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  • ostasse/dynamic-graph-python
  • gsaurel/dynamic-graph-python
  • stack-of-tasks/dynamic-graph-python
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.git-blame-ignore-revs 0 → 100644
View file @ a76b5b78
# pre-commit run -a (Guilhem Saurel, 2022-07-27)
db4d991c9d727b8454695ce8d88948b948c6b36f
.gitmodules
View file @ a76b5b78
[submodule "cmake"]
path = cmake
url = git://github.com/jrl-umi3218/jrl-cmakemodules.git
[submodule ".travis"]
path = .travis
url = git://github.com/jrl-umi3218/jrl-travis
url = https://github.com/jrl-umi3218/jrl-cmakemodules.git
.pre-commit-config.yaml 0 → 100644
View file @ a76b5b78
exclude: tests/test_python-syntax_error.py
ci:
autoupdate_branch: 'devel'
repos:
- repo: https://github.com/pre-commit/mirrors-clang-format
rev: v14.0.6
hooks:
- id: clang-format
args: [--style=Google]
- repo: https://github.com/pre-commit/pre-commit-hooks
rev: v4.3.0
hooks:
- id: check-added-large-files
- id: check-ast
- id: check-executables-have-shebangs
- id: check-json
- id: check-merge-conflict
- id: check-symlinks
- id: check-toml
- id: check-yaml
- id: debug-statements
- id: destroyed-symlinks
- id: detect-private-key
- id: end-of-file-fixer
- id: fix-byte-order-marker
- id: mixed-line-ending
- id: trailing-whitespace
- repo: https://github.com/psf/black
rev: 22.8.0
hooks:
- id: black
- repo: https://github.com/PyCQA/flake8
rev: 5.0.4
hooks:
- id: flake8
- repo: https://github.com/cheshirekow/cmake-format-precommit
rev: v0.6.13
hooks:
- id: cmake-format
.travis @ cbc92f81
Compare cbc92f81...cbc92f81
Subproject commit cbc92f81bdd0dcfd7fc1eae56801d8111267937d
.travis.yml deleted 100644 → 0
View file @ 16d7858d
language: cpp
sudo: required
compiler:
- gcc
- clang
env:
global:
- secure: "ECiHIh0aT5ml/MdKifvFIM2UpDWiPsJPEZpafLYM8U0VAPYThSfUe8JWhMsky8amOwm38akbSbr6C7iBKVpzjAqpgNdOdufO1RUZ6pUvtlVXiXTw2KlqPqbDVlD3QroVDhnX/rIRcg5ezEHAIb594uEaHdf8tlikhjdTc3aAgMA="
- APT_DEPENDENCIES="doxygen doxygen-latex libboost-all-dev libeigen3-dev liblapack-dev libblas-dev gfortran python-dev python-sphinx"
- GIT_DEPENDENCIES="stack-of-tasks/dynamic-graph"
- LCOV_IGNORE_RULES="*unitTesting*"
allow_failures:
- compiler: clang
notifications:
email:
- hpp-source@laas.fr
branches:
only:
- master
- devel
script: ./.travis/run build
script: ./travis_custom/build_custom
after_success: ./.travis/run after_success
after_failure: ./.travis/run after_failure
before_install: ./travis_custom/custom_before_install
matrix:
allow_failures:
- compiler: clang
.yapfignore
View file @ a76b5b78
unitTesting/test_python-syntax_error.py
tests/test_python-syntax_error.py
CMakeLists.txt
View file @ a76b5b78
# Copyright 2010-2020, Florent Lamiraux, Thomas Moulard, Olivier Stasse, Guilhem Saurel, JRL, CNRS/AIST, LAAS-CNRS
# Copyright 2010-2020, Florent Lamiraux, Thomas Moulard, Olivier Stasse, Guilhem
# Saurel, JRL, CNRS/AIST, LAAS-CNRS
CMAKE_MINIMUM_REQUIRED(VERSION 3.1)
cmake_minimum_required(VERSION 3.1)
# Project properties
SET(PROJECT_ORG stack-of-tasks)
SET(PROJECT_NAME dynamic-graph-python)
SET(PROJECT_DESCRIPTION "Dynamic graph library Python bindings")
SET(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
set(PROJECT_ORG stack-of-tasks)
set(PROJECT_NAME dynamic-graph-python)
set(PROJECT_DESCRIPTION "Dynamic graph library Python bindings")
set(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
# Project options
OPTION(SUFFIX_SO_VERSION "Suffix library name with its version" ON)
option(SUFFIX_SO_VERSION "Suffix library name with its version" ON)
# Project configuration
SET(PROJECT_USE_CMAKE_EXPORT TRUE)
SET(CUSTOM_HEADER_DIR "dynamic-graph/python")
SET(CXX_DISABLE_WERROR TRUE)
SET(DOXYGEN_USE_MATHJAX YES)
set(PROJECT_USE_CMAKE_EXPORT TRUE)
set(CUSTOM_HEADER_DIR "dynamic-graph/python")
set(CXX_DISABLE_WERROR TRUE)
set(DOXYGEN_USE_MATHJAX YES)
# JRL-cmakemodule setup
INCLUDE(cmake/base.cmake)
INCLUDE(cmake/boost.cmake)
INCLUDE(cmake/python.cmake)
include(cmake/base.cmake)
include(cmake/boost.cmake)
# Project definition
COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
compute_project_args(PROJECT_ARGS LANGUAGES CXX)
project(${PROJECT_NAME} ${PROJECT_ARGS})
check_minimal_cxx_standard(14 ENFORCE)
# Project dependencies
FINDPYTHON()
ADD_PROJECT_DEPENDENCY(dynamic-graph REQUIRED PKG_CONFIG_REQUIRES dynamic-graph)
SET(BOOST_COMPONENTS filesystem system thread program_options unit_test_framework python)
SEARCH_FOR_BOOST()
set(PYTHON_COMPONENTS Interpreter Development NumPy)
