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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2024-2025, Heriot-Watt University |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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#ifndef BINDINGS_PYTHON_CROCODDYL_UTILS_CAST_HPP_ |
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#define BINDINGS_PYTHON_CROCODDYL_UTILS_CAST_HPP_ |
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#include <boost/python.hpp> |
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#include "crocoddyl/core/utils/conversions.hpp" |
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#include "python/crocoddyl/utils/scalar.hpp" |
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namespace crocoddyl { |
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namespace python { |
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namespace bp = boost::python; |
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/** |
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* @brief Add the Python method cast to allow casting of this by predefined cast |
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* types. |
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*/ |
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template <typename Model, bool FTypesOnly = false> |
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struct CastVisitor : public bp::def_visitor<CastVisitor<Model, FTypesOnly>> { |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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cl.def("cast", &cast_instance<FTypesOnly>, bp::arg("dtype"), |
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"Returns a copy of *this."); |
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} |
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private: |
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// Helper function for casting, using std::enable_if to handle specific types |
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template <typename ScalarType> |
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static bp::object cast_instance_impl(const Model& self, std::true_type) { |
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// No cast needed if ScalarType is the correct type |
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return bp::object(self); |
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} |
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template <typename ScalarType> |
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static bp::object cast_instance_impl(const Model& self, std::false_type) { |
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// Otherwise, perform the cast to the requested type |
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return bp::object(self.template cast<ScalarType>()); |
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} |
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// Main cast instance function that uses SFINAE |
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template <bool IsFTypesOnly = FTypesOnly> |
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static typename std::enable_if<!IsFTypesOnly, bp::object>::type cast_instance( |
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const Model& self, DType dtype) { |
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switch (dtype) { |
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case DType::Float64: |
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return cast_instance_impl<Float64>( |
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self, std::is_same<typename Model::Scalar, Float64>()); |
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case DType::Float32: |
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return cast_instance_impl<Float32>( |
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self, std::is_same<typename Model::Scalar, Float32>()); |
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#ifdef CROCODDYL_WITH_CODEGEN |
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case DType::ADFloat64: |
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return cast_instance_impl<ADFloat64>( |
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self, std::is_same<typename Model::Scalar, ADFloat64>()); |
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#endif |
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default: |
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PyErr_SetString(PyExc_TypeError, "Unsupported dtype."); |
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bp::throw_error_already_set(); |
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return bp::object(); |
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} |
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} |
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template <bool IsFTypesOnly = FTypesOnly> |
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static typename std::enable_if<IsFTypesOnly, bp::object>::type cast_instance( |
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const Model& self, DType dtype) { |
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switch (dtype) { |
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case DType::Float64: |
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return cast_instance_impl<Float64>( |
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self, std::is_same<typename Model::Scalar, Float64>()); |
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case DType::Float32: |
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return cast_instance_impl<Float32>( |
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self, std::is_same<typename Model::Scalar, Float32>()); |
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default: |
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PyErr_SetString(PyExc_TypeError, "Unsupported dtype."); |
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bp::throw_error_already_set(); |
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return bp::object(); |
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} |
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} |
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}; |
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} // namespace python |
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} // namespace crocoddyl |
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#endif // BINDINGS_PYTHON_CROCODDYL_UTILS_CAST_HPP_ |
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