python: expose missing Transform3s::Random

lmontaut · Sep 16, 2024 · 3e481af · 3e481af
1 parent 7b2e7b3
commit 3e481af
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Showing 2 changed files with 11 additions and 5 deletions.
diff --git a/include/coal/math/transform.h b/include/coal/math/transform.h
@@ -202,10 +202,14 @@ class COAL_DLLAPI Transform3s {
   }
 
   /// @brief return a random transform
-  static Transform3s Random() { return Transform3s().setRandom(); }
+  static Transform3s Random() {
+    Transform3s tf = Transform3s();
+    tf.setRandom();
+    return tf;
+  }
 
   /// @brief set the transform to a random transform
-  Transform3s& setRandom();
+  inline void setRandom();
 
   bool operator==(const Transform3s& other) const {
     return (R == other.getRotation()) && (T == other.getTranslation());
@@ -247,12 +251,10 @@ inline Quatf uniformRandomQuaternion() {
   return q;
 }
 
-inline Transform3s& Transform3s::setRandom() {
+inline void Transform3s::setRandom() {
   const Quatf q = uniformRandomQuaternion();
   this->rotation() = q.matrix();
   this->translation().setRandom();
-
-  return *this;
 }
 
 /// @brief Construct othonormal basis from vector.

diff --git a/python/math.cc b/python/math.cc
@@ -111,6 +111,10 @@ void exposeMaths() {
       .def(dv::member_func("Identity", &Transform3s::Identity))
       .staticmethod("Identity")
 
+      .def(dv::member_func("setRandom", &Transform3s::setRandom))
+      .def(dv::member_func("Random", &Transform3s::Random))
+      .staticmethod("Random")
+
       .def(dv::member_func("transform", &Transform3s::transform<Vec3s>))
       .def("inverseInPlace", &Transform3s::inverseInPlace,
            return_internal_reference<>(),