add_project_dependency(dynamic-graph 4.4.0 REQUIRED)
add_project_dependency(eigenpy 2.7.10 REQUIRED)
set(PYTHON_EXPORT_DEPENDENCY_MACROS
"list(APPEND PYTHON_COMPONENTS ${PYTHON_COMPONENTS})\n${PYTHON_EXPORT_DEPENDENCY_MACROS}"
)
if(BUILD_TESTING)
find_package(Boost REQUIRED COMPONENTS unit_test_framework)
endif(BUILD_TESTING)
if(Boost_VERSION GREATER 107299 OR Boost_VERSION_MACRO GREATER 107299)
# Silence a warning about a deprecated use of boost bind by boost >= 1.73
# without dropping support for boost < 1.73
add_definitions(-DBOOST_BIND_GLOBAL_PLACEHOLDERS)
endif()
# Main Library
SET(${PROJECT_NAME}_HEADERS
include/${CUSTOM_HEADER_DIR}/api.hh
include/${CUSTOM_HEADER_DIR}/convert-dg-to-py.hh
include/${CUSTOM_HEADER_DIR}/dynamic-graph-py.hh
include/${CUSTOM_HEADER_DIR}/exception.hh
include/${CUSTOM_HEADER_DIR}/exception-python.hh
include/${CUSTOM_HEADER_DIR}/interpreter.hh
include/${CUSTOM_HEADER_DIR}/python-compat.hh
include/${CUSTOM_HEADER_DIR}/signal-wrapper.hh
)
SET(${PROJECT_NAME}_SOURCES
src/interpreter.cc
src/dynamic_graph/python-compat.cc
)
ADD_LIBRARY(${PROJECT_NAME} SHARED
${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})
TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} SYSTEM PUBLIC ${PYTHON_INCLUDE_DIRS})
TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${Boost_LIBRARIES}
${PYTHON_LIBRARY} ${Boost_PYTHON_LIBRARIES} dynamic-graph::dynamic-graph)
IF(SUFFIX_SO_VERSION)
SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
ENDIF(SUFFIX_SO_VERSION)
TARGET_COMPILE_DEFINITIONS(${PROJECT_NAME} PRIVATE PYTHON_LIBRARY="${PYTHON_LIBRARY}")
INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
ADD_SUBDIRECTORY(src)
ADD_SUBDIRECTORY(tests)
PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
INSTALL(FILES package.xml DESTINATION share/${PROJECT_NAME})
set(${PROJECT_NAME}_HEADERS
include/${CUSTOM_HEADER_DIR}/api.hh
include/${CUSTOM_HEADER_DIR}/convert-dg-to-py.hh
include/${CUSTOM_HEADER_DIR}/dynamic-graph-py.hh
include/${CUSTOM_HEADER_DIR}/fwd.hh
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/${CUSTOM_HEADER_DIR}/signal-wrapper.hh)
set(${PROJECT_NAME}_SOURCES
src/interpreter.cc src/dynamic_graph/python-compat.cc
src/dynamic_graph/entity-py.cc src/dynamic_graph/convert-dg-to-py.cc)
add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES}
${${PROJECT_NAME}_HEADERS})
target_include_directories(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
target_link_libraries(${PROJECT_NAME} PUBLIC dynamic-graph::dynamic-graph)
modernize_target_link_libraries(
${PROJECT_NAME}
SCOPE
PUBLIC
TARGETS
Python${PYTHON_VERSION_MAJOR}::Python
LIBRARIES
${PYTHON_LIBRARIES}
INCLUDE_DIRS
${PYTHON_INCLUDE_DIRS})
target_link_boost_python(${PROJECT_NAME} PUBLIC)
if(SUFFIX_SO_VERSION)
set_target_properties(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
endif(SUFFIX_SO_VERSION)
target_compile_definitions(${PROJECT_NAME}
PRIVATE PYTHON_LIBRARY="${PYTHON_LIBRARY}")
install(
TARGETS ${PROJECT_NAME}
EXPORT ${TARGETS_EXPORT_NAME}
DESTINATION lib)
add_subdirectory(src)
if(BUILD_TESTING)
add_subdirectory(tests)
endif(BUILD_TESTING)
install(FILES package.xml DESTINATION share/${PROJECT_NAME})
README.md
View file @ a76b5b78
dynamic-graph-python
====================
# dynamic-graph-python
[![Building Status](https://travis-ci.org/stack-of-tasks/dynamic-graph-python.svg?branch=master)](https://travis-ci.org/stack-of-tasks/dynamic-graph-python)
[![Pipeline status](https://gitlab.laas.fr/stack-of-tasks/dynamic-graph-python/badges/master/pipeline.svg)](https://gitlab.laas.fr/stack-of-tasks/dynamic-graph-python/commits/master)
[![Coverage report](https://gitlab.laas.fr/stack-of-tasks/dynamic-graph-python/badges/master/coverage.svg?job=doc-coverage)](http://projects.laas.fr/stack-of-tasks/doc/stack-of-tasks/dynamic-graph-python/master/coverage/)
[![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)
[![pre-commit.ci status](https://results.pre-commit.ci/badge/github/stack-of-tasks/dynamic-graph-python/master.svg)](https://results.pre-commit.ci/latest/github/stack-of-tasks/dynamic-graph-python)
Python bindings for dynamic-graph.
......@@ -14,52 +15,19 @@ submodules][git-submodules]. Please clone this repository using the
repository, you can run `git submodule init && git submodule update`
to retrieve the submodules.
## Documentation
Documentation
-------------
[Online](https://gepettoweb.laas.fr/doc/stack-of-tasks/dynamic-graph-python/master/doxygen-html/)
To get started with this library, please read the [online Doxygen
documentation][doxygen-documentation].
