macros.hpp

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#pragma once
 
#include <type_traits>
#include <fmt/format.h>
#include "aligator/utils/exceptions.hpp"
#include <eigenpy/fwd.hpp>
 
namespace aligator {
namespace python {
namespace internal {
 
template <typename ret_type>
ret_type suppress_if_void(boost::python::detail::method_result &&o) {
  if constexpr (!std::is_void_v<ret_type>) {
    return o;
  } else {
    return;
  }
}
 
} // namespace internal
} // namespace python
} // namespace aligator
 
#define ALIGATOR_PYTHON_OVERRIDE_IMPL(ret_type, pyname, ...)                   \
  do {                                                                         \
    if (bp::override fo = this->get_override(pyname)) {                        \
      decltype(auto) o = fo(__VA_ARGS__);                                      \
      return ::aligator::python::internal::suppress_if_void<ret_type>(         \
          std::move(o));                                                       \
    }                                                                          \
  } while (false)
 
#define ALIGATOR_PYTHON_OVERRIDE_PURE(ret_type, pyname, ...)                   \
  ALIGATOR_PYTHON_OVERRIDE_IMPL(ret_type, pyname, __VA_ARGS__);                \
  ALIGATOR_RUNTIME_ERROR(                                                      \
      fmt::format("Tried to call pure virtual function {:s}.", pyname))
 
#define ALIGATOR_PYTHON_OVERRIDE(ret_type, cname, fname, ...)                  \
  ALIGATOR_PYTHON_OVERRIDE_IMPL(ret_type, #fname, __VA_ARGS__);                \
  return cname::fname(__VA_ARGS__)