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doc/sphinx/conf.py.in deleted 100644 → 0
View file @ 68e09d67
# -*- coding: utf-8 -*-
#
# @PROJECT_NAME@ documentation build configuration file, created by
# sphinx-quickstart on Mon Nov 22 16:45:27 2010.
#
# This file is execfile()d with the current directory set to its containing dir.
#
# Note that not all possible configuration values are present in this
# autogenerated file.
#
# All configuration values have a default; values that are commented out
# serve to show the default.
import sys, os
# If extensions (or modules to document with autodoc) are in another directory,
# add these directories to sys.path here. If the directory is relative to the
# documentation root, use os.path.abspath to make it absolute, like shown here.
sys.path = [os.path.abspath('@CMAKE_BINARY_DIR@/src')]+sys.path
sys.path = [os.path.abspath('@CMAKE_SOURCE_DIR@/src')]+sys.path
# -- General configuration -----------------------------------------------------
# Add any Sphinx extension module names here, as strings. They can be extensions
# coming with Sphinx (named 'sphinx.ext.*') or your custom ones.
extensions = ['sphinx.ext.autodoc', 'sphinx.ext.doctest', 'sphinx.ext.intersphinx', 'sphinx.ext.todo', 'sphinx.ext.pngmath']
# Add any paths that contain templates here, relative to this directory.
templates_path = ['_templates']
# The suffix of source filenames.
source_suffix = '.rst'
# The encoding of source files.
#source_encoding = 'utf-8'
# The master toctree document.
master_doc = 'index'
# General information about the project.
project = u'@PROJECT_NAME@'
copyright = u'2010, Florent Lamiraux'
# The version info for the project you're documenting, acts as replacement for
# |version| and |release|, also used in various other places throughout the
# built documents.
#
# The short X.Y version.
version = '1.0'
# The full version, including alpha/beta/rc tags.
release = '1.0'
# The language for content autogenerated by Sphinx. Refer to documentation
# for a list of supported languages.
#language = None
# There are two options for replacing |today|: either, you set today to some
# non-false value, then it is used:
#today = ''
# Else, today_fmt is used as the format for a strftime call.
#today_fmt = '%B %d, %Y'
# List of documents that shouldn't be included in the build.
#unused_docs = []
# List of directories, relative to source directory, that shouldn't be searched
# for source files.
exclude_trees = []
# The reST default role (used for this markup: `text`) to use for all documents.
#default_role = None
# If true, '()' will be appended to :func: etc. cross-reference text.
#add_function_parentheses = True
# If true, the current module name will be prepended to all description
# unit titles (such as .. function::).
#add_module_names = True
# If true, sectionauthor and moduleauthor directives will be shown in the
# output. They are ignored by default.
#show_authors = False
# The name of the Pygments (syntax highlighting) style to use.
pygments_style = 'sphinx'
# A list of ignored prefixes for module index sorting.
#modindex_common_prefix = []
# -- Options for HTML output ---------------------------------------------------
# The theme to use for HTML and HTML Help pages. Major themes that come with
# Sphinx are currently 'default' and 'sphinxdoc'.
html_theme = 'default'
# Theme options are theme-specific and customize the look and feel of a theme
# further. For a list of options available for each theme, see the
# documentation.
#html_theme_options = {}
# Add any paths that contain custom themes here, relative to this directory.
#html_theme_path = []
# The name for this set of Sphinx documents. If None, it defaults to
# "<project> v<release> documentation".
#html_title = None
# A shorter title for the navigation bar. Default is the same as html_title.
#html_short_title = None
# The name of an image file (relative to this directory) to place at the top
# of the sidebar.
#html_logo = None
# The name of an image file (within the static path) to use as favicon of the
# docs. This file should be a Windows icon file (.ico) being 16x16 or 32x32
# pixels large.
#html_favicon = None
# Add any paths that contain custom static files (such as style sheets) here,
# relative to this directory. They are copied after the builtin static files,
# so a file named "default.css" will overwrite the builtin "default.css".
html_static_path = ['_static']
# If not '', a 'Last updated on:' timestamp is inserted at every page bottom,
# using the given strftime format.
#html_last_updated_fmt = '%b %d, %Y'
