copyable.hpp

//
// Copyright (c) 2016-2023 CNRS INRIA
//
 
#ifndef __pinocchio_python_utils_copyable_hpp__
#define __pinocchio_python_utils_copyable_hpp__
 
#include <eigenpy/eigenpy.hpp>
 
namespace pinocchio
{
  namespace python
  {
 
    namespace bp = boost::python;
 
    template<class C>
    struct CopyableVisitor : public bp::def_visitor<CopyableVisitor<C>>
    {
      template<class PyClass>
      void visit(PyClass & cl) const
      {
        cl.def("copy", &copy, bp::arg("self"), "Returns a copy of *this.");
        cl.def("__copy__", &copy, bp::arg("self"), "Returns a copy of *this.");
        cl.def(
          "__deepcopy__", &deepcopy, bp::args("self", "memo"), "Returns a deep copy of *this.");
      }
 
    private:
      static C copy(const C & self)
      {
        return C(self);
      }
      static C deepcopy(const C & self, bp::dict)
      {
        return C(self);
      }
    };
  } // namespace python
} // namespace pinocchio
 
#endif // ifndef __pinocchio_python_utils_copyable_hpp__