dartpy 7.0.0.dev0__cp312-cp312-manylinux_2_39_x86_64.whl

include/dart/common/detail/MemoryManager-impl.hpp

@@ -0,0 +1,102 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   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.
+ *   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.
+ */
+
+#ifndef DART_COMMON_DETAIL_MEMORYMANAGER_IMPL_HPP_
+#define DART_COMMON_DETAIL_MEMORYMANAGER_IMPL_HPP_
+
+#include <dart/common/MemoryManager.hpp>
+
+namespace dart::common {
+
+//==============================================================================
+template <typename T, typename... Args>
+T* MemoryManager::construct(Type type, Args&&... args) noexcept
+{
+  // Allocate new memory for a new object (without calling the constructor)
+  void* object = allocate(type, sizeof(T));
+  if (!object) {
+    return nullptr;
+  }
+
+  // Call constructor. Return nullptr if failed.
+  try {
+    new (object) T(std::forward<Args>(args)...);
+  } catch (...) {
+    deallocate(type, object, sizeof(T));
+    return nullptr;
+  }
+
+  return reinterpret_cast<T*>(object);
+}
+
+//==============================================================================
+template <typename T, typename... Args>
+T* MemoryManager::constructUsingFree(Args&&... args) noexcept
+{
+  return construct<T, Args...>(Type::Free, std::forward<Args>(args)...);
+}
+
+//==============================================================================
+template <typename T, typename... Args>
+T* MemoryManager::constructUsingPool(Args&&... args) noexcept
+{
+  return construct<T, Args...>(Type::Pool, std::forward<Args>(args)...);
+}
+
+//==============================================================================
+template <typename T>
+void MemoryManager::destroy(Type type, T* object) noexcept
+{
+  if (!object) {
+    return;
+  }
+  object->~T();
+  deallocate(type, object, sizeof(T));
+}
+
+//==============================================================================
+template <typename T>
+void MemoryManager::destroyUsingFree(T* pointer) noexcept
+{
+  destroy(Type::Free, pointer);
+}
+
+//==============================================================================
+template <typename T>
+void MemoryManager::destroyUsingPool(T* pointer) noexcept
+{
+  destroy(Type::Pool, pointer);
+}
+
+} // namespace dart::common
+
+#endif // DART_COMMON_DETAIL_MEMORYMANAGER_IMPL_HPP_

include/dart/common/detail/Metaprogramming-impl.hpp

@@ -0,0 +1,89 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   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.
+ *   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.
+ */
+
+#ifndef DART_COMMON_DETAIL_METAPROGRAMMING_HPP_
+#define DART_COMMON_DETAIL_METAPROGRAMMING_HPP_
+
+#include <dart/common/Metaprogramming.hpp>
+
+#include <type_traits>
+
+namespace dart::common::detail {
+
+// Inspired by https://stackoverflow.com/a/6324863/3122234
+
+// Variadic to force ambiguity of class members. C++11 and up.
+template <typename... Args>
+struct ambiguate : public Args...
+{
+};
+
+// Non-variadic version of the line above.
+// template <typename A, typename B> struct ambiguate : public A, public B {};
+
+template <typename A, typename = void>
+struct got_type : std::false_type
+{
+};
+
+template <typename A>
+struct got_type<A> : std::true_type
+{
+  using type = A;
+};
+
+template <typename T, T>
+struct sig_check : std::true_type
+{
+};
+
+template <typename Alias, typename AmbiguitySeed>
+struct has_member
+{
+  template <typename C>
+  static char (&f(decltype(&C::value)))[1];
+
+  template <typename C>
+  static char (&f(...))[2];
+
+  // Make sure the member name is consistently spelled the same.
+  static_assert(
+      (sizeof(f<AmbiguitySeed>(0)) == 1),
+      "Member name specified in AmbiguitySeed is different from member name "
+      "specified in Alias, or wrong Alias/AmbiguitySeed has been specified.");
+
+  static bool const value = sizeof(f<Alias>(0)) == 2;
+};
+
+} // namespace dart::common::detail
+
+#endif // DART_COMMON_DETAIL_METAPROGRAMMING_HPP_

