| Directory: | ./ |
|---|---|
| File: | include/pinocchio/bindings/python/utils/pickle.hpp |
| Date: | 2025-02-12 21:03:38 |
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| Lines: | 17 | 19 | 89.5% |
| Branches: | 15 | 38 | 39.5% |
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| 1 | // | ||
| 2 | // Copyright (c) 2023 INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #ifndef __pinocchio_python_utils_pickle_hpp__ | ||
| 6 | #define __pinocchio_python_utils_pickle_hpp__ | ||
| 7 | |||
| 8 | #include <pinocchio/bindings/python/fwd.hpp> | ||
| 9 | |||
| 10 | namespace pinocchio | ||
| 11 | { | ||
| 12 | namespace python | ||
| 13 | { | ||
| 14 | namespace bp = boost::python; | ||
| 15 | |||
| 16 | template<typename Derived> | ||
| 17 | struct PickleFromStringSerialization : bp::pickle_suite | ||
| 18 | { | ||
| 19 | 2 | static bp::tuple getinitargs(const Derived &) | |
| 20 | { | ||
| 21 | 2 | return bp::make_tuple(); | |
| 22 | } | ||
| 23 | |||
| 24 | 2 | static bp::tuple getstate(const Derived & obj) | |
| 25 | { | ||
| 26 |
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2 | const std::string str(obj.saveToString()); |
| 27 |
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6 | return bp::make_tuple(bp::str(str)); |
| 28 | 2 | } | |
| 29 | |||
| 30 | 2 | static void setstate(Derived & obj, bp::tuple tup) | |
| 31 | { | ||
| 32 |
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2 | if (bp::len(tup) == 0 || bp::len(tup) > 1) |
| 33 | { | ||
| 34 | ✗ | throw eigenpy::Exception( | |
| 35 | "Pickle was not able to reconstruct the object from the loaded data.\n" | ||
| 36 | "The pickle data structure contains too many elements."); | ||
| 37 | } | ||
| 38 | |||
| 39 |
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2 | bp::object py_obj = tup[0]; |
| 40 |
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2 | boost::python::extract<std::string> obj_as_string(py_obj.ptr()); |
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2 | if (obj_as_string.check()) |
| 42 | { | ||
| 43 |
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2 | const std::string str = obj_as_string; |
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2 | obj.loadFromString(str); |
| 45 | 2 | } | |
| 46 | else | ||
| 47 | { | ||
| 48 | ✗ | throw eigenpy::Exception( | |
| 49 | "Pickle was not able to reconstruct the model from the loaded data.\n" | ||
| 50 | "The entry is not a string."); | ||
| 51 | } | ||
| 52 | 2 | } | |
| 53 | |||
| 54 | 195 | static bool getstate_manages_dict() | |
| 55 | { | ||
| 56 | 195 | return true; | |
| 57 | } | ||
| 58 | }; | ||
| 59 | } // namespace python | ||
| 60 | } // namespace pinocchio | ||
| 61 | |||
| 62 | #endif // ifndef __pinocchio_python_utils_pickle_hpp__ | ||
| 63 |