joint-data.hpp

//
// Copyright (c) 2020 INRIA
//

#pragma once

#include "pinocchio/multibody/joint.hpp"
#include "pinocchio/bindings/python/multibody/joint/joint-derived.hpp"
#include "pinocchio/bindings/python/utils/printable.hpp"

namespace pinocchio
{
 namespace python
 {
 namespace bp = boost::python;

 template<typename JointData>
 struct ExtractJointDataVariantTypeVisitor
 {
 typedef typename JointData::JointCollection JointCollection;
 typedef bp::object result_type;

 template<typename JointDataDerived>
 result_type operator()(const JointDataBase<JointDataDerived> & jdata) const
 {
 bp::object obj(boost::ref(jdata.derived()));
 return obj;
 }

 static result_type extract(const JointData & jdata)
 {
 return boost::apply_visitor(ExtractJointDataVariantTypeVisitor(), jdata);
 }
 };

 template<typename JointData>
 struct JointDataPythonVisitor
 {

 static void expose()
 {
 bp::class_<JointData>("JointData", "Generic Joint Data", bp::no_init)
 .def(
 bp::init<const typename JointData::JointDataVariant &>(bp::args("self", "joint_data")))
 .def(JointDataBasePythonVisitor<JointData>())
 .def(PrintableVisitor<JointData>())
 .def(
 "extract", ExtractJointDataVariantTypeVisitor<JointData>::extract, bp::arg("self"),
 "Returns a reference of the internal joint managed by the JointData",
 bp::with_custodian_and_ward_postcall<0, 1>());
 }
 };

 } // namespace python
} // namespace pinocchio