e20645d963973c5974ef419f587f401fb6ddc8a6 to master · Stack Of Tasks / dynamic-graph-python

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.git-blame-ignore-revs

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		# pre-commit run -a (Guilhem Saurel, 2022-07-27)
		db4d991c9d727b8454695ce8d88948b948c6b36f

.gitlab-ci.yml

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		variables:
		GIT_SUBMODULE_STRATEGY: "recursive"
		GIT_DEPTH: "3"
		CCACHE_BASEDIR: "${CI_PROJECT_DIR}"
		CCACHE_DIR: "${CI_PROJECT_DIR}/ccache"

		cache:
		paths:
		- ccache

		.robotpkg-py-dynamic-graph-v3: &robotpkg-py-dynamic-graph-v3
		except:
		- gh-pages
		script:
		- mkdir -p ccache
		- cd /root/robotpkg/wip/py-dynamic-graph-v3
		- git pull
		- make checkout MASTER_REPOSITORY="dir ${CI_PROJECT_DIR}"
		- make install
		- cd work.$(hostname)/$(make show-var VARNAME=DISTNAME)
		- make test

		robotpkg-py-dynamic-graph-v3-14.04-release:
		<<: *robotpkg-py-dynamic-graph-v3
		image: eur0c.laas.fr:5000/stack-of-tasks/dynamic-graph-python/py-dynamic-graph-v3:14.04

		robotpkg-py-dynamic-graph-v3-16.04-release:
		<<: *robotpkg-py-dynamic-graph-v3
		image: eur0c.laas.fr:5000/stack-of-tasks/dynamic-graph-python/py-dynamic-graph-v3:16.04

		robotpkg-py-dynamic-graph-v3-18.04-release:
		<<: *robotpkg-py-dynamic-graph-v3
		image: eur0c.laas.fr:5000/stack-of-tasks/dynamic-graph-python/py-dynamic-graph-v3:18.04

		doc-coverage:
		<<: *robotpkg-py-dynamic-graph-v3
		image: eur0c.laas.fr:5000/stack-of-tasks/dynamic-graph-python/py-dynamic-graph-v3:16.04
		before_script:
		- echo -e 'CXXFLAGS+= --coverage\nLDFLAGS+= --coverage\nPKG_DEFAULT_OPTIONS= debug' >> /opt/openrobots/etc/robotpkg.conf
		after_script:
		- cd /root/robotpkg/wip/py-dynamic-graph-v3
		- cd work.$(hostname)/$(make show-var VARNAME=DISTNAME)
		- make doc
		- mv doc/doxygen-html ${CI_PROJECT_DIR}
		- mkdir -p ${CI_PROJECT_DIR}/coverage/
		- gcovr -r .
		- gcovr -r . --html --html-details -o ${CI_PROJECT_DIR}/coverage/index.html
		artifacts:
		expire_in: 1 day
		paths:
		- doxygen-html/
		- coverage/

		include: http://rainboard.laas.fr/project/dynamic-graph-python/.gitlab-ci.yml

.gitmodules

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		[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

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		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 @ 083fa2cb

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		Subproject commit 083fa2cb0fa4ad594926d9bb3d246075e62ce9ee

.travis.yml

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		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="proyan/dynamic-graph"
		- LCOV_IGNORE_RULES="unitTesting"
		allow_failures:
		- compiler: clang
		notifications:
		email:
		- hpp-source@laas.fr
		branches:
		only:
		- master
		- debian
		script: ./.travis/run build
		after_success: ./.travis/run after_success
		after_failure: ./.travis/run after_failure
		before_install: ./.travis/run before_install
		matrix:
		allow_failures:
		- compiler: clang

.yapfignore

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		tests/test_python-syntax_error.py

AUTHORS

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		Authors:

CMakeLists.txt

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		# Copyright 2010, 2011, Florent Lamiraux, Thomas Moulard, JRL, CNRS/AIST
		#
		# 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/>.