# If true, SmartyPants will be used to convert quotes and dashes to
# typographically correct entities.
#html_use_smartypants = True
# Custom sidebar templates, maps document names to template names.
#html_sidebars = {}
# Additional templates that should be rendered to pages, maps page names to
# template names.
#html_additional_pages = {}
# If false, no module index is generated.
#html_use_modindex = True
# If false, no index is generated.
#html_use_index = True
# If true, the index is split into individual pages for each letter.
#html_split_index = False
# If true, links to the reST sources are added to the pages.
#html_show_sourcelink = True
# If true, an OpenSearch description file will be output, and all pages will
# contain a <link> tag referring to it. The value of this option must be the
# base URL from which the finished HTML is served.
#html_use_opensearch = ''
# If nonempty, this is the file name suffix for HTML files (e.g. ".xhtml").
#html_file_suffix = ''
# Output file base name for HTML help builder.
htmlhelp_basename = '@PROJECT_NAME@doc'
# -- Options for LaTeX output --------------------------------------------------
# The paper size ('letter' or 'a4').
#latex_paper_size = 'letter'
# The font size ('10pt', '11pt' or '12pt').
#latex_font_size = '10pt'
# Grouping the document tree into LaTeX files. List of tuples
# (source start file, target name, title, author, documentclass [howto/manual]).
latex_documents = [
('index', '@PROJECT_NAME@.tex', u'@PROJECT_NAME@ Documentation',
u'Florent Lamiraux', 'manual'),
]
# The name of an image file (relative to this directory) to place at the top of
# the title page.
#latex_logo = None
# For "manual" documents, if this is true, then toplevel headings are parts,
# not chapters.
#latex_use_parts = False
# Additional stuff for the LaTeX preamble.
#latex_preamble = ''
# Documents to append as an appendix to all manuals.
#latex_appendices = []
# If false, no module index is generated.
#latex_use_modindex = True
# Example configuration for intersphinx: refer to the Python standard library.
intersphinx_mapping = {'http://docs.python.org/': None}
doc/sphinx/index.rst.in deleted 100644 → 0
View file @ 68e09d67
.. dynamic-graph-python documentation master file, created by
sphinx-quickstart on Mon Nov 22 16:45:27 2010.
You can adapt this file completely to your liking, but it should at least
contain the root `toctree` directive.
Welcome to dynamic-graph-python's documentation!
================================================
.. toctree::
:maxdepth: 2
Python module dynamic_graph implements bindings for dynamic-graph_ library. To each main C++ class is associated a Python class. Main classes are listed below.
Entity
------
maps dynamicgraph::Entity_ C++ class.
.. autoclass:: dynamic_graph.entity.Entity
:members:
SignalBase
----------
maps dynamicgraph::SignalBase_ C++ class.
.. autoclass:: dynamic_graph.signal_base.SignalBase
:members:
Other funtions of the module
----------------------------
.. automodule:: dynamic_graph
:members:
Indices and tables
==================
* :ref:`genindex`
* :ref:`modindex`
* :ref:`search`
.. _dynamic-graph: file://@DYNAMIC_GRAPH_DOXYGENDOCDIR@/index.html
.. _Entity: file://@DYNAMIC_GRAPH_DOXYGENDOCDIR@/classdynamicgraph_1_1_entity.html
.. _SignalBase: file://@DYNAMIC_GRAPH_DOXYGENDOCDIR@/classdynamicgraph_1_1_signal_base.html
include/CMakeLists.txt deleted 100644 → 0
View file @ 68e09d67
# Copyright 2010, 2011, Florent Lamiraux, CNRS
#
# This file is part of dynamic-graph-python.
# dynamic-graph-python is free software: you can redistribute it and/or
# modify it under the terms of the GNU Lesser General Public License
# as published by the Free Software Foundation, either version 3 of
# the License, or (at your option) any later version.
#
# dynamic-graph-python is distributed in the hope that it will be useful, but
# WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
# General Lesser Public License for more details. You should have
# received a copy of the GNU Lesser General Public License along with
# dynamic-graph-python. If not, see <http://www.gnu.org/licenses/>.
include/dynamic-graph/python/api.hh
View file @ a76b5b78
// -*- mode: c++ -*- // -*- mode: c++ -*-
// Copyright 2011, Florent Lamiraux, CNRS. // Copyright 2011, Florent Lamiraux, CNRS.
//
// This file is part of dynamic-graph-python.
// dynamic-graph is free software: you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public License
// as published by the Free Software Foundation, either version 3 of
// the License, or (at your option) any later version.
//
// dynamic-graph is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
#ifndef DYNAMIC_GRAPH_PYTHON_API_HH #ifndef DYNAMIC_GRAPH_PYTHON_API_HH
# define DYNAMIC_GRAPH_PYTHON_API_HH #define DYNAMIC_GRAPH_PYTHON_API_HH
# include <dynamic-graph/python/config.hh> #include <dynamic-graph/python/config.hh>
#endif //DYNAMIC_GRAPH_PYTHON_API_HH #endif // DYNAMIC_GRAPH_PYTHON_API_HH
include/dynamic-graph/python/convert-dg-to-py.hh 0 → 100644
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// Copyright 2010, Florent Lamiraux, Thomas Moulard, LAAS-CNRS.