It can also be generated locally by running the `make doc`
command. After the package is installed, the documentation will be
located in the `$prefix/share/doc/dynamic-graph` directoy where
`$prefix` is your installation prefix (`/usr/local` by default).
Getting Help
------------
## Getting Help
Support is provided through:
* the HPP mailing-list: hpp@laas.fr
* the following HipChat room: http://www.hipchat.com/gh4wQrZeV
How can I install dynamic-graph?
--------------------------------
### Installing dependencies
The matrix abstract layer depends on several packages which
have to be available on your machine.
- Libraries:
- [Boost][] (>= 1.40)
Its detection is controled by the `BOOST_ROOT` variable, see next section
for more information.
- [Lapack][] library
Use the generic purpose `CMAKE_CXX_FLAGS` and `CMAKE_EXE_LINKER_FLAGS`
to insert the flags required for the compiler to find your Lapack library
if it is installed in a non-standard directory.
- [jrl-mal][] library
- [dynamic-graph][] library
- System tools:
- [CMake][] (>=2.6)
- [pkg-config][]
- usual compilation tools (GCC/G++, make, etc.)
If you are using Ubuntu, these tools are gathered in the `build-essential` package.
* the [issue tracker](https://github.com/stack-of-tasks/dynamic-graph-python/issues)
* the matrix room [#stack-of-tasks:laas.fr](https://matrix.to/#/#stack-of-tasks:laas.fr)
## How can I install dynamic-graph?
### Compiling and installing the package
......@@ -68,24 +36,21 @@ The manual compilation requires two steps:
1. configuration of the build and generation of the build files
2. compilation of the sources and installation of the package
dynamic-graph uses [CMake][] to generate build files. It is
dynamic-graph uses CMake to generate build files. It is
recommended to create a separate build directory:
```sh
mkdir _build # (1) Create a build directory
cd _build # (2) Go to the newly created build directory
cmake [options] .. # (3) Generate the build files
mkdir build
cd build
cmake ..
```
Options which can be passed to CMake are detailed in the next section.
```sh
make # (4) Compile the package
make test # (5) Execute the package tests
make install # (6) Install the package into the prefix (see step 3)
make
make test
make install
```
### Options
Additional options can be set on the command line through the
......@@ -109,13 +74,8 @@ Available options are:
The test suite can be run from your build directory by running:
```sh
make test
make test
```
Please open a ticket if some tests are failing on your computer, it
should not be the case.
Credits
-------
This package authors are credited in the [AUTHORS](AUTHORS) file.
cmake @ 08c2c18b
Subproject commit fb4c22c319ec5320f9a85527eb1a4130954846f5
Subproject commit 08c2c18b9033c2f0a86b885b589f4fa63a163caf
doc/footer.html
View file @ a76b5b78
......@@ -8,4 +8,3 @@
</center>
</body>
</head>
doc/header.html
View file @ a76b5b78
......@@ -4,4 +4,3 @@
<LINK HREF="package.css" REL="stylesheet" TYPE="text/css">
</HEAD>
<BODY>
doc/package.css
View file @ a76b5b78
......@@ -45,8 +45,8 @@ a:link {
color:#0066CC
}
a:hover, a:active {
text-decoration: underline;
a:hover, a:active {
text-decoration: underline;
color: #3C9A35;
}
......@@ -57,7 +57,7 @@ a:visited {
}
DIV.memitem
{
{
spacing: 10px;
width:100%;
background:#FFFFFF;
......@@ -70,7 +70,7 @@ DIV.memitem
}
DIV.memproto
{
{
width:100%;
background:#F0F0F0;
font-size:100%;
......@@ -82,7 +82,7 @@ DIV.memproto
}
DIV.memdoc
{
{
padding: 10px;
width:100%;
font-size:100%;
......@@ -189,7 +189,7 @@ DIV.nav
}
DIV.groupHeader
{
{
padding-top: 30px;
padding-bottom: 20px;
background : none;
......@@ -201,23 +201,23 @@ DIV.groupHeader
color:#0066CC;
}
.directory p
{
margin: 0px;
white-space: nowrap;
.directory p
{
margin: 0px;
white-space: nowrap;
font-family: 'Lucida Grande','Lucida Sans Unicode',Verdana,Sans-Serif;
font-size: 10pt;
font-weight: normal;
}
.directory h3
{
.directory h3
{
font-family: 'Lucida Grande','Lucida Sans Unicode',Verdana,Sans-Serif;
margin: 0px;
margin-top: 1em;
margin: 0px;
margin-top: 1em;
padding-bottom: 20px;
font-size: 12pt;
font-size: 12pt;
font-variant: small-caps;
text-align: center;
}
......@@ -227,4 +227,3 @@ DIV.groupHeader
text-decoration: none;
color:#0066CC
}
doc/package.dox.cmake → doc/package.dox.in
View file @ a76b5b78
......@@ -23,8 +23,8 @@ ABBREVIATE_BRIEF = "The $name class" \
ALWAYS_DETAILED_SEC = YES
INLINE_INHERITED_MEMB = NO
FULL_PATH_NAMES = NO
STRIP_FROM_PATH =
STRIP_FROM_INC_PATH =
STRIP_FROM_PATH =
STRIP_FROM_INC_PATH =
SHORT_NAMES = NO
JAVADOC_AUTOBRIEF = YES
MULTILINE_CPP_IS_BRIEF = NO
......@@ -50,7 +50,7 @@ SORT_MEMBER_DOCS = YES
SORT_BRIEF_DOCS = NO
SORT_BY_SCOPE_NAME = NO
MAX_INITIALIZER_LINES = 30
FILE_VERSION_FILTER =
FILE_VERSION_FILTER =
#---------------------------------------------------------------------------
# configuration options related to warning and progress messages
#---------------------------------------------------------------------------
......@@ -60,18 +60,18 @@ WARN_IF_UNDOCUMENTED = YES
WARN_IF_DOC_ERROR = YES
WARN_NO_PARAMDOC = NO
WARN_FORMAT = "$file:$line: $text"
WARN_LOGFILE =
WARN_LOGFILE =
#---------------------------------------------------------------------------
# configuration options related to the input files
#---------------------------------------------------------------------------
RECURSIVE = YES
EXCLUDE =
EXCLUDE =
EXCLUDE_SYMLINKS = NO
EXAMPLE_PATH =
EXAMPLE_PATH =
EXAMPLE_PATTERNS = *
