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//
// All components of Drake are licensed under the BSD 3-Clause License
// shown below. Where noted in the source code, some portions may
// be subject to other permissive, non-viral licenses.
//
// Copyright 2012-2016 Robot Locomotion Group @ CSAIL
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// Redistributions of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer. Redistributions
// in binary form must reproduce the above copyright notice, this list of
// conditions and the following disclaimer in the documentation and/or
// other materials provided with the distribution. Neither the name of
// the Massachusetts Institute of Technology nor the names of its
// contributors may be used to endorse or promote products derived from
// this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
#pragma once
/// @file
/// Provides pybind11 `type_caster`s for Eigen geometric types.
/// N.B. This uses some of pybind's coding conventions.
///
/// See http://pybind11.readthedocs.io/en/stable/advanced/cast/custom.html for
/// more details on custom type casters.
#include <string>
#include <utility>
#include <Eigen/Dense>
#include "pybind11/eigen.h"
namespace dart {
namespace python {
namespace detail {
// Implements a `type_caster<>` specialization used to convert types using a
// specific wrapping policy.
// @tparam Wrapper
// Struct which must provide `Type`, `WrappedType`, `unwrap`, and `wrap`.
// @tparam copy_only
// This may only pass between C++ and Python as copies, not references.
// See `eigen_wrapper_*` structs below for more details.
template <typename Wrapper>
struct type_caster_wrapped {
using Type = typename Wrapper::Type;
using WrappedType = typename Wrapper::WrappedType;
using WrappedTypeCaster = ::pybind11::detail::type_caster<WrappedType>;
// Python to C++.
bool load(::pybind11::handle src, bool converter) {
WrappedTypeCaster caster;
if (!caster.load(src, converter)) {
return false;
}
value_ = Wrapper::unwrap(caster.operator WrappedType&());
loaded_ = true;
return true;
}
// See `pybind11/eigen.h`, `type_caster<>` implementations.
// N.B. Do not use `PYBIND11_TYPE_CASTER(...)` so we can avoid casting
// garbage values.
operator Type&() {
assert(loaded_);
return value_;
}
template <typename T> using cast_op_type =
::pybind11::detail::movable_cast_op_type<T>;
static constexpr auto name = WrappedTypeCaster::props::descriptor;
// C++ to Python.
template <typename TType>
static ::pybind11::handle cast(TType&& src, ::pybind11::return_value_policy policy,
::pybind11::handle parent) {
if (policy == ::pybind11::return_value_policy::reference ||
policy == ::pybind11::return_value_policy::reference_internal) {
// N.B. We must declare a local `static constexpr` here to prevent
// linking errors. This does not appear achievable with
// `constexpr char[]`, so we use `::pybind11::detail::descr`.
// See `pybind11/pybind11.h`, `cpp_function::initialize(...)` for an
// example.
static constexpr auto original_name = Wrapper::original_name;
throw ::pybind11::cast_error(
std::string("Can only pass ") + original_name.text +
" by value.");
}
return WrappedTypeCaster::cast(
Wrapper::wrap(std::forward<TType>(src)), policy, parent);
}
private:
bool loaded_{false};
Type value_;
};
// Wrapper for Eigen::Translation<>, to be used as first parameter to
// `type_caster_wrapped`.
// Since there are not many special operations for a translation vector, we
// shall return it as a nominal vector.
template <typename T, int Dim>
struct wrapper_eigen_translation {
using Type = Eigen::Translation<T, Dim>;
using WrappedType = Eigen::Matrix<T, Dim, 1>;
static constexpr auto original_name = ::pybind11::detail::_("Eigen::Translation<>");
static Type unwrap(const WrappedType& arg_wrapped) {
return Type(arg_wrapped);
}
static WrappedType wrap(const Type& arg) {
return arg.vector();
}
};
// N.B. Since `Isometry3<>` and `Eigen::Quaternion<>` have more
// complicated structures, they are registered as types in `eigen_geometry_py`.
} // namespace detail
} // namespace python
} // namespace dart
namespace pybind11 {
namespace detail {
template <typename T, int Dim>
struct type_caster<Eigen::Translation<T, Dim>>
: public dart::python::detail::type_caster_wrapped<
dart::python::detail::wrapper_eigen_translation<T, Dim>> {};
} // namespace detail
} // namespace pybind11
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