		CMAKE_MINIMUM_REQUIRED(VERSION 2.6)

		INCLUDE(cmake/base.cmake)
		INCLUDE(cmake/boost.cmake)
		INCLUDE(cmake/eigen.cmake)
		INCLUDE(cmake/pthread.cmake)
		INCLUDE(cmake/cpack.cmake)
		include(cmake/header.cmake)
		include(cmake/python.cmake)

		SET(PROJECT_NAME dynamic-graph-python)
		SET(PROJECT_DESCRIPTION "Dynamic graph library Python bindings")
		SET(PROJECT_URL "http://github.com/stack-of-tasks/dynamic-graph-python")

		SET(DOXYGEN_USE_MATHJAX YES)

		SET(CUSTOM_HEADER_DIR "dynamic-graph/python")
		# Headers list.
		SET(${PROJECT_NAME}_HEADERS
		include/dynamic-graph/python/interpreter.hh
		include/dynamic-graph/python/api.hh
		include/dynamic-graph/python/exception-python.hh
		# Copyright 2010-2020, Florent Lamiraux, Thomas Moulard, Olivier Stasse, Guilhem
		# Saurel, JRL, CNRS/AIST, LAAS-CNRS

		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}")

		# Project options
		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)

		# JRL-cmakemodule setup
		include(cmake/base.cmake)
		include(cmake/boost.cmake)

		# Project definition
		compute_project_args(PROJECT_ARGS LANGUAGES CXX)
		project(${PROJECT_NAME} ${PROJECT_ARGS})
		check_minimal_cxx_standard(14 ENFORCE)

		# Project dependencies
		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)

		SET(PKG_CONFIG_ADDITIONAL_VARIABLES plugindir ${PKG_CONFIG_ADDITIONAL_VARIABLES})
		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()

		SETUP_PROJECT()
		# 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/${CUSTOM_HEADER_DIR}/fwd.hh
		include/${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)

		FINDPYTHON(2.7 EXACT REQUIRED)
		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)

		# Trigger dependency to dynamic-graph.
		ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 3.0.0")
		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)

		# Add dependency toward dynamic graph library in pkg-config file.
		PKG_CONFIG_APPEND_LIBS("dynamic-graph-python")
		if(SUFFIX_SO_VERSION)
		set_target_properties(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
		endif(SUFFIX_SO_VERSION)

		# Search for Boost.
		SET(BOOST_COMPONENTS python filesystem system thread program_options unit_test_framework)
		SEARCH_FOR_BOOST()
		SEARCH_FOR_EIGEN()
		target_compile_definitions(${PROJECT_NAME}
		PRIVATE PYTHON_LIBRARY="${PYTHON_LIBRARY}")

		ADD_SUBDIRECTORY(src)
		ADD_SUBDIRECTORY(include)
		ADD_SUBDIRECTORY(doc)
		ADD_SUBDIRECTORY(unitTesting)
		install(
		TARGETS ${PROJECT_NAME}
		EXPORT ${TARGETS_EXPORT_NAME}
		DESTINATION lib)

		SETUP_PROJECT_FINALIZE()
		add_subdirectory(src)
		if(BUILD_TESTING)
		add_subdirectory(tests)
		endif(BUILD_TESTING)

		install(FILES package.xml DESTINATION share/${PROJECT_NAME})

COPYING

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		BSD 2-Clause License

		Copyright (c) 2018, CNRS
		Copyright (c) 2011-2019, CNRS
		Author: Stack of Tasks Development Team
		All rights reserved.

ChangeLog

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		CHANGELOG
		----------------------

		[Current]
		* Synchronize
		* Allow iterable instead of only tuple in signal value affectation.
		* Synchronize.
		* Fix compilation on Ubuntu 10.04 (32 bits).
		* Fix Ubuntu 12.04 (64 bits) portability issues.
		* Corrected the #include problem.
		* Modify SignalBase.value.

		[v2.5.3]
		* Update ChangeLog.
		* Fix pb with filesystem version.

