From 931c66104d5948ff905d1b0a39f2d11b4fd34a9c Mon Sep 17 00:00:00 2001
From: zyi <zoyi01@dfki.de>
Date: Wed, 21 Aug 2024 10:03:20 +0200
Subject: [PATCH 1/3] fix issue #590

expose IdVisitor of all other collision geometries
---
 python/collision-geometries.cc | 40 +++++++++++++++++++++++-----------
 1 file changed, 27 insertions(+), 13 deletions(-)

diff --git a/python/collision-geometries.cc b/python/collision-geometries.cc
index 57ebb1046..dee2c15eb 100644
--- a/python/collision-geometries.cc
+++ b/python/collision-geometries.cc
@@ -34,6 +34,7 @@
 
 #include <eigenpy/eigenpy.hpp>
 #include <eigenpy/eigen-to-python.hpp>
+#include <eigenpy/id.hpp>
 
 #include "fcl.hh"
 #include "deprecation.hh"
@@ -116,7 +117,8 @@ void exposeBVHModel(const std::string& bvname) {
       .def("clone", &BVH::clone, doxygen::member_func_doc(&BVH::clone),
            return_value_policy<manage_new_object>())
       .def_pickle(PickleObject<BVH>())
-      .def(SerializableVisitor<BVH>());
+      .def(SerializableVisitor<BVH>())
+      .def(eigenpy::IdVisitor<BVH>());
 }
 
 template <typename BV>
@@ -157,7 +159,8 @@ void exposeHeightField(const std::string& bvname) {
                                     Geometry::getBV),
            bp::return_internal_reference<>())
       .def_pickle(PickleObject<Geometry>())
-      .def(SerializableVisitor<Geometry>());
+      .def(SerializableVisitor<Geometry>())
+      .def(eigenpy::IdVisitor<Geometry>());
 }
 
 struct ConvexBaseWrapper {
@@ -284,7 +287,8 @@ void exposeShapes() {
       .def("clone", &Box::clone, doxygen::member_func_doc(&Box::clone),
            return_value_policy<manage_new_object>())
       .def_pickle(PickleObject<Box>())
-      .def(SerializableVisitor<Box>());
+      .def(SerializableVisitor<Box>())
+      .def(eigenpy::IdVisitor<Box>());
 
   class_<Capsule, bases<ShapeBase>, shared_ptr<Capsule>>(
       "Capsule", doxygen::class_doc<Capsule>(), no_init)
@@ -296,7 +300,8 @@ void exposeShapes() {
       .def("clone", &Capsule::clone, doxygen::member_func_doc(&Capsule::clone),
            return_value_policy<manage_new_object>())
       .def_pickle(PickleObject<Capsule>())
-      .def(SerializableVisitor<Capsule>());
+      .def(SerializableVisitor<Capsule>())
+      .def(eigenpy::IdVisitor<Capsule>());
 
   class_<Cone, bases<ShapeBase>, shared_ptr<Cone>>(
       "Cone", doxygen::class_doc<Cone>(), no_init)
@@ -308,7 +313,8 @@ void exposeShapes() {
       .def("clone", &Cone::clone, doxygen::member_func_doc(&Cone::clone),
            return_value_policy<manage_new_object>())
       .def_pickle(PickleObject<Cone>())
-      .def(SerializableVisitor<Cone>());
+      .def(SerializableVisitor<Cone>())
+      .def(eigenpy::IdVisitor<Cone>());
 
   class_<ConvexBase, bases<ShapeBase>, shared_ptr<ConvexBase>, noncopyable>(
       "ConvexBase", doxygen::class_doc<ConvexBase>(), no_init)
@@ -356,7 +362,8 @@ void exposeShapes() {
       .DEF_RO_CLASS_ATTRIB(Convex<Triangle>, num_polygons)
       .def("polygons", &ConvexWrapper<Triangle>::polygons)
       .def_pickle(PickleObject<Convex<Triangle>>())
-      .def(SerializableVisitor<Convex<Triangle>>());
+      .def(SerializableVisitor<Convex<Triangle>>())
+      .def(eigenpy::IdVisitor<Convex<Triangle>>());
 
