const char __pyx_k_is_coroutine[] = "_is_coroutine"; static const char __pyx_k_overlap_dict[] = "overlap_dict"; static const char __pyx_k_sliced_links[] = "sliced_links"; static const char __pyx_k_closest_point[] = "closest_point"; -static const char __pyx_k_col_link_names[] = "col_link_names"; -static const char __pyx_k_sliced_link_name[] = "sliced_link_name"; -static const char __pyx_k_col_link_name_len[] = "col_link_name_len"; static const char __pyx_k_collision_handler[] = "collision_handler"; static const char __pyx_k_asyncio_coroutines[] = "asyncio.coroutines"; static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; -static const char __pyx_k_closest_dist_query[] = "closest_dist_query"; -static const char __pyx_k_numpy_core_multiarray_failed_to[] = "numpy.core.multiarray failed to import"; static const char __pyx_k_armer_cython_collision_handler_p[] = "armer/cython/collision_handler.pyx"; -static const char __pyx_k_numpy_core_umath_failed_to_impor[] = "numpy.core.umath failed to import"; /* #### Code section: decls ### */ -static PyObject *__pyx_pf_17collision_handler_closest_dist_query(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_sliced_link_name, PyObject *__pyx_v_col_link_names, int __pyx_v_col_link_name_len, PyObject *__pyx_v_col_dict, PyObject *__pyx_v_overlap_dict); /* proto */ -static PyObject *__pyx_pf_17collision_handler_2col_check(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_sliced_links, PyObject *__pyx_v_check_links, int __pyx_v_len_links, PyObject *__pyx_v_global_dict); /* proto */ -static PyObject *__pyx_pf_17collision_handler_4global_check(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_robot_name, PyObject *__pyx_v_robot_names, int __pyx_v_len_robots, PyObject *__pyx_v_robot_links, int __pyx_v_len_links, PyObject *__pyx_v_global_dict, PyObject *__pyx_v_overlap_dict, PyObject *__pyx_v_check_links); /* proto */ -static PyObject *__pyx_pf_17collision_handler_6test(CYTHON_UNUSED PyObject *__pyx_self, int __pyx_v_val1, int __pyx_v_val2); /* proto */ +static PyObject *__pyx_pf_17collision_handler_col_check(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_sliced_links, PyObject *__pyx_v_check_links, int __pyx_v_len_links, PyObject *__pyx_v_global_dict); /* proto */ +static PyObject *__pyx_pf_17collision_handler_2global_check(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_robot_name, PyObject *__pyx_v_robot_names, int __pyx_v_len_robots, PyObject *__pyx_v_robot_links, int __pyx_v_len_links, PyObject *__pyx_v_global_dict, PyObject *__pyx_v_overlap_dict, PyObject *__pyx_v_check_links); /* proto */ +static PyObject *__pyx_pf_17collision_handler_4test(CYTHON_UNUSED PyObject *__pyx_self, int __pyx_v_val1, int __pyx_v_val2); /* proto */ /* #### Code section: late_includes ### */ /* #### Code section: module_state ### */ typedef struct { @@ -2707,93 +2196,41 @@ typedef struct { #endif #if CYTHON_USE_MODULE_STATE #endif - #if CYTHON_USE_MODULE_STATE - #endif - #if CYTHON_USE_MODULE_STATE - #endif - PyTypeObject *__pyx_ptype_7cpython_4type_type; - #if CYTHON_USE_MODULE_STATE - #endif - #if CYTHON_USE_MODULE_STATE - #endif - #if CYTHON_USE_MODULE_STATE - #endif - #if CYTHON_USE_MODULE_STATE - #endif - #if CYTHON_USE_MODULE_STATE - #endif - PyTypeObject *__pyx_ptype_5numpy_dtype; - PyTypeObject *__pyx_ptype_5numpy_flatiter; - PyTypeObject *__pyx_ptype_5numpy_broadcast; - PyTypeObject *__pyx_ptype_5numpy_ndarray; - PyTypeObject *__pyx_ptype_5numpy_generic; - PyTypeObject *__pyx_ptype_5numpy_number; - PyTypeObject *__pyx_ptype_5numpy_integer; - PyTypeObject *__pyx_ptype_5numpy_signedinteger; - PyTypeObject *__pyx_ptype_5numpy_unsignedinteger; - PyTypeObject *__pyx_ptype_5numpy_inexact; - PyTypeObject *__pyx_ptype_5numpy_floating; - PyTypeObject *__pyx_ptype_5numpy_complexfloating; - PyTypeObject *__pyx_ptype_5numpy_flexible; - PyTypeObject *__pyx_ptype_5numpy_character; - PyTypeObject *__pyx_ptype_5numpy_ufunc; - #if CYTHON_USE_MODULE_STATE - #endif - PyObject *__pyx_n_s_DTYPE; - PyObject *__pyx_n_s_ImportError; - PyObject *__pyx_n_s__12; - PyObject *__pyx_n_s__3; + PyObject *__pyx_n_s__7; PyObject *__pyx_kp_s_armer_cython_collision_handler_p; PyObject *__pyx_n_s_asyncio_coroutines; PyObject *__pyx_n_s_check_links; PyObject *__pyx_n_s_cline_in_traceback; - PyObject *__pyx_n_s_closest_dist_query; PyObject *__pyx_n_s_closest_point; PyObject *__pyx_n_s_col_check; - PyObject *__pyx_n_s_col_dict; - PyObject *__pyx_n_s_col_link_name_len; - PyObject *__pyx_n_s_col_link_names; PyObject *__pyx_n_s_collision; PyObject *__pyx_n_s_collision_handler; PyObject *__pyx_n_s_copy; - PyObject *__pyx_n_s_float64; PyObject *__pyx_n_s_global_check; PyObject *__pyx_n_s_global_dict; - PyObject *__pyx_n_s_import; - PyObject *__pyx_n_s_initializing; PyObject *__pyx_n_s_is_coroutine; PyObject *__pyx_n_s_len_links; PyObject *__pyx_n_s_len_robots; PyObject *__pyx_n_s_main; PyObject *__pyx_n_s_name; PyObject *__pyx_n_s_name_2; - PyObject *__pyx_n_s_np; - PyObject *__pyx_n_s_numpy; - PyObject *__pyx_kp_s_numpy_core_multiarray_failed_to; - PyObject *__pyx_kp_s_numpy_core_umath_failed_to_impor; PyObject *__pyx_n_s_overlap_dict; PyObject *__pyx_n_s_range; PyObject *__pyx_n_s_robot_links; PyObject *__pyx_n_s_robot_name; PyObject *__pyx_n_s_robot_names; - PyObject *__pyx_n_s_sliced_link_name; PyObject *__pyx_n_s_sliced_links; - PyObject *__pyx_n_s_spec; PyObject *__pyx_n_s_test; PyObject *__pyx_n_s_test_2; PyObject *__pyx_n_s_val1; PyObject *__pyx_n_s_val2; PyObject *__pyx_int_0; PyObject *__pyx_tuple_; - PyObject *__pyx_tuple__2; - PyObject *__pyx_tuple__4; - PyObject *__pyx_tuple__6; - PyObject *__pyx_tuple__8; - PyObject *__pyx_tuple__10; - PyObject *__pyx_codeobj__5; - PyObject *__pyx_codeobj__7; - PyObject *__pyx_codeobj__9; - PyObject *__pyx_codeobj__11; + PyObject *__pyx_tuple__3; + PyObject *__pyx_tuple__5; + PyObject *__pyx_codeobj__2; + PyObject *__pyx_codeobj__4; + PyObject *__pyx_codeobj__6; } __pyx_mstate; #if CYTHON_USE_MODULE_STATE @@ -2836,77 +2273,41 @@ static int __pyx_m_clear(PyObject *m) { #ifdef __Pyx_FusedFunction_USED Py_CLEAR(clear_module_state->__pyx_FusedFunctionType); #endif - Py_CLEAR(clear_module_state->__pyx_ptype_7cpython_4type_type); - Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_dtype); - Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_flatiter); - Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_broadcast); - Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_ndarray); - Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_generic); - Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_number); - Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_integer); - Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_signedinteger); - Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_unsignedinteger); - Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_inexact); - Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_floating); - Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_complexfloating); - Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_flexible); - Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_character); - Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_ufunc); - Py_CLEAR(clear_module_state->__pyx_n_s_DTYPE); - Py_CLEAR(clear_module_state->__pyx_n_s_ImportError); - Py_CLEAR(clear_module_state->__pyx_n_s__12); - Py_CLEAR(clear_module_state->__pyx_n_s__3); + Py_CLEAR(clear_module_state->__pyx_n_s__7); Py_CLEAR(clear_module_state->__pyx_kp_s_armer_cython_collision_handler_p); Py_CLEAR(clear_module_state->__pyx_n_s_asyncio_coroutines); Py_CLEAR(clear_module_state->__pyx_n_s_check_links); Py_CLEAR(clear_module_state->__pyx_n_s_cline_in_traceback); - Py_CLEAR(clear_module_state->__pyx_n_s_closest_dist_query); Py_CLEAR(clear_module_state->__pyx_n_s_closest_point); Py_CLEAR(clear_module_state->__pyx_n_s_col_check); - Py_CLEAR(clear_module_state->__pyx_n_s_col_dict); - Py_CLEAR(clear_module_state->__pyx_n_s_col_link_name_len); - Py_CLEAR(clear_module_state->__pyx_n_s_col_link_names); Py_CLEAR(clear_module_state->__pyx_n_s_collision); Py_CLEAR(clear_module_state->__pyx_n_s_collision_handler); Py_CLEAR(clear_module_state->__pyx_n_s_copy); - Py_CLEAR(clear_module_state->__pyx_n_s_float64); Py_CLEAR(clear_module_state->__pyx_n_s_global_check); Py_CLEAR(clear_module_state->__pyx_n_s_global_dict); - Py_CLEAR(clear_module_state->__pyx_n_s_import); - Py_CLEAR(clear_module_state->__pyx_n_s_initializing); Py_CLEAR(clear_module_state->__pyx_n_s_is_coroutine); Py_CLEAR(clear_module_state->__pyx_n_s_len_links); Py_CLEAR(clear_module_state->__pyx_n_s_len_robots); Py_CLEAR(clear_module_state->__pyx_n_s_main); Py_CLEAR(clear_module_state->__pyx_n_s_name); Py_CLEAR(clear_module_state->__pyx_n_s_name_2); - Py_CLEAR(clear_module_state->__pyx_n_s_np); - Py_CLEAR(clear_module_state->__pyx_n_s_numpy); - Py_CLEAR(clear_module_state->__pyx_kp_s_numpy_core_multiarray_failed_to); - Py_CLEAR(clear_module_state->__pyx_kp_s_numpy_core_umath_failed_to_impor); Py_CLEAR(clear_module_state->__pyx_n_s_overlap_dict); Py_CLEAR(clear_module_state->__pyx_n_s_range); Py_CLEAR(clear_module_state->__pyx_n_s_robot_links); Py_CLEAR(clear_module_state->__pyx_n_s_robot_name); Py_CLEAR(clear_module_state->__pyx_n_s_robot_names); - Py_CLEAR(clear_module_state->__pyx_n_s_sliced_link_name); Py_CLEAR(clear_module_state->__pyx_n_s_sliced_links); - Py_CLEAR(clear_module_state->__pyx_n_s_spec); Py_CLEAR(clear_module_state->__pyx_n_s_test); Py_CLEAR(clear_module_state->__pyx_n_s_test_2); Py_CLEAR(clear_module_state->__pyx_n_s_val1); Py_CLEAR(clear_module_state->__pyx_n_s_val2); Py_CLEAR(clear_module_state->__pyx_int_0); Py_CLEAR(clear_module_state->__pyx_tuple_); - Py_CLEAR(clear_module_state->__pyx_tuple__2); - Py_CLEAR(clear_module_state->__pyx_tuple__4); - Py_CLEAR(clear_module_state->__pyx_tuple__6); - Py_CLEAR(clear_module_state->__pyx_tuple__8); - Py_CLEAR(clear_module_state->__pyx_tuple__10); - Py_CLEAR(clear_module_state->__pyx_codeobj__5); - Py_CLEAR(clear_module_state->__pyx_codeobj__7); - Py_CLEAR(clear_module_state->__pyx_codeobj__9); - Py_CLEAR(clear_module_state->__pyx_codeobj__11); + Py_CLEAR(clear_module_state->__pyx_tuple__3); + Py_CLEAR(clear_module_state->__pyx_tuple__5); + Py_CLEAR(clear_module_state->__pyx_codeobj__2); + Py_CLEAR(clear_module_state->__pyx_codeobj__4); + Py_CLEAR(clear_module_state->__pyx_codeobj__6); return 0; } #endif @@ -2927,77 +2328,41 @@ static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) { #ifdef __Pyx_FusedFunction_USED Py_VISIT(traverse_module_state->__pyx_FusedFunctionType); #endif - Py_VISIT(traverse_module_state->__pyx_ptype_7cpython_4type_type); - Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_dtype); - Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_flatiter); - Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_broadcast); - Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_ndarray); - Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_generic); - Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_number); - Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_integer); - Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_signedinteger); - Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_unsignedinteger); - Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_inexact); - Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_floating); - Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_complexfloating); - Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_flexible); - Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_character); - Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_ufunc); - Py_VISIT(traverse_module_state->__pyx_n_s_DTYPE); - Py_VISIT(traverse_module_state->__pyx_n_s_ImportError); - Py_VISIT(traverse_module_state->__pyx_n_s__12); - Py_VISIT(traverse_module_state->__pyx_n_s__3); + Py_VISIT(traverse_module_state->__pyx_n_s__7); Py_VISIT(traverse_module_state->__pyx_kp_s_armer_cython_collision_handler_p); Py_VISIT(traverse_module_state->__pyx_n_s_asyncio_coroutines); Py_VISIT(traverse_module_state->__pyx_n_s_check_links); Py_VISIT(traverse_module_state->__pyx_n_s_cline_in_traceback); - Py_VISIT(traverse_module_state->__pyx_n_s_closest_dist_query); Py_VISIT(traverse_module_state->__pyx_n_s_closest_point); Py_VISIT(traverse_module_state->__pyx_n_s_col_check); - Py_VISIT(traverse_module_state->__pyx_n_s_col_dict); - Py_VISIT(traverse_module_state->__pyx_n_s_col_link_name_len); - Py_VISIT(traverse_module_state->__pyx_n_s_col_link_names); Py_VISIT(traverse_module_state->__pyx_n_s_collision); Py_VISIT(traverse_module_state->__pyx_n_s_collision_handler); Py_VISIT(traverse_module_state->__pyx_n_s_copy); - Py_VISIT(traverse_module_state->__pyx_n_s_float64); Py_VISIT(traverse_module_state->__pyx_n_s_global_check); Py_VISIT(traverse_module_state->__pyx_n_s_global_dict); - Py_VISIT(traverse_module_state->__pyx_n_s_import); - Py_VISIT(traverse_module_state->__pyx_n_s_initializing); Py_VISIT(traverse_module_state->__pyx_n_s_is_coroutine); Py_VISIT(traverse_module_state->__pyx_n_s_len_links); Py_VISIT(traverse_module_state->__pyx_n_s_len_robots); Py_VISIT(traverse_module_state->__pyx_n_s_main); Py_VISIT(traverse_module_state->__pyx_n_s_name); Py_VISIT(traverse_module_state->__pyx_n_s_name_2); - Py_VISIT(traverse_module_state->__pyx_n_s_np); - Py_VISIT(traverse_module_state->__pyx_n_s_numpy); - Py_VISIT(traverse_module_state->__pyx_kp_s_numpy_core_multiarray_failed_to); - Py_VISIT(traverse_module_state->__pyx_kp_s_numpy_core_umath_failed_to_impor); Py_VISIT(traverse_module_state->__pyx_n_s_overlap_dict); Py_VISIT(traverse_module_state->__pyx_n_s_range); Py_VISIT(traverse_module_state->__pyx_n_s_robot_links); Py_VISIT(traverse_module_state->__pyx_n_s_robot_name); Py_VISIT(traverse_module_state->__pyx_n_s_robot_names); - Py_VISIT(traverse_module_state->__pyx_n_s_sliced_link_name); Py_VISIT(traverse_module_state->__pyx_n_s_sliced_links); - Py_VISIT(traverse_module_state->__pyx_n_s_spec); Py_VISIT(traverse_module_state->__pyx_n_s_test); Py_VISIT(traverse_module_state->__pyx_n_s_test_2); Py_VISIT(traverse_module_state->__pyx_n_s_val1); Py_VISIT(traverse_module_state->__pyx_n_s_val2); Py_VISIT(traverse_module_state->__pyx_int_0); Py_VISIT(traverse_module_state->__pyx_tuple_); - Py_VISIT(traverse_module_state->__pyx_tuple__2); - Py_VISIT(traverse_module_state->__pyx_tuple__4); - Py_VISIT(traverse_module_state->__pyx_tuple__6); - Py_VISIT(traverse_module_state->__pyx_tuple__8); - Py_VISIT(traverse_module_state->__pyx_tuple__10); - Py_VISIT(traverse_module_state->__pyx_codeobj__5); - Py_VISIT(traverse_module_state->__pyx_codeobj__7); - Py_VISIT(traverse_module_state->__pyx_codeobj__9); - Py_VISIT(traverse_module_state->__pyx_codeobj__11); + Py_VISIT(traverse_module_state->__pyx_tuple__3); + Py_VISIT(traverse_module_state->__pyx_tuple__5); + Py_VISIT(traverse_module_state->__pyx_codeobj__2); + Py_VISIT(traverse_module_state->__pyx_codeobj__4); + Py_VISIT(traverse_module_state->__pyx_codeobj__6); return 0; } #endif @@ -3038,1896 +2403,44 @@ static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) { #endif #if CYTHON_USE_MODULE_STATE #endif -#if CYTHON_USE_MODULE_STATE -#endif -#if CYTHON_USE_MODULE_STATE -#endif -#define __pyx_ptype_7cpython_4type_type __pyx_mstate_global->__pyx_ptype_7cpython_4type_type -#if CYTHON_USE_MODULE_STATE -#endif -#if CYTHON_USE_MODULE_STATE -#endif -#if CYTHON_USE_MODULE_STATE -#endif -#if CYTHON_USE_MODULE_STATE -#endif -#if CYTHON_USE_MODULE_STATE -#endif -#define __pyx_ptype_5numpy_dtype __pyx_mstate_global->__pyx_ptype_5numpy_dtype -#define __pyx_ptype_5numpy_flatiter __pyx_mstate_global->__pyx_ptype_5numpy_flatiter -#define __pyx_ptype_5numpy_broadcast __pyx_mstate_global->__pyx_ptype_5numpy_broadcast -#define __pyx_ptype_5numpy_ndarray __pyx_mstate_global->__pyx_ptype_5numpy_ndarray -#define __pyx_ptype_5numpy_generic __pyx_mstate_global->__pyx_ptype_5numpy_generic -#define __pyx_ptype_5numpy_number __pyx_mstate_global->__pyx_ptype_5numpy_number -#define __pyx_ptype_5numpy_integer __pyx_mstate_global->__pyx_ptype_5numpy_integer -#define __pyx_ptype_5numpy_signedinteger __pyx_mstate_global->__pyx_ptype_5numpy_signedinteger -#define __pyx_ptype_5numpy_unsignedinteger __pyx_mstate_global->__pyx_ptype_5numpy_unsignedinteger -#define __pyx_ptype_5numpy_inexact __pyx_mstate_global->__pyx_ptype_5numpy_inexact -#define __pyx_ptype_5numpy_floating __pyx_mstate_global->__pyx_ptype_5numpy_floating -#define __pyx_ptype_5numpy_complexfloating __pyx_mstate_global->__pyx_ptype_5numpy_complexfloating -#define __pyx_ptype_5numpy_flexible __pyx_mstate_global->__pyx_ptype_5numpy_flexible -#define __pyx_ptype_5numpy_character __pyx_mstate_global->__pyx_ptype_5numpy_character -#define __pyx_ptype_5numpy_ufunc __pyx_mstate_global->__pyx_ptype_5numpy_ufunc -#if CYTHON_USE_MODULE_STATE -#endif -#define __pyx_n_s_DTYPE __pyx_mstate_global->__pyx_n_s_DTYPE -#define __pyx_n_s_ImportError __pyx_mstate_global->__pyx_n_s_ImportError -#define __pyx_n_s__12 __pyx_mstate_global->__pyx_n_s__12 -#define __pyx_n_s__3 __pyx_mstate_global->__pyx_n_s__3 -#define __pyx_kp_s_armer_cython_collision_handler_p __pyx_mstate_global->__pyx_kp_s_armer_cython_collision_handler_p -#define __pyx_n_s_asyncio_coroutines __pyx_mstate_global->__pyx_n_s_asyncio_coroutines -#define __pyx_n_s_check_links __pyx_mstate_global->__pyx_n_s_check_links -#define __pyx_n_s_cline_in_traceback __pyx_mstate_global->__pyx_n_s_cline_in_traceback -#define __pyx_n_s_closest_dist_query __pyx_mstate_global->__pyx_n_s_closest_dist_query -#define __pyx_n_s_closest_point __pyx_mstate_global->__pyx_n_s_closest_point -#define __pyx_n_s_col_check __pyx_mstate_global->__pyx_n_s_col_check -#define __pyx_n_s_col_dict __pyx_mstate_global->__pyx_n_s_col_dict -#define __pyx_n_s_col_link_name_len __pyx_mstate_global->__pyx_n_s_col_link_name_len -#define __pyx_n_s_col_link_names __pyx_mstate_global->__pyx_n_s_col_link_names -#define __pyx_n_s_collision __pyx_mstate_global->__pyx_n_s_collision -#define __pyx_n_s_collision_handler __pyx_mstate_global->__pyx_n_s_collision_handler -#define __pyx_n_s_copy __pyx_mstate_global->__pyx_n_s_copy -#define __pyx_n_s_float64 __pyx_mstate_global->__pyx_n_s_float64 -#define __pyx_n_s_global_check __pyx_mstate_global->__pyx_n_s_global_check -#define __pyx_n_s_global_dict __pyx_mstate_global->__pyx_n_s_global_dict -#define __pyx_n_s_import __pyx_mstate_global->__pyx_n_s_import -#define __pyx_n_s_initializing __pyx_mstate_global->__pyx_n_s_initializing -#define __pyx_n_s_is_coroutine __pyx_mstate_global->__pyx_n_s_is_coroutine -#define __pyx_n_s_len_links __pyx_mstate_global->__pyx_n_s_len_links -#define __pyx_n_s_len_robots __pyx_mstate_global->__pyx_n_s_len_robots -#define __pyx_n_s_main __pyx_mstate_global->__pyx_n_s_main -#define __pyx_n_s_name __pyx_mstate_global->__pyx_n_s_name -#define __pyx_n_s_name_2 __pyx_mstate_global->__pyx_n_s_name_2 -#define __pyx_n_s_np __pyx_mstate_global->__pyx_n_s_np -#define __pyx_n_s_numpy __pyx_mstate_global->__pyx_n_s_numpy -#define __pyx_kp_s_numpy_core_multiarray_failed_to __pyx_mstate_global->__pyx_kp_s_numpy_core_multiarray_failed_to -#define __pyx_kp_s_numpy_core_umath_failed_to_impor __pyx_mstate_global->__pyx_kp_s_numpy_core_umath_failed_to_impor -#define __pyx_n_s_overlap_dict __pyx_mstate_global->__pyx_n_s_overlap_dict -#define __pyx_n_s_range __pyx_mstate_global->__pyx_n_s_range -#define __pyx_n_s_robot_links __pyx_mstate_global->__pyx_n_s_robot_links -#define __pyx_n_s_robot_name __pyx_mstate_global->__pyx_n_s_robot_name -#define __pyx_n_s_robot_names __pyx_mstate_global->__pyx_n_s_robot_names -#define __pyx_n_s_sliced_link_name __pyx_mstate_global->__pyx_n_s_sliced_link_name -#define __pyx_n_s_sliced_links __pyx_mstate_global->__pyx_n_s_sliced_links -#define __pyx_n_s_spec __pyx_mstate_global->__pyx_n_s_spec -#define __pyx_n_s_test __pyx_mstate_global->__pyx_n_s_test -#define __pyx_n_s_test_2 __pyx_mstate_global->__pyx_n_s_test_2 -#define __pyx_n_s_val1 __pyx_mstate_global->__pyx_n_s_val1 -#define __pyx_n_s_val2 __pyx_mstate_global->__pyx_n_s_val2 -#define __pyx_int_0 __pyx_mstate_global->__pyx_int_0 -#define __pyx_tuple_ __pyx_mstate_global->__pyx_tuple_ -#define __pyx_tuple__2 __pyx_mstate_global->__pyx_tuple__2 -#define __pyx_tuple__4 __pyx_mstate_global->__pyx_tuple__4 -#define __pyx_tuple__6 __pyx_mstate_global->__pyx_tuple__6 -#define __pyx_tuple__8 __pyx_mstate_global->__pyx_tuple__8 -#define __pyx_tuple__10 __pyx_mstate_global->__pyx_tuple__10 -#define __pyx_codeobj__5 __pyx_mstate_global->__pyx_codeobj__5 -#define __pyx_codeobj__7 __pyx_mstate_global->__pyx_codeobj__7 -#define __pyx_codeobj__9 __pyx_mstate_global->__pyx_codeobj__9 -#define __pyx_codeobj__11 __pyx_mstate_global->__pyx_codeobj__11 -/* #### Code section: module_code ### */ - -/* "../../../../../../usr/local/lib/python3.8/dist-packages/numpy/__init__.cython-30.pxd":245 - * - * @property - * cdef inline PyObject* base(self) nogil: # <<<<<<<<<<<<<< - * """Returns a borrowed reference to the object owning the data/memory. - * """ - */ - -static CYTHON_INLINE PyObject *__pyx_f_5numpy_7ndarray_4base_base(PyArrayObject *__pyx_v_self) { - PyObject *__pyx_r; - - /* "../../../../../../usr/local/lib/python3.8/dist-packages/numpy/__init__.cython-30.pxd":248 - * """Returns a borrowed reference to the object owning the data/memory. - * """ - * return PyArray_BASE(self) # <<<<<<<<<<<<<< - * - * @property - */ - __pyx_r = PyArray_BASE(__pyx_v_self); - goto __pyx_L0; - - /* "../../../../../../usr/local/lib/python3.8/dist-packages/numpy/__init__.cython-30.pxd":245 - * - * @property - * cdef inline PyObject* base(self) nogil: # <<<<<<<<<<<<<< - * """Returns a borrowed reference to the object owning the data/memory. - * """ - */ - - /* function exit code */ - __pyx_L0:; - return __pyx_r; -} - -/* "../../../../../../usr/local/lib/python3.8/dist-packages/numpy/__init__.cython-30.pxd":251 - * - * @property - * cdef inline dtype descr(self): # <<<<<<<<<<<<<< - * """Returns an owned reference to the dtype of the array. - * """ - */ - -static CYTHON_INLINE PyArray_Descr *__pyx_f_5numpy_7ndarray_5descr_descr(PyArrayObject *__pyx_v_self) { - PyArray_Descr *__pyx_r = NULL; - __Pyx_RefNannyDeclarations - PyArray_Descr *__pyx_t_1; - __Pyx_RefNannySetupContext("descr", 1); - - /* "../../../../../../usr/local/lib/python3.8/dist-packages/numpy/__init__.cython-30.pxd":254 - * """Returns an owned reference to the dtype of the array. - * """ - * return PyArray_DESCR(self) # <<<<<<<<<<<<<< - * - * @property - */ - __Pyx_XDECREF((PyObject *)__pyx_r); - __pyx_t_1 = PyArray_DESCR(__pyx_v_self); - __Pyx_INCREF((PyObject *)((PyArray_Descr *)__pyx_t_1)); - __pyx_r = ((PyArray_Descr *)__pyx_t_1); - goto __pyx_L0; - - /* "../../../../../../usr/local/lib/python3.8/dist-packages/numpy/__init__.cython-30.pxd":251 - * - * @property - * cdef inline dtype descr(self): # <<<<<<<<<<<<<< - * """Returns an owned reference to the dtype of the array. - * """ - */ - - /* function exit code */ - __pyx_L0:; - __Pyx_XGIVEREF((PyObject *)__pyx_r); - __Pyx_RefNannyFinishContext(); - return __pyx_r; -} - -/* "../../../../../../usr/local/lib/python3.8/dist-packages/numpy/__init__.cython-30.pxd":257 - * - * @property - * cdef inline int ndim(self) nogil: # <<<<<<<<<<<<<< - * """Returns the number of dimensions in the array. - * """ - */ - -static CYTHON_INLINE int __pyx_f_5numpy_7ndarray_4ndim_ndim(PyArrayObject *__pyx_v_self) { - int __pyx_r; - - /* 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if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 93, __pyx_L1_error) + __pyx_t_4 = __Pyx_PyObject_GetAttrStr(__pyx_v_t_obj, __pyx_n_s_closest_point); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 46, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); __pyx_t_16 = NULL; __pyx_t_17 = 0; @@ -5190,7 +2703,7 @@ static int __pyx_f_17collision_handler_col_check(PyObject *__pyx_v_sliced_links, PyObject *__pyx_callargs[2] = {__pyx_t_16, __pyx_v_obj}; __pyx_t_5 = __Pyx_PyObject_FastCall(__pyx_t_4, __pyx_callargs+1-__pyx_t_17, 1+__pyx_t_17); __Pyx_XDECREF(__pyx_t_16); __pyx_t_16 = 0; - if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 93, __pyx_L1_error) + if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 46, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_5); __Pyx_DECREF(__pyx_t_4); __pyx_t_4 = 0; } @@ -5200,7 +2713,7 @@ static int __pyx_f_17collision_handler_col_check(PyObject *__pyx_v_sliced_links, if (unlikely(size != 3)) { if (size > 3) __Pyx_RaiseTooManyValuesError(3); else if (size >= 0) __Pyx_RaiseNeedMoreValuesError(size); - __PYX_ERR(0, 93, __pyx_L1_error) + __PYX_ERR(0, 46, __pyx_L1_error) } #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS if (likely(PyTuple_CheckExact(sequence))) { @@ -5216,17 +2729,17 @@ static int __pyx_f_17collision_handler_col_check(PyObject *__pyx_v_sliced_links, __Pyx_INCREF(__pyx_t_16); __Pyx_INCREF(__pyx_t_18); #else - __pyx_t_4 = PySequence_ITEM(sequence, 0); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 93, __pyx_L1_error) + __pyx_t_4 = PySequence_ITEM(sequence, 0); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 46, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); - __pyx_t_16 = PySequence_ITEM(sequence, 1); if (unlikely(!