model-graph.hpp

//
// Copyright (c) 2025 INRIA
//

#pragma once

#include <boost/python.hpp>
#include <boost/python/class.hpp>
#include <boost/python/scope.hpp>

#include "pinocchio/bindings/python/fwd.hpp"

namespace pinocchio
{
 namespace python
 {
 template<typename Scalar>
 struct GraphNamespace
 {
 };

 void exposeFramesGraph();
 void exposeJointsGraph();
 void exposeJointLimits();
 void exposeEdgesAlgo();
 void exposeGeometriesVariant();
 void exposeGeometryGraph();
 void exposeGeometryBuilder();
 void exposeModelGraph();
 void exposeModelGraphAlgo();

 void exposeAlgoGeometry();

 void exposeModelConfigurationConverter();

 inline void exposeGraph()
 {
 boost::python::scope graph = boost::python::class_<GraphNamespace<context::Scalar>>("graph");

#if defined(PINOCCHIO_PYTHON_INTERFACE_MAIN_MODULE)
 exposeFramesGraph();
 exposeJointsGraph();
 exposeJointLimits();
 exposeEdgesAlgo();
 exposeGeometriesVariant();
 exposeGeometryGraph();
 exposeGeometryBuilder();
 exposeModelGraph();
 exposeModelGraphAlgo();
 #if defined(PINOCCHIO_WITH_COLLISION)
 exposeAlgoGeometry();
 #endif // if defined(PINOCCHIO_WITH_COLLISION)
#endif // if defined(PINOCCHIO_PYTHON_INTERFACE_MAIN_MODULE)
 exposeModelConfigurationConverter();
 }

 } // namespace python
} // namespace pinocchio