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// |
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// Copyright (c) 2015-2021 CNRS INRIA |
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// |
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#ifndef __pinocchio_python_joints_variant_hpp__ |
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#define __pinocchio_python_joints_variant_hpp__ |
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#include <boost/algorithm/string/replace.hpp> |
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#include <boost/python.hpp> |
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#include "pinocchio/multibody/joint/joint-collection.hpp" |
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#include "pinocchio/bindings/python/multibody/joint/joints-models.hpp" |
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#include "pinocchio/bindings/python/multibody/joint/joints-datas.hpp" |
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#include "pinocchio/bindings/python/utils/printable.hpp" |
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namespace pinocchio |
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{ |
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namespace python |
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{ |
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namespace bp = boost::python; |
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template<typename T> |
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std::string sanitizedClassname() |
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{ |
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✓✗ |
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std::string className = boost::replace_all_copy(T::classname(), "<", "_"); |
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✓✗ |
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boost::replace_all(className, ">", ""); |
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return className; |
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} |
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template<typename VariantType> |
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struct JointVariantVisitor : boost::static_visitor<PyObject *> |
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{ |
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static result_type convert(VariantType const & jv) |
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{ |
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return apply_visitor(JointVariantVisitor<VariantType>(), jv); |
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} |
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template<typename T> |
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result_type operator()(T const & t) const |
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{ |
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return boost::python::incref(boost::python::object(t).ptr()); |
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} |
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}; |
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struct JointDataExposer |
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{ |
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template<class T> |
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void operator()(T) |
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{ |
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✓✗ |
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expose_joint_data<T>( |
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bp::class_<T>(sanitizedClassname<T>().c_str(), |
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sanitizedClassname<T>().c_str(), |
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bp::init<>()) |
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.def(JointDataDerivedPythonVisitor<T>()) |
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✓✗✓✗
✓✗✓✗
✓✗ |
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.def(PrintableVisitor<T>()) |
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); |
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bp::implicitly_convertible<T,pinocchio::JointData>(); |
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} |
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}; |
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struct JointModelExposer |
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{ |
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template<class T> |
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void operator()(T) |
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{ |
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✓✗ |
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expose_joint_model<T>( |
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bp::class_<T>(sanitizedClassname<T>().c_str(), |
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sanitizedClassname<T>().c_str(), |
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bp::no_init) |
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.def(JointModelDerivedPythonVisitor<T>()) |
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✓✗✓✗
✓✗✓✗
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.def(PrintableVisitor<T>()) |
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); |
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bp::implicitly_convertible<T,pinocchio::JointModel>(); |
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} |
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}; |
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} // namespace python |
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} // namespace pinocchio |
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#endif // ifndef __pinocchio_python_joints_variant_hpp__ |