GCC Code Coverage Report

Line	Branch	Exec	Source
1
2
3			///////////////////////////////////////////////////////////////////////////////
4			// BSD 3-Clause License
5			//
6			// Copyright (C) 2024-2025, Heriot-Watt University
7			// Copyright note valid unless otherwise stated in individual files.
8			// All rights reserved.
9			///////////////////////////////////////////////////////////////////////////////
10
11			#ifndef BINDINGS_PYTHON_CROCODDYL_UTILS_CAST_HPP_
12			#define BINDINGS_PYTHON_CROCODDYL_UTILS_CAST_HPP_
13
14			#include <boost/python.hpp>
15
16			#include "crocoddyl/core/utils/conversions.hpp"
17			#include "python/crocoddyl/utils/scalar.hpp"
18
19			namespace crocoddyl {
20			namespace python {
21
22			namespace bp = boost::python;
23
24			/**
25			* @brief Add the Python method cast to allow casting of this by predefined cast
26			* types.
27			*/
28			template <typename Model, bool FTypesOnly = false>
29			struct CastVisitor : public bp::def_visitor<CastVisitor<Model, FTypesOnly>> {
30			template <class PyClass>
31		✗	void visit(PyClass& cl) const {
32		✗	cl.def("cast", &cast_instance<FTypesOnly>, bp::arg("dtype"),
33			"Returns a copy of *this.");
34		✗	}
35
36			private:
37			// Helper function for casting, using std::enable_if to handle specific types
38			template <typename ScalarType>
39		✗	static bp::object cast_instance_impl(const Model& self, std::true_type) {
40			// No cast needed if ScalarType is the correct type
41		✗	return bp::object(self);
42			}
43
44			template <typename ScalarType>
45		✗	static bp::object cast_instance_impl(const Model& self, std::false_type) {
46			// Otherwise, perform the cast to the requested type
47		✗	return bp::object(self.template cast<ScalarType>());
48			}
49
50			// Main cast instance function that uses SFINAE
51			template <bool IsFTypesOnly = FTypesOnly>
52		✗	static typename std::enable_if<!IsFTypesOnly, bp::object>::type cast_instance(
53			const Model& self, DType dtype) {
54		✗	switch (dtype) {
55		✗	case DType::Float64:
56			return cast_instance_impl<Float64>(
57		✗	self, std::is_same<typename Model::Scalar, Float64>());
58		✗	case DType::Float32:
59			return cast_instance_impl<Float32>(
60		✗	self, std::is_same<typename Model::Scalar, Float32>());
61			#ifdef CROCODDYL_WITH_CODEGEN
62			case DType::ADFloat64:
63			return cast_instance_impl<ADFloat64>(
64			self, std::is_same<typename Model::Scalar, ADFloat64>());
65			#endif
66		✗	default:
67		✗	PyErr_SetString(PyExc_TypeError, "Unsupported dtype.");
68		✗	bp::throw_error_already_set();
69		✗	return bp::object();
70			}
71			}
72
73			template <bool IsFTypesOnly = FTypesOnly>
74			static typename std::enable_if<IsFTypesOnly, bp::object>::type cast_instance(
75			const Model& self, DType dtype) {
76			switch (dtype) {
77			case DType::Float64:
78			return cast_instance_impl<Float64>(
79			self, std::is_same<typename Model::Scalar, Float64>());
80			case DType::Float32:
81			return cast_instance_impl<Float32>(
82			self, std::is_same<typename Model::Scalar, Float32>());
83			default:
84			PyErr_SetString(PyExc_TypeError, "Unsupported dtype.");
85			bp::throw_error_already_set();
86			return bp::object();
87			}
88			}
89			};
90
91			} // namespace python
92			} // namespace crocoddyl
93
94			#endif // BINDINGS_PYTHON_CROCODDYL_UTILS_CAST_HPP_
95