visitors.hpp

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#pragma once
 
#include <eigenpy/fwd.hpp>
 
namespace aligator {
namespace python {
namespace bp = boost::python;
 
// fwd-declaration
bp::arg operator""_a(const char *argname, std::size_t);
 
template <typename T>
struct ClonePythonVisitor : bp::def_visitor<ClonePythonVisitor<T>> {
  template <typename PyT> void visit(PyT &obj) const {
    obj.def("clone", &T::clone, bp::args("self"), "Clone the object.");
  }
};
 
template <typename T>
struct CreateDataPythonVisitor : bp::def_visitor<CreateDataPythonVisitor<T>> {
  template <typename Pyclass> void visit(Pyclass &obj) const {
    obj.def("createData", &T::createData, bp::args("self"),
            "Create a data object.");
  }
};

template <typename T, typename TWrapper>
struct CreateDataPolymorphicPythonVisitor
    : bp::def_visitor<CreateDataPolymorphicPythonVisitor<T, TWrapper>> {
  template <typename PyClass> void visit(PyClass &obj) const {
    obj.def("createData", &T::createData, &TWrapper::default_createData,
            bp::args("self"), "Create a data object.");
  }
};
 
template <typename T>
struct CopyableVisitor : bp::def_visitor<CopyableVisitor<T>> {
  template <typename PyClass> void visit(PyClass &obj) const {
    obj.def("copy", &copy, bp::arg("self"), "Returns a copy of this.");
  }
 
private:
  static T copy(const T &self) { return T(self); }
};
 
template <typename T>
struct PrintableVisitor : bp::def_visitor<PrintableVisitor<T>> {
  template <typename PyClass> void visit(PyClass &obj) const {
    obj.def(bp::self_ns::str(bp::self)).def(bp::self_ns::repr(bp::self));
  }
};
 
template <typename T>
struct PrintAddressVisitor : bp::def_visitor<PrintAddressVisitor<T>> {
  template <typename PyClass> void visit(PyClass &obj) const {
    obj.def("printAddress", printAddress, bp::args("self"));
  }
  static void *getAddress(const T &a) { return (void *)&a; }
  static void printAddress(const T &a) {
    printf("Address: %p\n", getAddress(a));
  }
};
 
// fwd declaration
template <typename SolverType> struct SolverVisitor;
 
} // namespace python
} // namespace aligator