include/dart/common/detail/NameManager.hpp

@@ -0,0 +1,301 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   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.
+ *   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.
+ */
+
+#ifndef DART_COMMON_DETAIL_NAMEMANAGER_HPP_
+#define DART_COMMON_DETAIL_NAMEMANAGER_HPP_
+
+#include <dart/common/Console.hpp>
+#include <dart/common/NameManager.hpp>
+
+#include <sstream>
+
+#include <cassert>
+
+namespace dart {
+namespace common {
+
+//==============================================================================
+template <class T>
+NameManager<T>::NameManager(
+    const std::string& _managerName, const std::string& _defaultName)
+  : mManagerName(_managerName),
+    mDefaultName(_defaultName),
+    mNameBeforeNumber(true),
+    mPrefix(""),
+    mInfix("("),
+    mAffix(")")
+{
+  // Do nothing
+}
+
+//==============================================================================
+template <class T>
+bool NameManager<T>::setPattern(const std::string& _newPattern)
+{
+  std::size_t name_start = _newPattern.find("%s");
+  std::size_t number_start = _newPattern.find("%d");
+
+  if (name_start == std::string::npos || number_start == std::string::npos)
+    return false;
+
+  if (name_start < number_start)
+    mNameBeforeNumber = true;
+  else
+    mNameBeforeNumber = false;
+
+  std::size_t prefix_end = std::min(name_start, number_start);
+  std::size_t infix_end = std::max(name_start, number_start);
+
+  mPrefix = _newPattern.substr(0, prefix_end);
+  mInfix = _newPattern.substr(prefix_end + 2, infix_end - prefix_end - 2);
+  mAffix = _newPattern.substr(infix_end + 2);
+
+  return true;
+}
+
+//==============================================================================
+template <class T>
+std::string NameManager<T>::issueNewName(const std::string& _name) const
+{
+  if (!hasName(_name))
+    return _name;
+
+  int count = 1;
+  std::string newName;
+  do {
+    std::stringstream ss;
+    if (mNameBeforeNumber)
+      ss << mPrefix << _name << mInfix << count++ << mAffix;
+    else
+      ss << mPrefix << count++ << mInfix << _name << mAffix;
+    newName = ss.str();
+  } while (hasName(newName));
+
+  dtmsg << "[NameManager::issueNewName] (" << mManagerName << ") The name ["
+        << _name << "] is a duplicate, so it has been renamed to [" << newName
+        << "]\n";
+
+  return newName;
+}
+
+//==============================================================================
+template <class T>
+std::string NameManager<T>::issueNewNameAndAdd(
+    const std::string& _name, const T& _obj)
+{
+  const std::string& checkEmpty = _name.empty() ? mDefaultName : _name;
+  const std::string& newName = issueNewName(checkEmpty);
+  addName(newName, _obj);
+
+  return newName;
+}
+
+//==============================================================================
+template <class T>
+bool NameManager<T>::addName(const std::string& _name, const T& _obj)
+{
+  if (_name.empty()) {
+    dtwarn << "[NameManager::addName] (" << mManagerName
+           << ") Empty name is not allowed!\n";
+    return false;
+  }
+
+  if (hasName(_name)) {
+    dtwarn << "[NameManager::addName] (" << mManagerName << ") The name ["
+           << _name << "] already exists!\n";
+    return false;
+  }
+
+  mMap.insert(std::pair<std::string, T>(_name, _obj));
+  mReverseMap.insert(std::pair<T, std::string>(_obj, _name));
+
+  assert(mReverseMap.size() == mMap.size());
+
+  return true;
+}
+
+//==============================================================================
+template <class T>
+bool NameManager<T>::removeName(const std::string& _name)
+{
+  assert(mReverseMap.size() == mMap.size());
+
+  typename std::map<std::string, T>::iterator it = mMap.find(_name);
+
+  if (it == mMap.end())
+    return false;
+
+  typename std::map<T, std::string>::iterator rit
+      = mReverseMap.find(it->second);
+
+  if (rit != mReverseMap.end())
+    mReverseMap.erase(rit);
+
+  mMap.erase(it);
+
+  return true;
+}
+
+//==============================================================================
+template <class T>
+bool NameManager<T>::removeObject(const T& _obj)
+{
+  assert(mReverseMap.size() == mMap.size());
+
+  typename std::map<T, std::string>::iterator rit = mReverseMap.find(_obj);
+
+  if (rit == mReverseMap.end())
