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// Copyright 2010, Florent Lamiraux, Thomas Moulard, LAAS-CNRS. |
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#include "dynamic-graph/python/convert-dg-to-py.hh" |
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#include <dynamic-graph/signal-base.h> |
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#include <dynamic-graph/signal-caster.h> |
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#include <dynamic-graph/signal.h> |
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#include <boost/python.hpp> |
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#include <boost/python/stl_iterator.hpp> |
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#include <iostream> |
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#include <sstream> |
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#include "dynamic-graph/python/python-compat.hh" |
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namespace dynamicgraph { |
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using ::dynamicgraph::SignalBase; |
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namespace python { |
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namespace convert { |
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namespace bp = boost::python; |
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command::Value toValue(bp::object o, const command::Value::Type& valueType) { |
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using command::Value; |
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switch (valueType) { |
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case (Value::BOOL): |
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return Value(bp::extract<bool>(o)); |
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case (Value::UNSIGNED): |
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return Value(bp::extract<unsigned>(o)); |
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case (Value::INT): |
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return Value(bp::extract<int>(o)); |
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case (Value::FLOAT): |
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return Value(bp::extract<float>(o)); |
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case (Value::DOUBLE): |
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return Value(bp::extract<double>(o)); |
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case (Value::STRING): |
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return Value(bp::extract<std::string>(o)); |
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case (Value::VECTOR): |
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// TODO for backward compatibility, support tuple or list ? |
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// I don't think so |
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return Value(bp::extract<Vector>(o)); |
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case (Value::MATRIX): |
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// TODO for backward compatibility, support tuple or list ? |
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// I don't think so |
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return Value(bp::extract<Matrix>(o)); |
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case (Value::MATRIX4D): |
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return Value(bp::extract<Eigen::Matrix4d>(o)); |
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case (Value::VALUES): |
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// TODO the vector of values cannot be built since |
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// - the value type inside the vector are not know |
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// - inferring the value type from the Python type is not implemented. |
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throw std::invalid_argument( |
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"not implemented: cannot create a vector of values"); |
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break; |
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default: |
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std::cerr << "Only int, double and string are supported." << std::endl; |
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} |
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return Value(); |
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} |
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bp::object fromValue(const command::Value& value) { |
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using command::Value; |
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✗✗✗✗
✗✗✗✗
✗✗✓ |
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switch (value.type()) { |
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case (Value::BOOL): |
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return bp::object(value.boolValue()); |
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case (Value::UNSIGNED): |
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return bp::object(value.unsignedValue()); |
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case (Value::INT): |
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return bp::object(value.intValue()); |
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case (Value::FLOAT): |
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return bp::object(value.floatValue()); |
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case (Value::DOUBLE): |
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return bp::object(value.doubleValue()); |
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case (Value::STRING): |
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return bp::object(value.stringValue()); |
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case (Value::VECTOR): |
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return bp::object(value.vectorValue()); |
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case (Value::MATRIX): |
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return bp::object(value.matrixXdValue()); |
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case (Value::MATRIX4D): |
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return bp::object(value.matrix4dValue()); |
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case (Value::VALUES): { |
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bp::list list; |
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for (const Value& v : value.constValuesValue()) list.append(fromValue(v)); |
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return list; |
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} |
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case (Value::NONE): |
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default: |
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return bp::object(); |
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} |
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} |
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} // namespace convert |
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} // namespace python |
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} // namespace dynamicgraph |