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  • ostasse/dynamic-graph-python
  • gsaurel/dynamic-graph-python
  • stack-of-tasks/dynamic-graph-python
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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
......
doc/sphinx/conf.py.in deleted 100644 → 0
View file @ a0d4d61a
# -*- 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 @ a0d4d61a
.. 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
dynamic-graph-python.pc.cmake deleted 100644 → 0
View file @ a0d4d61a
prefix=${CMAKE_INSTALL_PREFIX}
exec_prefix=${install_pkg_prefix}
libdir=${install_pkg_exec_prefix}/lib
includedir=${install_pkg_prefix}/include
datarootdir=${install_pkg_prefix}/share
docdir=${install_pkg_datarootdir}/doc/${PROJECT_NAME}
Name: ${PROJECT_NAME}
Description:
Version: ${PROJECT_VERSION}
Requires: ${PACKAGE_REQUIREMENTS}
Libs:
Cflags: -I${install_pkg_include_dir} ${${PROJECT_NAME}_CXXFLAGS}
include/dynamic-graph/python/api.hh 0 → 100644
View file @ a76b5b78
// -*- mode: c++ -*-
// Copyright 2011, Florent Lamiraux, CNRS.
#ifndef DYNAMIC_GRAPH_PYTHON_API_HH
#define DYNAMIC_GRAPH_PYTHON_API_HH
#include <dynamic-graph/python/config.hh>
#endif // DYNAMIC_GRAPH_PYTHON_API_HH
include/dynamic-graph/python/convert-dg-to-py.hh 0 → 100644
View file @ a76b5b78
// 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
View file @ a76b5b78
#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/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 0 → 100644
View file @ a76b5b78
// -*- mode: c++ -*-
// Copyright 2011, Florent Lamiraux, CNRS.
#ifndef DYNAMIC_GRAPH_PYTHON_INTERPRETER_H
#define DYNAMIC_GRAPH_PYTHON_INTERPRETER_H
#undef _POSIX_C_SOURCE
#undef _XOPEN_SOURCE
#include <dynamic-graph/python/fwd.hh>
#include "dynamic-graph/python/api.hh"
#include "dynamic-graph/python/python-compat.hh"
namespace dynamicgraph {
namespace python {
///
/// This class implements a basis python interpreter.
///
/// String sent to method python are interpreted by an onboard python
/// interpreter.
class DYNAMIC_GRAPH_PYTHON_DLLAPI Interpreter {
public:
Interpreter();
~Interpreter();
/// \brief Method to start python interperter.
/// \param command string to execute
/// Method deprecated, you *SHOULD* handle error messages.
[[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);
/// \brief Method to exectue a python script.
/// \param filename the filename
void runPythonFile(std::string filename);
void runPythonFile(std::string filename, std::string& err);
void runMain(void);
/// \brief Process input stream to send relevant blocks to python
/// \param stream input stream
std::string processStream(std::istream& stream, std::ostream& os);
/// \brief Return a pointer to the dictionary of global variables
PyObject* globals();
private:
/// The Python thread state
PyThreadState* _pyState;
/// Pointer to the dictionary of global variables
PyObject* globals_;
/// Pointer to the dictionary of local variables
PyObject* locals_;
PyObject* mainmod_;
};
} // namespace python
} // namespace dynamicgraph
#endif // DYNAMIC_GRAPH_PYTHON_INTERPRETER_H
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
include/dynamic-graph/python/python-compat.hh 0 → 100644
View file @ a76b5b78
#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 CNRS
#
# Author: Florent Lamiraux
#
#
# Python
#
INCLUDE(FindPythonLibs)
IF (NOT ${PYTHONLIBS_FOUND} STREQUAL TRUE)
MESSAGE(FATAL_ERROR "Python has not been found.")
ENDIF (NOT ${PYTHONLIBS_FOUND} STREQUAL TRUE)
INCLUDE(FindPythonInterp)
IF (NOT ${PYTHONINTERP_FOUND} STREQUAL TRUE)
MESSAGE(FATAL_ERROR "Python executable has not been found.")
