pickle.hpp

//
// Copyright (c) 2023 INRIA
//

#pragma once

#include <pinocchio/bindings/python/fwd.hpp>

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

 template<typename Derived>
 struct PickleFromStringSerialization : bp::pickle_suite
 {
 static bp::tuple getinitargs(const Derived &)
 {
 return bp::make_tuple();
 }

 static bp::tuple getstate(const Derived & obj)
 {
 const std::string str(obj.saveToString());
 return bp::make_tuple(bp::str(str));
 }

 static void setstate(Derived & obj, bp::tuple tup)
 {
 if (bp::len(tup) == 0 || bp::len(tup) > 1)
 {
 throw eigenpy::Exception(
 "Pickle was not able to reconstruct the object from the loaded data.\n"
 "The pickle data structure contains too many elements.");
 }

 bp::object py_obj = tup[0];
 boost::python::extract<std::string> obj_as_string(py_obj.ptr());
 if (obj_as_string.check())
 {
 const std::string str = obj_as_string;
 obj.loadFromString(str);
 }
 else
 {
 throw eigenpy::Exception(
 "Pickle was not able to reconstruct the model from the loaded data.\n"
 "The entry is not a string.");
 }
 }

 static bool getstate_manages_dict()
 {
 return true;
 }
 };
 } // namespace python
} // namespace pinocchio