		[v2.5.2]
		* Make runCommand without error messages deprecated.
		* Changes std::cout to dgDEBUG.
		* Add test to detect statement in evaluation.
		* Synchronize cmake
		* Robustify the python interpreter when some python objects cannot be stringified.
		* Synchronize.
		* Correct the link with boost on Ubuntu 11.04.
		* Keep track of entities created via python.
		* Document entity class types with the output of C++ getDocString method.
		* In command Entity.help (), first print __doc__ if any.
		* Make bindings more robust to exceptions.
		* Make sure that Boost.Filesystem v2 is used.
		* Revert "Add appropriate flag. file_system::file_string is deprecated since boost 1.46."
		* Synchronize cmake submodule.
		* Catch exceptions in getValue of signal-base-py.cc
		* Add appropriate flag. file_system::file_string is deprecated since boost 1.46.
		* Synchronize.
		* Win32: Remove wrong LoadLibrary.
		* Correct the handling of python modules
		* Correct the link with boost for Mac systems
		* Add missing dependency in python
		* Correct the link with the plugins for the wrap
		* Correct the Python_module handling
		* Correct link and dependencies
		* Clean cmake files by using the routines in cmake/python.cmake
		* Win32: correct the library load
		* Win32: Correct the API of exception-python.hh
		* Revert "Correct the link with lapack"
		* Correct the link with lapack
		* Correct the link with boost libraries
		* Python object SignalBase can be constructed only with a SignalBase C++ object.
		* Revert "Modify SignalBase.value."
		* Modify SignalBase.value.

		[v2.5.1]
		* Update NEWS.
		* Add python binding for writing graph.
		* Make error message more expressive.
		* Enforce compatibility with python3.
		* Replace dl module by DLFCN.
		* More search for boost earlier in file.
		* Synchronize and fix definition of PYTHON_SITELIB.
		* Add dynamicgraph namespace to make VP_DEBUG mode compile.
		* Minor changes in matlab display. Add a functor member to explicit the callable of optionalparentethis.
		* Add tools.py file containing addTrace.

