From 96ba571dfdd9cb4e7de6ba620245f04cba33e1a4 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Wed, 17 Oct 2018 01:14:05 +0200
Subject: [PATCH] Add bounding boxes to Python API

---
 LibCarla/source/carla/geom/BoundingBox.h      |  8 ++++
 .../libcarla/{Transform.cpp => Geom.cpp}      | 37 ++++++++++++++++---
 PythonAPI/source/libcarla/libcarla.cpp        |  4 +-
 3 files changed, 41 insertions(+), 8 deletions(-)
 rename PythonAPI/source/libcarla/{Transform.cpp => Geom.cpp} (74%)

diff --git a/LibCarla/source/carla/geom/BoundingBox.h b/LibCarla/source/carla/geom/BoundingBox.h
index b1c66bb02..7360da439 100644
--- a/LibCarla/source/carla/geom/BoundingBox.h
+++ b/LibCarla/source/carla/geom/BoundingBox.h
@@ -33,6 +33,14 @@ namespace geom {
     Location location;
     Vector3D extent;
 
+    bool operator==(const BoundingBox &rhs) const  {
+      return (location == rhs.location) && (extent == rhs.extent);
+    }
+
+    bool operator!=(const BoundingBox &rhs) const  {
+      return !(*this == rhs);
+    }
+
 #ifdef LIBCARLA_INCLUDED_FROM_UE4
 
     explicit BoundingBox(const AActor *AnActor) {
diff --git a/PythonAPI/source/libcarla/Transform.cpp b/PythonAPI/source/libcarla/Geom.cpp
similarity index 74%
rename from PythonAPI/source/libcarla/Transform.cpp
rename to PythonAPI/source/libcarla/Geom.cpp
index 41410f1ac..938ec7f11 100644
--- a/PythonAPI/source/libcarla/Transform.cpp
+++ b/PythonAPI/source/libcarla/Geom.cpp
@@ -4,24 +4,32 @@
 // This work is licensed under the terms of the MIT license.
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
+#include <carla/geom/BoundingBox.h>
+#include <carla/geom/Location.h>
+#include <carla/geom/Rotation.h>
 #include <carla/geom/Transform.h>
+#include <carla/geom/Vector3D.h>
 
 #include <ostream>
 
 namespace carla {
 namespace geom {
 
-  std::ostream &operator<<(std::ostream &out, const Vector3D &vector3D) {
-    out << "Vector3D(x=" << vector3D.x
+  template <typename T>
+  static void WriteVector3D(std::ostream &out, const char *name, const T &vector3D) {
+    out << name
+        << "(x=" << vector3D.x
         << ", y=" << vector3D.y
         << ", z=" << vector3D.z << ')';
+  }
+
+  std::ostream &operator<<(std::ostream &out, const Vector3D &vector3D) {
+    WriteVector3D(out, "Vector3D", vector3D);
     return out;
   }
 
   std::ostream &operator<<(std::ostream &out, const Location &location) {
-    out << "Location(x=" << location.x
-        << ", y=" << location.y
-        << ", z=" << location.z << ')';
+    WriteVector3D(out, "Location", location);
     return out;
   }
 
@@ -37,10 +45,17 @@ namespace geom {
     return out;
   }
 
+  std::ostream &operator<<(std::ostream &out, const BoundingBox &box) {
+    out << "BoundingBox(" << box.location << ", ";
+    WriteVector3D(out, "Extent", box.extent);
+    out << ')';
+    return out;
+  }
+
 } // namespace geom
 } // namespace carla
 
-void export_transform() {
+void export_geom() {
   using namespace boost::python;
   namespace cg = carla::geom;
 
@@ -91,4 +106,14 @@ void export_transform() {
     .def("__ne__", &cg::Transform::operator!=)
     .def(self_ns::str(self_ns::self))
   ;
+
+  class_<cg::BoundingBox>("BoundingBox")
+    .def(init<cg::Location, cg::Vector3D>(
+        (arg("location")=cg::Location(), arg("extent")=cg::Vector3D())))
+    .def_readwrite("location", &cg::BoundingBox::location)
+    .def_readwrite("extent", &cg::BoundingBox::extent)
+    .def("__eq__", &cg::BoundingBox::operator==)
+    .def("__ne__", &cg::BoundingBox::operator!=)
+    .def(self_ns::str(self_ns::self))
+  ;
 }
diff --git a/PythonAPI/source/libcarla/libcarla.cpp b/PythonAPI/source/libcarla/libcarla.cpp
index 917bd3aa5..1f21ef65a 100644
--- a/PythonAPI/source/libcarla/libcarla.cpp
+++ b/PythonAPI/source/libcarla/libcarla.cpp
@@ -34,9 +34,9 @@
 #include "Client.cpp"
 #include "Control.cpp"
 #include "Exception.cpp"
+#include "Geom.cpp"
 #include "Sensor.cpp"
 #include "SensorData.cpp"
-#include "Transform.cpp"
 #include "Weather.cpp"
 #include "World.cpp"
 
@@ -44,7 +44,7 @@ BOOST_PYTHON_MODULE(libcarla) {
   using namespace boost::python;
   PyEval_InitThreads();
   scope().attr("__path__") = "libcarla";
-  export_transform();
+  export_geom();
   export_control();
   export_blueprint();
   export_actor();