EXAMPLE_RECURSIVE = NO
INPUT_FILTER =
FILTER_PATTERNS =
INPUT_FILTER =
FILTER_PATTERNS =
FILTER_SOURCE_FILES = NO
#---------------------------------------------------------------------------
# configuration options related to source browsing
......@@ -81,7 +81,7 @@ FILTER_SOURCE_FILES = NO
#---------------------------------------------------------------------------
ALPHABETICAL_INDEX = NO
COLS_IN_ALPHA_INDEX = 5
IGNORE_PREFIX =
IGNORE_PREFIX =
#---------------------------------------------------------------------------
# configuration options related to the HTML output
#---------------------------------------------------------------------------
......@@ -89,8 +89,8 @@ GENERATE_HTML = YES
HTML_FILE_EXTENSION = .html
HTML_ALIGN_MEMBERS = YES
GENERATE_HTMLHELP = NO
CHM_FILE =
HHC_LOCATION =
CHM_FILE =
HHC_LOCATION =
GENERATE_CHI = NO
BINARY_TOC = NO
TOC_EXPAND = YES
......@@ -106,8 +106,8 @@ LATEX_CMD_NAME = latex
MAKEINDEX_CMD_NAME = makeindex
COMPACT_LATEX = NO
PAPER_TYPE = a4wide
EXTRA_PACKAGES =
LATEX_HEADER =
EXTRA_PACKAGES =
LATEX_HEADER =
PDF_HYPERLINKS = NO
USE_PDFLATEX = NO
LATEX_BATCHMODE = NO
......@@ -118,8 +118,8 @@ LATEX_HIDE_INDICES = NO
RTF_OUTPUT = rtf
COMPACT_RTF = NO
RTF_HYPERLINKS = NO
RTF_STYLESHEET_FILE =
RTF_EXTENSIONS_FILE =
RTF_STYLESHEET_FILE =
RTF_EXTENSIONS_FILE =
#---------------------------------------------------------------------------
# configuration options related to the man page output
#---------------------------------------------------------------------------
......@@ -130,8 +130,8 @@ MAN_LINKS = NO
# configuration options related to the XML output
#---------------------------------------------------------------------------
XML_OUTPUT = xml
XML_SCHEMA =
XML_DTD =
XML_SCHEMA =
XML_DTD =
XML_PROGRAMLISTING = YES
#---------------------------------------------------------------------------
# configuration options for the AutoGen Definitions output
......@@ -142,20 +142,20 @@ GENERATE_AUTOGEN_DEF = NO
#---------------------------------------------------------------------------
PERLMOD_LATEX = NO
PERLMOD_PRETTY = YES
PERLMOD_MAKEVAR_PREFIX =
PERLMOD_MAKEVAR_PREFIX =
#---------------------------------------------------------------------------
# Configuration options related to the preprocessor
# Configuration options related to the preprocessor
#---------------------------------------------------------------------------
ENABLE_PREPROCESSING = YES
MACRO_EXPANSION = YES
EXPAND_ONLY_PREDEF = YES
SEARCH_INCLUDES = YES
INCLUDE_PATH =
INCLUDE_FILE_PATTERNS =
EXPAND_AS_DEFINED =
INCLUDE_PATH =
INCLUDE_FILE_PATTERNS =
EXPAND_AS_DEFINED =
SKIP_FUNCTION_MACROS = YES
#---------------------------------------------------------------------------
# Configuration::additions related to external references
# Configuration::additions related to external references
#---------------------------------------------------------------------------
TAGFILES = \
${DYNAMIC_GRAPH_DOCDIR}/html/dynamic-graph.doxytag=${DYNAMIC_GRAPH_DOCDIR}/html
......@@ -164,10 +164,10 @@ ALLEXTERNALS = NO
EXTERNAL_GROUPS = YES
PERL_PATH = /usr/bin/perl
#---------------------------------------------------------------------------
# Configuration options related to the dot tool
# Configuration options related to the dot tool
#---------------------------------------------------------------------------
#---------------------------------------------------------------------------
# Configuration::additions related to the search engine
# Configuration::additions related to the search engine
#---------------------------------------------------------------------------
SEARCHENGINE = NO
......@@ -196,7 +196,7 @@ GENERATE_TODOLIST = YES
GENERATE_TESTLIST = NO
GENERATE_BUGLIST = NO
GENERATE_DEPRECATEDLIST= YES
ENABLED_SECTIONS =
ENABLED_SECTIONS =
SHOW_USED_FILES = NO
SHOW_DIRECTORIES = NO
#---------------------------------------------------------------------------
......@@ -206,7 +206,7 @@ SHOW_DIRECTORIES = NO
# configuration options related to the input files
#---------------------------------------------------------------------------
FILE_PATTERNS = *.hh *.idl
EXCLUDE_PATTERNS =
EXCLUDE_PATTERNS =
INPUT = ${${PROJECT_NAME}_SOURCE_DIR}/include \
${CMAKE_CURRENT_SOURCE_DIR}/additionalDoc
......@@ -260,13 +260,13 @@ GENERATE_AUTOGEN_DEF = NO
#---------------------------------------------------------------------------
GENERATE_PERLMOD = NO
#---------------------------------------------------------------------------
# Configuration options related to the preprocessor
# Configuration options related to the preprocessor
#---------------------------------------------------------------------------
#---------------------------------------------------------------------------
# Configuration::additions related to external references
# Configuration::additions related to external references
#---------------------------------------------------------------------------
#---------------------------------------------------------------------------
# Configuration options related to the dot tool
# Configuration options related to the dot tool
#---------------------------------------------------------------------------
CLASS_DIAGRAMS = YES
HIDE_UNDOC_RELATIONS = YES
......@@ -282,8 +282,8 @@ CALL_GRAPH = NO
GRAPHICAL_HIERARCHY = YES
DIRECTORY_GRAPH = YES
DOT_IMAGE_FORMAT = png
DOT_PATH =
DOTFILE_DIRS =
DOT_PATH =
DOTFILE_DIRS =
MAX_DOT_GRAPH_DEPTH = 1000
DOT_TRANSPARENT = NO
DOT_MULTI_TARGETS = YES
......