		[v2.5]
		* Replace call to g_caster by call to SignalCaster::getInstance static method.
		* FactoryStorage and PoolStorage are now singletons.
		* Homogeneize error messages.
		* Fix bug in getCommandDocstring.
		* Changed the factory to enable heritage for Entity py-classes.
		* Return a python error instead of throwing C++ exception.
		* Merge branches 'topic/jrl-mal' and 'topic/jrl-mal' of ssh://github.com/jrl-umi3218/dynamic-graph-python into topic/jrl-mal
		* Correct a bug in parsing vector commands with integer value.
		* Finished to correct the name of the DG error.
		* Replace two remaining error by dgpyError.
		* Correct exception throwing from C++ to rely raise something in the interpreter.
		* Systematically catch std::exception abstract in python bindings.
		* Corrected a wrong cast for specialized type in signal value accessor.
		* Add method intepreter::python with stdout and stderr returned along with result.
		* Make error message more specific whenever Entity.__getattr__ fails.
		* Added a protection to avoid erasing signal name when setting a new value to the signal.
		* Added the decorator optionalparentheses.
		* Corrected a syntax error in an exception raising + remove the shortcut .m from the class basic definition.
		* Corrected minor bug in command return.
		* Added the entity.sigs shortcuts.
		* Reorganize the command bindings of the entity classes. Remove the script shortcuts from the basic definition of Entity.
		* Added the setattrpath function to handle for command name with . inside, like: robot.periodicCall.addSignal.
		* Display repr() output instead of str() when command is successful.
		* Do not add current directory in sys.path.
		* Added a proper factory for pyEntities.
		* Modify the "runFile" function that was not working, at create a new function to call for the shell.
		* Changed the call to create_entity: when the required creation names already exists, check is the existing object is of the same class. If it is, returns the existing object instead of creating a new oine.
		* IVIGIT.
		* Added an exception to handle error while creating an object.
		* Dynamically load libpython.so before initializing python interpreter.
		* Add an accessor to get the global dictionary.
		* Account for singleton rewriting of g_caster.
		* Added a wrapper for entities of dg.
		* Added display and displayDep in entity and signal.
		* Bind SignalBase<T, int>::setTime.
		* Revert "Set version number as 1.99."
		* Fix --libs output of pkg-config and link boost and python with library.
		* Added missing convert.cc in the makefile.
		* Added some specific convertion for vector, matrix and double signal, from C to Python (to avoid unnecessary convertion through strings.
		* IVIGIT: passes some conveertion code from entity-py to the new files, for mutualisation.
		* Added exception.hh in the files to install.
		* IVIGIT.
		* Install and include in interpreter.hh api.hh.
		* Fix installation of header file.
		* Set version number as 1.99.
		* Enable conversion from int to float and double in argument of bound functions.
		* Added the display method, py-bound in __str__.
		* Added a method to bound all new commands.
		* Added a method to bound new commands dynamically.
		* Define function display.
		* Enable reading an int as a float when parsing a matrix.
		* Added shortcuts in the entity and signal-base api to help debuging during online script execution.
		* Added the unplug python function as a member of the signal-base class.
		* Set sys.argv to [''] at initialization.
		* Implement on-board python interpreter
		* Added build and ~ in the gitignoe.
		* Update docstring of Entity.signals().
		* Bind SignalBase.display() and implement Entity.displaySignals() in python.
		* Fix typo.
		* Fix warnings.
		* Save temporary changes to get list of signals of an entity.
		* Synchronize cmake submodule.
		* Raise exception when PyCObject_Check fails.
		* Fix warnings.
		* Switch to submodule.
		* Do not destroy C++ entity when destroying python binding object.
		* In Entity class, each signal gives rise to an attribute returning the signal.
		* Change the error message when an attribute does not exist.
		* Add a method getName in python class SignalBase
		* Added the signals in the attribute of the entity class.
		* With the doc.
		* Added an helper to get the commands list and doc.
		* Set error message in function w_plug when arguments are of wrong types.
		* Add a function to get the list of type names registered for signals.
		* Catch exception in SignalBase::recompute().
		* Rename method display_signals -> displaySignals.
		* Add recompute method in SignalBase python class.
		* Add a function to get the list of type names registered for signals.
		* Rename error
		* Rewrite enableTrace command without using commandLine.
		* Handle entity type as input to signal_base.value setter.
		* Catch std::exception instead of dynamicgraph::ExceptionFactory.
		* Remove debug output.
		* Fix a bug in conversion of tuple of tuple python object to matrix.
		* Rewrite stringToTuple and stringToMatrix in a simpler way.
		* Set flags of dynamic loader so that symbols are global.
		* Check that argument is string when string is expected in command.
		* Catch std::exception when executing command
		* Comply with jrl-mal syntax for vectors and matrices.
		* Replace object member by obj in classes
		* Rename method in python module
		* When building python Entity classes, populate methods with docstrings.
		* Use autotools substitution rule.
		* Use submodule cmake to generate python documentation
		* Add documentation generation using sphinx.
		* Add submodule cmake
		* Re-inforce type checking.
		* Allow SignalBase.value to take typed arguments
		* Remove debug output
		* Remove debug output
		* Implement tupleToString function
		* Fix typo.
		* Switch arguments of command plug.
		* Fix a bug in handling of new types
		* Support more types in command parameters
		* Add a function to convert a string to a tuple
		* Fix memory issue
		* Remove trailing white spaces.
		* Bind Entity commands as method in python classes
		* Get rid of warning message
		* Bind method Entity::getNewStyleCommandMap()
		* Add a class attribute to store whether command methods have been created.
		* Register Entity classes in modules from which they are imported
		* Implement a function that creates a python class for for each entity C++ class
		* Implement return value for commands.
		* Fix a memory bug
		* Add some debug output
		* Implement binidings for commands
		* Use factory to create entities.
		* Bind method Entity::listEntities.
		* Fix comment
		* Make classes derive from object and re-introduce getter and setter decorators
		* Remove registration of new ublas vector type.
		* Call plug with right order for signals: plug (sigIn, sigOut).
		* Rewrite dynamic_graph.plug.
		* Use class InterpreterHelper instead of Interpreter.
		* Catch exceptions in signal set and get value methods.
		* Catch exceptions in signal set and get value methods.
		* Do not use sophisticated setter and getter for the moment
		* Change signal access method name in Entity python class
		* Adapt to dynamic-graph change of interface
		* Implement set and get signal value
		* Fix constructor of python class SignalBase.
		* Implement bindings for Entity and SignalBase C++ classes.
		* Raise a python exception upon c++ exception in plug command
		* Implement binding python for plug.
		* Fix compilation of python module
		* Bindings python for dynamic_grapĥ.

INSTALL

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		#
		# Copyright
		#

		Installation instructions for library dynamic-graph-python
		----------------------------------------------

		It is recommended to create a specific directory to install this package.
		mkdir build
		cd build
		cmake [Options] ..
		make
		make install

		Options:

		-DCMAKE_INSTALL_PREFIX=...
		specifies the directory where to install the package.

