pybind11.hpp

#pragma once


#include <iostream>
#include <pinocchio/fwd.hpp>

// This lines forces clang-format to keep the include split here
#include <pybind11/pybind11.h>

#include <eigenpy/eigenpy.hpp>

namespace pinocchio
{
 namespace python
 {
 namespace bp = boost::python;
 namespace py = pybind11;

 template<typename T>
 inline py::object to(T & t)
 {
 // Create PyObject using boost Python
 bp::object obj = bp::api::object(t);
 PyObject * pyobj = obj.ptr();
 return pybind11::reinterpret_borrow<py::object>(pyobj);
 }
 template<typename T>
 inline py::object to(T * t)
 {
 // Create PyObject using boost Python
 typename bp::manage_new_object::apply<T *>::type converter;
 PyObject * pyobj = converter(t);
 // Create the Pybind11 object
 return py::reinterpret_borrow<py::object>(pyobj);
 }

 template<typename ReturnType>
 inline ReturnType & from(py::handle model)
 {
 return bp::extract<ReturnType &>(model.ptr());
 }

 template<typename T>
 struct convert_type
 {
 typedef T type;
 static inline T _to(T t)
 {
 return t;
 }
 static inline type _from(type t)
 {
 return t;
 }
 };
 template<>
 struct convert_type<void>
 {
 // typedef void type;
 // static inline void _to() {}
 };

 template<typename T>
 struct convert_boost_python_object
 {
 typedef py::object type;
 static inline type _to(T t)
 {
 return to<std::remove_pointer_t<std::decay_t<T>>>(t);
 }
 static inline T _from(type t)
 {
 return from<std::decay_t<T>>(t);
 }
 };

#define PINOCCHIO_PYBIND11_ADD_CONVERT_TYPE(CLASS) \
 namespace pinocchio \
 { \
 namespace python \
 { \
 template<> \
 struct convert_type<CLASS> : convert_boost_python_object<CLASS> \
 { \
 }; \
 } \
 }

#define _SINGLE_ARG(...) __VA_ARGS__
#define PINOCCHIO_PYBIND11_ADD_ALL_CONVERT_TYPE(CLASS) \
 PINOCCHIO_PYBIND11_ADD_CONVERT_TYPE(_SINGLE_ARG(CLASS)) \
 PINOCCHIO_PYBIND11_ADD_CONVERT_TYPE(_SINGLE_ARG(CLASS const)) \
 PINOCCHIO_PYBIND11_ADD_CONVERT_TYPE(_SINGLE_ARG(CLASS &)) \
 PINOCCHIO_PYBIND11_ADD_CONVERT_TYPE(_SINGLE_ARG(CLASS const &)) \
 PINOCCHIO_PYBIND11_ADD_CONVERT_TYPE(_SINGLE_ARG(CLASS *)) \
 PINOCCHIO_PYBIND11_ADD_CONVERT_TYPE(_SINGLE_ARG(CLASS const *))

 namespace internal
 {

 template<typename R, typename... Args>
 auto call(R (*f)(Args...), typename convert_type<Args>::type... args)
 {
 return convert_type<R>::_to(f(convert_type<Args>::_from(args)...));
 }
 template<typename... Args>
 void call(void (*f)(Args...), typename convert_type<Args>::type... args)
 {
 f(convert_type<Args>::_from(args)...);
 }

 template<typename T>
 struct function_wrapper;

 template<typename R, typename... Args>
 struct function_wrapper<R (*)(Args...)>
 {
 static const size_t nargs = sizeof...(Args);

 typedef R result_type;

 template<size_t i>
 struct arg
 {
 typedef typename std::tuple_element<i, std::tuple<Args...>>::type type;
 };

 typedef R (*func_type)(Args...);

 func_type f;

 // typename convert_type<result_type>::type
 auto operator()(typename convert_type<Args>::type... args)
 {
 return call(f, args...);
 }
 };
 } // namespace internal

 template<typename R, typename... Args>
 internal::function_wrapper<R (*)(Args...)> make_pybind11_function(R (*func)(Args...))
 {
 internal::function_wrapper<R (*)(Args...)> wrapper;
 wrapper.f = func;
 return wrapper;
 }

 template<typename T>
 py::object default_arg(T t)
 {
 py::object obj = to<T>(t);
 // obj.inc_ref();
 return obj;
 }

#define PINOCCHIO_PYBIND11_TYPE_CASTER(native_type, boost_python_name) \
 namespace pybind11 \
 { \
 namespace detail \
 { \
 template<> \
 struct type_caster<native_type> \
 { \
 PYBIND11_TYPE_CASTER(_SINGLE_ARG(native_type), boost_python_name); \
 \
 /* Python -> C++ */ \
 bool load(pybind11::handle src, bool) \
 { \
 PyObject * source = src.ptr(); \
 value = boost::python::extract<native_type>(source); \
 return !PyErr_Occurred(); \
 } \
 /* C++ -> Python */ \
 static pybind11::handle cast( \
 native_type src, pybind11::return_value_policy /*policy*/, pybind11::handle /*parent*/) \
 { \
 return boost::python::api::object(src).ptr(); \
 } \
 }; \
 } /* namespace detail */ \
 } /* namespace pybind11 */

 } // namespace python
} // namespace pinocchio

#undef _SINGLE_ARG