| Directory: | ./ |
|---|---|
| File: | include/pinocchio/bindings/python/utils/model-checker.hpp |
| Date: | 2025-04-30 16:14:33 |
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| Lines: | 11 | 11 | 100.0% |
| Branches: | 11 | 20 | 55.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2025 INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #ifndef __pinocchio_python_utils_model_checker_hpp__ | ||
| 6 | #define __pinocchio_python_utils_model_checker_hpp__ | ||
| 7 | |||
| 8 | #include <Python.h> | ||
| 9 | #include <string> | ||
| 10 | |||
| 11 | #include "pinocchio/algorithm/check-model.hpp" | ||
| 12 | #include "pinocchio/bindings/python/fwd.hpp" | ||
| 13 | |||
| 14 | namespace pinocchio | ||
| 15 | { | ||
| 16 | namespace python | ||
| 17 | { | ||
| 18 | |||
| 19 | // Checker Policy to make a safe version of python function, concerning joint mimic. | ||
| 20 | // This will throw a runtime error in case algorithm does not allow joint mimic in the model. | ||
| 21 | template<class Policy = boost::python::default_call_policies> | ||
| 22 | struct mimic_not_supported_function : Policy | ||
| 23 | { | ||
| 24 | 5032 | mimic_not_supported_function(size_t model_idx_) | |
| 25 | : Policy() | ||
| 26 | 5032 | , model_idx(model_idx_) | |
| 27 | { | ||
| 28 | 5032 | } | |
| 29 | |||
| 30 | template<class ArgumentPackage> | ||
| 31 | 262 | bool precall(ArgumentPackage const & args) const | |
| 32 | { | ||
| 33 | // Convert the object to a tuple | ||
| 34 |
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262 | boost::python::tuple py_args = boost::python::extract<boost::python::tuple>(args); |
| 35 | |||
| 36 |
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524 | context::Model m = boost::python::extract<context::Model>(py_args[model_idx]); |
| 37 |
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262 | if (!m.check(MimicChecker())) |
| 38 | { | ||
| 39 |
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1 | PyErr_SetString(PyExc_RuntimeError, m_error_message.c_str()); |
| 40 | 1 | return false; | |
| 41 | } | ||
| 42 | else | ||
| 43 | 261 | return static_cast<const Policy *>(this)->precall(args); | |
| 44 | 262 | } | |
| 45 | |||
| 46 | protected: | ||
| 47 | static const std::string m_error_message; | ||
| 48 | // index of the pinocchio in the function arguments. Need it to avoid a loop | ||
| 49 | const size_t model_idx; | ||
| 50 | }; | ||
| 51 | |||
| 52 | template<class Policy> | ||
| 53 | const std::string mimic_not_supported_function<Policy>::m_error_message = | ||
| 54 | "This algorithm does not support Joint Mimic type in the model."; | ||
| 55 | } // namespace python | ||
| 56 | } // namespace pinocchio | ||
| 57 | #endif // model_checker | ||
| 58 |