		-DCMAKE_BUILD_TYPE=[none\|debug\|release\|relwithdebinfo\|MinSizeRel]
		specifies to type of compilation (release, debug, ...)

NEWS

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		New in version 2.5.1 - 2011-12-07
		* Move search for boost earlier in CMakeLists.txt,
		* Use PyObject_IsTrue to test a boolean C/Python API,
		* Replace deprecated python module dl module by DLFCN,
		* use print as a function for python 3 compatibility,
		* Modification of signal management for vector and matrix data,
		* Python files are now installed in site-packages instead of dist-packages,
		* Add tools.py file containing addTrace.
		New in version 2.5 - 2011-06-21

README.md

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		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://gepgitlab.laas.fr/stack-of-tasks/dynamic-graph-python/badges/master/pipeline.svg)](https://gepgitlab.laas.fr/stack-of-tasks/dynamic-graph-python/commits/master)
		[![Coverage report](https://gepgitlab.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/)
		[![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
		@@ -114,9 +79,3 @@ The test suite can be run from your build directory by running:

		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

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		Subproject commit 99aafa43694125e67046bdc91c7b6485b5b6ca45
		Subproject commit 08c2c18b9033c2f0a86b885b589f4fa63a163caf

debian/changelog

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		python-dynamic-graph (3.0.0-0ubuntu1ppa0~precise3) precise; urgency=low

		* Update package dependencies

		-- Rohan Budhiraja <budhiraja.rohan@gmail.com> Fri, 27 May 2016 18:51:23 +0200

		python-dynamic-graph (3.0.0-0ubuntu1ppa0~precise2) precise; urgency=low

		* Update package dependencies

		-- Rohan Budhiraja <budhiraja.rohan@gmail.com> Fri, 27 May 2016 18:41:23 +0200

		python-dynamic-graph (3.0.0-0ubuntu1ppa0~precise1) precise; urgency=low

		* Initial release

		-- Rohan Budhiraja <budhiraja.rohan@gmail.com> Wed, 04 May 2016 14:34:08 +0200

debian/compat

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		8

debian/control

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		Source: python-dynamic-graph
		Section: python
		X-Python-Version: 2.6,2.7
		Priority: extra
		Maintainer: Ubuntu Developers <ubuntu-devel-discuss@lists.ubuntu.com>
		Build-Depends: debhelper (>= 8.0.0),
		cmake (>=2.6),
		doxygen (>=1.6.3),
		pkg-config (>=0.22),
		python (<<2.8),
		python (>=2.7),
		python-sphinx (>=1.1),
		libdynamic-graph-dev (>=3.0.0),
		libboost-dev (>=1.46),
		libboost-filesystem-dev (>=1.46),
		libboost-python-dev (>=1.46),
		libboost-system-dev (>=1.46),
		libboost-test-dev (>=1.46),
		libboost-thread-dev (>=1.46),
		libboost-program-options-dev (>=1.46),
		libeigen3-dev (>=3.0.5)
		Standards-Version: 3.9.7
		Homepage: http://stack-of-tasks.github.io/
		Vcs-Git: git://github.com/proyan/dynamic-graph-python.git

		Package: python-dynamic-graph-dev
		Architecture: any
		Suggests: python-dynamic-graph-doc
		Depends: libdynamic-graph-python3.0.0 (= ${binary:Version}),
		${misc:Depends}
		Description: Python bindings for dynamic-graph library - Development Files
		The dynamic graph library allows the representation of data-flow in C++.
		It provides fast graph evaluation and a simple script language to manipulate
		the graph actions.
		.
		This package contains dynamic-graph development files.


		Package: python-dynamic-graph
		Architecture: any
		Suggests: python-dynamic-graph-doc
		Provides: ${python:Provides}
		Depends: libdynamic-graph-python3.0.0 (= ${binary:Version}), ${shlibs:Depends}, ${python:Depends}, ${misc:Depends}
		Description: Python bindings for dynamic-graph library
		The dynamic graph library allows the representation of data-flow in C++.
		It provides fast graph evaluation and a simple script language to manipulate
		the graph actions.
		.
		This package contains modules that allow you to use dynamic-graph from Python.

