| Directory: | ./ |
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| File: | include/pinocchio/bindings/python/utils/std-aligned-vector.hpp |
| Date: | 2024-08-27 18:20:05 |
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| Lines: | 20 | 20 | 100.0% |
| Branches: | 21 | 42 | 50.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2016-2024 CNRS INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #ifndef __pinocchio_python_utils_std_aligned_vector_hpp__ | ||
| 6 | #define __pinocchio_python_utils_std_aligned_vector_hpp__ | ||
| 7 | |||
| 8 | #include <boost/python.hpp> | ||
| 9 | #include <string> | ||
| 10 | |||
| 11 | #include "pinocchio/container/aligned-vector.hpp" | ||
| 12 | |||
| 13 | #include "pinocchio/bindings/python/utils/pickle-vector.hpp" | ||
| 14 | #include "pinocchio/bindings/python/utils/std-vector.hpp" | ||
| 15 | |||
| 16 | namespace pinocchio | ||
| 17 | { | ||
| 18 | namespace python | ||
| 19 | { | ||
| 20 | |||
| 21 | /// | ||
| 22 | /// \brief Expose an container::aligned_vector from a type given as template argument. | ||
| 23 | /// | ||
| 24 | /// \tparam T Type to expose as container::aligned_vector<T>. | ||
| 25 | /// \tparam EnableFromPythonListConverter Enables the conversion from a Python list to a | ||
| 26 | /// container::aligned_vector<T>. | ||
| 27 | /// | ||
| 28 | /// \sa StdAlignedVectorPythonVisitor | ||
| 29 | /// | ||
| 30 | template<class T, bool NoProxy = false, bool EnableFromPythonListConverter = true> | ||
| 31 | struct StdAlignedVectorPythonVisitor | ||
| 32 | : public ::boost::python::vector_indexing_suite< | ||
| 33 | typename container::aligned_vector<T>, | ||
| 34 | NoProxy, | ||
| 35 | eigenpy::internal:: | ||
| 36 | contains_vector_derived_policies<typename container::aligned_vector<T>, NoProxy>> | ||
| 37 | , public eigenpy::StdContainerFromPythonList<container::aligned_vector<T>> | ||
| 38 | { | ||
| 39 | typedef container::aligned_vector<T> vector_type; | ||
| 40 | typedef eigenpy::StdContainerFromPythonList<vector_type, NoProxy> FromPythonListConverter; | ||
| 41 | typedef T value_type; | ||
| 42 | |||
| 43 | 300 | static void expose(const std::string & class_name, const std::string & doc_string = "") | |
| 44 | { | ||
| 45 |
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300 | expose(class_name, doc_string, eigenpy::EmptyPythonVisitor()); |
| 46 | 300 | } | |
| 47 | |||
| 48 | template<typename VisitorDerived> | ||
| 49 | 120 | static void expose( | |
| 50 | const std::string & class_name, const boost::python::def_visitor<VisitorDerived> & visitor) | ||
| 51 | { | ||
| 52 |
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120 | expose(class_name, "", visitor); |
| 53 | 120 | } | |
| 54 | |||
| 55 | template<typename VisitorDerived> | ||
| 56 | 420 | static void expose( | |
| 57 | const std::string & class_name, | ||
| 58 | const std::string & doc_string, | ||
| 59 | const boost::python::def_visitor<VisitorDerived> & visitor) | ||
| 60 | { | ||
| 61 | namespace bp = boost::python; | ||
| 62 |
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420 | if (!eigenpy::register_symbolic_link_to_registered_type<vector_type>()) |
| 63 | { | ||
| 64 |
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420 | bp::class_<vector_type> cl(class_name.c_str(), doc_string.c_str()); |
| 65 |
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420 | cl.def(StdAlignedVectorPythonVisitor()) |
| 66 | |||
| 67 |
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420 | .def(bp::init<size_t, const value_type &>( |
| 68 | bp::args("self", "size", "value"), | ||
| 69 | "Constructor from a given size and a given value.")) | ||
| 70 |
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840 | .def(bp::init<const vector_type &>(bp::args("self", "other"), "Copy constructor")) |
| 71 | |||
| 72 |
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420 | .def( |
| 73 | "tolist", &FromPythonListConverter::tolist, | ||
| 74 |
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840 | (bp::arg("self"), bp::arg("deep_copy") = false), |
| 75 | "Returns the aligned_vector as a Python list.") | ||
| 76 |
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420 | .def(visitor) |
| 77 | #ifndef PINOCCHIO_PYTHON_NO_SERIALIZATION | ||
| 78 |
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420 | .def_pickle(PickleVector<vector_type>()) |
| 79 | #endif | ||
| 80 |
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420 | .def(eigenpy::CopyableVisitor<vector_type>()); |
| 81 | |||
| 82 | // Register conversion | ||
| 83 | if (EnableFromPythonListConverter) | ||
| 84 |
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420 | FromPythonListConverter::register_converter(); |
| 85 | 420 | } | |
| 86 | 420 | } | |
| 87 | }; | ||
| 88 | } // namespace python | ||
| 89 | } // namespace pinocchio | ||
| 90 | |||
| 91 | #endif // ifndef __pinocchio_python_utils_std_aligned_vector_hpp__ | ||
| 92 |