From 898a42c5c71e7f57ed8ee0f5dfda1da5f5d32f7a Mon Sep 17 00:00:00 2001
From: A_Bassiouny <abdelrhman_bassuny@hotmail.com>
Date: Sun, 15 Dec 2024 23:25:48 +0100
Subject: [PATCH] [PhysicalBody] removed duplicate method, added a normal
 property for contact points.

---
 src/pycram/datastructures/dataclasses.py | 19 ++++++++++++++++---
 src/pycram/description.py                | 13 -------------
 2 files changed, 16 insertions(+), 16 deletions(-)

diff --git a/src/pycram/datastructures/dataclasses.py b/src/pycram/datastructures/dataclasses.py
index 68ff5b3a3..7a63668f5 100644
--- a/src/pycram/datastructures/dataclasses.py
+++ b/src/pycram/datastructures/dataclasses.py
@@ -710,6 +710,10 @@ class ContactPoint:
     lateral_friction_1: Optional[LateralFriction] = None
     lateral_friction_2: Optional[LateralFriction] = None
 
+    @property
+    def normal(self) -> List[float]:
+        return self.normal_on_body_b
+
     def __str__(self):
         return f"ContactPoint: {self.body_a.name} - {self.body_b.name}"
 
@@ -795,7 +799,7 @@ def get_links_in_contact_of_object(self, obj: Object) -> List[PhysicalBody]:
         :param obj: An instance of the Object class that represents the object.
         :return: A list of Link instances that represent the links in contact of the object.
         """
-        return [point.body_b for point in self if point.body_b.parent == obj]
+        return [point.body_b for point in self if point.body_b.parent_entity == obj]
 
     def get_points_of_object(self, obj: Object) -> 'ContactPointsList':
         """
@@ -813,7 +817,16 @@ def get_points_of_link(self, link: Link) -> 'ContactPointsList':
         :param link: An instance of the Link class that represents the link that the points are related to.
         :return: A ContactPointsList instance that represents the contact points of the link.
         """
-        return ContactPointsList([point for point in self if link == point.body_b])
+        return self.get_points_of_body(link)
+
+    def get_points_of_body(self, body: PhysicalBody) -> 'ContactPointsList':
+        """
+        Get the points of the body.
+
+        :param body: An instance of the PhysicalBody class that represents the body that the points are related to.
+        :return: A ContactPointsList instance that represents the contact points of the body.
+        """
+        return ContactPointsList([point for point in self if body == point.body_b])
 
     def get_objects_that_got_removed(self, previous_points: 'ContactPointsList') -> List[Object]:
         """
@@ -860,7 +873,7 @@ def get_objects_that_have_points(self) -> List[Object]:
 
         :return: A list of Object instances that represent the objects that have points in the list.
         """
-        return list({point.body_b.parent for point in self if isinstance(point.body_b.parent, Object)})
+        return list({point.body_b.parent_entity for point in self})
 
     def __str__(self):
         return f"ContactPointsList: {', '.join([point.__str__() for point in self])}"
diff --git a/src/pycram/description.py b/src/pycram/description.py
index 3c0c5df94..ff14c1f91 100644
--- a/src/pycram/description.py
+++ b/src/pycram/description.py
@@ -253,19 +253,6 @@ def get_axis_aligned_bounding_box_from_geometry(self) -> AxisAlignedBoundingBox:
                 if isinstance(geom, MeshVisualShape) else geom.get_axis_aligned_bounding_box()
         return bounding_box
 
-    def get_axis_aligned_bounding_box_from_geometry(self) -> AxisAlignedBoundingBox:
-        if isinstance(self.geometry, List):
-            all_boxes = [geom.get_axis_aligned_bounding_box(self.get_mesh_path(geom))
-                         if isinstance(geom, MeshVisualShape) else geom.get_axis_aligned_bounding_box()
-                         for geom in self.geometry
-                         ]
-            bounding_box = AxisAlignedBoundingBox.from_multiple_bounding_boxes(all_boxes)
-        else:
-            geom = self.geometry
-            bounding_box = geom.get_axis_aligned_bounding_box(self.get_mesh_path(geom)) \
-                if isinstance(geom, MeshVisualShape) else geom.get_axis_aligned_bounding_box()
-        return bounding_box
-
     def get_convex_hull(self) -> Geometry3D:
         """
         :return: The convex hull of the link geometry.