#include <dynamic-graph/linear-algebra.h>
#include <dynamic-graph/value.h>
#include <boost/python.hpp>
namespace dynamicgraph {
namespace python {
namespace convert {
command::Value toValue(boost::python::object o,
const command::Value::Type& type);
boost::python::object fromValue(const command::Value& value);
} // namespace convert
} // namespace python
} // namespace dynamicgraph
include/dynamic-graph/python/dynamic-graph-py.hh 0 → 100644
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#ifndef DYNAMIC_GRAPH_PY
#define DYNAMIC_GRAPH_PY
#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 {
SignalBase<int>* createSignalWrapper(const char* name, const char* type,
bp::object object);
} // namespace signalBase
namespace entity {
/// \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 {
bp::tuple getEntityClassList();
}
namespace pool {
void writeGraph(const char* filename);
bp::list getEntityList();
const std::map<std::string, Entity*>* getEntityMap();
} // namespace pool
namespace debug {
void addLoggerFileOutputStream(const char* filename);
void addLoggerCoutOutputStream();
void closeLoggerFileOutputStream();
void realTimeLoggerSpinOnce();
void realTimeLoggerDestroy();
void realTimeLoggerInstance();
} // namespace debug
} // namespace python
} // namespace dynamicgraph
#endif
include/dynamic-graph/python/exception-python.hh deleted 100644 → 0
View file @ 68e09d67
// -*- mode: c++ -*-
// Copyright 2010, François Bleibel, Thomas Moulard, Olivier Stasse,
// JRL, CNRS/AIST.
//
// This file is part of dynamic-graph.
// dynamic-graph is free software: you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public License
// as published by the Free Software Foundation, either version 3 of
// the License, or (at your option) any later version.
//
// dynamic-graph is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
#ifndef DYNAMIC_GRAPH_PYTHON_EXCEPTION_PYTHON_H
# define DYNAMIC_GRAPH_PYTHON_EXCEPTION_PYTHON_H
# include <string>
# include <dynamic-graph/fwd.hh>
# include <dynamic-graph/exception-abstract.h>
// 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/fwd.hh 0 → 100644
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/*
* 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
// -*- mode: c++ -*- // -*- mode: c++ -*-
// Copyright 2011, Florent Lamiraux, CNRS. // Copyright 2011, Florent Lamiraux, CNRS.
//
// This file is part of dynamic-graph-python. #ifndef DYNAMIC_GRAPH_PYTHON_INTERPRETER_H
// dynamic-graph is free software: you can redistribute it and/or #define DYNAMIC_GRAPH_PYTHON_INTERPRETER_H
// modify it under the terms of the GNU Lesser General Public License
// as published by the Free Software Foundation, either version 3 of
// the License, or (at your option) any later version.
//
// dynamic-graph is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
#undef _POSIX_C_SOURCE #undef _POSIX_C_SOURCE
#undef _XOPEN_SOURCE #undef _XOPEN_SOURCE
#include <Python.h> #include <dynamic-graph/python/fwd.hh>
#include <string>
#include "dynamic-graph/python/api.hh"
#include "dynamic-graph/python/deprecated.hh"
#ifndef DYNAMIC_GRAPH_PYTHON_INTERPRETER_H
# define DYNAMIC_GRAPH_PYTHON_INTERPRETER_H
#include "dynamic-graph/python/api.hh" #include "dynamic-graph/python/api.hh"
#include "dynamic-graph/python/python-compat.hh"
namespace dynamicgraph { namespace dynamicgraph {
namespace python { namespace python {
/// ///
/// This class implements a basis python interpreter. /// This class implements a basis python interpreter.
/// ///
/// String sent to method python are interpreted by an onboard python /// String sent to method python are interpreted by an onboard python
/// interpreter. /// interpreter.
class DYNAMIC_GRAPH_PYTHON_DLLAPI Interpreter class DYNAMIC_GRAPH_PYTHON_DLLAPI Interpreter {
{ public:
public: Interpreter();
Interpreter(); ~Interpreter();
~Interpreter(); /// \brief Method to start python interperter.
/// \brief Method to start python interperter. /// \param command string to execute
/// \param command string to execute /// Method deprecated, you *SHOULD* handle error messages.
/// Method deprecated, you *SHOULD* handle error messages. [[deprecated("you *SHOULD* handle error messages")]] std::string python(
DYNAMIC_GRAPH_PYTHON_DEPRECATED std::string python( const std::string& command ); const std::string& command);
/// \brief Method to start python interperter. /// \brief Method to start python interperter.
/// \param command string to execute, result, stdout, stderr strings /// \param command string to execute, result, stdout, stderr strings
void python( const std::string& command , std::string& result, void python(const std::string& command, std::string& result, std::string& out,
std::string& out, std::string& err); std::string& err);
/// \brief Method to exectue a python script. /// \brief Method to exectue a python script.