   class_<Cylinder, bases<ShapeBase>, shared_ptr<Cylinder>>(
       "Cylinder", doxygen::class_doc<Cylinder>(), no_init)
@@ -369,7 +376,8 @@ void exposeShapes() {
            doxygen::member_func_doc(&Cylinder::clone),
            return_value_policy<manage_new_object>())
       .def_pickle(PickleObject<Cylinder>())
-      .def(SerializableVisitor<Cylinder>());
+      .def(SerializableVisitor<Cylinder>())
+      .def(eigenpy::IdVisitor<Cylinder>());
 
   class_<Halfspace, bases<ShapeBase>, shared_ptr<Halfspace>>(
       "Halfspace", doxygen::class_doc<Halfspace>(), no_init)
@@ -383,7 +391,8 @@ void exposeShapes() {
            doxygen::member_func_doc(&Halfspace::clone),
            return_value_policy<manage_new_object>())
       .def_pickle(PickleObject<Halfspace>())
-      .def(SerializableVisitor<Halfspace>());
+      .def(SerializableVisitor<Halfspace>())
+      .def(eigenpy::IdVisitor<Halfspace>());
 
   class_<Plane, bases<ShapeBase>, shared_ptr<Plane>>(
       "Plane", doxygen::class_doc<Plane>(), no_init)
@@ -396,7 +405,8 @@ void exposeShapes() {
       .def("clone", &Plane::clone, doxygen::member_func_doc(&Plane::clone),
            return_value_policy<manage_new_object>())
       .def_pickle(PickleObject<Plane>())
-      .def(SerializableVisitor<Plane>());
+      .def(SerializableVisitor<Plane>())
+      .def(eigenpy::IdVisitor<Plane>());
 
   class_<Sphere, bases<ShapeBase>, shared_ptr<Sphere>>(
       "Sphere", doxygen::class_doc<Sphere>(), no_init)
@@ -407,7 +417,8 @@ void exposeShapes() {
       .def("clone", &Sphere::clone, doxygen::member_func_doc(&Sphere::clone),
            return_value_policy<manage_new_object>())
       .def_pickle(PickleObject<Sphere>())
-      .def(SerializableVisitor<Sphere>());
+      .def(SerializableVisitor<Sphere>())
+      .def(eigenpy::IdVisitor<Sphere>());
 
   class_<Ellipsoid, bases<ShapeBase>, shared_ptr<Ellipsoid>>(
       "Ellipsoid", doxygen::class_doc<Ellipsoid>(), no_init)
@@ -420,7 +431,8 @@ void exposeShapes() {
            doxygen::member_func_doc(&Ellipsoid::clone),
            return_value_policy<manage_new_object>())
       .def_pickle(PickleObject<Ellipsoid>())
-      .def(SerializableVisitor<Ellipsoid>());
+      .def(SerializableVisitor<Ellipsoid>())
+      .def(eigenpy::IdVisitor<Ellipsoid>());
 
   class_<TriangleP, bases<ShapeBase>, shared_ptr<TriangleP>>(
       "TriangleP", doxygen::class_doc<TriangleP>(), no_init)
@@ -434,7 +446,8 @@ void exposeShapes() {
            doxygen::member_func_doc(&TriangleP::clone),
            return_value_policy<manage_new_object>())
       .def_pickle(PickleObject<TriangleP>())
-      .def(SerializableVisitor<TriangleP>());
+      .def(SerializableVisitor<TriangleP>())
+      .def(eigenpy::IdVisitor<TriangleP>());
 }
 
 boost::python::tuple AABB_distance_proxy(const AABB& self, const AABB& other) {
@@ -584,7 +597,8 @@ void exposeCollisionGeometries() {
            //         (AABB::*)(const Vec3f &)>(&AABB::expand)),
            bp::return_internal_reference<>())
       .def_pickle(PickleObject<AABB>())
-      .def(SerializableVisitor<AABB>());
+      .def(SerializableVisitor<AABB>())
+      .def(eigenpy::IdVisitor<AABB>());
 
   def("translate", (AABB(*)(const AABB&, const Vec3f&)) & translate,
       bp::args("aabb", "t"), "Translate the center of AABB by t");

