pybind11.hpp File Reference

#include <iostream>
#include <pinocchio/fwd.hpp>
#include <pybind11/pybind11.h>
#include <boost/python.hpp>

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Classes
struct	pinocchio::python::internal::function_wrapper< R(*)(Args...)>::arg< i >
struct	pinocchio::python::convert_boost_python_object< T >
struct	pinocchio::python::convert_type< T >
struct	pinocchio::python::convert_type< void >
struct	pinocchio::python::internal::function_wrapper< T >
struct	pinocchio::python::internal::function_wrapper< R(*)(Args...)>

Namespaces
	pinocchio
	Main pinocchio namespace.
	pinocchio::python
	pinocchio::python::internal

Macros
#define	_SINGLE_ARG(...)   __VA_ARGS__
	Defines a set of conversion used by make_pybind11_function. More...
#define	PINOCCHIO_PYBIND11_ADD_ALL_CONVERT_TYPE(CLASS)
#define	PINOCCHIO_PYBIND11_ADD_CONVERT_TYPE(CLASS)
	Defines a conversion used by make_pybind11_function. More...
#define	PINOCCHIO_PYBIND11_TYPE_CASTER(native_type, boost_python_name)
	Add a PyBind11 type caster. More...

Functions
template<typename R , typename... Args>
auto	pinocchio::python::internal::call (R(*f)(Args...), typename convert_type< Args >::type... args)
template<typename... Args>
void	pinocchio::python::internal::call (void(*f)(Args...), typename convert_type< Args >::type... args)
template<typename T >
py::object	pinocchio::python::default_arg (T t)
template<typename ReturnType >
ReturnType &	pinocchio::python::from (py::handle model)
template<typename R , typename... Args>
internal::function_wrapper< R(*)(Args...)>	pinocchio::python::make_pybind11_function (R(*func)(Args...))
	Creates a function wrapper. More...
template<typename T >
py::object	pinocchio::python::to (T &t)
template<typename T >
py::object	pinocchio::python::to (T *t)

Macro Definition Documentation

_SINGLE_ARG

#define _SINGLE_ARG

(

...

)

__VA_ARGS__

Defines a set of conversion used by make_pybind11_function.

Definition at line 106 of file pybind11.hpp.

PINOCCHIO_PYBIND11_ADD_ALL_CONVERT_TYPE

#define PINOCCHIO_PYBIND11_ADD_ALL_CONVERT_TYPE

(

CLASS

)

Value:

PINOCCHIO_PYBIND11_ADD_CONVERT_TYPE(_SINGLE_ARG(CLASS))        \
  PINOCCHIO_PYBIND11_ADD_CONVERT_TYPE(_SINGLE_ARG(CLASS const))  \
  PINOCCHIO_PYBIND11_ADD_CONVERT_TYPE(_SINGLE_ARG(CLASS&))       \
  PINOCCHIO_PYBIND11_ADD_CONVERT_TYPE(_SINGLE_ARG(CLASS const&)) \
  PINOCCHIO_PYBIND11_ADD_CONVERT_TYPE(_SINGLE_ARG(CLASS*))       \
  PINOCCHIO_PYBIND11_ADD_CONVERT_TYPE(_SINGLE_ARG(CLASS const*))

Definition at line 107 of file pybind11.hpp.

PINOCCHIO_PYBIND11_ADD_CONVERT_TYPE

#define PINOCCHIO_PYBIND11_ADD_CONVERT_TYPE

(

CLASS

)

Value:

namespace pinocchio {                                               \
  namespace python {                                                  \
  template <>                                                         \
  struct convert_type<CLASS> : convert_boost_python_object<CLASS> {}; \
  }                                                                   \
  }

Defines a conversion used by make_pybind11_function.

Definition at line 97 of file pybind11.hpp.

PINOCCHIO_PYBIND11_TYPE_CASTER

#define PINOCCHIO_PYBIND11_TYPE_CASTER	(		native_type,
			boost_python_name
	)

Value:

namespace pybind11 {                                                     \
  namespace detail {                                                       \
  template <>                                                              \
  struct type_caster<native_type> {                                        \
    PYBIND11_TYPE_CASTER(_SINGLE_ARG(native_type), boost_python_name);     \
                                                                           \
    /* Python -> C++ */                                                    \
    bool load(pybind11::handle src, bool) {                                \
      PyObject* source = src.ptr();                                        \
      value = boost::python::extract<native_type>(source);                 \
      return !PyErr_Occurred();                                            \
    }                                                                      \
    /* C++ -> Python */                                                    \
    static pybind11::handle cast(native_type src,                          \
                                 pybind11::return_value_policy /*policy*/, \
                                 pybind11::handle /*parent*/) {            \
      return boost::python::api::object(src).ptr();                        \
    }                                                                      \
  };                                                                       \
  } /* namespace detail */                                                 \
  } /* namespace pybind11 */

Add a PyBind11 type caster.

Using type caster has the advantage of not requiring to wrap the exposed functions but the disadvantage of systematically requiring a copy.

See https://pybind11.readthedocs.io/en/stable/advanced/cast/custom.html "PyBind11 documentation"

Definition at line 182 of file pybind11.hpp.