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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, INRIA, |
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// Heriot-Watt University |
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// University of Oxford Copyright note valid unless otherwise stated in |
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// individual files. All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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// Auto-generated file for float |
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#include "crocoddyl/core/utils/version.hpp" |
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#include "python/crocoddyl/fwd.hpp" |
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#include "python/crocoddyl/utils/set-converter.hpp" |
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#include "python/crocoddyl/utils/vector-converter.hpp" |
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#define SCALAR_float32 |
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namespace crocoddyl { |
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namespace python { |
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namespace bp = boost::python; |
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BOOST_PYTHON_MODULE(libcrocoddyl_pywrap_float32) { |
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bp::scope().attr("__version__") = crocoddyl::printVersion(); |
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bp::scope().attr("__raw_version__") = bp::str(CROCODDYL_VERSION); |
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#ifdef SCALAR_float64 |
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bp::enum_<DType>("DType") |
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.value("Float64", DType::Float64) |
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.value("Float32", DType::Float32) |
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#ifdef CROCODDYL_WITH_CODEGEN |
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.value("ADFloat64", DType::ADFloat64) |
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#endif |
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; |
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#endif |
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eigenpy::enableEigenPy(); |
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#ifdef CROCODDYL_WITH_CODEGEN |
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// Check if pycppad module is already importable |
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PyObject* pycppad_module = PyImport_ImportModule("pycppad"); |
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if (pycppad_module != nullptr) { |
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Py_DECREF(pycppad_module); // don't leak |
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// Do not call enablePyCppAD, already imported |
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} else { |
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PyErr_Clear(); // clear the error if import failed |
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// pycppad::enablePyCppAD(); // not found, so we register the converters |
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} |
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bp::scope().attr("WITH_CODEGEN") = true; |
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#else |
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bp::scope().attr("WITH_CODEGEN") = false; |
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#endif |
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typedef double Scalar; |
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typedef Eigen::Matrix<Scalar, 4, 1> Vector4; |
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typedef Eigen::Matrix<Scalar, 6, 1> Vector6; |
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typedef Eigen::Matrix<Scalar, 4, 6> Matrix46; |
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typedef Eigen::Matrix<Scalar, 6, Eigen::Dynamic> Matrix6x; |
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typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 3> MatrixX3; |
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typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1> VectorX; |
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typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> MatrixX; |
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typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> |
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RowMatrixX; |
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eigenpy::enableEigenPySpecific<Vector4>(); |
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eigenpy::enableEigenPySpecific<Vector6>(); |
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eigenpy::enableEigenPySpecific<Matrix46>(); |
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eigenpy::enableEigenPySpecific<MatrixX3>(); |
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eigenpy::enableEigenPySpecific<Matrix6x>(); |
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// Register converters between std::vector and Python list |
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StdVectorPythonVisitor<std::vector<VectorX>, true>::expose("StdVec_VectorX"); |
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StdVectorPythonVisitor<std::vector<MatrixX>, true>::expose("StdVec_MatrixX"); |
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StdVectorPythonVisitor<std::vector<RowMatrixX>, true>::expose( |
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"StdVec_RowMatrixX"); |
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#ifdef SCALAR_float64 |
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// Register converters between std::set and Python set |
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StdSetPythonVisitor<std::string, std::less<std::string>, |
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std::allocator<std::string>, |
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true>::expose("StdSet_String"); |
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#endif |
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exposeCore(); |
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exposeMultibody(); |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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