ENDIF (NOT ${PYTHONINTERP_FOUND} STREQUAL TRUE)
# provide path to library libdynamic-graph.so
LINK_DIRECTORIES(${DYNAMIC_GRAPH_LIBRARY_DIRS})
ADD_DEFINITIONS(${DYNAMIC_GRAPH_CFLAGS})
#
#
# Python bindings
#
#
SET(PYTHON_MODULE wrap)
ADD_LIBRARY(${PYTHON_MODULE}
MODULE
dynamic-graph-py.cc
signal-base-py.cc
entity-py.cc
factory-py.cc
signal-caster-py.cc
)
# Remove prefix lib
SET_TARGET_PROPERTIES(${PYTHON_MODULE}
PROPERTIES PREFIX "")
TARGET_LINK_LIBRARIES(${PYTHON_MODULE} ${DYNAMIC_GRAPH_LIBRARIES})
INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_PATH})
#
# Installation
#
EXEC_PROGRAM(${PYTHON_EXECUTABLE} ARGS "-c \"from distutils import sysconfig; print sysconfig.get_python_lib(0,0,prefix='')\""
OUTPUT_VARIABLE PYTHON_SITELIB)
MESSAGE(STATUS "PYTHON_SITELIB=${PYTHON_SITELIB}")
SET(PYTHON_INSTALL_DIR ${CMAKE_INSTALL_PREFIX}/${PYTHON_SITELIB}/dynamic_graph)
INSTALL(TARGETS ${PYTHON_MODULE}
DESTINATION
${PYTHON_INSTALL_DIR})
SET (PYTHON_SOURCES
dynamic_graph/__init__.py
dynamic_graph/entity.py
dynamic_graph/signal_base.py
)
SET (PYTHON_SOURCES_FULLPATH "")
FOREACH (SOURCE ${PYTHON_SOURCES})
SET(PYTHON_SOURCES_FULLPATH
${PYTHON_SOURCES_FULLPATH}
${CMAKE_SOURCE_DIR}/src/${SOURCE}
)
ENDFOREACH (SOURCE)
INSTALL(FILES ${PYTHON_SOURCES_FULLPATH}
DESTINATION ${PYTHON_INSTALL_DIR})
# Python bindings
add_subdirectory(dynamic_graph)
set(PYTHON_SOURCES __init__.py attrpath.py entity.py signal_base.py
script_shortcuts.py tools.py)
foreach(source ${PYTHON_SOURCES})
python_install_on_site(dynamic_graph ${source})
endforeach(source)
# --- ADD the wrap on the dg modules
link_directories(${DYNAMIC_GRAPH_PLUGINDIR})
dynamic_graph_python_module(
"tracer" dynamic-graph::tracer tracer-wrap SOURCE_PYTHON_MODULE
${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/tracer/wrap.cc)
dynamic_graph_python_module(
"tracer_real_time" dynamic-graph::tracer-real-time tracer_real_time-wrap
SOURCE_PYTHON_MODULE
${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/tracer_real_time/wrap.cc)
src/dynamic-graph-py.cc deleted 100644 → 0
View file @ a0d4d61a
/*
* Copyright 2010 (C) CNRS
* Author: Florent Lamiraux
*/
#include <Python.h>
#include <iostream>
#include <sstream>
#include <string>
#include <dynamic-graph/debug.h>
#include <dynamic-graph/exception-factory.h>
#include <dynamic-graph/signal-base.h>
namespace dynamicgraph {
namespace python {
// Declare functions defined in other source files
namespace signalBase {
extern PyObject* create(PyObject* self, PyObject* args);
extern PyObject* getTime(PyObject* self, PyObject* args);
extern PyObject* getValue(PyObject* self, PyObject* args);
extern PyObject* setValue(PyObject* self, PyObject* args);
extern PyObject* recompute(PyObject* self, PyObject* args);
}
namespace entity {
extern PyObject* create(PyObject* self, PyObject* args);
extern PyObject* getName(PyObject* self, PyObject* args);
extern PyObject* getSignal(PyObject* self, PyObject* args);
extern PyObject* displaySignals(PyObject* self, PyObject* args);
extern PyObject* executeCommand(PyObject* self, PyObject* args);
extern PyObject* listCommands(PyObject* self, PyObject* args);
extern PyObject* getCommandDocstring(PyObject* self, PyObject* args);
}
namespace factory {
PyObject* getEntityClassList(PyObject* self, PyObject* args);
}
namespace signalCaster {
PyObject* getSignalTypeList(PyObject* self, PyObject* args);
}
PyObject* error;
/**
\brief plug a signal into another one.