/// \param filename the filename /// \param filename the filename
void runPythonFile( std::string filename ); void runPythonFile(std::string filename);
void runPythonFile( std::string filename, std::string& err); void runPythonFile(std::string filename, std::string& err);
void runMain( void ); void runMain(void);
/// \brief Process input stream to send relevant blocks to python /// \brief Process input stream to send relevant blocks to python
/// \param stream input stream /// \param stream input stream
std::string processStream(std::istream& stream, std::ostream& os); std::string processStream(std::istream& stream, std::ostream& os);
/// \brief Return a pointer to the dictionary of global variables /// \brief Return a pointer to the dictionary of global variables
PyObject* globals(); PyObject* globals();
private: private:
/// Pointer to the dictionary of global variables /// The Python thread state
PyObject* globals_; PyThreadState* _pyState;
/// Pointer to the dictionary of local variables /// Pointer to the dictionary of global variables
PyObject* locals_; PyObject* globals_;
PyObject* mainmod_; /// Pointer to the dictionary of local variables
PyObject* traceback_format_exception_; PyObject* locals_;
}; PyObject* mainmod_;
} // namespace python };
} // namespace dynamicgraph } // namespace python
#endif // DYNAMIC_GRAPH_PYTHON_INTERPRETER_H } // namespace dynamicgraph
#endif // DYNAMIC_GRAPH_PYTHON_INTERPRETER_H
include/dynamic-graph/python/module.hh 0 → 100644
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#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
include/dynamic-graph/python/python-compat.hh 0 → 100644
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#ifndef DGPY_PYTHON_COMPAT_H
#define DGPY_PYTHON_COMPAT_H
#include <string>
#define PY_SSIZE_T_CLEAN
#include <Python.h>
// Get any PyObject and get its str() representation as an std::string
std::string obj_to_str(PyObject* o);
#endif
include/dynamic-graph/python/signal-wrapper.hh 0 → 100644
View file @ a76b5b78
// Copyright (c) 2018, Joseph Mirabel
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
#ifndef DGPY_SIGNAL_WRAPPER
#define DGPY_SIGNAL_WRAPPER
#include <dynamic-graph/entity.h>
#include <dynamic-graph/linear-algebra.h>
#include <dynamic-graph/signal.h>
#include <boost/bind.hpp>
#include <boost/python.hpp>
#include "dynamic-graph/python/python-compat.hh"
namespace dynamicgraph {
namespace python {
class PythonSignalContainer : public Entity {
DYNAMIC_GRAPH_ENTITY_DECL();
public:
using Entity::Entity;
void signalRegistration(const SignalArray<int>& signals);
void rmSignal(const std::string& name);
};
template <class T, class Time>
class SignalWrapper : public Signal<T, Time> {
public:
typedef Signal<T, Time> parent_t;
typedef boost::python::object pyobject;
static bool checkCallable(pyobject c, std::string& error);
SignalWrapper(std::string name, pyobject callable)
: parent_t(name), callable(callable) {
typedef boost::function2<T&, T&, Time> function_t;
function_t f = boost::bind(&SignalWrapper::call, this, _1, _2);
this->setFunction(f);
}
virtual ~SignalWrapper(){};
private:
T& call(T& value, Time t) {
PyGILState_STATE gstate;
gstate = PyGILState_Ensure();
if (PyGILState_GetThisThreadState() == NULL) {
dgDEBUG(10) << "python thread not initialized" << std::endl;
}
pyobject obj = callable(t);
value = boost::python::extract<T>(obj);
PyGILState_Release(gstate);
return value;
}
pyobject callable;
};
} // namespace python
} // namespace dynamicgraph
#endif
include/dynamic-graph/python/signal.hh 0 → 100644
View file @ a76b5b78
// Copyright 2020, Joseph Mirabel, LAAS-CNRS.
