| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, INRIA, | ||
| 5 | // Heriot-Watt University | ||
| 6 | // University of Oxford Copyright note valid unless otherwise stated in | ||
| 7 | // individual files. All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | // Auto-generated file for float | ||
| 11 | #include "crocoddyl/core/utils/version.hpp" | ||
| 12 | #include "python/crocoddyl/fwd.hpp" | ||
| 13 | #include "python/crocoddyl/utils/set-converter.hpp" | ||
| 14 | #include "python/crocoddyl/utils/vector-converter.hpp" | ||
| 15 | |||
| 16 | #define SCALAR_float32 | ||
| 17 | |||
| 18 | namespace crocoddyl { | ||
| 19 | namespace python { | ||
| 20 | |||
| 21 | namespace bp = boost::python; | ||
| 22 | |||
| 23 | ✗ | BOOST_PYTHON_MODULE(libcrocoddyl_pywrap_float32) { | |
| 24 | ✗ | bp::scope().attr("__version__") = crocoddyl::printVersion(); | |
| 25 | ✗ | bp::scope().attr("__raw_version__") = bp::str(CROCODDYL_VERSION); | |
| 26 | |||
| 27 | #ifdef SCALAR_float64 | ||
| 28 | bp::enum_<DType>("DType") | ||
| 29 | .value("Float64", DType::Float64) | ||
| 30 | .value("Float32", DType::Float32) | ||
| 31 | #ifdef CROCODDYL_WITH_CODEGEN | ||
| 32 | .value("ADFloat64", DType::ADFloat64) | ||
| 33 | #endif | ||
| 34 | ; | ||
| 35 | #endif | ||
| 36 | |||
| 37 | ✗ | eigenpy::enableEigenPy(); | |
| 38 | #ifdef CROCODDYL_WITH_CODEGEN | ||
| 39 | // Check if pycppad module is already importable | ||
| 40 | PyObject* pycppad_module = PyImport_ImportModule("pycppad"); | ||
| 41 | if (pycppad_module != nullptr) { | ||
| 42 | Py_DECREF(pycppad_module); // don't leak | ||
| 43 | // Do not call enablePyCppAD, already imported | ||
| 44 | } else { | ||
| 45 | PyErr_Clear(); // clear the error if import failed | ||
| 46 | // pycppad::enablePyCppAD(); // not found, so we register the converters | ||
| 47 | } | ||
| 48 | bp::scope().attr("WITH_CODEGEN") = true; | ||
| 49 | #else | ||
| 50 | ✗ | bp::scope().attr("WITH_CODEGEN") = false; | |
| 51 | #endif | ||
| 52 | |||
| 53 | typedef double Scalar; | ||
| 54 | typedef Eigen::Matrix<Scalar, 4, 1> Vector4; | ||
| 55 | typedef Eigen::Matrix<Scalar, 6, 1> Vector6; | ||
| 56 | typedef Eigen::Matrix<Scalar, 4, 6> Matrix46; | ||
| 57 | typedef Eigen::Matrix<Scalar, 6, Eigen::Dynamic> Matrix6x; | ||
| 58 | typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 3> MatrixX3; | ||
| 59 | typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1> VectorX; | ||
| 60 | typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> MatrixX; | ||
| 61 | typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> | ||
| 62 | RowMatrixX; | ||
| 63 | |||
| 64 | ✗ | eigenpy::enableEigenPySpecific<Vector4>(); | |
| 65 | ✗ | eigenpy::enableEigenPySpecific<Vector6>(); | |
| 66 | ✗ | eigenpy::enableEigenPySpecific<Matrix46>(); | |
| 67 | ✗ | eigenpy::enableEigenPySpecific<MatrixX3>(); | |
| 68 | ✗ | eigenpy::enableEigenPySpecific<Matrix6x>(); | |
| 69 | |||
| 70 | // Register converters between std::vector and Python list | ||
| 71 | ✗ | StdVectorPythonVisitor<std::vector<VectorX>, true>::expose("StdVec_VectorX"); | |
| 72 | ✗ | StdVectorPythonVisitor<std::vector<MatrixX>, true>::expose("StdVec_MatrixX"); | |
| 73 | ✗ | StdVectorPythonVisitor<std::vector<RowMatrixX>, true>::expose( | |
| 74 | "StdVec_RowMatrixX"); | ||
| 75 | |||
| 76 | #ifdef SCALAR_float64 | ||
| 77 | // Register converters between std::set and Python set | ||
| 78 | StdSetPythonVisitor<std::string, std::less<std::string>, | ||
| 79 | std::allocator<std::string>, | ||
| 80 | true>::expose("StdSet_String"); | ||
| 81 | #endif | ||
| 82 | |||
| 83 | ✗ | exposeCore(); | |
| 84 | ✗ | exposeMultibody(); | |
| 85 | ✗ | } | |
| 86 | |||
| 87 | } // namespace python | ||
| 88 | } // namespace crocoddyl | ||
| 89 |