include/dynamic-graph/python/convert-dg-to-py.hh
View file @ a76b5b78
......@@ -2,17 +2,16 @@
#include <dynamic-graph/linear-algebra.h>
#include <dynamic-graph/value.h>
#include <dynamic-graph/python/exception-python.hh>
#include <boost/python.hpp>
namespace dynamicgraph {
namespace python {
namespace convert {
command::Value pythonToValue(PyObject* pyObject, const command::Value::Type& valueType);
PyObject* vectorToPython(const Vector& vector);
PyObject* matrixToPython(const ::dynamicgraph::Matrix& matrix);
PyObject* matrix4dToPython(const Eigen::Matrix4d& matrix);
PyObject* valueToPython(const ::dynamicgraph::command::Value& value);
command::Value toValue(boost::python::object o,
const command::Value::Type& type);
boost::python::object fromValue(const command::Value& value);
} // namespace convert
} // namespace python
......
include/dynamic-graph/python/dynamic-graph-py.hh
View file @ a76b5b78
#ifndef DYNAMIC_GRAPH_PY
#define DYNAMIC_GRAPH_PY
#include <iostream>
#include <sstream>
#include <dynamic-graph/debug.h>
#include <dynamic-graph/exception-factory.h>
#include <dynamic-graph/signal-base.h>
#include <boost/python.hpp>
#include <boost/python/stl_iterator.hpp>
#include <iostream>
#include <sstream>
#include "dynamic-graph/python/signal-wrapper.hh"
namespace bp = boost::python;
namespace dynamicgraph {
namespace python {
template <typename Iterator>
inline bp::list to_py_list(Iterator begin, Iterator end) {
typedef typename Iterator::value_type T;
bp::list lst;
std::for_each(begin, end, [&](const T& t) { lst.append(t); });
return lst;
}
template <typename Iterator>
inline bp::tuple to_py_tuple(Iterator begin, Iterator end) {
return bp::tuple(to_py_list(begin, end));
}
template <typename T>
inline std::vector<T> to_std_vector(const bp::object& iterable) {
return std::vector<T>(bp::stl_input_iterator<T>(iterable),
bp::stl_input_iterator<T>());
}
void exposeSignals();
// Declare functions defined in other source files
namespace signalBase {
PyObject* create(PyObject* self, PyObject* args);
PyObject* createSignalWrapper(PyObject* self, PyObject* args);
PyObject* getTime(PyObject* self, PyObject* args);
PyObject* setTime(PyObject* self, PyObject* args);
PyObject* getName(PyObject* self, PyObject* args);
PyObject* getClassName(PyObject* self, PyObject* args);
PyObject* display(PyObject* self, PyObject* args);
PyObject* displayDependencies(PyObject* self, PyObject* args);
PyObject* getValue(PyObject* self, PyObject* args);
PyObject* setValue(PyObject* self, PyObject* args);
PyObject* recompute(PyObject* self, PyObject* args);
PyObject* unplug(PyObject* self, PyObject* args);
PyObject* isPlugged(PyObject* self, PyObject* args);
PyObject* getPlugged(PyObject* self, PyObject* args);
SignalBase<int>* createSignalWrapper(const char* name, const char* type,
bp::object object);
} // namespace signalBase
namespace entity {
PyObject* create(PyObject* self, PyObject* args);
PyObject* display(PyObject* self, PyObject* args);
PyObject* display(PyObject* self, PyObject* args);
PyObject* getName(PyObject* self, PyObject* args);
PyObject* getClassName(PyObject* self, PyObject* args);
PyObject* hasSignal(PyObject* self, PyObject* args);
PyObject* getSignal(PyObject* self, PyObject* args);
PyObject* listSignals(PyObject* self, PyObject* args);
PyObject* executeCommand(PyObject* self, PyObject* args);
PyObject* listCommands(PyObject* self, PyObject* args);
PyObject* getCommandDocstring(PyObject* self, PyObject* args);
PyObject* getDocString(PyObject* self, PyObject* args);
PyObject* setLoggerVerbosityLevel(PyObject* self, PyObject* args);
PyObject* getLoggerVerbosityLevel(PyObject* self, PyObject* args);
PyObject* setTimeSample(PyObject* self, PyObject* args);
PyObject* getTimeSample(PyObject* self, PyObject* args);
PyObject* setStreamPrintPeriod(PyObject* self, PyObject* args);
PyObject* getStreamPrintPeriod(PyObject* self, PyObject* args);
/// \param obj an Entity object
void addCommands(boost::python::object obj);
void addSignals(boost::python::object obj);
Entity* create(const char* type, const char* name);
bp::object executeCmd(bp::tuple args, bp::dict);
} // namespace entity
namespace factory {
PyObject* getEntityClassList(PyObject* self, PyObject* args);
}
namespace signalCaster {
PyObject* getSignalTypeList(PyObject* self, PyObject* args);
bp::tuple getEntityClassList();
}
namespace pool {
PyObject* writeGraph(PyObject* self, PyObject* args);
PyObject* getEntityList(PyObject* self, PyObject* args);
void writeGraph(const char* filename);
bp::list getEntityList();
const std::map<std::string, Entity*>* getEntityMap();
