model-checker.hpp

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

#ifndef __pinocchio_python_utils_model_checker_hpp__
#define __pinocchio_python_utils_model_checker_hpp__

#include <Python.h>
#include <string>

#include "pinocchio/algorithm/check-model.hpp"
#include "pinocchio/bindings/python/fwd.hpp"

namespace pinocchio
{
 namespace python
 {

 // Checker Policy to make a safe version of python function, concerning joint mimic.
 // This will throw a runtime error in case algorithm does not allow joint mimic in the model.
 template<class Policy = boost::python::default_call_policies>
 struct mimic_not_supported_function : Policy
 {
 mimic_not_supported_function(size_t model_idx_)
 : Policy()
 , model_idx(model_idx_)
 {
 }

 template<class ArgumentPackage>
 bool precall(ArgumentPackage const & args) const
 {
 // Convert the object to a tuple
 boost::python::tuple py_args = boost::python::extract<boost::python::tuple>(args);

 context::Model m = boost::python::extract<context::Model>(py_args[model_idx]);
 if (!m.check(MimicChecker()))
 {
 PyErr_SetString(PyExc_RuntimeError, m_error_message.c_str());
 return false;
 }
 else
 return static_cast<const Policy *>(this)->precall(args);
 }

 protected:
 static const std::string m_error_message;
 // index of the pinocchio in the function arguments. Need it to avoid a loop
 const size_t model_idx;
 };

 template<class Policy>
 const std::string mimic_not_supported_function<Policy>::m_error_message =
 "This algorithm does not support Joint Mimic type in the model.";
 } // namespace python
} // namespace pinocchio
#endif // model_checker