visualizer-visitor.hpp

//
// Copyright (c) 2024-2025 INRIA
//

#pragma once

#include "pinocchio/visualizers/base-visualizer.hpp"
#include "pinocchio/bindings/python/fwd.hpp"

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

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

 template<class Visualizer>
 struct VisualizerPythonVisitor : bp::def_visitor<VisualizerPythonVisitor<Visualizer>>
 {
 typedef ::pinocchio::visualizers::BaseVisualizer Base;
 static_assert(
 std::is_base_of_v<Base, Visualizer>,
 "Visualizer class must be derived from pinocchio::visualizers::BaseVisualizer.");

 static void setCameraPose_proxy(Visualizer & vis, const Base::Matrix4 & pose)
 {
 vis.setCameraPose(pose);
 }

 static void setCameraPose_proxy2(Visualizer & vis, const SE3 & pose)
 {
 vis.setCameraPose(pose);
 }

 static void play_proxy(
 Visualizer & vis, const std::vector<visualizers::VectorXs> & qs, context::Scalar dt)
 {
 std::vector<visualizers::ConstVectorRef> qs_;
 qs_.reserve(qs.size());
 for (size_t i = 0; i < qs.size(); i++)
 {
 qs_.emplace_back(qs[i]);
 }
 vis.play(qs_, dt);
 }

 static void
 play_proxy2(Visualizer & vis, const visualizers::ConstMatrixRef & qs, context::Scalar dt)
 {
 vis.play(qs, dt);
 }

 template<class... PyArgs>
 void visit(bp::class_<PyArgs...> & cl) const
 {
 using ::pinocchio::visualizers::ConstVectorRef;
 eigenpy::OptionalConverter<ConstVectorRef, boost::optional>::registration();

// convenience macro to use a lambda -- passing &Visualizer::<getter-fun> doesn't work
#define DEF_PROP_PROXY(name) \
 add_property( \
 #name, \
 bp::make_function( \
 +[](Visualizer & v) -> auto & { return v.name(); }, bp::return_internal_reference<>()))

 cl.def("initViewer", &Visualizer::initViewer, bp::arg("self"))
 .def("loadViewerModel", &Visualizer::loadViewerModel, bp::arg("self"))
 .def("rebuildData", &Visualizer::rebuildData, bp::arg("self"))
 .def(
 "display",
 +[](Visualizer & v, const boost::optional<ConstVectorRef> & q) { v.display(q); },
 (bp::arg("self"), bp::arg("q") = boost::none))
 .def("play", play_proxy, (bp::arg("self"), "qs", "dt"))
 .def("play", play_proxy2, (bp::arg("self"), "qs", "dt"))
 .def("setCameraTarget", &Visualizer::setCameraTarget, (bp::arg("self"), "target"))
 .def("setCameraPosition", &Visualizer::setCameraPosition, (bp::arg("self"), "position"))
 .def("setCameraPose", setCameraPose_proxy, (bp::arg("self"), "pose"))
 .def("setCameraPose", setCameraPose_proxy2, (bp::arg("self"), "pose"))
 .def("setCameraZoom", &Visualizer::setCameraZoom, (bp::arg("self"), "value"))
 .def("clean", &Visualizer::clean, bp::arg("self"))
 .def("hasExternalData", &Visualizer::hasExternalData, bp::arg("self"))
 .DEF_PROP_PROXY(model)
 .DEF_PROP_PROXY(visualModel)
 .DEF_PROP_PROXY(collisionModel)
 .DEF_PROP_PROXY(data)
 .DEF_PROP_PROXY(visualData)
 .DEF_PROP_PROXY(collisionData);
#undef DEF_PROP_PROXY
 }
 };

 } // namespace python
} // namespace pinocchio