		Package: libdynamic-graph-python3.0.0
		Architecture: any
		Suggests: python-dynamic-graph-doc
		Pre-Depends: ${misc:Pre-Depends}
		Depends: ${shlibs:Depends}, ${misc:Depends}
		Description: Python bindings for dynamic-graph library (Binary and shared libraries)
		The dynamic graph library allows the representation of data-flow in C++.
		It provides fast graph evaluation and a simple script language to manipulate
		the graph actions.
		.
		This package contains binaries and shared libraries.

		Package: python-dynamic-graph-doc
		Architecture: all
		Section: doc
		Depends: ${misc:Depends}
		Description: Python bindings for dynamic-graph library (common documentation)
		The dynamic graph library allows the representation of data-flow in C++.
		It provides fast graph evaluation and a simple script language to manipulate
		the graph actions.
		.
		This is the common documentation package
		No newline at end of file

debian/copyright

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		Format: http://www.debian.org/doc/packaging-manuals/copyright-format/1.0
		Upstream-Name: dynamic-graph-python
		Upstream-Contact: HPP mailing list <hpp@laas.fr>
		Source: https://github.com/proyan/dynamic-graph-python

		Files: *
		Copyright: 2010-2016 JRL, CNRS/AIST.
		License: LGPL-3
		See `/usr/share/common-licenses/LGPL-3'.

		Files: debian/*
		Copyright: 2016 Rohan Budhiraja
		License: LGPL-3
		See `/usr/share/common-licenses/LGPL-3'.
		No newline at end of file

debian/docs

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		NEWS
		README.md

debian/libdynamic-graph-python3.0.0.install

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		usr/bin/*
		usr/lib//.so.*
		No newline at end of file

debian/python-dynamic-graph-dev.install

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		usr/include/*
		usr/lib//lib.so
		usr/lib//pkgconfig/
		No newline at end of file

debian/python-dynamic-graph-doc.doc-base

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		Document: python-dynamic-graph
		Title: Debian python-dynamic-graph Manual
		Author: Thomas Moulard <thomas.moulard@gmail.com>
		Abstract: Doxygen documentation of python-dynamic-graph
		This manual describes what python-dynamic-graph is
		and how it can be used
		in making graph-like data-flow structures
		using Python interface.
		Section: Programming

		Format: HTML
		Index: /usr/share/doc/dynamic-graph-python/doxygen-html/index.html
		Files: /usr/share/doc/dynamic-graph-python/doxygen-html/*.html
		No newline at end of file

debian/python-dynamic-graph-doc.install

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		usr/share/doc/dynamic-graph-python/*
		No newline at end of file

debian/python-dynamic-graph.install

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		usr/lib/python*
		No newline at end of file

debian/python-dynamic-graph.postinst

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		#!/bin/sh
		# postinst script for python-dynamic-graph
		#
		# see: dh_installdeb(1)

		set -e

		if which pycompile >/dev/null 2>&1; then
		pycompile -p python-dynamic-graph
		fi

		#DEBHELPER#
		No newline at end of file

debian/python-dynamic-graph.prerm

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		#!/bin/sh
		# prerm script for python-dynamic-graph
		#
		# see: dh_installdeb(1)

		set -e

		if which pyclean >/dev/null 2>&1; then
		pyclean -p python-dynamic-graph
		else
		dpkg -L python-dynamic-graph \| grep \.py$ \| while read file
		do
		rm -f "${file}"[co] >/dev/null
		done
		fi

		#DEBHELPER#
		No newline at end of file

debian/rules

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		#!/usr/bin/make -f
		# -- makefile --
		# Sample debian/rules that uses debhelper.
		# This file was originally written by Joey Hess and Craig Small.
		# As a special exception, when this file is copied by dh-make into a
		# dh-make output file, you may use that output file without restriction.
		# This special exception was added by Craig Small in version 0.37 of dh-make.