#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 <boost/python.hpp>
#include <sstream>
#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
package.xml 0 → 100644
View file @ a76b5b78
<?xml version="1.0"?>
<package format="3">
<name>dynamic-graph-python</name>
<version>4.0.11</version>
<description>Dynamic graph library Python bindings</description>
<maintainer email="guilhem.saurel@laas.fr">Guilhem Saurel</maintainer>
<author>Nicolas Mansard</author>
<author>Olivier Stasse</author>
<license>BSD</license>
<url type="website">https://github.com/stack-of-tasks/dynamic-graph-python</url>
<build_depend>git</build_depend>
<build_depend>doxygen</build_depend>
<!-- The following tag is recommended by REP-136 -->
<exec_depend condition="$ROS_VERSION == 1">catkin</exec_depend>
<depend condition="$ROS_PYTHON_VERSION == 2">python</depend>
<depend condition="$ROS_PYTHON_VERSION == 3">python3</depend>
<depend condition="$ROS_PYTHON_VERSION == 2">python-numpy</depend>
<depend condition="$ROS_PYTHON_VERSION == 3">python3-numpy</depend>
<depend>eigen</depend>
<depend>boost</depend>
<depend>eigenpy</depend>
<depend>dynamic-graph</depend>
<buildtool_depend>cmake</buildtool_depend>
<export>
<build_type>cmake</build_type>
</export>
</package>
pyproject.toml 0 → 100644
View file @ a76b5b78
[tool.black]
exclude = "cmake"
extend-exclude = "tests/test_python-syntax_error.py"
setup.cfg 0 → 100644
View file @ a76b5b78
[flake8]
exclude = cmake,tests/test_python-syntax_error.py
max-line-length = 88
ignore = E226, E704, E24, E121, W504, E126, E123, W503, E203
src/CMakeLists.txt
View file @ a76b5b78
# Copyright 2010, 2011, Florent Lamiraux, Thomas Moulard, JRL, CNRS/AIST # Python bindings
#
# This file is part of dynamic-graph-python.
# dynamic-graph-python is free software: you can redistribute it and/or
# modify it under the terms of the GNU Lesser General Public License
# as published by the Free Software Foundation, either version 3 of
# the License, or (at your option) any later version.
#
# dynamic-graph-python is distributed in the hope that it will be useful, but
# WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
# General Lesser Public License for more details. You should have
# received a copy of the GNU Lesser General Public License along with
# dynamic-graph-python. If not, see <http://www.gnu.org/licenses/>.
# add_subdirectory(dynamic_graph)
# Python
#
set(Python_ADDITIONAL_VERSIONS 2.7 2.6 2.5 2.4 2.3 2.2 2.1 2.0)
INCLUDE(../cmake/python.cmake)
FINDPYTHON()
INCLUDE_DIRECTORIES(${Boost_INCLUDE_DIRS}) set(PYTHON_SOURCES __init__.py attrpath.py entity.py signal_base.py
LINK_DIRECTORIES(${Boost_LIBRARY_DIRS} ${PYTHON_LIBRARY_DIRS}) script_shortcuts.py tools.py)
INCLUDE(../cmake/python.cmake) foreach(source ${PYTHON_SOURCES})
# python_install_on_site(dynamic_graph ${source})
# endforeach(source)
# Python interpreter
#
#
SET(LIBRARY_NAME ${PROJECT_NAME})
ADD_LIBRARY(${LIBRARY_NAME}
SHARED
interpreter.cc)
TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
${PYTHON_LIBRARY})
IF(UNIX)
TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${Boost_LIBRARIES})
ENDIF(UNIX)
SET_TARGET_PROPERTIES(${LIBRARY_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} dynamic-graph)
INSTALL(TARGETS ${LIBRARY_NAME}
DESTINATION ${CMAKE_INSTALL_LIBDIR})
SET(EXECUTABLE_NAME dg-python)
ADD_EXECUTABLE(${EXECUTABLE_NAME} dg-python.cc)
TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME}
${LIBRARY_NAME}
)
INSTALL(TARGETS dg-python DESTINATION ${CMAKE_INSTALL_BINDIR})
#
#
# Python bindings
#
#
SET(PYTHON_MODULE wrap)
ADD_LIBRARY(${PYTHON_MODULE}
MODULE
exception-python.cc
convert-dg-to-py.cc
dynamic-graph-py.cc
signal-base-py.cc
entity-py.cc
factory-py.cc
pool-py.cc
signal-caster-py.cc
)
# Remove prefix lib
SET_TARGET_PROPERTIES(${PYTHON_MODULE}
PROPERTIES PREFIX "")
PKG_CONFIG_USE_DEPENDENCY(${PYTHON_MODULE} dynamic-graph)
TARGET_LINK_LIBRARIES(${PYTHON_MODULE} ${PYTHON_LIBRARY})
CONFIG_FILES(link-to-python.hh)
INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_PATH}
