std-vector.hpp

//
// Copyright (c) 2016-2024 CNRS INRIA
//

#pragma once

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

#include <eigenpy/std-vector.hpp>
#include <eigenpy/pickle-vector.hpp>

#include <boost/python/def_visitor.hpp>

#include <type_traits>

namespace eigenpy
{

 template<typename Derived>
 struct has_operator_equal<
 Derived,
 std::enable_if_t<std::is_base_of_v<::pinocchio::NumericalBase<Derived>, Derived>, Derived>>
 : has_operator_equal<typename ::pinocchio::NumericalBase<Derived>::Scalar>
 {
 };

 template<typename _Scalar, int _Rows, int _Cols, int _Options>
 struct has_operator_equal<Eigen::Matrix<_Scalar, _Rows, _Cols, _Options>>
 : has_operator_equal<typename Eigen::Matrix<_Scalar, _Rows, _Cols, _Options>::Scalar>
 {
 };

} // namespace eigenpy

namespace pinocchio
{
 namespace python
 {
 template<
 class vector_type,
 bool NoProxy = false,
 bool EnableFromPythonListConverter = true,
#ifdef PINOCCHIO_PYTHON_NO_SERIALIZATION
 bool pickable = false>
#else
 bool pickable = true>
#endif
 using StdVectorPythonVisitor = eigenpy::
 StdVectorPythonVisitor<vector_type, NoProxy, EnableFromPythonListConverter, pickable>;

 template<typename MatType>
 void exposeStdVectorEigenSpecificType(const char * name)
 {
 typedef std::vector<MatType> VecMatType;
 std::string full_name = "StdVec_";
 full_name += name;
 StdVectorPythonVisitor<VecMatType>::expose(
 full_name.c_str(), eigenpy::details::overload_base_get_item_for_std_vector<VecMatType>());
 }

 // Visitor to add default pickling method to an already registerd StdVector.
 // Since eigenpy::registration_class doesn't support adding attribute, we must set
 // __safe_for_unpickling__ and __getstate_manages_dict__ to true in the __init__.py.
 // This visitor is intended to be use as eigenpy::register_symbolic_link_to_registered_type
 // argument.
 template<typename vector_type>
 struct DefPickleStdVectorVisitor
 : public boost::python::def_visitor<DefPickleStdVectorVisitor<vector_type>>
 {
 template<class PyClass>
 void visit(PyClass & cl) const
 {
#ifndef PINOCCHIO_PYTHON_NO_SERIALIZATION
 typedef eigenpy::PickleVector<vector_type> PickleSuiteType;
 cl.def("__getinitargs__", &PickleSuiteType::getinitargs);
 cl.def("__getstate__", &PickleSuiteType::getstate);
 cl.def("__setstate__", &PickleSuiteType::setstate);
#else
 PINOCCHIO_UNUSED_VARIABLE(cl);
#endif
 }
 };
 } // namespace python
} // namespace pinocchio