From c144d4812732793319d5a2d176a57ba3d9fc0bde Mon Sep 17 00:00:00 2001
From: zyi <zoyi01@dfki.de>
Date: Wed, 21 Aug 2024 14:13:33 +0200
Subject: [PATCH 2/3] expose IdVisitor only if eigenpy>=3.8.0 available

fix eigenpy/id.hpp not found
---
 python/collision-geometries.cc | 68 +++++++++++++++++++++++++++-------
 1 file changed, 54 insertions(+), 14 deletions(-)

diff --git a/python/collision-geometries.cc b/python/collision-geometries.cc
index dee2c15eb..256ad6bbc 100644
--- a/python/collision-geometries.cc
+++ b/python/collision-geometries.cc
@@ -34,8 +34,9 @@
 
 #include <eigenpy/eigenpy.hpp>
 #include <eigenpy/eigen-to-python.hpp>
+#if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
 #include <eigenpy/id.hpp>
-
+#endif
 #include "fcl.hh"
 #include "deprecation.hh"
 
@@ -118,7 +119,10 @@ void exposeBVHModel(const std::string& bvname) {
            return_value_policy<manage_new_object>())
       .def_pickle(PickleObject<BVH>())
       .def(SerializableVisitor<BVH>())
-      .def(eigenpy::IdVisitor<BVH>());
+#if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
+      .def(eigenpy::IdVisitor<BVH>())
+#endif
+      ;
 }
 
 template <typename BV>
@@ -160,7 +164,10 @@ void exposeHeightField(const std::string& bvname) {
            bp::return_internal_reference<>())
       .def_pickle(PickleObject<Geometry>())
       .def(SerializableVisitor<Geometry>())
-      .def(eigenpy::IdVisitor<Geometry>());
+#if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
+      .def(eigenpy::IdVisitor<Geometry>())
+#endif
+      ;
 }
 
 struct ConvexBaseWrapper {
@@ -288,7 +295,10 @@ void exposeShapes() {
            return_value_policy<manage_new_object>())
       .def_pickle(PickleObject<Box>())
       .def(SerializableVisitor<Box>())
-      .def(eigenpy::IdVisitor<Box>());
+#if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
+      .def(eigenpy::IdVisitor<Box>())
+#endif
+      ;
 
   class_<Capsule, bases<ShapeBase>, shared_ptr<Capsule>>(
       "Capsule", doxygen::class_doc<Capsule>(), no_init)
@@ -301,7 +311,10 @@ void exposeShapes() {
            return_value_policy<manage_new_object>())
       .def_pickle(PickleObject<Capsule>())
       .def(SerializableVisitor<Capsule>())
-      .def(eigenpy::IdVisitor<Capsule>());
+#if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
+      .def(eigenpy::IdVisitor<Capsule>())
+#endif
+      ;
 
   class_<Cone, bases<ShapeBase>, shared_ptr<Cone>>(
       "Cone", doxygen::class_doc<Cone>(), no_init)
@@ -314,7 +327,10 @@ void exposeShapes() {
            return_value_policy<manage_new_object>())
       .def_pickle(PickleObject<Cone>())
       .def(SerializableVisitor<Cone>())
-      .def(eigenpy::IdVisitor<Cone>());
+#if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
+      .def(eigenpy::IdVisitor<Cone>())
+#endif
+      ;
 
   class_<ConvexBase, bases<ShapeBase>, shared_ptr<ConvexBase>, noncopyable>(
       "ConvexBase", doxygen::class_doc<ConvexBase>(), no_init)
@@ -363,7 +379,10 @@ void exposeShapes() {
       .def("polygons", &ConvexWrapper<Triangle>::polygons)
       .def_pickle(PickleObject<Convex<Triangle>>())
       .def(SerializableVisitor<Convex<Triangle>>())
-      .def(eigenpy::IdVisitor<Convex<Triangle>>());
+#if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
+      .def(eigenpy::IdVisitor<Convex<Triangle>>())
+#endif
+      ;
 
   class_<Cylinder, bases<ShapeBase>, shared_ptr<Cylinder>>(
       "Cylinder", doxygen::class_doc<Cylinder>(), no_init)
@@ -377,7 +396,10 @@ void exposeShapes() {
            return_value_policy<manage_new_object>())
       .def_pickle(PickleObject<Cylinder>())
       .def(SerializableVisitor<Cylinder>())
-      .def(eigenpy::IdVisitor<Cylinder>());
+#if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
+      .def(eigenpy::IdVisitor<Cylinder>())
+#endif
+      ;
 