${CMAKE_CURRENT_BINARY_DIR})
#
# Installation
#
SET(PYTHON_INSTALL_DIR ${CMAKE_INSTALL_PREFIX}/${PYTHON_SITELIB}/dynamic_graph)
INSTALL(TARGETS ${PYTHON_MODULE}
DESTINATION
${PYTHON_INSTALL_DIR})
SET (PYTHON_SOURCES
__init__.py
attrpath.py
entity.py
signal_base.py
matlab.py
script_shortcuts.py
tools.py
)
FOREACH (SOURCE ${PYTHON_SOURCES})
PYTHON_INSTALL_ON_SITE(dynamic_graph ${SOURCE} )
ENDFOREACH (SOURCE)
# --- ADD the wrap on the dg modules # --- ADD the wrap on the dg modules
# Tracer plugin link_directories(${DYNAMIC_GRAPH_PLUGINDIR})
IF(WIN32) dynamic_graph_python_module(
SET(TRACER_PLUGIN ${DYNAMIC_GRAPH_PLUGINDIR}/tracer${CMAKE_STATIC_LIBRARY_SUFFIX}) "tracer" dynamic-graph::tracer tracer-wrap SOURCE_PYTHON_MODULE
ELSE(WIN32) ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/tracer/wrap.cc)
SET(TRACER_PLUGIN ${DYNAMIC_GRAPH_PLUGINDIR}/tracer${CMAKE_SHARED_LIBRARY_SUFFIX}) dynamic_graph_python_module(
ENDIF(WIN32) "tracer_real_time" dynamic-graph::tracer-real-time tracer_real_time-wrap
DYNAMIC_GRAPH_PYTHON_MODULE("tracer" ${TRACER_PLUGIN} tracer-wrap) SOURCE_PYTHON_MODULE
${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/tracer_real_time/wrap.cc)
# TracerRealTime plugin
IF(WIN32)
SET(TRACERREALTIME_PLUGIN ${DYNAMIC_GRAPH_PLUGINDIR}/tracer-real-time${CMAKE_STATIC_LIBRARY_SUFFIX})
ELSE(WIN32)
SET(TRACERREALTIME_PLUGIN ${DYNAMIC_GRAPH_PLUGINDIR}/tracer-real-time${CMAKE_SHARED_LIBRARY_SUFFIX})
ENDIF(WIN32)
DYNAMIC_GRAPH_PYTHON_MODULE("tracer_real_time" ${TRACERREALTIME_PLUGIN} tracer_real_time-wrap)
src/convert-dg-to-py.cc deleted 100644 → 0
View file @ 68e09d67
// Copyright 2010, Florent Lamiraux, Thomas Moulard, LAAS-CNRS.
//
// This file is part of dynamic-graph-python.
// dynamic-graph-python is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either
// version 3 of the License, or (at your option) any later version.
//
// dynamic-graph-python is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Lesser Public License for more details. You should
// have received a copy of the GNU Lesser General Public License along
// with dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
#include "../src/convert-dg-to-py.hh"
#include <iostream>
#include <sstream>
#include <dynamic-graph/signal-base.h>
#include <dynamic-graph/signal.h>
#include <dynamic-graph/signal-caster.h>
namespace dynamicgraph {
using ::dynamicgraph::SignalBase;
namespace python {
namespace convert {
void fillMatrixRow(Matrix& m, unsigned iRow, PyObject* tuple)
{
if (PyTuple_Size(tuple) != (int)m.nbCols()) {
throw ExceptionPython(ExceptionPython::MATRIX_PARSING,
"lines of matrix have different sizes.");
}
for (unsigned int iCol=0; iCol < m.nbCols(); iCol++) {
PyObject* pyDouble = PyTuple_GetItem(tuple, iCol);
if (PyFloat_Check(pyDouble))
m(iRow, iCol) = PyFloat_AsDouble(pyDouble);
else if(PyInt_Check(pyDouble))
m(iRow, iCol) = (int)PyInt_AS_LONG(pyDouble)+0.0;
else
throw ExceptionPython(ExceptionPython::MATRIX_PARSING,
"element of matrix should be "
"a floating point number.");
}
}
command::Value pythonToValue(PyObject* pyObject,
const command::Value::Type& valueType)
{
using command::Value;
bool bvalue;
unsigned uvalue;
int ivalue;
float fvalue;
double dvalue;
std::string svalue;
Vector v;
Matrix m;
Py_ssize_t nCols;
Py_ssize_t size;
PyObject* row;
Py_ssize_t nRows;
switch (valueType) {
case (Value::BOOL) :
if (!PyBool_Check(pyObject)) {
throw ExceptionPython(ExceptionPython::VALUE_PARSING,
"bool");
}
bvalue = PyObject_IsTrue(pyObject);
return Value(bvalue);
break;
case (Value::UNSIGNED) :
if (!PyInt_Check(pyObject)) {
throw ExceptionPython(ExceptionPython::VALUE_PARSING,
"unsigned int");
}
uvalue = (unsigned int)PyInt_AsUnsignedLongMask(pyObject);
return Value(uvalue);
break;
case (Value::INT) :
if (!PyInt_Check(pyObject)) {
throw ExceptionPython(ExceptionPython::VALUE_PARSING,
"int");
}
ivalue = (int)PyInt_AS_LONG(pyObject);
return Value(ivalue);
break;
case (Value::FLOAT) :
if (PyFloat_Check(pyObject)) {
fvalue = (float)PyFloat_AsDouble(pyObject);
return Value(fvalue);
} else if (PyInt_Check(pyObject)) {