__pyx_t_16)) __PYX_ERR(0, 93, __pyx_L1_error) + __pyx_t_16 = PySequence_ITEM(sequence, 1); if (unlikely(!__pyx_t_16)) __PYX_ERR(0, 46, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_16); - __pyx_t_18 = PySequence_ITEM(sequence, 2); if (unlikely(!__pyx_t_18)) __PYX_ERR(0, 93, __pyx_L1_error) + __pyx_t_18 = PySequence_ITEM(sequence, 2); if (unlikely(!__pyx_t_18)) __PYX_ERR(0, 46, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_18); #endif __Pyx_DECREF(__pyx_t_5); __pyx_t_5 = 0; } else { Py_ssize_t index = -1; - __pyx_t_19 = PyObject_GetIter(__pyx_t_5); if (unlikely(!__pyx_t_19)) __PYX_ERR(0, 93, __pyx_L1_error) + __pyx_t_19 = PyObject_GetIter(__pyx_t_5); if (unlikely(!__pyx_t_19)) __PYX_ERR(0, 46, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_19); 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__pyx_t_5 = 0; __pyx_t_21 = __pyx_t_22; __pyx_L14_bool_binop_done:; if (__pyx_t_21) { - /* "collision_handler.pyx":97 + /* "collision_handler.pyx":50 * if d is not None and d <= 0: * # Returns the link idx in collision * return s_idx # <<<<<<<<<<<<<< @@ -5284,7 +2797,7 @@ static int __pyx_f_17collision_handler_col_check(PyObject *__pyx_v_sliced_links, __pyx_r = __pyx_v_s_idx; goto __pyx_L0; - /* "collision_handler.pyx":95 + /* "collision_handler.pyx":48 * d, _, _ = t_obj.closest_point(obj) * # print(f"d is: {d}") * if d is not None and d <= 0: # <<<<<<<<<<<<<< @@ -5297,7 +2810,7 @@ static int __pyx_f_17collision_handler_col_check(PyObject *__pyx_v_sliced_links, } } - /* "collision_handler.pyx":100 + /* "collision_handler.pyx":53 * * # Got here without issue * return -1 # <<<<<<<<<<<<<< @@ -5307,7 +2820,7 @@ static int __pyx_f_17collision_handler_col_check(PyObject *__pyx_v_sliced_links, __pyx_r = -1; goto __pyx_L0; - /* "collision_handler.pyx":61 + /* "collision_handler.pyx":14 * # Ignore negative indice checking (i.e., a[-1]) * @cython.wraparound(False) * cpdef int col_check(list sliced_links, list check_links, int len_links, dict global_dict): # <<<<<<<<<<<<<< @@ -5337,15 +2850,15 @@ static int __pyx_f_17collision_handler_col_check(PyObject *__pyx_v_sliced_links, } /* Python wrapper */ -static PyObject *__pyx_pw_17collision_handler_3col_check(PyObject *__pyx_self, +static PyObject *__pyx_pw_17collision_handler_1col_check(PyObject *__pyx_self, #if CYTHON_METH_FASTCALL PyObject *const *__pyx_args, Py_ssize_t __pyx_nargs, PyObject *__pyx_kwds #else PyObject *__pyx_args, PyObject *__pyx_kwds #endif ); /*proto*/ -static PyMethodDef __pyx_mdef_17collision_handler_3col_check = {"col_check", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_17collision_handler_3col_check, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}; -static PyObject *__pyx_pw_17collision_handler_3col_check(PyObject *__pyx_self, +static PyMethodDef __pyx_mdef_17collision_handler_1col_check = {"col_check", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_17collision_handler_1col_check, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}; +static PyObject *__pyx_pw_17collision_handler_1col_check(PyObject *__pyx_self, #if CYTHON_METH_FASTCALL PyObject *const *__pyx_args, Py_ssize_t __pyx_nargs, PyObject *__pyx_kwds #else @@ -5398,7 +2911,7 @@ PyObject *__pyx_args, PyObject *__pyx_kwds (void)__Pyx_Arg_NewRef_FASTCALL(values[0]); kw_args--; } - else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 61, __pyx_L3_error) + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 14, __pyx_L3_error) else goto __pyx_L5_argtuple_error; 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@@ -6099,7 +3612,7 @@ static int __pyx_f_17collision_handler_global_check(PyObject *__pyx_v_robot_name __Pyx_DECREF_SET(__pyx_v__, __pyx_t_23); __pyx_t_23 = 0; - /* "collision_handler.pyx":187 + /* "collision_handler.pyx":140 * d, _, _ = t_obj.closest_point(obj) * # print(f"d is: {d}") * if d is not None and d <= 0: # <<<<<<<<<<<<<< @@ -6112,14 +3625,14 @@ static int __pyx_f_17collision_handler_global_check(PyObject *__pyx_v_robot_name __pyx_t_10 = __pyx_t_11; goto __pyx_L22_bool_binop_done; } - __pyx_t_4 = PyObject_RichCompare(__pyx_v_d, __pyx_int_0, Py_LE); __Pyx_XGOTREF(__pyx_t_4); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 187, __pyx_L1_error) - __pyx_t_11 = __Pyx_PyObject_IsTrue(__pyx_t_4); if (unlikely((__pyx_t_11 < 0))) __PYX_ERR(0, 187, __pyx_L1_error) + __pyx_t_4 = PyObject_RichCompare(__pyx_v_d, __pyx_int_0, Py_LE); __Pyx_XGOTREF(__pyx_t_4); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 140, __pyx_L1_error) + __pyx_t_11 = __Pyx_PyObject_IsTrue(__pyx_t_4); if (unlikely((__pyx_t_11 < 0))) __PYX_ERR(0, 140, __pyx_L1_error) __Pyx_DECREF(__pyx_t_4); __pyx_t_4 = 0; __pyx_t_10 = __pyx_t_11; __pyx_L22_bool_binop_done:; if (__pyx_t_10) { - /* "collision_handler.pyx":189 + /* "collision_handler.pyx":142 * if d is not None and d <= 0: * # Returns the link idx in collision * return l_idx # <<<<<<<<<<<<<< @@ -6130,7 +3643,7 @@ static int __pyx_f_17collision_handler_global_check(PyObject *__pyx_v_robot_name __Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0; goto __pyx_L0; - /* "collision_handler.pyx":187 + /* "collision_handler.pyx":140 * d, _, _ = t_obj.closest_point(obj) * # print(f"d is: {d}") * if d is not None and d <= 0: # <<<<<<<<<<<<<< @@ -6144,7 +3657,7 @@ static int __pyx_f_17collision_handler_global_check(PyObject *__pyx_v_robot_name } __pyx_L11_break:; - /* "collision_handler.pyx":139 + /* "collision_handler.pyx":92 * * # Loop though the global dictionary of links for robot in evaluation * for l_name in global_dict[r_name].copy(): # <<<<<<<<<<<<<< @@ -6155,7 +3668,7 @@ static int __pyx_f_17collision_handler_global_check(PyObject *__pyx_v_robot_name __Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0; } - /* "collision_handler.pyx":192 + /* "collision_handler.pyx":145 * * # Got here without issue * return -1 # <<<<<<<<<<<<<< @@ -6165,7 +3678,7 @@ static int __pyx_f_17collision_handler_global_check(PyObject *__pyx_v_robot_name __pyx_r = -1; goto __pyx_L0; - /* "collision_handler.pyx":104 + /* "collision_handler.pyx":57 * # Ignore negative indice checking (i.e., a[-1]) * @cython.wraparound(False) * cpdef int global_check(str robot_name, # <<<<<<<<<<<<<< @@ -6200,15 +3713,15 @@ static int __pyx_f_17collision_handler_global_check(PyObject *__pyx_v_robot_name } /* Python wrapper */ -static PyObject *__pyx_pw_17collision_handler_5global_check(PyObject *__pyx_self, +static PyObject *__pyx_pw_17collision_handler_3global_check(PyObject *__pyx_self, #if CYTHON_METH_FASTCALL PyObject *const *__pyx_args, Py_ssize_t __pyx_nargs, PyObject *__pyx_kwds #else PyObject *__pyx_args, PyObject *__pyx_kwds #endif ); /*proto*/ -static PyMethodDef __pyx_mdef_17collision_handler_5global_check = {"global_check", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_17collision_handler_5global_check, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}; -static PyObject *__pyx_pw_17collision_handler_5global_check(PyObject *__pyx_self, +static PyMethodDef __pyx_mdef_17collision_handler_3global_check = {"global_check", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_17collision_handler_3global_check, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}; +static PyObject *__pyx_pw_17collision_handler_3global_check(PyObject *__pyx_self, #if CYTHON_METH_FASTCALL PyObject *const *__pyx_args, Py_ssize_t __pyx_nargs, PyObject *__pyx_kwds #else @@ -6273,7 +3786,7 @@ PyObject *__pyx_args, PyObject *__pyx_kwds (void)__Pyx_Arg_NewRef_FASTCALL(values[0]); kw_args--; } - else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 104, __pyx_L3_error) + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 57, __pyx_L3_error) else goto __pyx_L5_argtuple_error; CYTHON_FALLTHROUGH; case 1: @@ -6281,9 +3794,9 @@ PyObject *__pyx_args, PyObject *__pyx_kwds (void)__Pyx_Arg_NewRef_FASTCALL(values[1]); kw_args--; } - else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 104, __pyx_L3_error) + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 57, __pyx_L3_error) else { - __Pyx_RaiseArgtupleInvalid("global_check", 1, 8, 8, 1); __PYX_ERR(0, 104, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("global_check", 1, 8, 8, 1); __PYX_ERR(0, 57, __pyx_L3_error) } CYTHON_FALLTHROUGH; case 2: @@ -6291,9 +3804,9 @@ PyObject *__pyx_args, PyObject *__pyx_kwds (void)__Pyx_Arg_NewRef_FASTCALL(values[2]); kw_args--; } - else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 104, __pyx_L3_error) + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 57, __pyx_L3_error) else { - __Pyx_RaiseArgtupleInvalid("global_check", 1, 8, 8, 2); __PYX_ERR(0, 104, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("global_check", 1, 8, 8, 2); __PYX_ERR(0, 57, __pyx_L3_error) } CYTHON_FALLTHROUGH; case 3: @@ -6301,9 +3814,9 @@ PyObject *__pyx_args, PyObject *__pyx_kwds (void)__Pyx_Arg_NewRef_FASTCALL(values[3]); kw_args--; } - else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 104, __pyx_L3_error) + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 57, __pyx_L3_error) else { - __Pyx_RaiseArgtupleInvalid("global_check", 1, 8, 8, 3); __PYX_ERR(0, 104, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("global_check", 1, 8, 8, 3); __PYX_ERR(0, 57, __pyx_L3_error) } CYTHON_FALLTHROUGH; case 4: @@ -6311,9 +3824,9 @@ PyObject *__pyx_args, PyObject *__pyx_kwds (void)__Pyx_Arg_NewRef_FASTCALL(values[4]); kw_args--; } - else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 104, __pyx_L3_error) + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 57, __pyx_L3_error) else { - __Pyx_RaiseArgtupleInvalid("global_check", 1, 8, 8, 4); __PYX_ERR(0, 104, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("global_check", 1, 8, 8, 4); __PYX_ERR(0, 57, __pyx_L3_error) } CYTHON_FALLTHROUGH; case 5: @@ -6321,9 +3834,9 @@ PyObject *__pyx_args, PyObject *__pyx_kwds (void)__Pyx_Arg_NewRef_FASTCALL(values[5]); kw_args--; } - else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 104, __pyx_L3_error) + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 57, __pyx_L3_error) else { - __Pyx_RaiseArgtupleInvalid("global_check", 1, 8, 8, 5); __PYX_ERR(0, 104, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("global_check", 1, 8, 8, 5); __PYX_ERR(0, 57, __pyx_L3_error) } CYTHON_FALLTHROUGH; case 6: @@ -6331,9 +3844,9 @@ PyObject *__pyx_args, PyObject *__pyx_kwds (void)__Pyx_Arg_NewRef_FASTCALL(values[6]); kw_args--; } - else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 104, __pyx_L3_error) + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 57, __pyx_L3_error) else { - __Pyx_RaiseArgtupleInvalid("global_check", 1, 8, 8, 6); __PYX_ERR(0, 104, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("global_check", 1, 8, 8, 6); __PYX_ERR(0, 57, __pyx_L3_error) } CYTHON_FALLTHROUGH; case 7: @@ -6341,14 +3854,14 @@ PyObject *__pyx_args, PyObject *__pyx_kwds (void)__Pyx_Arg_NewRef_FASTCALL(values[7]); kw_args--; } - else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 104, __pyx_L3_error) + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 57, __pyx_L3_error) else { - __Pyx_RaiseArgtupleInvalid("global_check", 1, 8, 8, 7); __PYX_ERR(0, 104, __pyx_L3_error) + __Pyx_RaiseArgtupleInvalid("global_check", 1, 8, 8, 7); __PYX_ERR(0, 57, __pyx_L3_error) } } if (unlikely(kw_args > 0)) { const Py_ssize_t kwd_pos_args = __pyx_nargs; - if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_kwvalues, __pyx_pyargnames, 0, values + 0, kwd_pos_args, "global_check") < 0)) __PYX_ERR(0, 104, __pyx_L3_error) + if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_kwvalues, __pyx_pyargnames, 0, values + 0, kwd_pos_args, "global_check") < 0)) __PYX_ERR(0, 57, __pyx_L3_error) } } else if (unlikely(__pyx_nargs != 8)) { goto __pyx_L5_argtuple_error; @@ -6364,16 +3877,16 @@ PyObject *__pyx_args, PyObject *__pyx_kwds } __pyx_v_robot_name = ((PyObject*)values[0]); __pyx_v_robot_names = ((PyObject*)values[1]); - __pyx_v_len_robots = __Pyx_PyInt_As_int(values[2]); if (unlikely((__pyx_v_len_robots == (int)-1) && PyErr_Occurred())) __PYX_ERR(0, 106, __pyx_L3_error) + __pyx_v_len_robots = __Pyx_PyInt_As_int(values[2]); if (unlikely((__pyx_v_len_robots == (int)-1) && PyErr_Occurred())) __PYX_ERR(0, 59, __pyx_L3_error) __pyx_v_robot_links = ((PyObject*)values[3]); - __pyx_v_len_links = __Pyx_PyInt_As_int(values[4]); if (unlikely((__pyx_v_len_links == (int)-1) && PyErr_Occurred())) __PYX_ERR(0, 108, __pyx_L3_error) + __pyx_v_len_links = __Pyx_PyInt_As_int(values[4]); 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+ if (PyDict_SetItem(__pyx_d, __pyx_n_s_test_2, __pyx_t_2) < 0) __PYX_ERR(0, 1, __pyx_L1_error) + __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; /*--- Wrapped vars code ---*/ goto __pyx_L0; __pyx_L1_error:; __Pyx_XDECREF(__pyx_t_2); - __Pyx_XDECREF(__pyx_t_4); if (__pyx_m) { if (__pyx_d && stringtab_initialized) { __Pyx_AddTraceback("init collision_handler", __pyx_clineno, __pyx_lineno, __pyx_filename); @@ -7419,434 +4792,71 @@ static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject } #else *type = tstate->curexc_type; - *value = tstate->curexc_value; - *tb = tstate->curexc_traceback; - tstate->curexc_type = 0; - tstate->curexc_value = 0; - tstate->curexc_traceback = 0; -#endif -} -#endif - -/* PyObjectGetAttrStr */ -#if CYTHON_USE_TYPE_SLOTS -static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name) { - PyTypeObject* tp = Py_TYPE(obj); - if (likely(tp->tp_getattro)) - return tp->tp_getattro(obj, attr_name); -#if PY_MAJOR_VERSION < 3 - if (likely(tp->tp_getattr)) - return tp->tp_getattr(obj, PyString_AS_STRING(attr_name)); -#endif - return PyObject_GetAttr(obj, attr_name); -} -#endif - -/* PyObjectGetAttrStrNoError */ -#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 -static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { - __Pyx_PyThreadState_declare - __Pyx_PyThreadState_assign - if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) - __Pyx_PyErr_Clear(); -} -#endif -static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { - PyObject *result; -#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 - (void) PyObject_GetOptionalAttr(obj, attr_name, &result); - return result; -#else -#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 - PyTypeObject* tp = Py_TYPE(obj); - if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { - return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); - } -#endif - result = __Pyx_PyObject_GetAttrStr(obj, attr_name); - if (unlikely(!result)) { - __Pyx_PyObject_GetAttrStr_ClearAttributeError(); - } - return result; -#endif -} - -/* GetBuiltinName */ -static PyObject *__Pyx_GetBuiltinName(PyObject *name) { - PyObject* result = __Pyx_PyObject_GetAttrStrNoError(__pyx_b, name); - if (unlikely(!result) && !PyErr_Occurred()) { - PyErr_Format(PyExc_NameError, -#if PY_MAJOR_VERSION >= 3 - "name '%U' is not defined", name); -#else - "name '%.200s' is not defined", PyString_AS_STRING(name)); -#endif - } - return result; -} - -/* GetTopmostException */ -#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE -static _PyErr_StackItem * -__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) -{ - _PyErr_StackItem *exc_info = tstate->exc_info; - while ((exc_info->exc_value == NULL || exc_info->exc_value == Py_None) && - exc_info->previous_item != NULL) - { - exc_info = exc_info->previous_item; - } - return exc_info; -} -#endif - -/* SaveResetException */ -#if CYTHON_FAST_THREAD_STATE -static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { - #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 - _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); - PyObject *exc_value = exc_info->exc_value; - if (exc_value == NULL || exc_value == Py_None) { - *value = NULL; - *type = NULL; - *tb = NULL; - } else { - *value = exc_value; - Py_INCREF(*value); - *type = (PyObject*) Py_TYPE(exc_value); - Py_INCREF(*type); - *tb = PyException_GetTraceback(exc_value); - } - #elif CYTHON_USE_EXC_INFO_STACK - _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); - *type = exc_info->exc_type; - *value = exc_info->exc_value; - *tb = exc_info->exc_traceback; - Py_XINCREF(*type); - Py_XINCREF(*value); - Py_XINCREF(*tb); - #else - *type = tstate->exc_type; - *value = tstate->exc_value; - *tb = tstate->exc_traceback; - Py_XINCREF(*type); - Py_XINCREF(*value); - Py_XINCREF(*tb); - #endif -} -static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { - #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 - _PyErr_StackItem *exc_info = tstate->exc_info; - PyObject *tmp_value = exc_info->exc_value; - exc_info->exc_value = value; - Py_XDECREF(tmp_value); - Py_XDECREF(type); - Py_XDECREF(tb); - #else - PyObject *tmp_type, *tmp_value, *tmp_tb; - #if CYTHON_USE_EXC_INFO_STACK - _PyErr_StackItem *exc_info = tstate->exc_info; - tmp_type = exc_info->exc_type; - tmp_value = exc_info->exc_value; - tmp_tb = exc_info->exc_traceback; - exc_info->exc_type = type; - exc_info->exc_value = value; - exc_info->exc_traceback = tb; - #else - tmp_type = tstate->exc_type; - tmp_value = tstate->exc_value; - tmp_tb = tstate->exc_traceback; - tstate->exc_type = type; - tstate->exc_value = value; - tstate->exc_traceback = tb; - #endif - Py_XDECREF(tmp_type); - Py_XDECREF(tmp_value); - Py_XDECREF(tmp_tb); - #endif -} -#endif - -/* GetException */ -#if CYTHON_FAST_THREAD_STATE -static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) -#else -static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) -#endif -{ - PyObject *local_type = NULL, *local_value, *local_tb = NULL; -#if CYTHON_FAST_THREAD_STATE - PyObject *tmp_type, *tmp_value, *tmp_tb; - #if PY_VERSION_HEX >= 0x030C00A6 - local_value = tstate->current_exception; - tstate->current_exception = 0; - if (likely(local_value)) { - local_type = (PyObject*) Py_TYPE(local_value); - Py_INCREF(local_type); - local_tb = PyException_GetTraceback(local_value); - } - #else - local_type = tstate->curexc_type; - local_value = tstate->curexc_value; - local_tb = tstate->curexc_traceback; - tstate->curexc_type = 0; - tstate->curexc_value = 0; - tstate->curexc_traceback = 0; - #endif -#else - PyErr_Fetch(&local_type, &local_value, &local_tb); -#endif - PyErr_NormalizeException(&local_type, &local_value, &local_tb); -#if CYTHON_FAST_THREAD_STATE && PY_VERSION_HEX >= 0x030C00A6 - if (unlikely(tstate->current_exception)) -#elif CYTHON_FAST_THREAD_STATE - if (unlikely(tstate->curexc_type)) -#else - if (unlikely(PyErr_Occurred())) -#endif - goto bad; - #if PY_MAJOR_VERSION >= 3 - if (local_tb) { - if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) - goto bad; - } - #endif - Py_XINCREF(local_tb); - Py_XINCREF(local_type); - Py_XINCREF(local_value); - *type = local_type; - *value = local_value; - *tb = local_tb; -#if CYTHON_FAST_THREAD_STATE - #if CYTHON_USE_EXC_INFO_STACK - { - _PyErr_StackItem *exc_info = tstate->exc_info; - #if PY_VERSION_HEX >= 0x030B00a4 - tmp_value = exc_info->exc_value; - exc_info->exc_value = local_value; - tmp_type = NULL; - tmp_tb = NULL; - Py_XDECREF(local_type); - Py_XDECREF(local_tb); - #else - tmp_type = exc_info->exc_type; - tmp_value = exc_info->exc_value; - tmp_tb = exc_info->exc_traceback; - exc_info->exc_type = local_type; - exc_info->exc_value = local_value; - exc_info->exc_traceback = local_tb; - #endif - } - #else - tmp_type = tstate->exc_type; - tmp_value = tstate->exc_value; - tmp_tb = tstate->exc_traceback; - tstate->exc_type = local_type; - tstate->exc_value = local_value; - tstate->exc_traceback = local_tb; - #endif - Py_XDECREF(tmp_type); - Py_XDECREF(tmp_value); - Py_XDECREF(tmp_tb); -#else - PyErr_SetExcInfo(local_type, local_value, local_tb); + *value = tstate->curexc_value; + *tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; #endif - return 0; -bad: - *type = 0; - *value = 0; - *tb = 0; - Py_XDECREF(local_type); - Py_XDECREF(local_value); - Py_XDECREF(local_tb); - return -1; } +#endif -/* PyObjectCall */ -#if CYTHON_COMPILING_IN_CPYTHON -static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { - PyObject *result; - ternaryfunc call = Py_TYPE(func)->tp_call; - if (unlikely(!call)) - return PyObject_Call(func, arg, kw); - #if PY_MAJOR_VERSION < 3 - if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) - return NULL; - #else - if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) - return NULL; - #endif - result = (*call)(func, arg, kw); - Py_LeaveRecursiveCall(); - if (unlikely(!result) && unlikely(!PyErr_Occurred())) { - PyErr_SetString( - PyExc_SystemError, - "NULL result without error in PyObject_Call"); - } - return result; +/* PyObjectGetAttrStr */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name) { + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro)) + return tp->tp_getattro(obj, attr_name); +#if PY_MAJOR_VERSION < 3 + if (likely(tp->tp_getattr)) + return tp->tp_getattr(obj, PyString_AS_STRING(attr_name)); +#endif + return PyObject_GetAttr(obj, attr_name); } #endif -/* RaiseException */ -#if PY_MAJOR_VERSION < 3 -static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { +/* PyObjectGetAttrStrNoError */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { __Pyx_PyThreadState_declare - CYTHON_UNUSED_VAR(cause); - Py_XINCREF(type); - if (!value || value == Py_None) - value = NULL; - else - Py_INCREF(value); - if (!tb || tb == Py_None) - tb = NULL; - else { - Py_INCREF(tb); - if (!PyTraceBack_Check(tb)) { - PyErr_SetString(PyExc_TypeError, - "raise: arg 3 must be a traceback or None"); - goto raise_error; - } - } - if (PyType_Check(type)) { -#if CYTHON_COMPILING_IN_PYPY - if (!value) { - Py_INCREF(Py_None); - value = Py_None; - } -#endif - PyErr_NormalizeException(&type, &value, &tb); - } else { - if (value) { - PyErr_SetString(PyExc_TypeError, - "instance exception may not have a separate value"); - goto raise_error; - } - value = type; - type = (PyObject*) Py_TYPE(type); - Py_INCREF(type); - if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { - PyErr_SetString(PyExc_TypeError, - "raise: exception class must be a subclass of BaseException"); - goto raise_error; - } - } __Pyx_PyThreadState_assign - __Pyx_ErrRestore(type, value, tb); - return; -raise_error: - Py_XDECREF(value); - Py_XDECREF(type); - Py_XDECREF(tb); - return; + if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + __Pyx_PyErr_Clear(); } +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { + PyObject *result; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + (void) PyObject_GetOptionalAttr(obj, attr_name, &result); + return result; #else -static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { - PyObject* owned_instance = NULL; - if (tb == Py_None) { - tb = 0; - } else if (tb && !PyTraceBack_Check(tb)) { - PyErr_SetString(PyExc_TypeError, - "raise: arg 3 must be a traceback or None"); - goto bad; +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { + return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); } - if (value == Py_None) - value = 0; - if (PyExceptionInstance_Check(type)) { - if (value) { - PyErr_SetString(PyExc_TypeError, - "instance exception may not have a separate value"); - goto bad; - } - value = type; - type = (PyObject*) Py_TYPE(value); - } else if (PyExceptionClass_Check(type)) { - PyObject *instance_class = NULL; - if (value && PyExceptionInstance_Check(value)) { - instance_class = (PyObject*) Py_TYPE(value); - if (instance_class != type) { - int is_subclass = PyObject_IsSubclass(instance_class, type); - if (!is_subclass) { - instance_class = NULL; - } else if (unlikely(is_subclass == -1)) { - goto bad; - } else { - type = instance_class; - } - } - } - if (!instance_class) { - PyObject *args; - if (!value) - args = PyTuple_New(0); - else if (PyTuple_Check(value)) { - Py_INCREF(value); - args = value; - } else - args = PyTuple_Pack(1, value); - if (!args) - goto bad; - owned_instance = PyObject_Call(type, args, NULL); - Py_DECREF(args); - if (!owned_instance) - goto bad; - value = owned_instance; - if (!PyExceptionInstance_Check(value)) { - PyErr_Format(PyExc_TypeError, - "calling %R should have returned an instance of " - "BaseException, not %R", - type, Py_TYPE(value)); - goto bad; - } - } - } else { - PyErr_SetString(PyExc_TypeError, - "raise: exception class must be a subclass of BaseException"); - goto bad; +#endif + result = __Pyx_PyObject_GetAttrStr(obj, attr_name); + if (unlikely(!result)) { + __Pyx_PyObject_GetAttrStr_ClearAttributeError(); } - if (cause) { - PyObject *fixed_cause; - if (cause == Py_None) { - fixed_cause = NULL; - } else if (PyExceptionClass_Check(cause)) { - fixed_cause = PyObject_CallObject(cause, NULL); - if (fixed_cause == NULL) - goto bad; - } else if (PyExceptionInstance_Check(cause)) { - fixed_cause = cause; - Py_INCREF(fixed_cause); - } else { - PyErr_SetString(PyExc_TypeError, - "exception causes must derive from " - "BaseException"); - goto bad; - } - PyException_SetCause(value, fixed_cause); - } - PyErr_SetObject(type, value); - if (tb) { - #if PY_VERSION_HEX >= 0x030C00A6 - PyException_SetTraceback(value, tb); - #elif CYTHON_FAST_THREAD_STATE - PyThreadState *tstate = __Pyx_PyThreadState_Current; - PyObject* tmp_tb = tstate->curexc_traceback; - if (tb != tmp_tb) { - Py_INCREF(tb); - tstate->curexc_traceback = tb; - Py_XDECREF(tmp_tb); - } + return result; +#endif +} + +/* GetBuiltinName */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name) { + PyObject* result = __Pyx_PyObject_GetAttrStrNoError(__pyx_b, name); + if (unlikely(!result) && !PyErr_Occurred()) { + PyErr_Format(PyExc_NameError, +#if PY_MAJOR_VERSION >= 3 + "name '%U' is not defined", name); #else - PyObject *tmp_type, *tmp_value, *tmp_tb; - PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); - Py_INCREF(tb); - PyErr_Restore(tmp_type, tmp_value, tb); - Py_XDECREF(tmp_tb); + "name '%.200s' is not defined", PyString_AS_STRING(name)); #endif } -bad: - Py_XDECREF(owned_instance); - return; + return result; } -#endif /* GetItemInt */ static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { @@ -8101,6 +5111,31 @@ static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, } #endif +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + /* PyObjectCallMethO */ #if CYTHON_COMPILING_IN_CPYTHON static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { @@ -8241,26 +5276,6 @@ static int __Pyx_IternextUnpackEndCheck(PyObject *retval, Py_ssize_t expected) { return __Pyx_IterFinish(); } -/* ExtTypeTest */ -static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { - __Pyx_TypeName obj_type_name; - __Pyx_TypeName type_name; - if (unlikely(!type)) { - PyErr_SetString(PyExc_SystemError, "Missing type object"); - return 0; - } - if (likely(__Pyx_TypeCheck(obj, type))) - return 1; - obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); - type_name = __Pyx_PyType_GetName(type); - PyErr_Format(PyExc_TypeError, - "Cannot convert " __Pyx_FMT_TYPENAME " to " __Pyx_FMT_TYPENAME, - obj_type_name, type_name); - __Pyx_DECREF_TypeName(obj_type_name); - __Pyx_DECREF_TypeName(type_name); - return 0; -} - /* TupleAndListFromArray */ #if CYTHON_COMPILING_IN_CPYTHON static CYTHON_INLINE void __Pyx_copy_object_array(PyObject *const *CYTHON_RESTRICT src, PyObject** CYTHON_RESTRICT dest, Py_ssize_t length) { @@ -8652,396 +5667,61 @@ static int __Pyx_ParseOptionalKeywords( goto invalid_keyword_type; if (kwds2) { if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; - } else { - goto invalid_keyword; - } - } - Py_XDECREF(key); - Py_XDECREF(value); - return 0; -arg_passed_twice: - __Pyx_RaiseDoubleKeywordsError(function_name, key); - goto bad; -invalid_keyword_type: - PyErr_Format(PyExc_TypeError, - "%.200s() keywords must be strings", function_name); - goto bad; -invalid_keyword: - #if PY_MAJOR_VERSION < 3 - PyErr_Format(PyExc_TypeError, - "%.200s() got an unexpected keyword argument '%.200s'", - function_name, PyString_AsString(key)); - #else - PyErr_Format(PyExc_TypeError, - "%s() got an unexpected keyword argument '%U'", - function_name, key); - #endif -bad: - Py_XDECREF(key); - Py_XDECREF(value); - return -1; -} - -/* ArgTypeTest */ -static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) -{ - __Pyx_TypeName type_name; - __Pyx_TypeName obj_type_name; - if (unlikely(!type)) { - PyErr_SetString(PyExc_SystemError, "Missing type object"); - return 0; - } - else if (exact) { - #if PY_MAJOR_VERSION == 2 - if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; - #endif - } - else { - if (likely(__Pyx_TypeCheck(obj, type))) return 1; - } - type_name = __Pyx_PyType_GetName(type); - obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); - PyErr_Format(PyExc_TypeError, - "Argument '%.200s' has incorrect type (expected " __Pyx_FMT_TYPENAME - ", got " __Pyx_FMT_TYPENAME ")", name, type_name, obj_type_name); - __Pyx_DECREF_TypeName(type_name); - __Pyx_DECREF_TypeName(obj_type_name); - return 0; -} - -/* TypeImport */ -#ifndef __PYX_HAVE_RT_ImportType_3_0_5 -#define __PYX_HAVE_RT_ImportType_3_0_5 -static PyTypeObject *__Pyx_ImportType_3_0_5(PyObject *module, const char *module_name, const char *class_name, - size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_5 check_size) -{ - PyObject *result = 0; - char warning[200]; - Py_ssize_t basicsize; - Py_ssize_t itemsize; -#if CYTHON_COMPILING_IN_LIMITED_API - PyObject *py_basicsize; - PyObject *py_itemsize; -#endif - result = PyObject_GetAttrString(module, class_name); - if (!result) - goto bad; - if (!PyType_Check(result)) { - PyErr_Format(PyExc_TypeError, - "%.200s.%.200s is not a type object", - module_name, class_name); - goto bad; - } -#if !CYTHON_COMPILING_IN_LIMITED_API - basicsize = ((PyTypeObject *)result)->tp_basicsize; - itemsize = ((PyTypeObject *)result)->tp_itemsize; -#else - py_basicsize = PyObject_GetAttrString(result, "__basicsize__"); - if (!py_basicsize) - goto bad; - basicsize = PyLong_AsSsize_t(py_basicsize); - Py_DECREF(py_basicsize); - py_basicsize = 0; - if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred()) - goto bad; - py_itemsize = PyObject_GetAttrString(result, "__itemsize__"); - if (!py_itemsize) - goto bad; - itemsize = PyLong_AsSsize_t(py_itemsize); - Py_DECREF(py_itemsize); - py_itemsize = 0; - if (itemsize == (Py_ssize_t)-1 && PyErr_Occurred()) - goto bad; -#endif - if (itemsize) { - if (size % alignment) { - alignment = size % alignment; - } - if (itemsize < (Py_ssize_t)alignment) - itemsize = (Py_ssize_t)alignment; - } - if ((size_t)(basicsize + itemsize) < size) { - PyErr_Format(PyExc_ValueError, - "%.200s.%.200s size changed, may indicate binary incompatibility. " - "Expected %zd from C header, got %zd from PyObject", - module_name, class_name, size, basicsize+itemsize); - goto bad; - } - if (check_size == __Pyx_ImportType_CheckSize_Error_3_0_5 && - ((size_t)basicsize > size || (size_t)(basicsize + itemsize) < size)) { - PyErr_Format(PyExc_ValueError, - "%.200s.%.200s size changed, may indicate binary incompatibility. " - "Expected %zd from C header, got %zd-%zd from PyObject", - module_name, class_name, size, basicsize, basicsize+itemsize); - goto bad; - } - else if (check_size == __Pyx_ImportType_CheckSize_Warn_3_0_5 && (size_t)basicsize > size) { - PyOS_snprintf(warning, sizeof(warning), - "%s.%s size changed, may indicate binary incompatibility. " - "Expected %zd from C header, got %zd from PyObject", - module_name, class_name, size, basicsize); - if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad; - } - return (PyTypeObject *)result; -bad: - Py_XDECREF(result); - return NULL; -} -#endif - -/* Import */ -static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { - PyObject *module = 0; - PyObject *empty_dict = 0; - PyObject *empty_list = 0; - #if PY_MAJOR_VERSION < 3 - PyObject *py_import; - py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); - if (unlikely(!py_import)) - goto bad; - if (!from_list) { - empty_list = PyList_New(0); - if (unlikely(!empty_list)) - goto bad; - from_list = empty_list; - } - #endif - empty_dict = PyDict_New(); - if (unlikely(!empty_dict)) - goto bad; - { - #if PY_MAJOR_VERSION >= 3 - if (level == -1) { - if (strchr(__Pyx_MODULE_NAME, '.') != NULL) { - module = PyImport_ImportModuleLevelObject( - name, __pyx_d, empty_dict, from_list, 1); - if (unlikely(!module)) { - if (unlikely(!PyErr_ExceptionMatches(PyExc_ImportError))) - goto bad; - PyErr_Clear(); - } - } - level = 0; - } - #endif - if (!module) { - #if PY_MAJOR_VERSION < 3 - PyObject *py_level = PyInt_FromLong(level); - if (unlikely(!py_level)) - goto bad; - module = PyObject_CallFunctionObjArgs(py_import, - name, __pyx_d, empty_dict, from_list, py_level, (PyObject *)NULL); - Py_DECREF(py_level); - #else - module = PyImport_ImportModuleLevelObject( - name, __pyx_d, empty_dict, from_list, level); - #endif + } else { + goto invalid_keyword; } } -bad: - Py_XDECREF(empty_dict); - Py_XDECREF(empty_list); + Py_XDECREF(key); + Py_XDECREF(value); + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: #if PY_MAJOR_VERSION < 3 - Py_XDECREF(py_import); + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); #endif - return module; -} - -/* ImportDottedModule */ -#if PY_MAJOR_VERSION >= 3 -static PyObject *__Pyx__ImportDottedModule_Error(PyObject *name, PyObject *parts_tuple, Py_ssize_t count) { - PyObject *partial_name = NULL, *slice = NULL, *sep = NULL; - if (unlikely(PyErr_Occurred())) { - PyErr_Clear(); - } - if (likely(PyTuple_GET_SIZE(parts_tuple) == count)) { - partial_name = name; - } else { - slice = PySequence_GetSlice(parts_tuple, 0, count); - if (unlikely(!slice)) - goto bad; - sep = PyUnicode_FromStringAndSize(".", 1); - if (unlikely(!sep)) - goto bad; - partial_name = PyUnicode_Join(sep, slice); - } - PyErr_Format( -#if PY_MAJOR_VERSION < 3 - PyExc_ImportError, - "No module named '%s'", PyString_AS_STRING(partial_name)); -#else -#if PY_VERSION_HEX >= 0x030600B1 - PyExc_ModuleNotFoundError, -#else - PyExc_ImportError, -#endif - "No module named '%U'", partial_name); -#endif bad: - Py_XDECREF(sep); - Py_XDECREF(slice); - Py_XDECREF(partial_name); - return NULL; -} -#endif -#if PY_MAJOR_VERSION >= 3 -static PyObject *__Pyx__ImportDottedModule_Lookup(PyObject *name) { - PyObject *imported_module; -#if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) - PyObject *modules = PyImport_GetModuleDict(); - if (unlikely(!modules)) - return NULL; - imported_module = __Pyx_PyDict_GetItemStr(modules, name); - Py_XINCREF(imported_module); -#else - imported_module = PyImport_GetModule(name); -#endif - return imported_module; -} -#endif -#if PY_MAJOR_VERSION >= 3 -static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple) { - Py_ssize_t i, nparts; - nparts = PyTuple_GET_SIZE(parts_tuple); - for (i=1; i < nparts && module; i++) { - PyObject *part, *submodule; -#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS - part = PyTuple_GET_ITEM(parts_tuple, i); -#else - part = PySequence_ITEM(parts_tuple, i); -#endif - submodule = __Pyx_PyObject_GetAttrStrNoError(module, part); -#if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) - Py_DECREF(part); -#endif - Py_DECREF(module); - module = submodule; - } - if (unlikely(!module)) { - return __Pyx__ImportDottedModule_Error(name, parts_tuple, i); - } - return module; -} -#endif -static PyObject *__Pyx__ImportDottedModule(PyObject *name, PyObject *parts_tuple) { -#if PY_MAJOR_VERSION < 3 - PyObject *module, *from_list, *star = __pyx_n_s__3; - CYTHON_UNUSED_VAR(parts_tuple); - from_list = PyList_New(1); - if (unlikely(!from_list)) - return NULL; - Py_INCREF(star); - PyList_SET_ITEM(from_list, 0, star); - module = __Pyx_Import(name, from_list, 0); - Py_DECREF(from_list); - return module; -#else - PyObject *imported_module; - PyObject *module = __Pyx_Import(name, NULL, 0); - if (!parts_tuple || unlikely(!module)) - return module; - imported_module = __Pyx__ImportDottedModule_Lookup(name); - if (likely(imported_module)) { - Py_DECREF(module); - return imported_module; - } - PyErr_Clear(); - return __Pyx_ImportDottedModule_WalkParts(module, name, parts_tuple); -#endif -} -static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple) { -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030400B1 - PyObject *module = __Pyx__ImportDottedModule_Lookup(name); - if (likely(module)) { - PyObject *spec = __Pyx_PyObject_GetAttrStrNoError(module, __pyx_n_s_spec); - if (likely(spec)) { - PyObject *unsafe = __Pyx_PyObject_GetAttrStrNoError(spec, __pyx_n_s_initializing); - if (likely(!unsafe || !__Pyx_PyObject_IsTrue(unsafe))) { - Py_DECREF(spec); - spec = NULL; - } - Py_XDECREF(unsafe); - } - if (likely(!spec)) { - PyErr_Clear(); - return module; - } - Py_DECREF(spec); - Py_DECREF(module); - } else if (PyErr_Occurred()) { - PyErr_Clear(); - } -#endif - return __Pyx__ImportDottedModule(name, parts_tuple); -} - -/* PyDictVersioning */ -#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS -static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { - PyObject *dict = Py_TYPE(obj)->tp_dict; - return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; -} -static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { - PyObject **dictptr = NULL; - Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; - if (offset) { -#if CYTHON_COMPILING_IN_CPYTHON - dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); -#else - dictptr = _PyObject_GetDictPtr(obj); -#endif - } - return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; -} -static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { - PyObject *dict = Py_TYPE(obj)->tp_dict; - if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) - return 0; - return obj_dict_version == __Pyx_get_object_dict_version(obj); + Py_XDECREF(key); + Py_XDECREF(value); + return -1; } -#endif -/* GetModuleGlobalName */ -#if CYTHON_USE_DICT_VERSIONS -static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) -#else -static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) -#endif +/* ArgTypeTest */ +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) { - PyObject *result; -#if !CYTHON_AVOID_BORROWED_REFS -#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 - result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); - __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) - if (likely(result)) { - return __Pyx_NewRef(result); - } else if (unlikely(PyErr_Occurred())) { - return NULL; - } -#elif CYTHON_COMPILING_IN_LIMITED_API - if (unlikely(!__pyx_m)) { - return NULL; - } - result = PyObject_GetAttr(__pyx_m, name); - if (likely(result)) { - return result; + __Pyx_TypeName type_name; + __Pyx_TypeName obj_type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; } -#else - result = PyDict_GetItem(__pyx_d, name); - __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) - if (likely(result)) { - return __Pyx_NewRef(result); + else if (exact) { + #if PY_MAJOR_VERSION == 2 + if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; + #endif } -#endif -#else - result = PyObject_GetItem(__pyx_d, name); - __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) - if (likely(result)) { - return __Pyx_NewRef(result); + else { + if (likely(__Pyx_TypeCheck(obj, type))) return 1; } - PyErr_Clear(); -#endif - return __Pyx_GetBuiltinName(name); + type_name = __Pyx_PyType_GetName(type); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "Argument '%.200s' has incorrect type (expected " __Pyx_FMT_TYPENAME + ", got " __Pyx_FMT_TYPENAME ")", name, type_name, obj_type_name); + __Pyx_DECREF_TypeName(type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; } /* FixUpExtensionType */ @@ -10294,6 +6974,32 @@ static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qual return op; } +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + /* CLineInTraceback */ #ifndef CYTHON_CLINE_IN_TRACEBACK static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) { @@ -10633,314 +7339,6 @@ static void __Pyx_AddTraceback(const char *funcname, int c_line, return (target_type) value;\ } -/* Declarations */ -#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) - #ifdef __cplusplus - static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { - return ::std::complex< float >(x, y); - } - #else - static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { - return x + y*(__pyx_t_float_complex)_Complex_I; - } - #endif -#else - static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { - __pyx_t_float_complex z; - z.real = x; - z.imag = y; - return z; - } -#endif - -/* Arithmetic */ -#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) -#else - static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - return (a.real == b.real) && (a.imag == b.imag); - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - __pyx_t_float_complex z; - z.real = a.real + b.real; - z.imag = a.imag + b.imag; - return z; - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - __pyx_t_float_complex z; - z.real = a.real - b.real; - z.imag = a.imag - b.imag; - return z; - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - __pyx_t_float_complex z; - z.real = a.real * b.real - a.imag * b.imag; - z.imag = a.real * b.imag + a.imag * b.real; - return z; - } - #if 1 - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - if (b.imag == 0) { - return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); - } else if (fabsf(b.real) >= fabsf(b.imag)) { - if (b.real == 0 && b.imag == 0) { - return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.imag); - } else { - float r = b.imag / b.real; - float s = (float)(1.0) / (b.real + b.imag * r); - return __pyx_t_float_complex_from_parts( - (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); - } - } else { - float r = b.real / b.imag; - float s = (float)(1.0) / (b.imag + b.real * r); - return __pyx_t_float_complex_from_parts( - (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); - } - } - #else - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - if (b.imag == 0) { - return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); - } else { - float denom = b.real * b.real + b.imag * b.imag; - return __pyx_t_float_complex_from_parts( - (a.real * b.real + a.imag * b.imag) / denom, - (a.imag * b.real - a.real * b.imag) / denom); - } - } - #endif - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex a) { - __pyx_t_float_complex z; - z.real = -a.real; - z.imag = -a.imag; - return z; - } - static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex a) { - return (a.real == 0) && (a.imag == 0); - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex a) { - __pyx_t_float_complex z; - z.real = a.real; - z.imag = -a.imag; - return z; - } - #if 1 - static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex z) { - #if !defined(HAVE_HYPOT) || defined(_MSC_VER) - return sqrtf(z.real*z.real + z.imag*z.imag); - #else - return hypotf(z.real, z.imag); - #endif - } - static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { - __pyx_t_float_complex z; - float r, lnr, theta, z_r, z_theta; - if (b.imag == 0 && b.real == (int)b.real) { - if (b.real < 0) { - float denom = a.real * a.real + a.imag * a.imag; - a.real = a.real / denom; - a.imag = -a.imag / denom; - b.real = -b.real; - } - switch ((int)b.real) { - case 0: - z.real = 1; - z.imag = 0; - return z; - case 1: - return a; - case 2: - return __Pyx_c_prod_float(a, a); - case 3: - z = __Pyx_c_prod_float(a, a); - return __Pyx_c_prod_float(z, a); - case 4: - z = __Pyx_c_prod_float(a, a); - return __Pyx_c_prod_float(z, z); - } - } - if (a.imag == 0) { - if (a.real == 0) { - return a; - } else if ((b.imag == 0) && (a.real >= 0)) { - z.real = powf(a.real, b.real); - z.imag = 0; - return z; - } else if (a.real > 0) { - r = a.real; - theta = 0; - } else { - r = -a.real; - theta = atan2f(0.0, -1.0); - } - } else { - r = __Pyx_c_abs_float(a); - theta = atan2f(a.imag, a.real); - } - lnr = logf(r); - z_r = expf(lnr * b.real - theta * b.imag); - z_theta = theta * b.real + lnr * b.imag; - z.real = z_r * cosf(z_theta); - z.imag = z_r * sinf(z_theta); - return z; - } - #endif -#endif - -/* Declarations */ -#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) - #ifdef __cplusplus - static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { - return ::std::complex< double >(x, y); - } - #else - static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { - return x + y*(__pyx_t_double_complex)_Complex_I; - } - #endif -#else - static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { - __pyx_t_double_complex z; - z.real = x; - z.imag = y; - return z; - } -#endif - -/* Arithmetic */ -#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) -#else - static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - return (a.real == b.real) && (a.imag == b.imag); - } - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - __pyx_t_double_complex z; - z.real = a.real + b.real; - z.imag = a.imag + b.imag; - return z; - } - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - __pyx_t_double_complex z; - z.real = a.real - b.real; - z.imag = a.imag - b.imag; - return z; - } - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - __pyx_t_double_complex z; - z.real = a.real * b.real - a.imag * b.imag; - z.imag = a.real * b.imag + a.imag * b.real; - return z; - } - #if 1 - static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { - if (b.imag == 0) { - return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); - } else if (fabs(b.real) >= fabs(b.imag)) { - if (b.real == 0 && b.imag == 0) { - return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.imag); 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Raw output: collision_handler.cpp

