Program Listing for File map.hpp
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#ifndef __eigenpy_map_hpp__
#define __eigenpy_map_hpp__
#include "eigenpy/pickle-vector.hpp"
#include "eigenpy/registration.hpp"
#include "eigenpy/utils/empty-visitor.hpp"
#include <boost/python/suite/indexing/map_indexing_suite.hpp>
#include <boost/python/stl_iterator.hpp>
#include <boost/python/to_python_converter.hpp>
namespace eigenpy {
template <typename Container>
struct overload_base_get_item_for_map
: public boost::python::def_visitor<
overload_base_get_item_for_map<Container> > {
typedef typename Container::value_type value_type;
typedef typename Container::value_type::second_type data_type;
typedef typename Container::key_type key_type;
typedef typename Container::key_type index_type;
template <class Class>
void visit(Class& cl) const {
cl.def("__getitem__", &base_get_item);
}
private:
static boost::python::object base_get_item(
boost::python::back_reference<Container&> container, PyObject* i_) {
index_type idx = convert_index(container.get(), i_);
typename Container::iterator i = container.get().find(idx);
if (i == container.get().end()) {
PyErr_SetString(PyExc_KeyError, "Invalid key");
boost::python::throw_error_already_set();
}
typename boost::python::to_python_indirect<
data_type&, boost::python::detail::make_reference_holder>
convert;
return boost::python::object(boost::python::handle<>(convert(i->second)));
}
static index_type convert_index(Container& /*container*/, PyObject* i_) {
boost::python::extract<key_type const&> i(i_);
if (i.check()) {
return i();
} else {
boost::python::extract<key_type> i(i_);
if (i.check()) return i();
}
PyErr_SetString(PyExc_TypeError, "Invalid index type");
boost::python::throw_error_already_set();
return index_type();
}
};
// The following snippet of code has been taken from the header
// https://github.com/loco-3d/crocoddyl/blob/v2.1.0/bindings/python/crocoddyl/utils/map-converter.hpp
// The Crocoddyl library is written by Carlos Mastalli, Nicolas Mansard and
// Rohan Budhiraja.
namespace bp = boost::python;
template <typename Container>
struct PickleMap : public PickleVector<Container> {
static void setstate(bp::object op, bp::tuple tup) {
Container& o = bp::extract<Container&>(op)();
bp::stl_input_iterator<typename Container::value_type> begin(tup[0]), end;
o.insert(begin, end);
}
};
template <typename Container>
struct dict_to_map {
static void register_converter() {
bp::converter::registry::push_back(&dict_to_map::convertible,
&dict_to_map::construct,
bp::type_id<Container>());
}
static void* convertible(PyObject* object) {
// Check if it is a list
if (!PyObject_GetIter(object)) return 0;
return object;
}
static void construct(PyObject* object,
bp::converter::rvalue_from_python_stage1_data* data) {
// convert the PyObject pointed to by `object` to a bp::dict
bp::handle<> handle(bp::borrowed(object)); // "smart ptr"
bp::dict dict(handle);
// get a pointer to memory into which we construct the map
// this is provided by the Python runtime
typedef bp::converter::rvalue_from_python_storage<Container> storage_type;
void* storage = reinterpret_cast<storage_type*>(data)->storage.bytes;
// placement-new allocate the result
new (storage) Container();
// iterate over the dictionary `dict`, fill up the map `map`
Container& map(*(static_cast<Container*>(storage)));
bp::list keys(dict.keys());
int keycount(static_cast<int>(bp::len(keys)));
for (int i = 0; i < keycount; ++i) {
// get the key
bp::object keyobj(keys[i]);
bp::extract<typename Container::key_type> keyproxy(keyobj);
if (!keyproxy.check()) {
PyErr_SetString(PyExc_KeyError, "Bad key type");
bp::throw_error_already_set();
}
typename Container::key_type key = keyproxy();
// get the corresponding value
bp::object valobj(dict[keyobj]);
bp::extract<typename Container::mapped_type> valproxy(valobj);
if (!valproxy.check()) {
PyErr_SetString(PyExc_ValueError, "Bad value type");
bp::throw_error_already_set();
}
typename Container::mapped_type val = valproxy();
map.emplace(key, val);
}
// remember the location for later
data->convertible = storage;
}
static bp::dict todict(Container& self) {
bp::dict dict;
typename Container::const_iterator it;
for (it = self.begin(); it != self.end(); ++it) {
dict.setdefault(it->first, it->second);
}
return dict;
}
};
template <class Container, bool NoProxy>
struct emplace_set_derived_policies
: bp::map_indexing_suite<
Container, NoProxy,
emplace_set_derived_policies<Container, NoProxy> > {
typedef typename Container::key_type index_type;
typedef typename Container::value_type::second_type data_type;
typedef typename Container::value_type value_type;
using DerivedPolicies =
bp::detail::final_map_derived_policies<Container, NoProxy>;
template <class Class>
static void extension_def(Class& cl) {
// Wrap the map's element (value_type)
std::string elem_name = "map_indexing_suite_";
bp::object class_name(cl.attr("__name__"));
bp::extract<std::string> class_name_extractor(class_name);
elem_name += class_name_extractor();
elem_name += "_entry";
namespace mpl = boost::mpl;
typedef typename mpl::if_<
mpl::and_<boost::is_class<data_type>, mpl::bool_<!NoProxy> >,
bp::return_internal_reference<>, bp::default_call_policies>::type
get_data_return_policy;
bp::class_<value_type>(elem_name.c_str(), bp::no_init)
.def("__repr__", &DerivedPolicies::print_elem)
.def("data", &DerivedPolicies::get_data, get_data_return_policy())
.def("key", &DerivedPolicies::get_key);
}
static void set_item(Container& container, index_type i, data_type const& v) {
container.emplace(i, v);
}
};
template <class Container, bool NoProxy = false>
struct GenericMapVisitor
: public emplace_set_derived_policies<Container, NoProxy>,
public dict_to_map<Container> {
typedef dict_to_map<Container> FromPythonDictConverter;
template <typename DerivedVisitor>
static void expose(const std::string& class_name,
const std::string& doc_string,
const bp::def_visitor<DerivedVisitor>& visitor) {
namespace bp = bp;
if (!register_symbolic_link_to_registered_type<Container>()) {
bp::class_<Container>(class_name.c_str(), doc_string.c_str())
.def(GenericMapVisitor())
.def("todict", &FromPythonDictConverter::todict, bp::arg("self"),
"Returns the map type as a Python dictionary.")
.def_pickle(PickleMap<Container>())
.def(visitor);
// Register conversion
FromPythonDictConverter::register_converter();
}
}
static void expose(const std::string& class_name,
const std::string& doc_string = "") {
expose(class_name, doc_string, EmptyPythonVisitor());
}
template <typename DerivedVisitor>
static void expose(const std::string& class_name,
const bp::def_visitor<DerivedVisitor>& visitor) {
expose(class_name, "", visitor);
}
};
} // namespace eigenpy
#endif // ifndef __eigenpy_map_hpp__