| Directory: | ./ |
|---|---|
| File: | include/pinocchio/bindings/python/multibody/joint/joints-variant.hpp |
| Date: | 2024-08-27 18:20:05 |
| Exec | Total | Coverage | |
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| Lines: | 19 | 23 | 82.6% |
| Branches: | 13 | 30 | 43.3% |
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| 1 | // | ||
| 2 | // Copyright (c) 2015-2021 CNRS INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #ifndef __pinocchio_python_joints_variant_hpp__ | ||
| 6 | #define __pinocchio_python_joints_variant_hpp__ | ||
| 7 | |||
| 8 | #include <boost/algorithm/string/replace.hpp> | ||
| 9 | |||
| 10 | #include <boost/python.hpp> | ||
| 11 | |||
| 12 | #include "pinocchio/multibody/joint/joint-collection.hpp" | ||
| 13 | #include "pinocchio/bindings/python/multibody/joint/joints-models.hpp" | ||
| 14 | #include "pinocchio/bindings/python/multibody/joint/joints-datas.hpp" | ||
| 15 | #include "pinocchio/bindings/python/utils/printable.hpp" | ||
| 16 | |||
| 17 | namespace pinocchio | ||
| 18 | { | ||
| 19 | namespace python | ||
| 20 | { | ||
| 21 | namespace bp = boost::python; | ||
| 22 | |||
| 23 | template<typename T> | ||
| 24 | 4160 | std::string sanitizedClassname() | |
| 25 | { | ||
| 26 |
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4160 | std::string className = boost::replace_all_copy(T::classname(), "<", "_"); |
| 27 |
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4160 | boost::replace_all(className, ">", ""); |
| 28 | 4160 | return className; | |
| 29 | } | ||
| 30 | |||
| 31 | template<typename VariantType> | ||
| 32 | struct JointVariantVisitor : boost::static_visitor<PyObject *> | ||
| 33 | { | ||
| 34 | ✗ | static result_type convert(VariantType const & jv) | |
| 35 | { | ||
| 36 | ✗ | return apply_visitor(JointVariantVisitor<VariantType>(), jv); | |
| 37 | } | ||
| 38 | |||
| 39 | template<typename T> | ||
| 40 | ✗ | result_type operator()(T const & t) const | |
| 41 | { | ||
| 42 | ✗ | return boost::python::incref(boost::python::object(t).ptr()); | |
| 43 | } | ||
| 44 | }; | ||
| 45 | |||
| 46 | struct JointDataExposer | ||
| 47 | { | ||
| 48 | template<class T> | ||
| 49 | 1040 | void operator()(T) | |
| 50 | { | ||
| 51 | 1040 | expose_joint_data<T>( | |
| 52 |
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2080 | bp::class_<T>( |
| 53 | 1040 | sanitizedClassname<T>().c_str(), sanitizedClassname<T>().c_str(), bp::init<>()) | |
| 54 |
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1040 | .def(JointDataBasePythonVisitor<T>()) |
| 55 |
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1040 | .def(PrintableVisitor<T>())); |
| 56 | 1040 | bp::implicitly_convertible<T, context::JointData>(); | |
| 57 | 1040 | } | |
| 58 | }; | ||
| 59 | |||
| 60 | struct JointModelExposer | ||
| 61 | { | ||
| 62 | template<class T> | ||
| 63 | 1040 | void operator()(T) | |
| 64 | { | ||
| 65 | 1040 | expose_joint_model<T>( | |
| 66 |
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2080 | bp::class_<T>( |
| 67 | sanitizedClassname<T>().c_str(), sanitizedClassname<T>().c_str(), bp::no_init) | ||
| 68 |
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1040 | .def(JointModelBasePythonVisitor<T>()) |
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1040 | .def(PrintableVisitor<T>())); |
| 70 | 1040 | bp::implicitly_convertible<T, context::JointModel>(); | |
| 71 | 1040 | } | |
| 72 | }; | ||
| 73 | |||
| 74 | } // namespace python | ||
| 75 | } // namespace pinocchio | ||
| 76 | |||
| 77 | #endif // ifndef __pinocchio_python_joints_variant_hpp__ | ||
| 78 |