+001: from libc.math cimport log
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 002: from libcpp.list cimport list as cpplist

 
 003: from libcpp.string cimport string

 
 004: cimport cython

 
 005: 

-
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+008: cnp.import_array()

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 010: ctypedef cnp.float64_t DTYPE_t

+
 006: cdef extern from "<vector>" namespace "std":

+
 007:   cdef cppclass vector[T]:

+
 008:     void push_back(T&) nogil

+
 009:     size_t size()

+
 010:     T& operator[](size_t)

 
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 014:     void push_back(T&) nogil

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 062: 

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 063:   cdef int s_idx

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 064:   cdef int e_idx

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 066:   cdef int col_list_len

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 067:   cdef int chk_list_len

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 069:   cdef list col_list

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-
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-
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 043:
+
 044:           # Get the distance for comparison
+
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+
+046:           d, _, _ = t_obj.closest_point(obj)
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-            __pyx_t_19 = PyObject_GetIter(__pyx_t_5); if (unlikely(!__pyx_t_19)) __PYX_ERR(0, 93, __pyx_L1_error)
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-            if (__Pyx_IternextUnpackEndCheck(__pyx_t_20(__pyx_t_19), 3) < 0) __PYX_ERR(0, 93, __pyx_L1_error)
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           __pyx_t_18 = 0;
-
 094:           # print(f"d is: {d}")
-
+095:           if d is not None and d <= 0:
+
 047:           # print(f"d is: {d}")
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-          __pyx_t_22 = __Pyx_PyObject_IsTrue(__pyx_t_5); if (unlikely((__pyx_t_22 < 0))) __PYX_ERR(0, 95, __pyx_L1_error)
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@@ -1291,20 +827,20 @@
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-
 096:             # Returns the link idx in collision
-
+097:             return s_idx
+
 049:             # Returns the link idx in collision
+
+050:             return s_idx
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             goto __pyx_L0;
-
 098:
-
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-
+100:   return -1
+
 051:
+
 052:   # Got here without issue
+
+053:   return -1
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   goto __pyx_L0;
-
 101:
-
 102: # Ignore negative indice checking (i.e., a[-1])
-
 103: @cython.wraparound(False)
-
+104: cpdef int global_check(str robot_name,
-
static PyObject *__pyx_pw_17collision_handler_5global_check(PyObject *__pyx_self, 
+
 054:
+
 055: # Ignore negative indice checking (i.e., a[-1])
+
 056: @cython.wraparound(False)
+
+057: cpdef int global_check(str robot_name,
+
static PyObject *__pyx_pw_17collision_handler_3global_check(PyObject *__pyx_self, 
 #if CYTHON_METH_FASTCALL
 PyObject *const *__pyx_args, Py_ssize_t __pyx_nargs, PyObject *__pyx_kwds
 #else
@@ -1358,15 +894,15 @@
 }
 
