GCC Code Coverage Report

Directory: ./
File: include/pinocchio/bindings/python/utils/cast.hpp
Date: 2025-02-12 21:03:38
Exec Total Coverage
Lines: 33 34 97.1%
Branches: 45 90 50.0%
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1 //
2 // Copyright (c) 2020 INRIA
3 //
4
5 #ifndef __pinocchio_python_utils_cast_hpp__
6 #define __pinocchio_python_utils_cast_hpp__
7
8 #include "pinocchio/bindings/python/fwd.hpp"
9
10 #include <eigenpy/registration.hpp>
11
12 namespace pinocchio
13 {
14 namespace python
15 {
16
17 namespace bp = boost::python;
18
19 ///
20 /// \brief Add the Python method cast
21 ///
22 template<class C, typename NewScalar = PINOCCHIO_PYTHON_SCALAR_TYPE_DEFAULT>
23 struct CastVisitor : public bp::def_visitor<CastVisitor<C, NewScalar>>
24 {
25 template<class PyClass>
26 1104 void visit(PyClass & cl) const
27 {
28 1104 cl.def("cast", &C::template cast<NewScalar>, "Returns a cast of *this.");
29 1104 }
30 };
31
32 template<class _From, class _To>
33 struct ExposeConstructorByCastVisitor
34 : public bp::def_visitor<ExposeConstructorByCastVisitor<_From, _To>>
35 {
36 template<class PyClass>
37 1104 void visit(PyClass & /*cl*/) const
38 {
39 1104 expose_constructor<_From, _To>();
40 1104 expose_constructor<_To, _From>();
41 1104 }
42
43 protected:
44 template<typename From, typename To>
45 2256 static void expose_constructor()
46 {
47
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 2256 if (eigenpy::check_registration<From>() && eigenpy::check_registration<To>())
48 {
49 2256 const bp::type_info to_info = bp::type_id<To>();
50
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 2256 const bp::converter::registration * to_reg = bp::converter::registry::query(to_info);
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 2256 bp::object to_class_obj(bp::handle<>(bp::borrowed(to_reg->get_class_object())));
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 2256 const std::string to_module_name =
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 4512 bp::extract<std::string>(to_class_obj.attr("__module__"));
54
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 4512 const std::string to_class_name = bp::extract<std::string>(to_class_obj.attr("__name__"));
55
56 2256 const bp::type_info from_info = bp::type_id<From>();
57
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 2256 const bp::converter::registration * from_reg = bp::converter::registry::query(from_info);
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 2256 bp::object from_class_obj(bp::handle<>(bp::borrowed(from_reg->get_class_object())));
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 2256 const std::string from_module_name =
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 4512 bp::extract<std::string>(from_class_obj.attr("__module__"));
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 2256 const std::string from_class_name =
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 4512 bp::extract<std::string>(from_class_obj.attr("__name__"));
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64
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 2256 const std::string to_full_class_name = to_module_name + "." + to_class_name;
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 2256 const std::string from_full_class_name = from_module_name + "." + from_class_name;
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 2256 std::stringstream to_doc;
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 2256 to_doc << "Copy constructor from " << from_full_class_name;
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 2256 to_doc << " -> " << to_full_class_name;
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 4512 bp::objects::add_to_namespace(
70 to_class_obj, "__init__",
71 bp::make_constructor(
72 ✗ &ExposeConstructorByCastVisitor::constructor<From, To>, bp::default_call_policies(),
73
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 4512 bp::arg("clone")),
74 to_doc.str().c_str());
75 2256 }
76 2256 }
77
78 template<typename From, typename To>
79 8 static To * constructor(const From & clone)
80 {
81 typedef typename To::Scalar NewScalar;
82
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 8 return new To(clone.template cast<NewScalar>());
83 }
84 };
85 } // namespace python
86 } // namespace pinocchio
87
88 #endif // ifndef __pinocchio_python_utils_cast_hpp__
89