} // namespace pool
namespace debug {
PyObject* addLoggerFileOutputStream(PyObject* self, PyObject* args);
PyObject* addLoggerCoutOutputStream(PyObject* self, PyObject* args);
PyObject* closeLoggerFileOutputStream(PyObject* self, PyObject* args);
PyObject* realTimeLoggerSpinOnce(PyObject* self, PyObject* args);
PyObject* realTimeLoggerDestroy(PyObject* self, PyObject* args);
PyObject* realTimeLoggerInstance(PyObject* self, PyObject* args);
void addLoggerFileOutputStream(const char* filename);
void addLoggerCoutOutputStream();
void closeLoggerFileOutputStream();
void realTimeLoggerSpinOnce();
void realTimeLoggerDestroy();
void realTimeLoggerInstance();
} // namespace debug
struct module_state {
PyObject* dgpyError;
};
PyObject* plug(PyObject* /*self*/, PyObject* args);
PyObject* enableTrace(PyObject* /*self*/, PyObject* args);
PyObject* error_out(
#if PY_MAJOR_VERSION >= 3
PyObject* m, PyObject*
#else
PyObject*, PyObject*
#endif
);
/**
\brief List of python functions
*/
__attribute__((unused)) static PyMethodDef dynamicGraphMethods[] = {
{"w_plug", dynamicgraph::python::plug, METH_VARARGS, "plug an output signal into an input signal"},
{"enableTrace", dynamicgraph::python::enableTrace, METH_VARARGS, "Enable or disable tracing debug info in a file"},
// Signals
{"create_signal_base", dynamicgraph::python::signalBase::create, METH_VARARGS, "create a SignalBase C++ object"},
{"create_signal_wrapper", dynamicgraph::python::signalBase::createSignalWrapper, METH_VARARGS,
"create a SignalWrapper C++ object"},
{"signal_base_get_time", dynamicgraph::python::signalBase::getTime, METH_VARARGS, "Get time of a SignalBase"},
{"signal_base_set_time", dynamicgraph::python::signalBase::setTime, METH_VARARGS, "Set time of a SignalBase"},
{"signal_base_get_name", dynamicgraph::python::signalBase::getName, METH_VARARGS, "Get the name of a signal"},
{"signal_base_get_class_name", dynamicgraph::python::signalBase::getClassName, METH_VARARGS,
"Get the class name of a signal"},
{"signal_base_display", dynamicgraph::python::signalBase::display, METH_VARARGS, "Print the signal in a string"},
{"signal_base_display_dependencies", dynamicgraph::python::signalBase::displayDependencies, METH_VARARGS,
"Print the signal dependencies in a string"},
{"signal_base_get_value", dynamicgraph::python::signalBase::getValue, METH_VARARGS, "Read the value of a signal"},
{"signal_base_set_value", dynamicgraph::python::signalBase::setValue, METH_VARARGS, "Set the value of a signal"},
{"signal_base_recompute", dynamicgraph::python::signalBase::recompute, METH_VARARGS,
"Recompute the signal at given time"},
{"signal_base_unplug", dynamicgraph::python::signalBase::unplug, METH_VARARGS, "Unplug the signal"},
{"signal_base_isPlugged", dynamicgraph::python::signalBase::isPlugged, METH_VARARGS,
"Whether the signal is plugged"},
{"signal_base_getPlugged", dynamicgraph::python::signalBase::getPlugged, METH_VARARGS,
"To which signal the signal is plugged"},
// Entity
{"create_entity", dynamicgraph::python::entity::create, METH_VARARGS, "create an Entity C++ object"},
{"display_entity", dynamicgraph::python::entity::display, METH_VARARGS, "print an Entity C++ object"},
{"entity_get_name", dynamicgraph::python::entity::getName, METH_VARARGS, "get the name of an Entity"},
{"entity_get_class_name", dynamicgraph::python::entity::getClassName, METH_VARARGS,
"get the class name of an Entity"},
{"entity_has_signal", dynamicgraph::python::entity::hasSignal, METH_VARARGS,
"return True if the entity has a signal with the given name"},
{"entity_get_signal", dynamicgraph::python::entity::getSignal, METH_VARARGS, "get signal by name from an Entity"},
{"entity_list_signals", dynamicgraph::python::entity::listSignals, METH_VARARGS,
"Return the list of signals of an entity."},
{"entity_execute_command", dynamicgraph::python::entity::executeCommand, METH_VARARGS, "execute a command"},
{"entity_list_commands", dynamicgraph::python::entity::listCommands, METH_VARARGS,
"list the commands of an entity"},
{"entity_get_command_docstring", dynamicgraph::python::entity::getCommandDocstring, METH_VARARGS,
"get the docstring of an entity command"},
{"entity_get_docstring", dynamicgraph::python::entity::getDocString, METH_VARARGS,
"get the doc string of an entity type"},
{"factory_get_entity_class_list", dynamicgraph::python::factory::getEntityClassList, METH_VARARGS,
"return the list of entity classes"},
{"signal_caster_get_type_list", dynamicgraph::python::signalCaster::getSignalTypeList, METH_VARARGS,
"return the list of signal type names"},