fvalue = (float)PyInt_AS_LONG(pyObject);
return Value(fvalue);
} else {
throw ExceptionPython(ExceptionPython::VALUE_PARSING,
"float");
}
break;
case (Value::DOUBLE) :
if (PyFloat_Check(pyObject)) {
dvalue = PyFloat_AsDouble(pyObject);
return Value(dvalue);
} else if (PyInt_Check(pyObject)) {
dvalue = (double)PyInt_AS_LONG(pyObject);
return Value(dvalue);
} else {
throw ExceptionPython(ExceptionPython::VALUE_PARSING,
"double");
}
break;
case (Value::STRING) :
if (!PyString_Check(pyObject)) {
throw ExceptionPython(ExceptionPython::VALUE_PARSING,
"string");
}
svalue = PyString_AsString(pyObject);
return Value(svalue);
break;
case (Value::VECTOR) :
// Check that argument is a tuple
if (!PyTuple_Check(pyObject)) {
throw ExceptionPython(ExceptionPython::VALUE_PARSING,
"vector");
}
size = PyTuple_Size(pyObject);
v.resize(size);
for (Py_ssize_t i=0; i<size; i++) {
PyObject* pyDouble = PyTuple_GetItem(pyObject, i);
if (PyFloat_Check(pyDouble))
v(i) = PyFloat_AsDouble(pyDouble);
else if(PyInt_Check(pyDouble))
v(i) = (int)PyInt_AS_LONG(pyDouble)+0.0;
else
throw ExceptionPython(ExceptionPython::VECTOR_PARSING,
"element of vector should be a floating "
"point number.");
}
return Value(v);
break;
case (Value::MATRIX) :
// Check that argument is a tuple
if (!PyTuple_Check(pyObject)) {
throw ExceptionPython(ExceptionPython::VALUE_PARSING,
"matrix");
}
nRows = PyTuple_Size(pyObject);
if (nRows == 0) {
return Value(Matrix());
}
row = PyTuple_GetItem(pyObject, 0);
if (!PyTuple_Check(row)) {
throw ExceptionPython(ExceptionPython::MATRIX_PARSING,
"matrix");
}
nCols = PyTuple_Size(row);
m.resize((unsigned int)nRows, (unsigned int)nCols);
fillMatrixRow(m, 0, row);
for (Py_ssize_t iRow=1; iRow<nRows; iRow++) {
row = PyTuple_GetItem(pyObject, iRow);
if (!PyTuple_Check(row)) {
throw ExceptionPython(ExceptionPython::MATRIX_PARSING,
"matrix");
}
fillMatrixRow(m, static_cast<unsigned> (iRow), row);
}
return Value(m);
break;
default:
std::cerr << "Only int, double and string are supported."
<< std::endl;
}
return Value();
}
PyObject* vectorToPython(const Vector& vector)
{
PyObject* tuple = PyTuple_New(vector.size());
for (unsigned int index = 0; index < vector.size(); index++) {
PyObject* pyDouble = PyFloat_FromDouble(vector(index));
PyTuple_SET_ITEM(tuple, index, pyDouble);
}
return tuple;
}
PyObject* matrixToPython(const Matrix& matrix)
{
PyObject* tuple = PyTuple_New(matrix.nbRows());
for (unsigned int iRow = 0; iRow < matrix.nbRows(); iRow++) {
PyObject* row = PyTuple_New(matrix.nbCols());
for (unsigned iCol=0; iCol < matrix.nbCols(); iCol++) {
PyObject* pyDouble = PyFloat_FromDouble(matrix(iRow, iCol));
PyTuple_SET_ITEM(row, iCol, pyDouble);
}
PyTuple_SET_ITEM(tuple, iRow, row);
}
return tuple;
}
PyObject* valueToPython(const command::Value& value)
{
using command::Value;
bool boolValue;
unsigned unsignedValue;
int intValue;
float floatValue;
double doubleValue;
std::string stringValue;
Vector vectorValue;
Matrix matrixValue;
switch(value.type()) {
case (Value::BOOL) :
boolValue = value.value();
if (boolValue) {
return PyBool_FromLong(1);
}
return PyBool_FromLong(0);
case (Value::UNSIGNED) :
unsignedValue = value.value();
return Py_BuildValue("I", unsignedValue);
case (Value::INT) :
intValue = value.value();
return Py_BuildValue("i", intValue);
case (Value::FLOAT) :
floatValue = value.value();
return Py_BuildValue("f", floatValue);
case (Value::DOUBLE) :
doubleValue = value.value();
return Py_BuildValue("d", doubleValue);
case (Value::STRING) :
stringValue = (std::string) value.value();
return Py_BuildValue("s", stringValue.c_str());
case (Value::VECTOR) :
vectorValue = value.value();
return vectorToPython(vectorValue);
case (Value::MATRIX) :
matrixValue = value.value();
return matrixToPython(matrixValue);
default:
return Py_BuildValue("");
}
return Py_BuildValue("");
}
} // namespace dynamicgraph
} // namespace python
} // namespace convert
src/convert-dg-to-py.hh deleted 100644 → 0
View file @ 68e09d67
// Copyright 2010, Florent Lamiraux, Thomas Moulard, LAAS-CNRS.
