cpp2pybind11.cpp

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#include <pinocchio/bindings/python/pybind11.hpp>

// This lines forces clang-format to keep the include split here
#include <pybind11/pybind11.h>

#include <boost/python.hpp>

#define SCALAR double
#define OPTIONS 0
#define JOINT_MODEL_COLLECTION ::pinocchio::JointCollectionDefaultTpl
#include <pinocchio/bindings/python/pybind11-all.hpp>

pinocchio::Model* make_model() {
  pinocchio::Model* model = new pinocchio::Model;
  std::cout << "make_model: " << reinterpret_cast<intptr_t>(model) << std::endl;
  return model;
}

pinocchio::Model& return_same_model_copy(pinocchio::Model& m) { return m; }
pinocchio::Model* return_same_model_nocopy(pinocchio::Model& m) { return &m; }

pinocchio::SE3 multiply_se3(pinocchio::SE3 const& a, pinocchio::SE3 const& b) {
  return a * b;
}

template <typename T>
intptr_t get_ptr(T& m) {
  std::cout << &m << '\n' << m << std::endl;
  return reinterpret_cast<intptr_t>(&m);
}

void test1(int i) { std::cout << "no conversion: " << ' ' << i << std::endl; }
void testModel1(pinocchio::Model& model) {
  std::cout << "testModel1: " << &model << std::endl;
  model.name = "testModel1: I modified the model name";
}
intptr_t testModel2(pinocchio::Model& model, int i) {
  std::cout << "testModel2: " << &model << ' ' << i << std::endl;
  model.name = "testModel2: I modified the model name";
  return reinterpret_cast<intptr_t>(&model);
}
intptr_t testModel3(pinocchio::Model const& model, int i) {
  std::cout << "testModel3: " << &model << ' ' << i << std::endl;
  return reinterpret_cast<intptr_t>(&model);
}

void testModel_manual(pybind11::object model) {
  testModel1(pinocchio::python::from<pinocchio::Model&>(model));
}

using pinocchio::python::make_pybind11_function;

PYBIND11_MODULE(cpp2pybind11, m) {
  using namespace pybind11::literals;  // For _a

  pybind11::module::import("pinocchio");
  m.def("testModel_manual", testModel_manual);

  m.def("test1", make_pybind11_function(&test1));

  m.def("make_model", make_pybind11_function(&make_model));
  m.def("return_same_model_broken", make_pybind11_function(&return_same_model_copy),
        pybind11::return_value_policy::reference);
  m.def("return_same_model", make_pybind11_function(&return_same_model_nocopy),
        pybind11::return_value_policy::reference);

  m.def("get_ptr", make_pybind11_function(&get_ptr<pinocchio::Model>));
  m.def("get_se3_ptr", make_pybind11_function(&get_ptr<pinocchio::SE3>));

  m.def("multiply_se3_1", make_pybind11_function(&multiply_se3), "a"_a, "b"_a);
  m.def("multiply_se3", make_pybind11_function(&multiply_se3), "a"_a,
        "b"_a = pinocchio::python::default_arg(pinocchio::SE3::Identity()));
  m.def("testModel1", make_pybind11_function(&testModel1));
  m.def("testModel2", make_pybind11_function(&testModel2));
  m.def("testModel3", make_pybind11_function(&testModel3));

  pybind11::module no_wrapper = m.def_submodule("no_wrapper");
  no_wrapper.def("multiply_se3", &multiply_se3, "a"_a,
                 "b"_a
                 // does not work = pinocchio::SE3::Identity()
                 );
  no_wrapper.def("testModel1", &testModel1);
  no_wrapper.def("testModel2", &testModel2);
  no_wrapper.def("testModel3", &testModel3);
}