		# Uncomment this to turn on verbose mode.
		# export DH_VERBOSE=1

		%:
		dh $@ --with python2 --buildsystem=cmake

		override_dh_auto_configure:
		dh_auto_configure -- \
		-DPYTHON_DEB_LAYOUT=ON



		export PYBUILD_NAME = dynamic-graph
		No newline at end of file

debian/source/format

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		3.0 (quilt)

debian/watch

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		version=3
		opts=filenamemangle=s/.+\/v?(\d\S*)\.tar\.gz/dynamic-graph-python$1\.tar\.gz/ \
		https://github.com/proyan/dynamic-graph-python/releases ./v?(\d\S)\.tar\.gz
		No newline at end of file

doc/CMakeLists.txt

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		# Copyright 2010, 2011, Florent Lamiraux, Thomas Moulard, JRL, CNRS/AIST
		#
		# 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(../cmake/sphinx.cmake)

		SPHINX_SETUP()
		SPHINX_FINALIZE()

doc/footer.html

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		@@ -8,4 +8,3 @@
		</center>
		</body>
		</head>

doc/header.html

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		@@ -4,4 +4,3 @@
		<LINK HREF="package.css" REL="stylesheet" TYPE="text/css">
		</HEAD>
		<BODY>

doc/package.css

+15 −16

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		@@ -227,4 +227,3 @@ DIV.groupHeader
		text-decoration: none;
		color:#0066CC
		}

doc/package.dox.cmake→doc/package.dox.in

+32 −32

File changed and moved.

Contains only whitespace changes.

doc/sphinx/conf.py.in

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		# -- 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

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		.. 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

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Original line number	Diff line number	Diff line
		# 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

+3 −16

Original line number	Diff line number	Diff line
		// -- mode: c++ --
		// 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
		#define DYNAMIC_GRAPH_PYTHON_API_HH

include/dynamic-graph/python/convert-dg-to-py.hh

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Original line number	Diff line number	Diff line
		// 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

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Original line number	Diff line number	Diff line
		#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

deleted100644 → 0

+0 −74

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		// -- 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

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Original line number	Diff line number	Diff line
		/*
		* 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

+51 −67

Original line number	Diff line number	Diff line
		// -- mode: c++ --
		// 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/>.

		#undef _POSIX_C_SOURCE
		#undef _XOPEN_SOURCE
		#include <Python.h>
		#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

		#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 {
		@@ -33,20 +18,20 @@ namespace dynamicgraph {
		///
		/// String sent to method python are interpreted by an onboard python
		/// interpreter.
		class DYNAMIC_GRAPH_PYTHON_DLLAPI 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.
		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
		@@ -62,14 +47,13 @@ namespace dynamicgraph {
		PyObject* globals();

		private:
		/// The Pythone thread state
		/// 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_;
		PyObject* traceback_format_exception_;
		};
		} // namespace python
		} // namespace dynamicgraph

include/dynamic-graph/python/module.hh

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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

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Original line number	Diff line number	Diff line
		#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

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Original line number	Diff line number	Diff line
		// 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

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Original line number	Diff line number	Diff line
		// 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

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		<?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

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		[tool.black]
		exclude = "cmake"
		extend-exclude = "tests/test_python-syntax_error.py"

setup.cfg

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Original line number	Diff line number	Diff line
		[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

+15 −115

Original line number	Diff line number	Diff line
		# Copyright 2010, 2011, Florent Lamiraux, Thomas Moulard, JRL, CNRS/AIST
		#
		# 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/>.

		#
		# Python
		#

		INCLUDE_DIRECTORIES(SYSTEM ${Boost_INCLUDE_DIRS})
		LINK_DIRECTORIES(${Boost_LIBRARY_DIRS} ${PYTHON_LIBRARY_DIRS})

		#
		#
		# Python interpreter
		#
		#
		SET(LIBRARY_NAME ${PROJECT_NAME})
		ADD_LIBRARY(${LIBRARY_NAME}
		SHARED
		interpreter.cc)

		TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
		${PYTHON_LIBRARY})
		TARGET_LINK_BOOST_PYTHON(${LIBRARY_NAME})

		IF(UNIX)
		TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${Boost_LIBRARIES})
		TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${CMAKE_DL_LIBS})
		ENDIF(UNIX)

		SET_TARGET_PROPERTIES(${LIBRARY_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
		PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} dynamic-graph)

		INSTALL(TARGETS ${LIBRARY_NAME}
		DESTINATION lib)

		#
		#

Source

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