+    return false;
+
+  typename std::map<std::string, T>::iterator it = mMap.find(rit->second);
+  if (it != mMap.end())
+    mMap.erase(it);
+
+  mReverseMap.erase(rit);
+
+  return true;
+}
+
+//==============================================================================
+template <class T>
+void NameManager<T>::removeEntries(const std::string& _name, const T& _obj)
+{
+  removeObject(_obj);
+  removeName(_name);
+}
+
+//==============================================================================
+template <class T>
+void NameManager<T>::clear()
+{
+  mMap.clear();
+  mReverseMap.clear();
+}
+
+//==============================================================================
+template <class T>
+bool NameManager<T>::hasName(const std::string& _name) const
+{
+  return (mMap.find(_name) != mMap.end());
+}
+
+//==============================================================================
+template <class T>
+bool NameManager<T>::hasObject(const T& _obj) const
+{
+  return (mReverseMap.find(_obj) != mReverseMap.end());
+}
+
+//==============================================================================
+template <class T>
+std::size_t NameManager<T>::getCount() const
+{
+  return mMap.size();
+}
+
+//==============================================================================
+template <class T>
+T NameManager<T>::getObject(const std::string& _name) const
+{
+  typename std::map<std::string, T>::const_iterator result = mMap.find(_name);
+
+  if (result != mMap.end())
+    return result->second;
+  else
+    return nullptr;
+}
+
+//==============================================================================
+template <class T>
+std::string NameManager<T>::getName(const T& _obj) const
+{
+  assert(mReverseMap.size() == mMap.size());
+
+  typename std::map<T, std::string>::const_iterator result
+      = mReverseMap.find(_obj);
+
+  if (result != mReverseMap.end())
+    return result->second;
+  else
+    return "";
+}
+
+//==============================================================================
+template <class T>
+std::string NameManager<T>::changeObjectName(
+    const T& _obj, const std::string& _newName)
+{
+  assert(mReverseMap.size() == mMap.size());
+
+  typename std::map<T, std::string>::iterator rit = mReverseMap.find(_obj);
+  if (rit == mReverseMap.end())
+    return _newName;
+
+  if (rit->second == _newName)
+    return rit->second;
+
+  removeName(rit->second);
+  return issueNewNameAndAdd(_newName, _obj);
+}
+
+//==============================================================================
+template <class T>
+void NameManager<T>::setDefaultName(const std::string& _defaultName)
+{
+  mDefaultName = _defaultName;
+}
+
+//==============================================================================
+template <class T>
+const std::string& NameManager<T>::getDefaultName() const
+{
+  return mDefaultName;
+}
+
+//==============================================================================
+template <class T>
+void NameManager<T>::setManagerName(const std::string& _managerName)
+{
+  mManagerName = _managerName;
+}
+
+//==============================================================================
+template <class T>
+const std::string& NameManager<T>::getManagerName() const
+{
+  return mManagerName;
+}
+
+} // namespace common
+} // namespace dart
+
+#endif // DART_COMMON_DETAIL_NAMEMANAGER_HPP_

include/dart/common/detail/NoOp.hpp

@@ -0,0 +1,57 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   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.
+ *   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.
+ */
+
+#ifndef DART_COMMON_DETAIL_NOOP_HPP_
+#define DART_COMMON_DETAIL_NOOP_HPP_
+
+namespace dart {
+namespace common {
+namespace detail {
+
+/// NoOp is short for "no operation". This is a placeholder function that can be
+/// used in places where a function needs to be provided but you do not actually
+/// want the function to do anything.
+template <typename... Args>
+void NoOp(Args... /*args*/)
+{
+  // Do nothing
+}
+
+} // namespace detail
+} // namespace common
+} // namespace dart
+
+// The DART_BLANK macro can be passed into macro arguments where you want the
+// argument to expand into blank space.
+#define DART_BLANK // leave blank
+
+#endif // DART_COMMON_DETAIL_NOOP_HPP_