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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2018-2020, LAAS-CNRS, University of Edinburgh |
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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_QUADRUPED_WALKGEN_VECTOR_CONVERTER_HPP_ |
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#define BINDINGS_PYTHON_QUADRUPED_WALKGEN_VECTOR_CONVERTER_HPP_ |
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#include <Eigen/Dense> |
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#include <boost/python/stl_iterator.hpp> |
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#include <boost/python/to_python_converter.hpp> |
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#include <vector> |
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namespace quadruped_walkgen { |
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namespace python { |
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namespace bp = boost::python; |
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/// @note Registers converter from a provided type to the python |
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/// iterable type to the. |
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template <class T, bool NoProxy = true> |
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struct vector_to_list { |
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static PyObject* convert(const std::vector<T>& vec) { |
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typedef typename std::vector<T>::const_iterator const_iter; |
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bp::list* l = new boost::python::list(); |
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for (const_iter it = vec.begin(); it != vec.end(); ++it) { |
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if (NoProxy) { |
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l->append(boost::ref(*it)); |
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} else { |
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l->append(*it); |
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} |
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} |
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return l->ptr(); |
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} |
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static PyTypeObject const* get_pytype() { return &PyList_Type; } |
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}; |
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/// @brief Type that allows for registration of conversions from |
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/// python iterable types. |
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struct list_to_vector { |
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/// @note Registers converter from a python iterable type to the |
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/// provided type. |
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template <typename Container> |
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list_to_vector& from_python() { |
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boost::python::converter::registry::push_back( |
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&list_to_vector::convertible, &list_to_vector::construct<Container>, |
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boost::python::type_id<Container>()); |
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// Support chaining. |
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return *this; |
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} |
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/// @brief Check if PyObject is iterable. |
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static void* convertible(PyObject* object) { |
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return PyObject_GetIter(object) ? object : NULL; |
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} |
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/// @brief Convert iterable PyObject to C++ container type. |
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/// |
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/// Container Concept requirements: |
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/// |
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/// * Container::value_type is CopyConstructable. |
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/// * Container can be constructed and populated with two iterators. |
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/// I.e. Container(begin, end) |
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template <typename Container> |
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static void construct( |
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PyObject* object, |
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boost::python::converter::rvalue_from_python_stage1_data* data) { |
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namespace python = boost::python; |
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// Object is a borrowed reference, so create a handle indicting it is |
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// borrowed for proper reference counting. |
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python::handle<> handle(python::borrowed(object)); |
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// Obtain a handle to the memory block that the converter has allocated |
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// for the C++ type. |
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typedef python::converter::rvalue_from_python_storage<Container> |
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storage_type; |
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void* storage = reinterpret_cast<storage_type*>(data)->storage.bytes; |
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typedef python::stl_input_iterator<typename Container::value_type> iterator; |
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// Allocate the C++ type into the converter's memory block, and assign |
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// its handle to the converter's convertible variable. The C++ |
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// container is populated by passing the begin and end iterators of |
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// the python object to the container's constructor. |
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new (storage) Container(iterator(python::object(handle)), // begin |
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iterator()); // end |
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data->convertible = storage; |
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} |
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}; |
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} // namespace python |
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} // namespace quadruped_walkgen |
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#endif // BINDINGS_PYTHON_QUADRUPED_WALKGEN_VECTOR_CONVERTER_HPP_ |
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