registration.hpp

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//
// Copyright (c) 2019 INRIA
//

#ifndef __pinocchio_python_utils_registration_hpp__
#define __pinocchio_python_utils_registration_hpp__

#include <boost/python.hpp>
#include <boost/python/scope.hpp>

#include <eigenpy/registration.hpp>

namespace pinocchio
{
  namespace python
  {
    
    template<typename T>
    inline bool register_symbolic_link_to_registered_type()
    {
      namespace bp = boost::python;
      if(eigenpy::check_registration<T>())
      {
        const bp::type_info info = bp::type_id<T>();
        const bp::converter::registration* reg = bp::converter::registry::query(info);
        bp::handle<> class_obj(reg->get_class_object());
        bp::scope().attr(reg->get_class_object()->tp_name) = bp::object(class_obj);
        return true;
      }
      
      return false;
    }
    
  } // namespace python
} // namespace pinocchio

#endif // ifndef __pinocchio_python_utils_registration_hpp__