//
// This file is part of dynamic-graph-python.
// dynamic-graph-python is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either
// version 3 of the License, or (at your option) any later version.
//
// dynamic-graph-python is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Lesser Public License for more details. You should
// have received a copy of the GNU Lesser General Public License along
// with dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
#include <Python.h>
#include <dynamic-graph/linear-algebra.h>
#include <dynamic-graph/value.h>
#include <dynamic-graph/python/exception-python.hh>
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* valueToPython(const ::dynamicgraph::command::Value& value);
} // namespace dynamicgraph
} // namespace python
}
src/dg-python.cc deleted 100644 → 0
View file @ 68e09d67
// Copyright 2011, Florent Lamiraux CNRS.
//
// This file is part of dynamic-graph-python.
// dynamic-graph is free software: you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public License
// as published by the Free Software Foundation, either version 3 of
// the License, or (at your option) any later version.
//
// dynamic-graph is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
#include <sstream>
#include <string>
#include <vector>
#include <list>
#include <boost/filesystem.hpp>
#include <boost/foreach.hpp>
#include <boost/format.hpp>
#include <boost/program_options.hpp>
#include <dynamic-graph/debug.h>
#include "dynamic-graph/python/interpreter.hh"
using namespace dynamicgraph;
// Factorize exception catching code.
#define CATCH_EXCEPTIONS() \
catch (std::exception& e) \
{ \
std::cout \
<< errorPrefix \
<< e.what () << std::endl; \
} \
catch (const char* str) \
{ \
std::cout << errorPrefix \
<< "Unknown exception " << str << std::endl; \
} \
catch (...) \
{ \
dgDEBUG(5) << errorPrefix << " Unknown exception " << std::endl; \
} \
struct e_n_d__w_i_t_h__s_e_m_i_c_o_l_o_n
struct Options
{
/// \brief Prologue path (a prologue is a script implicitly
/// evaluated at start-up).
};
int main (int argc, char** argv)
{
dgDEBUGIN(15);
dgDEBUG(5) << " Loading..." << std::endl;
// Parse options.
std::vector<std::string> inputs;
namespace po = boost::program_options;
po::options_description desc ("Allowed options");
desc.add_options ()
("input,i",
po::value<std::vector<std::string> >(&inputs),
"file(s) evaluated at start-up")
("help,h", "produce help message")
;
po::positional_options_description p;
p.add("input", -1);
po::variables_map vm;
try
{
po::store(po::command_line_parser(argc, argv).
options(desc).positional(p).run(), vm);
po::notify(vm);
if (vm.count ("help"))
{
std::cout << "Usage: " << argv[0] << " [options]" << std::endl
<< desc << std::endl
<< "Report bugs to <hpp@laas.fr>" << std::endl;
return 1;
}
}
catch (po::error& error)
{
std::cerr << "Error while parsing argument: "
<< error.what () << std::endl;
return 1;
}
std::list<std::string> inputList (inputs.begin (),
inputs.end ());
// Load all input files.
dynamicgraph::python::Interpreter interpreter;
BOOST_FOREACH (const std::string& pathStr, inputList)
{
boost::filesystem::path path (pathStr);
std::stringstream ss;
#if BOOST_FILESYSTEM_VERSION == 2
ss << "!! In file <" << path.file_string () << "> : ";
#else
ss << "!! In file <" << path.string () << "> : ";
#endif
std::string errorPrefix = ss.str ();
try
{
#if BOOST_FILESYSTEM_VERSION == 2
interpreter.runPythonFile (path.file_string ());
#else
interpreter.runPythonFile (path.string ());
#endif
}
CATCH_EXCEPTIONS ();
return 0;
}
std::string errorPrefix = "";
std::string command;
while(1) {
command = interpreter.processStream(std::cin, std::cout);
if (command != "\n") {
std::string result, out, err;
interpreter.python(command, result, out, err);
if (out != "") {
std::cout << out << std::endl;
}
if (err != "") {
std::cout << err << std::endl;
}
if (result != "None") {
std::cout << result << std::endl;
}
}
if (std::cin.eof ())
break;
}
std::cout << std::endl;
return 0;
}