{"writeGraph", dynamicgraph::python::pool::writeGraph, METH_VARARGS, "Write the graph of entities in a filename."},
{"get_entity_list", dynamicgraph::python::pool::getEntityList, METH_VARARGS,
"return the list of instanciated entities"},
{"entity_set_logger_verbosity", dynamicgraph::python::entity::setLoggerVerbosityLevel, METH_VARARGS,
"set the verbosity level of the entity"},
{"entity_get_logger_verbosity", dynamicgraph::python::entity::getLoggerVerbosityLevel, METH_VARARGS,
"get the verbosity level of the entity"},
{"addLoggerFileOutputStream", dynamicgraph::python::debug::addLoggerFileOutputStream, METH_VARARGS,
"add a output file stream to the logger by filename"},
{"addLoggerCoutOutputStream", dynamicgraph::python::debug::addLoggerCoutOutputStream, METH_VARARGS,
"add std::cout as output stream to the logger"},
{"closeLoggerFileOutputStream", dynamicgraph::python::debug::closeLoggerFileOutputStream, METH_VARARGS,
"close all the loggers file output streams."},
{"entity_set_time_sample", dynamicgraph::python::entity::setTimeSample, METH_VARARGS,
"set the time sample for printing debugging information"},
{"entity_get_time_sample", dynamicgraph::python::entity::getTimeSample, METH_VARARGS,
"get the time sample for printing debugging information"},
{"entity_set_stream_print_period", dynamicgraph::python::entity::setStreamPrintPeriod, METH_VARARGS,
"set the period at which debugging information are printed"},
{"entity_get_stream_print_period", dynamicgraph::python::entity::getStreamPrintPeriod, METH_VARARGS,
"get the period at which debugging information are printed"},
{"real_time_logger_destroy", dynamicgraph::python::debug::realTimeLoggerDestroy, METH_VARARGS,
"Destroy the real time logger."},
{"real_time_logger_spin_once", dynamicgraph::python::debug::realTimeLoggerSpinOnce, METH_VARARGS,
"Destroy the real time logger."},
{"real_time_logger_instance", dynamicgraph::python::debug::realTimeLoggerInstance, METH_VARARGS,
"Starts the real time logger."},
{"error_out", (PyCFunction)dynamicgraph::python::error_out, METH_NOARGS, NULL},
{NULL, NULL, 0, NULL} /* Sentinel */
};
#if PY_MAJOR_VERSION >= 3
__attribute__((unused)) static struct PyModuleDef dynamicGraphModuleDef = {
PyModuleDef_HEAD_INIT,
"wrap",
NULL,
sizeof(struct dynamicgraph::python::module_state),
dynamicGraphMethods,
NULL,
NULL,
NULL,
NULL};
#define GETSTATE(m) ((struct dynamicgraph::python::module_state*)PyModule_GetState(m))
#define DGPYERROR(m) GETSTATE(m)->dgpyError
#define INITERROR return NULL
#else
__attribute__((unused)) static struct module_state _state;
#define GETSTATE(m) (&dynamicgraph::python::_state)
#define DGPYERROR(m) dynamicgraph::python::dgpyError
#define INITERROR return
#endif
} // namespace python
} // namespace dynamicgraph
......
include/dynamic-graph/python/exception-python.hh deleted 100644 → 0
View file @ 16d7858d
// -*- mode: c++ -*-
// Copyright 2010, François Bleibel, Thomas Moulard, Olivier Stasse,
// JRL, CNRS/AIST.
#ifndef DYNAMIC_GRAPH_PYTHON_EXCEPTION_PYTHON_H
#define DYNAMIC_GRAPH_PYTHON_EXCEPTION_PYTHON_H
#include <dynamic-graph/fwd.hh>
#include <dynamic-graph/exception-abstract.h>
#include "dynamic-graph/python/python-compat.hh"
// Depending on whether one is building or using the
// library define DLLAPI to import or export.
#if defined(WIN32)
#if defined(wrap_EXPORTS)
#define WRAP_DLLAPI __declspec(dllexport)
#else
#define WRAP_DLLAPI __declspec(dllimport)
#endif
#else
#define WRAP_DLLAPI
#endif
namespace dynamicgraph {
namespace python {
/// \ingroup error
///
/// \brief Generic error class.
class WRAP_DLLAPI ExceptionPython : public ExceptionAbstract {
public:
enum ErrorCodeEnum { GENERIC, VALUE_PARSING, VECTOR_PARSING, MATRIX_PARSING, CLASS_INCONSISTENT };
static const std::string EXCEPTION_NAME;
explicit ExceptionPython(const ExceptionPython::ErrorCodeEnum& errcode, const std::string& msg = "");
ExceptionPython(const ExceptionPython::ErrorCodeEnum& errcode, const std::string& msg, const char* format, ...);
virtual ~ExceptionPython() throw() {}
virtual const std::string& getExceptionName() const { return ExceptionPython::EXCEPTION_NAME; }
};
} // end of namespace python
} // end of namespace dynamicgraph
#endif //! DYNAMIC_GRAPH_PYTHON_EXCEPTION_PYTHON_H
include/dynamic-graph/python/exception.hh deleted 100644 → 0
View file @ 16d7858d
// Copyright 2010, Florent Lamiraux, Thomas Moulard, LAAS-CNRS.
#ifndef DYNAMIC_GRAPH_PYTHON_EXCEPTION
#define DYNAMIC_GRAPH_PYTHON_EXCEPTION
#include "dynamic-graph/python/dynamic-graph-py.hh"
/// \brief Catch all exceptions which may be sent when C++ code is
/// called.