   class_<Halfspace, bases<ShapeBase>, shared_ptr<Halfspace>>(
       "Halfspace", doxygen::class_doc<Halfspace>(), no_init)
@@ -392,7 +414,10 @@ void exposeShapes() {
            return_value_policy<manage_new_object>())
       .def_pickle(PickleObject<Halfspace>())
       .def(SerializableVisitor<Halfspace>())
-      .def(eigenpy::IdVisitor<Halfspace>());
+#if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
+      .def(eigenpy::IdVisitor<Halfspace>())
+#endif
+      ;
 
   class_<Plane, bases<ShapeBase>, shared_ptr<Plane>>(
       "Plane", doxygen::class_doc<Plane>(), no_init)
@@ -406,7 +431,10 @@ void exposeShapes() {
            return_value_policy<manage_new_object>())
       .def_pickle(PickleObject<Plane>())
       .def(SerializableVisitor<Plane>())
-      .def(eigenpy::IdVisitor<Plane>());
+#if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
+      .def(eigenpy::IdVisitor<Plane>())
+#endif
+      ;
 
   class_<Sphere, bases<ShapeBase>, shared_ptr<Sphere>>(
       "Sphere", doxygen::class_doc<Sphere>(), no_init)
@@ -418,7 +446,10 @@ void exposeShapes() {
            return_value_policy<manage_new_object>())
       .def_pickle(PickleObject<Sphere>())
       .def(SerializableVisitor<Sphere>())
-      .def(eigenpy::IdVisitor<Sphere>());
+#if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
+      .def(eigenpy::IdVisitor<Sphere>())
+#endif
+      ;
 
   class_<Ellipsoid, bases<ShapeBase>, shared_ptr<Ellipsoid>>(
       "Ellipsoid", doxygen::class_doc<Ellipsoid>(), no_init)
@@ -432,7 +463,10 @@ void exposeShapes() {
            return_value_policy<manage_new_object>())
       .def_pickle(PickleObject<Ellipsoid>())
       .def(SerializableVisitor<Ellipsoid>())
-      .def(eigenpy::IdVisitor<Ellipsoid>());
+#if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
+      .def(eigenpy::IdVisitor<Ellipsoid>())
+#endif
+      ;
 
   class_<TriangleP, bases<ShapeBase>, shared_ptr<TriangleP>>(
       "TriangleP", doxygen::class_doc<TriangleP>(), no_init)
@@ -447,7 +481,10 @@ void exposeShapes() {
            return_value_policy<manage_new_object>())
       .def_pickle(PickleObject<TriangleP>())
       .def(SerializableVisitor<TriangleP>())
-      .def(eigenpy::IdVisitor<TriangleP>());
+#if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
+      .def(eigenpy::IdVisitor<TriangleP>())
+#endif
+      ;
 }
 
 boost::python::tuple AABB_distance_proxy(const AABB& self, const AABB& other) {
@@ -598,7 +635,10 @@ void exposeCollisionGeometries() {
            bp::return_internal_reference<>())
       .def_pickle(PickleObject<AABB>())
       .def(SerializableVisitor<AABB>())
-      .def(eigenpy::IdVisitor<AABB>());
+#if EIGENPY_VERSION_AT_LEAST(3, 8, 0)
+      .def(eigenpy::IdVisitor<AABB>())
+#endif
+      ;
 
   def("translate", (AABB(*)(const AABB&, const Vec3f&)) & translate,
       bp::args("aabb", "t"), "Translate the center of AABB by t");

From ccba515394f8e417165405fd74862a53da16ae97 Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Wed, 21 Aug 2024 18:00:59 +0200
Subject: [PATCH 3/3] changelog: sync

---
 CHANGELOG.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 4ff551c89..d3e4ab4df 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -22,6 +22,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Optimize EPA: ignore useless faces in EPA's polytope; warm-start support computation for `Convex`; fix edge-cases witness points computation.
 - Add `Serializable` trait to transform, collision data, collision geometries, bounding volumes, bvh models, hfields. Collision problems can now be serialized from C++ and sent to python and vice versa.
 - CMake: allow use of installed jrl-cmakemodules ([#564](https://github.com/humanoid-path-planner/hpp-fcl/pull/564))
+- Python: add id() support for geometries ([#618](https://github.com/humanoid-path-planner/hpp-fcl/pull/618)).
 
 ### Fixed