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// |
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// Copyright (c) 2023 INRIA |
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// |
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#ifndef __pinocchio_python_utils_pickle_hpp__ |
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#define __pinocchio_python_utils_pickle_hpp__ |
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#include <pinocchio/bindings/python/fwd.hpp> |
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namespace pinocchio |
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{ |
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namespace python |
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namespace bp = boost::python; |
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template<typename Derived> |
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struct PickleFromStringSerialization : bp::pickle_suite |
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{ |
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static bp::tuple getinitargs(const Derived &) |
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{ |
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return bp::make_tuple(); |
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} |
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static bp::tuple getstate(const Derived & obj) |
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{ |
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const std::string str(obj.saveToString()); |
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return bp::make_tuple(bp::str(str)); |
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} |
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static void setstate(Derived & obj, bp::tuple tup) |
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{ |
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if (bp::len(tup) == 0 || bp::len(tup) > 1) |
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{ |
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throw eigenpy::Exception( |
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"Pickle was not able to reconstruct the object from the loaded data.\n" |
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"The pickle data structure contains too many elements."); |
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} |
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bp::object py_obj = tup[0]; |
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boost::python::extract<std::string> obj_as_string(py_obj.ptr()); |
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if (obj_as_string.check()) |
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{ |
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const std::string str = obj_as_string; |
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obj.loadFromString(str); |
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} |
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else |
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{ |
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throw eigenpy::Exception( |
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"Pickle was not able to reconstruct the model from the loaded data.\n" |
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"The entry is not a string."); |
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} |
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} |
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static bool getstate_manages_dict() |
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{ |
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return true; |
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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_utils_pickle_hpp__ |
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