#define CATCH_ALL_EXCEPTIONS(m) \
catch (const std::exception& exc) { \
PyErr_SetString(DGPYERROR(m), exc.what()); \
return NULL; \
} \
catch (const char* s) { \
PyErr_SetString(DGPYERROR(m), s); \
return NULL; \
} \
catch (...) { \
PyErr_SetString(DGPYERROR(m), "Unknown exception"); \
return NULL; \
} \
struct e_n_d__w_i_t_h__s_e_m_i_c_o_l_o_n
#endif //! DYNAMIC_GRAPH_PYTHON_EXCEPTION
include/dynamic-graph/python/fwd.hh 0 → 100644
View file @ a76b5b78
/*
* Copyright CNRS 2021
*
* Author: Florent Lamiraux
*
* This file is part of sot-core.
*/
#ifndef DYNAMIC_GRAPH_PYTHON_FWD_HH
#define DYNAMIC_GRAPH_PYTHON_FWD_HH
#include <dynamic-graph/fwd.hh>
namespace dynamicgraph {
namespace python {
class Interpreter;
typedef shared_ptr<Interpreter> InterpreterPtr_t;
} // namespace python
} // namespace dynamicgraph
#endif // DYNAMIC_GRAPH_PYTHON_FWD_HH
include/dynamic-graph/python/interpreter.hh
View file @ a76b5b78
......@@ -6,11 +6,10 @@
#undef _POSIX_C_SOURCE
#undef _XOPEN_SOURCE
#include "dynamic-graph/python/api.hh"
#include "dynamic-graph/python/deprecated.hh"
#include <dynamic-graph/python/fwd.hh>
#include "dynamic-graph/python/python-compat.hh"
#include "dynamic-graph/python/api.hh"
#include "dynamic-graph/python/python-compat.hh"
namespace dynamicgraph {
namespace python {
......@@ -26,11 +25,13 @@ class DYNAMIC_GRAPH_PYTHON_DLLAPI Interpreter {
/// \brief Method to start python interperter.
/// \param command string to execute
/// Method deprecated, you *SHOULD* handle error messages.
DYNAMIC_GRAPH_PYTHON_DEPRECATED std::string python(const std::string& command);
[[deprecated("you *SHOULD* handle error messages")]] std::string python(
const std::string& command);
/// \brief Method to start python interperter.
/// \param command string to execute, result, stdout, stderr strings
void python(const std::string& command, std::string& result, std::string& out, std::string& err);
void python(const std::string& command, std::string& result, std::string& out,
std::string& err);
/// \brief Method to exectue a python script.
/// \param filename the filename
......
include/dynamic-graph/python/module.hh 0 → 100644
View file @ a76b5b78
#ifndef DYNAMIC_GRAPH_PYTHON_MODULE_HH
#define DYNAMIC_GRAPH_PYTHON_MODULE_HH
#ifdef PINOCCHIO_WITH_URDFDOM
// If pinocchio is used, we have to include pinocchio header before boost mpl
#include <pinocchio/fwd.hpp>
#endif
#include <dynamic-graph/entity.h>
#include <boost/mpl/for_each.hpp>
#include <boost/mpl/vector.hpp>
#include <boost/python.hpp>
#include <dynamic-graph/python/dynamic-graph-py.hh>
namespace dynamicgraph {
namespace python {
constexpr int AddSignals = 1;
constexpr int AddCommands = 2;
namespace internal {
template <typename T, int Options = AddCommands | AddSignals>
bp::object makeEntity1(const char* name) {
Entity* ent = entity::create(T::CLASS_NAME.c_str(), name);
assert(dynamic_cast<T*>(ent) != NULL);
bp::object obj(bp::ptr(static_cast<T*>(ent)));
if (Options & AddCommands) entity::addCommands(obj);
if (Options & AddSignals) entity::addSignals(obj);
return obj;
}
template <typename T, int Options = AddCommands | AddSignals>
bp::object makeEntity2() {
return makeEntity1<T, Options>("");
}
} // namespace internal
/// \tparam Options by default, all the signals and commands are added as
/// attribute to the Python object. This behaviour works fine for
/// entities that have static commands and signals.
/// If some commands or signals are added or removed dynamiccally, then
/// it is better to disable the default behaviour and handle it
/// specifically.
template <typename T,
typename bases = boost::python::bases<dynamicgraph::Entity>,
int Options = AddCommands | AddSignals>
inline auto exposeEntity() {
// std::string hiddenClassName ("_" + T::CLASS_NAME);
std::string hiddenClassName(T::CLASS_NAME);
namespace bp = boost::python;
bp::class_<T, bases, boost::noncopyable> obj(hiddenClassName.c_str(),
bp::init<std::string>());
/* TODO at the moment, I couldn't easily find a way to define a Python
constructor
* that would create the entity via the factory and then populate the
* python object with its commands.
* This is achieved with a factory function of the same name.
obj.def ("__init__", bp::raw_function(+[](bp::object args, bp::dict) {
if (bp::len(args) != 2)
throw std::length_error("Expected 2 arguments.");
bp::object self = args[0];
self.attr("__init__")(bp::extract<std::string>(args[1]));
Entity* ent = entity::create(T::CLASS_NAME.c_str(), name);
if (dynamic_cast<T*>(ent) == NULL)
std::cout << "foo" << std::endl;
assert(dynamic_cast<T*>(ent) != NULL);
self = bp::object(bp::ptr(static_cast<T*>(ent)));
//dynamicgraph::Entity& unused =
bp::extract<dynamicgraph::Entity&>(self);
//entity::addCommands(self);
})
;
*/
bp::def(T::CLASS_NAME.c_str(), &internal::makeEntity1<T, Options>);
bp::def(T::CLASS_NAME.c_str(), &internal::makeEntity2<T, Options>);
if (!(Options & AddCommands)) obj.def("add_commands", &entity::addCommands);
if (!(Options & AddSignals)) obj.def("add_signals", &entity::addSignals);
return obj;
}
} // namespace python
} // namespace dynamicgraph
#endif // DYNAMIC_GRAPH_PYTHON_MODULE_HH