*/
PyObject*
plug(PyObject* self, PyObject* args)
{
PyObject* objOut = NULL;
PyObject* objIn = NULL;
void* pObjOut;
void* pObjIn;
if (!PyArg_ParseTuple(args,"OO", &objOut, &objIn))
return NULL;
if (!PyCObject_Check(objOut)) {
PyErr_SetString(PyExc_TypeError,
"first argument should be a pointer to"
" signalBase<int>.");
return NULL;
}
if (!PyCObject_Check(objIn)) {
PyErr_SetString(PyExc_TypeError,
"second argument should be a pointer to"
" signalBase<int>.");
return NULL;
}
pObjIn = PyCObject_AsVoidPtr(objIn);
SignalBase<int>* signalIn = (SignalBase<int>*)pObjIn;
pObjOut = PyCObject_AsVoidPtr(objOut);
SignalBase<int>* signalOut = (SignalBase<int>*)pObjOut;
std::ostringstream os;
try {
signalIn->plug(signalOut);
} catch (std::exception& exc) {
PyErr_SetString(error, exc.what());
return NULL;
}
return Py_BuildValue("");
}
PyObject*
enableTrace(PyObject* self, PyObject* args)
{
PyObject* boolean;
char* filename = NULL;
if (PyArg_ParseTuple(args,"Os", &boolean, &filename)) {
if (!PyBool_Check(boolean)) {
PyErr_SetString(PyExc_TypeError, "enableTrace takes as first "
"argument True or False,\n"" and as "
"second argument a filename.");
return NULL;
}
if (boolean == Py_True) {
try {
DebugTrace::openFile(filename);
} catch (const std::exception& exc) {
PyErr_SetString(PyExc_IOError, exc.what());
return NULL;
}
} else {
try {
DebugTrace::closeFile(filename);
} catch (const std::exception& exc) {
PyErr_SetString(PyExc_IOError, exc.what());
return NULL;
}
}
} else {
return NULL;
}
return Py_BuildValue("");
}
}
}
/**
\brief List of python functions
*/
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"},
{"signal_base_get_time", dynamicgraph::python::signalBase::getTime,
METH_VARARGS, "Get time of a SignalBase"},
{"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"},
// Entity
{"create_entity", dynamicgraph::python::entity::create, METH_VARARGS,
"create an Entity C++ object"},
{"entity_get_name", dynamicgraph::python::entity::getName, METH_VARARGS,
"get the name of an Entity"},
{"entity_get_signal", dynamicgraph::python::entity::getSignal, METH_VARARGS,
"get signal by name from an Entity"},
{"entity_display_signals", dynamicgraph::python::entity::displaySignals,
METH_VARARGS,
"Display the list of signals of an entity in standard output"},
{"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"},
{"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"},
{NULL, NULL, 0, NULL} /* Sentinel */
};
PyMODINIT_FUNC
initwrap(void)
{
PyObject *m;
m = Py_InitModule("wrap", dynamicGraphMethods);
if (m == NULL)
return;
std::string msg("dynamic_graph.error");
dynamicgraph::python::error =
PyErr_NewException(const_cast<char*>(msg.c_str()), NULL, NULL);
Py_INCREF(dynamicgraph::python::error);
PyModule_AddObject(m, "error", dynamicgraph::python::error);
}
src/dynamic_graph/CMakeLists.txt 0 → 100644
View file @ a76b5b78
# Copyright 2010-2021, Florent Lamiraux, Thomas Moulard, Olivier Stasse, Guilhem
# Saurel, JRL, CNRS/AIST, LAAS-CNRS
set(PYTHON_MODULE wrap)
add_library(
${PYTHON_MODULE} MODULE debug-py.cc dynamic-graph-py.cc factory-py.cc
pool-py.cc signal-base-py.cc signal-wrapper.cc)
target_link_libraries(${PYTHON_MODULE} PUBLIC ${PROJECT_NAME} eigenpy::eigenpy)
# Remove prefix lib
set_target_properties(${PYTHON_MODULE} PROPERTIES PREFIX "")
if(UNIX AND NOT APPLE)
set_target_properties(${PYTHON_MODULE} PROPERTIES INSTALL_RPATH
"\$ORIGIN/../../..")
endif()
install(
TARGETS ${PYTHON_MODULE}
EXPORT ${TARGETS_EXPORT_NAME}
DESTINATION ${PYTHON_SITELIB}/dynamic_graph)