 /* Python wrapper */
-static PyObject *__pyx_pw_17collision_handler_5global_check(PyObject *__pyx_self, 
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 #if CYTHON_METH_FASTCALL
 PyObject *const *__pyx_args, Py_ssize_t __pyx_nargs, PyObject *__pyx_kwds
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 PyObject *__pyx_args, PyObject *__pyx_kwds
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-static PyObject *__pyx_pw_17collision_handler_5global_check(PyObject *__pyx_self, 
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 #if CYTHON_METH_FASTCALL
 PyObject *const *__pyx_args, Py_ssize_t __pyx_nargs, PyObject *__pyx_kwds
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@@ -1428,7 +964,7 @@
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-        else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 104, __pyx_L3_error)
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-        else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 104, __pyx_L3_error)
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         CYTHON_FALLTHROUGH;
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@@ -1446,9 +982,9 @@
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-        else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 104, __pyx_L3_error)
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-          __Pyx_RaiseArgtupleInvalid("global_check", 1, 8, 8, 2); __PYX_ERR(0, 104, __pyx_L3_error)
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         CYTHON_FALLTHROUGH;
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@@ -1456,9 +992,9 @@
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-        else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 104, __pyx_L3_error)
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         CYTHON_FALLTHROUGH;
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@@ -1466,9 +1002,9 @@
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-        else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 104, __pyx_L3_error)
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         CYTHON_FALLTHROUGH;
         case  5:
@@ -1476,9 +1012,9 @@
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-        else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 104, __pyx_L3_error)
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@@ -1486,9 +1022,9 @@
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-        else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 104, __pyx_L3_error)
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         else {
-          __Pyx_RaiseArgtupleInvalid("global_check", 1, 8, 8, 6); __PYX_ERR(0, 104, __pyx_L3_error)
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         case  7:
@@ -1496,14 +1032,14 @@
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-        else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 104, __pyx_L3_error)
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-          __Pyx_RaiseArgtupleInvalid("global_check", 1, 8, 8, 7); __PYX_ERR(0, 104, __pyx_L3_error)
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       if (unlikely(kw_args > 0)) {
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+        if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_kwvalues, __pyx_pyargnames, 0, values + 0, kwd_pos_args, "global_check") < 0)) __PYX_ERR(0, 57, __pyx_L3_error)
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@@ -1519,16 +1055,16 @@
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-  __Pyx_RaiseArgtupleInvalid("global_check", 1, 8, 8, __pyx_nargs); __PYX_ERR(0, 104, __pyx_L3_error)
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@@ -1542,13 +1078,13 @@
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+  if (unlikely(!__Pyx_ArgTypeTest(((PyObject *)__pyx_v_overlap_dict), (&PyDict_Type), 1, "overlap_dict", 1))) __PYX_ERR(0, 63, __pyx_L1_error)
+  if (unlikely(!__Pyx_ArgTypeTest(((PyObject *)__pyx_v_check_links), (&PyList_Type), 1, "check_links", 1))) __PYX_ERR(0, 64, __pyx_L1_error)
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+static PyObject *__pyx_pf_17collision_handler_2global_check(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_robot_name, PyObject *__pyx_v_robot_names, int __pyx_v_len_robots, PyObject *__pyx_v_robot_links, int __pyx_v_len_links, PyObject *__pyx_v_global_dict, PyObject *__pyx_v_overlap_dict, PyObject *__pyx_v_check_links) {
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 }
 /* … */
-  __pyx_tuple__8 = PyTuple_Pack(8, __pyx_n_s_robot_name, __pyx_n_s_robot_names, __pyx_n_s_len_robots, __pyx_n_s_robot_links, __pyx_n_s_len_links, __pyx_n_s_global_dict, __pyx_n_s_overlap_dict, __pyx_n_s_check_links); if (unlikely(!__pyx_tuple__8)) __PYX_ERR(0, 104, __pyx_L1_error)
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-  __Pyx_GIVEREF(__pyx_tuple__8);
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+  __Pyx_GOTREF(__pyx_tuple__3);
+  __Pyx_GIVEREF(__pyx_tuple__3);
 /* … */
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-
 105:                       list robot_names,
-
 106:                       int len_robots,
-
 107:                       list robot_links,
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 108:                       int len_links,
-
 109:                       dict global_dict,
-
 110:                       dict overlap_dict,
-
 111:                       list check_links):
-
 112:   cdef list c_ignore_list
-
 113:   cdef list c_check_list
-
 114:   cdef list col_list
-
 115:
-
 116:   cdef str r_name
-
 117:   cdef str l_name
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 118:   cdef str t_l_name
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 119:
-
 120:   cdef int r_idx
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 121:   cdef int col_idx
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 122:   cdef int chk_idx
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 123:   cdef int l_idx
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 124:
-
 125:   cdef int col_list_len
-
 126:   cdef int chk_list_len
-
 127:
-
 128:   # Iterate through all instantiated robots
-
 129:   # - there may be more than one robot, so loop through each
-
 130:   # - for the current robot, we want to evaluate one of the sliced links over the current dictionary of links
-
 131:   #   - example, panda robot slice link 1 is panda_hand
-
+132:   for r_idx in range(len_robots):
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 058:                       list robot_names,
+
 059:                       int len_robots,
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 060:                       list robot_links,
+
 061:                       int len_links,
+
 062:                       dict global_dict,
+
 063:                       dict overlap_dict,
+
 064:                       list check_links):
+
 065:   cdef list c_ignore_list
+
 066:   cdef list c_check_list
+
 067:   cdef list col_list
+
 068:
+
 069:   cdef str r_name
+
 070:   cdef str l_name
+
 071:   cdef str t_l_name
+
 072:
+
 073:   cdef int r_idx
+
 074:   cdef int col_idx
+
 075:   cdef int chk_idx
+
 076:   cdef int l_idx
+
 077:
+
 078:   cdef int col_list_len
+
 079:   cdef int chk_list_len
+
 080:
+
 081:   # Iterate through all instantiated robots
+
 082:   # - there may be more than one robot, so loop through each
+
 083:   # - for the current robot, we want to evaluate one of the sliced links over the current dictionary of links
+
 084:   #   - example, panda robot slice link 1 is panda_hand
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+085:   for r_idx in range(len_robots):
  __pyx_t_1 = __pyx_v_len_robots;
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     __pyx_v_r_idx = __pyx_t_3;
-
 133:     # Get the robot name for evaluation
-
+134:     r_name = robot_names[r_idx]
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 086:     # Get the robot name for evaluation
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+087:     r_name = robot_names[r_idx]
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       PyErr_SetString(PyExc_TypeError, "'NoneType' object is not subscriptable");
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 135:     # DEBUGGING
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-
 137:
-
 138:     # Loop though the global dictionary of links for robot in evaluation
-
+139:     for l_name in global_dict[r_name].copy():
+
 088:     # DEBUGGING
+
 089:     # print(f"NEW robot: {robot_names[idx]}" )
+
 090:
+
 091:     # Loop though the global dictionary of links for robot in evaluation
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+092:     for l_name in global_dict[r_name].copy():
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       PyErr_SetString(PyExc_TypeError, "'NoneType' object is not subscriptable");
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 140:       # DEBUGGING
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 141:       # print(f"r_name: {r_name} | l_name: {l_name}")
-
 142:
-
 143:       # Extract the evaluation robot link's collision object list for checking
-
+144:       c_check_list = global_dict[r_name][l_name]
+
 093:       # DEBUGGING
+
 094:       # print(f"r_name: {r_name} | l_name: {l_name}")
+
 095:
+
 096:       # Extract the evaluation robot link's collision object list for checking
+
+097:       c_check_list = global_dict[r_name][l_name]
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         PyErr_SetString(PyExc_TypeError, "'NoneType' object is not subscriptable");
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 145:
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 098:
+
 099:       # Handle self checking and populate overlap links for ignoring
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+100:       if robot_name == r_name and l_name in overlap_dict:
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 /* … */
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+148:         c_ignore_list = overlap_dict[l_name]
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+101:         c_ignore_list = overlap_dict[l_name]
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 102:       else:
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+        __pyx_t_5 = PyList_New(0); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 103, __pyx_L1_error)
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-
 151:
-
 152:       # Local checking of evaluation robot's link with robot's target links
-
 153:       # NOTE: target links are defined as those links of particular note for checking
-
 154:       #       speed up achived by limiting this list
-
 155:       #       (search space from end-effector down to base_link, sliced as needed)
-
+156:       for l_idx in range(len_links):
+
 104:
+
 105:       # Local checking of evaluation robot's link with robot's target links
+
 106:       # NOTE: target links are defined as those links of particular note for checking
+
 107:       #       speed up achived by limiting this list
+
 108:       #       (search space from end-effector down to base_link, sliced as needed)
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+109:       for l_idx in range(len_links):
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           PyErr_SetString(PyExc_TypeError, "'NoneType' object is not subscriptable");
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 159:         # DEBUGGING
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 160:         # print(f"checking {t_l_name}")
-
 161:
-
 162:         # TEST (break out if not one of the defined target links)
-
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 112:         # DEBUGGING
+
 113:         # print(f"checking {t_l_name}")
+
 114:
+
 115:         # TEST (break out if not one of the defined target links)
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           PyErr_SetString(PyExc_TypeError, "'NoneType' object is not subscriptable");
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 /* … */
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-
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 166:         # Skip to next target link if it is to be ignored
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 119:         # Skip to next target link if it is to be ignored
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 /* … */
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-
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 169:
-
 170:         # Skip to next target link if it is the same link as current being checked
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 122:
+
 123:         # Skip to next target link if it is the same link as current being checked
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 /* … */
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-
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+125:           continue
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-
 173:
-
 174:         # Evaluate current link's collision shapes
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+
 126:
+
 127:         # Evaluate current link's collision shapes
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+128:         chk_list_len = len(c_check_list)
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           PyErr_SetString(PyExc_TypeError, "object of type 'NoneType' has no len()");
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-          __pyx_t_4 = __Pyx_PySequence_ListKeepNew(__pyx_t_5); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 178, __pyx_L1_error)
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 182:
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+
 136:             # Get the distance for comparison
+
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 186:             # print(f"d is: {d}")
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 139:             # print(f"d is: {d}")
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-
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 143:
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-
 193:
-
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static PyObject *__pyx_pw_17collision_handler_7test(PyObject *__pyx_self, 
+
 146:
+
+147: cpdef int test (int val1, int val2):
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 PyObject *const *__pyx_args, Py_ssize_t __pyx_nargs, PyObject *__pyx_kwds
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 #if CYTHON_METH_FASTCALL
 PyObject *const *__pyx_args, Py_ssize_t __pyx_nargs, PyObject *__pyx_kwds
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diff --git a/armer/cython/collision_handler.pyx b/armer/cython/collision_handler.pyx index df363da..e53209b 100644 --- a/armer/cython/collision_handler.pyx +++ b/armer/cython/collision_handler.pyx @@ -3,59 +3,12 @@ from libcpp.list cimport list as cpplist from libcpp.string cimport string cimport cython -import numpy as np -cimport numpy as cnp -cnp.import_array() -DTYPE = np.float64 -ctypedef cnp.float64_t DTYPE_t - cdef extern from "" namespace "std": cdef cppclass vector[T]: void push_back(T&) nogil size_t size() T& operator[](size_t) -@cython.wraparound(False) -cpdef dict closest_dist_query(str sliced_link_name, - list col_link_names, - int col_link_name_len, - dict col_dict, - dict overlap_dict): - - cdef int col_link_idx - cdef cnp.ndarray dist - cdef list c_obj_list - cdef list slice_obj_list - # cdef list out_list - # cdef vector[float] dist_list - # cdef vector[vector[DTYPE_t]] out_list - cdef dict out_dict = {} - # cdef float temp - cdef str link - - # Method definition - # push_back_main = out_list.push_back - # push_back = dist_list.push_back - for col_link_idx in range(col_link_name_len): - # Only add to output list if within the following criteria - link = col_link_names[col_link_idx] - c_obj_list = col_dict[link] - slice_obj_list = col_dict[sliced_link_name] - if c_obj_list == [] or slice_obj_list == []: - continue - - if link in overlap_dict[sliced_link_name]: - continue - - # if col_link_names[col_link_idx] not in overlap_dict[sliced_link_name]: - # Calculate the closest point distance between first shape available - _, _, dist = slice_obj_list[0].closest_point(c_obj_list[0]) - # out_dict[col_link_names[col_link_idx]] = dist[2] - # out_list.push_back(dist[2]) - out_dict[link] = dist - - return out_dict - # Ignore negative indice checking (i.e., a[-1]) @cython.wraparound(False) cpdef int col_check(list sliced_links, list check_links, int len_links, dict global_dict): diff --git a/armer/robots/ROSRobot.py b/armer/robots/ROSRobot.py index d011269..0296f56 100644 --- a/armer/robots/ROSRobot.py +++ b/armer/robots/ROSRobot.py @@ -2028,7 +2028,7 @@ def add_collision_obj_cb(self, req: AddCollisionObjectRequest) -> AddCollisionOb # Handle radius and length defaulting on 0 radius = req.radius if req.radius else 0.05 #default in m length = req.length if req.length else 0.1 #default in m - rospy.loginfo(f"radius is: {radius} | length is: {length}") + # rospy.loginfo(f"radius is: {radius} | length is: {length}") # Handle pose input error if req.pose == None or req.pose == Pose(): @@ -2071,15 +2071,16 @@ def add_collision_obj_cb(self, req: AddCollisionObjectRequest) -> AddCollisionOb # Create a Dynamic Collision Object and add the configured shape to the scene dynamic_obj = DynamicCollisionObj(shape=shape, key=req.name, pose=req.pose, is_added=False) # NOTE: these dictionaries are accessed and checked by Armer's main loop for addition to a backend. - self.dynamic_collision_dict[req.name] = dynamic_obj - self.collision_dict[req.name] = [dynamic_obj.shape] + with self.lock: + self.dynamic_collision_dict[req.name] = dynamic_obj + self.collision_dict[req.name] = [dynamic_obj.shape] # Add to list of objects for NEO # NOTE: NEO needs more work to avoid local minima # NOTE: Also, existing description shapes (not part of the robot tree) need to be peeled out and added here as well self.collision_obj_list.append(shape) - print(f"Current collision objects: {self.collision_obj_list}") + # print(f"Current collision objects: {self.collision_obj_list}") return AddCollisionObjectResponse(success=True) @@ -2121,50 +2122,22 @@ def add_collision_obj(self, obj): self.collision_obj_list.append(obj) def closest_dist_query(self, sliced_link_name): - # target_shape_translations = [] - # start = timeit.default_timer() - # link_pose_dict = {} - # for link in self.collision_dict.keys(): - - # # Test closest point on existing mesh link - # if self.collision_dict[link] != [] and link not in self.overlapped_link_dict[sliced_link_name]: - # # print(f"current sliced link [{sliced_link.name}] shape 1: {self.collision_dict[sliced_link.name][0]}") - # # print(f"test link [{link}] shape 1: {self.collision_dict[link][0]}") - # dist = self.collision_dict[sliced_link_name][0].closest_point(self.collision_dict[link][0]) - # print(f"p2: {dist[2]}") - # # target_shape_translations.append(dist[2]) - # link_pose_dict[link] = dist[2] - # end = timeit.default_timer() - # print(f"[OLD] closest dist list comp version: {1/(end-start)} hz") - - # start = timeit.default_timer() translation_dict = { link: self.collision_dict[sliced_link_name][0].closest_point(self.collision_dict[link][0])[2] for link in self.collision_dict.keys() if self.collision_dict[link] != [] and link not in self.overlapped_link_dict[sliced_link_name] } - # end = timeit.default_timer() - # print(f"[NEW] closest dist list comp version: {1/(end-start)} hz") - # print(f"[OLD] target_shape_translation: {target_shape_translations}") - # print(f"[NEW] target_shape_translation: {target_shape_translations_new}") - # print(f"comparison: {np.all(target_shape_translations) == np.all(target_shape_translations_new)}") - return translation_dict def closest_dist_query_old(self, sliced_link_name): - translation_dict = {} - for link in self.collision_dict.keys(): - - # Test closest point on existing mesh link - # NOTE: this method only cares about existing links in robot tree (not dynamically added). - # Robot tree can include 'external' items by being included in the robot's description. - if link in self.link_dict.keys() and self.collision_dict[link] != [] and link not in self.overlapped_link_dict[sliced_link_name]: - # print(f"current sliced link [{sliced_link.name}] shape 1: {self.collision_dict[sliced_link.name][0]}") - # print(f"test link [{link}] shape 1: {self.collision_dict[link][0]}") - # dist = self.collision_dict[sliced_link_name][0].closest_point(self.collision_dict[link][0]) - dist = self.ets(start=sliced_link_name, end=link).eval(self.q)[:3, 3] - # print(f"p2: {dist[2]}") - translation_dict[link] = dist + # Test closest point on existing mesh link + # NOTE: this method only cares about existing links in robot tree (not dynamically added). + # Robot tree can include 'external' items by being included in the robot's description. + translation_dict = { + link: self.ets(start=sliced_link_name, end=link).eval(self.q)[:3, 3] + for link in self.collision_dict.keys() + if link in self.link_dict.keys() and self.collision_dict[link] != [] and link not in self.overlapped_link_dict[sliced_link_name] + } return translation_dict @@ -2256,23 +2229,14 @@ def query_kd_nn_collision_tree(self, sliced_links: list = [], dim: int = 5, debu # For the current sliced link; find the closest point between one of the link's shapes # NOTE: each link can have multiple shapes, but in the first instance, we take only one shape per link to # understand the distance to then calculate the target links via the KDTree + col_dict_copy = self.collision_dict.copy() + check_links = [] for sliced_link in sliced_links: # Early termination on error if sliced_link.name not in self.link_dict.keys(): rospy.logerr(f"Given sliced link: {sliced_link.name} is not valid. Skipping...") continue - - # Get the closest distances to each link based on each link's initial shape - # NOTE: a link can have more than 1 shape, so this aims to only get a general distance to the first - # in order to characterise the distance to that link in a general way - # TODO: instead of shapes, we could look at the mesh, but this needs to be collision enabled to work - # using the built-in methods of the Shape class. - # start = timeit.default_timer() - # translation_dict = self.closest_dist_query(sliced_link_name=sliced_link.name) - # end = timeit.default_timer() - # print(f"[NEW] Get distances to links from target: {1/(end-start)} hz") - # # Initial approach to get closest link (based on origin, not surface) # # NOTE: as it is based on origin, the size/shape of collision object matters # start = timeit.default_timer() @@ -2280,19 +2244,17 @@ def query_kd_nn_collision_tree(self, sliced_links: list = [], dim: int = 5, debu # end = timeit.default_timer() # print(f"[OLD] Get distances to links from target: {1/(end-start)} hz") - # Cython implementation of above + # Get the closest distances to each link based on each link's initial shape + # NOTE: a link can have more than 1 shape, so this aims to only get a general distance to the first + # in order to characterise the distance to that link in a general way + # TODO: instead of shapes, we could look at the mesh, but this needs to be collision enabled to work + # using the built-in methods of the Shape class. start = timeit.default_timer() - translation_dict = collision_handler.closest_dist_query( - sliced_link_name=sliced_link.name, - col_link_names=list(self.collision_dict.keys()), - col_link_name_len=len(list(self.collision_dict.keys())), - col_dict=self.collision_dict, - overlap_dict=self.overlapped_link_dict) + translation_dict = self.closest_dist_query(sliced_link_name=sliced_link.name) end = timeit.default_timer() - print(f"[CYTHON] Get distances to links from target: {1/(end-start)} hz") - # print(f"translation_dict from cython: {translation_dict}") - # Create a tree for look up - tree = KDTree(data=list(translation_dict.values())) + # print(f"[NEW] Get distances to links from target: {1/(end-start)} hz") + + tree = KDTree(data=list(translation_dict.copy().values())) target_position = self.ets(start=self.base_link, end=sliced_link).eval(self.q)[:3, 3] # Test query of nearest neighbors for a specific shape (3D) as origin (given tree is from source) dist, ind = tree.query(X=[target_position], k=dim, dualtree=True)