| Directory: | ./ |
|---|---|
| File: | bindings/python/crocoddyl/utils/cast.hpp |
| Date: | 2025-03-26 19:23:43 |
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| Lines: | 3 | 13 | 23.1% |
| Branches: | 1 | 2 | 50.0% |
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| 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> | ||
| 29 | struct CastVisitor : public bp::def_visitor<CastVisitor<Model>> { | ||
| 30 | template <class PyClass> | ||
| 31 | 2680 | void visit(PyClass& cl) const { | |
| 32 |
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2680 | cl.def("cast", &cast_instance, bp::arg("dtype"), |
| 33 | "Returns a copy of *this."); | ||
| 34 | 2680 | } | |
| 35 | |||
| 36 | private: | ||
| 37 | ✗ | static bp::object cast_instance(const Model& self, DType dtype) { | |
| 38 | ✗ | switch (dtype) { | |
| 39 | ✗ | case DType::Float64: | |
| 40 | ✗ | return bp::object(self.template cast<Float64>()); | |
| 41 | ✗ | case DType::Float32: | |
| 42 | ✗ | return bp::object(self.template cast<Float32>()); | |
| 43 | #ifdef CROCODDYL_WITH_CODEGEN_DISABLE | ||
| 44 | case DType::ADFloat64: | ||
| 45 | return bp::object(self.template cast<ADFloat64>()); | ||
| 46 | #endif | ||
| 47 | ✗ | default: | |
| 48 | ✗ | PyErr_SetString(PyExc_TypeError, "Unsupported dtype."); | |
| 49 | ✗ | bp::throw_error_already_set(); | |
| 50 | ✗ | return bp::object(); | |
| 51 | } | ||
| 52 | } | ||
| 53 | }; | ||
| 54 | |||
| 55 | } // namespace python | ||
| 56 | } // namespace crocoddyl | ||
| 57 | |||
| 58 | #endif // BINDINGS_PYTHON_CROCODDYL_UTILS_CAST_HPP_ | ||
| 59 |