From cc7662befb96af07794ae473ce2a5f4e011cabc0 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Fri, 18 Sep 2020 13:28:39 +0200
Subject: [PATCH] Expose function to define new signals.
---
CMakeLists.txt | 1 +
include/dynamic-graph/python/signal.hh | 73 ++++++++++++++++++++++++++
src/dynamic_graph/signal-base-py.cc | 50 ++----------------
3 files changed, 77 insertions(+), 47 deletions(-)
create mode 100644 include/dynamic-graph/python/signal.hh
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4056455..307d5be 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -44,6 +44,7 @@ SET(${PROJECT_NAME}_HEADERS
include/${CUSTOM_HEADER_DIR}/interpreter.hh
include/${CUSTOM_HEADER_DIR}/module.hh
include/${CUSTOM_HEADER_DIR}/python-compat.hh
+ include/${CUSTOM_HEADER_DIR}/signal.hh
include/${CUSTOM_HEADER_DIR}/signal-wrapper.hh
)
diff --git a/include/dynamic-graph/python/signal.hh b/include/dynamic-graph/python/signal.hh
new file mode 100644
index 0000000..ea115e6
--- /dev/null
+++ b/include/dynamic-graph/python/signal.hh
@@ -0,0 +1,73 @@
+// Copyright 2020, Joseph Mirabel, LAAS-CNRS.
+
+#include <sstream>
+
+#include <boost/python.hpp>
+
+#include <dynamic-graph/signal-base.h>
+#include <dynamic-graph/signal-ptr.h>
+#include <dynamic-graph/signal-time-dependent.h>
+#include <dynamic-graph/signal.h>
+
+#include "dynamic-graph/python/signal-wrapper.hh"
+
+namespace dynamicgraph {
+namespace python {
+
+template <typename T, typename Time>
+auto exposeSignal(const std::string& name) {
+ namespace bp = boost::python;
+
+ typedef Signal<T, Time> S_t;
+ bp::class_<S_t, bp::bases<SignalBase<Time> >, boost::noncopyable> obj(
+ name.c_str(), bp::init<std::string>());
+ obj.add_property(
+ "value",
+ bp::make_function(&S_t::accessCopy,
+ bp::return_value_policy<bp::copy_const_reference>()),
+ &S_t::setConstant, // TODO check the setter
+ "the signal value.\n"
+ "warning: for Eigen objects, sig.value[0] = 1. may not work).");
+ return obj;
+}
+
+template <typename T, typename Time>
+auto exposeSignalWrapper(const std::string& name) {
+ namespace bp = boost::python;
+
+ typedef SignalWrapper<T, Time> S_t;
+ bp::class_<S_t, bp::bases<Signal<T, Time> >, boost::noncopyable> obj(
+ name.c_str(), bp::no_init);
+ return obj;
+}
+
+template <typename T, typename Time>
+auto exposeSignalPtr(const std::string& name) {
+ namespace bp = boost::python;
+
+ typedef SignalPtr<T, Time> S_t;
+ bp::class_<S_t, bp::bases<Signal<T, Time> >, boost::noncopyable> obj(
+ name.c_str(), bp::no_init);
+ return obj;
+}
+
+template <typename T, typename Time>
+auto exposeSignalTimeDependent(const std::string& name) {
+ namespace bp = boost::python;
+
+ typedef SignalTimeDependent<T, Time> S_t;
+ bp::class_<S_t, bp::bases<Signal<T, Time> >, boost::noncopyable> obj(
+ name.c_str(), bp::no_init);
+ return obj;
+}
+
+template <typename T, typename Time>
+void exposeSignalsOfType(const std::string& name) {
+ exposeSignal<T, Time>("Signal" + name);
+ exposeSignalPtr<T, Time>("SignalPtr" + name);
+ exposeSignalWrapper<T, Time>("SignalWrapper" + name);
+ exposeSignalTimeDependent<T, Time>("SignalTimeDependent" + name);
+}
+
+} // namespace python
+} // namespace dynamicgraph
diff --git a/src/dynamic_graph/signal-base-py.cc b/src/dynamic_graph/signal-base-py.cc
index 50a80ad..c839742 100644
--- a/src/dynamic_graph/signal-base-py.cc
+++ b/src/dynamic_graph/signal-base-py.cc
@@ -5,19 +5,17 @@
#include <boost/python.hpp>
+#include "dynamic-graph/python/signal.hh"
+
#include <dynamic-graph/signal-base.h>
#include <dynamic-graph/signal.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
-#include <dynamic-graph/signal-caster.h>
#include <dynamic-graph/linear-algebra.h>
-#include <dynamic-graph/pool.h>
-#include <dynamic-graph/factory.h>
+#include <dynamic-graph/value.h>
#include "dynamic-graph/python/dynamic-graph-py.hh"
-#include "dynamic-graph/python/convert-dg-to-py.hh"
#include "dynamic-graph/python/signal-wrapper.hh"
-#include "dynamic-graph/python/module.hh"
using dynamicgraph::SignalBase;
@@ -26,8 +24,6 @@ namespace bp = boost::python;
namespace dynamicgraph {
namespace python {
-using namespace convert;
-
typedef int time_type;
typedef Eigen::AngleAxis<double> VectorUTheta;
@@ -82,17 +78,6 @@ void exposeSignalBase(const char* name) {
"Print the signal dependencies in a string");
}
-template <typename T, typename Time>
-auto exposeSignal(const std::string& name) {
- typedef Signal<T, Time> S_t;
- bp::class_<S_t, bp::bases<SignalBase<Time> >, boost::noncopyable> obj(name.c_str(), bp::init<std::string>());
- obj.add_property("value", bp::make_function(&S_t::accessCopy, bp::return_value_policy<bp::copy_const_reference>()),
- &S_t::setConstant, // TODO check the setter
- "the signal value.\n"
- "warning: for Eigen objects, sig.value[0] = 1. may not work).");
- return obj;
-}
-
template <>
auto exposeSignal<MatrixHomogeneous, time_type>(const std::string& name) {
typedef Signal<MatrixHomogeneous, time_type> S_t;
@@ -107,35 +92,6 @@ auto exposeSignal<MatrixHomogeneous, time_type>(const std::string& name) {
return obj;
}
-template <typename T, typename Time>
-auto exposeSignalWrapper(const std::string& name) {
- typedef SignalWrapper<T, Time> S_t;
- bp::class_<S_t, bp::bases<Signal<T, Time> >, boost::noncopyable> obj(name.c_str(), bp::no_init);
- return obj;
-}
-
-template <typename T, typename Time>
-auto exposeSignalPtr(const std::string& name) {
- typedef SignalPtr<T, Time> S_t;
- bp::class_<S_t, bp::bases<Signal<T, Time> >, boost::noncopyable> obj(name.c_str(), bp::no_init);
- return obj;
-}
-
-template <typename T, typename Time>
-auto exposeSignalTimeDependent(const std::string& name) {
- typedef SignalTimeDependent<T, Time> S_t;
- bp::class_<S_t, bp::bases<Signal<T, Time> >, boost::noncopyable> obj(name.c_str(), bp::no_init);
- return obj;
-}
-
-template <typename T, typename Time>
-void exposeSignalsOfType(const std::string& name) {
- exposeSignal<T, Time>("Signal" + name);
- exposeSignalPtr<T, Time>("SignalPtr" + name);
- exposeSignalWrapper<T, Time>("SignalWrapper" + name);
- exposeSignalTimeDependent<T, Time>("SignalTimeDependent" + name);
-}
-
void exposeSignals() {
exposeSignalBase<time_type>("SignalBase");
--
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