placo 0.7.0__tar.gz → 0.7.2__tar.gz

{placo-0.7.0 → placo-0.7.2}/CMakeLists.txt

@@ -139,6 +139,7 @@ set(CMAKE_SHARED_MODULE_PREFIX "")
 
 find_package(Python3 REQUIRED)
 find_package(Boost COMPONENTS python REQUIRED)
+find_package(Python REQUIRED COMPONENTS Interpreter)
 
 add_library(placo MODULE 
     bindings/expose-eigen.cpp
@@ -151,16 +152,19 @@ add_library(placo MODULE
     bindings/expose-walk-pattern-generator.cpp
     bindings/expose-dynamics.cpp
     bindings/module.cpp
-    bindings/doxystub/registry.cpp
 )
 set_target_properties(placo PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${PYTHON_SITELIB})
 
 target_link_libraries(placo ${Boost_LIBRARIES} ${PYTHON_LIBRARIES} libplaco)
 target_include_directories(placo PRIVATE ${PYTHON_INCLUDE_DIRS})
 
-add_custom_command(TARGET placo POST_BUILD
-    COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/bindings/doxystub/stubs.sh "${CMAKE_BINARY_DIR}/${PYTHON_SITELIB}" >  "${CMAKE_BINARY_DIR}/${PYTHON_SITELIB}/placo.pyi"
-    WORKING DIRECTORY "/"
+add_custom_command(
+    TARGET placo POST_BUILD
+    COMMAND doxystub
+        --module placo
+        --doxygen_directory "${CMAKE_CURRENT_SOURCE_DIR}"
+        --output "${CMAKE_BINARY_DIR}/${PYTHON_SITELIB}/placo.pyi"
+    WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/${PYTHON_SITELIB}"
     COMMENT "Generating stubs..."
 )
 

{placo-0.7.0 → placo-0.7.2}/Makefile

@@ -2,7 +2,7 @@
 # Building Python wheel
 all:
 	@rm -rf dist/*
-	python -m build --sdist --wheel
+	bash build_wheel.sh
 	bash tweak_sdist.sh
 
 upload:

{placo-0.7.0 → placo-0.7.2}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: placo
-Version: 0.7.0
+Version: 0.7.2
 Summary: PlaCo: Rhoban Planning and Control
 Requires-Python: >= 3.9
 License-Expression: MIT
@@ -16,6 +16,7 @@ Requires-Dist: meshcat
 Requires-Dist: ischedule
 Provides-Extra: build
 Requires-Dist: pin[build] >=  3 ; extra == "build"
+Requires-Dist: doxystub ; extra == "build"
 Description-Content-Type: text/markdown
 
 <img width="400" src="https://placo.readthedocs.io/en/latest/_static/placo.png" />

placo-0.7.2/bindings/doxystub.h

@@ -0,0 +1,15 @@
+#pragma once
+
+#include <boost/python.hpp>
+
+/**
+ * This wrapper adds a __cxx_class__ method on the exposed class, allowing to retrieve the original
+ * C++ type of the object from Python.
+ */
+template <class W, class X1 = boost::python::detail::not_specified, class X2 = boost::python::detail::not_specified,
+          class X3 = boost::python::detail::not_specified, typename... Args>
+boost::python::class_<W, X1, X2, X3> class__(Args... args)
+{
+  return boost::python::class_<W, X1, X2>(args...).def(
+      "__cxx_class__", +[]() { return boost::core::demangle(typeid(W).name()); });
+}

{placo-0.7.0 → placo-0.7.2}/bindings/expose-dynamics.cpp

@@ -3,7 +3,7 @@
 #include "expose-utils.hpp"
 #include "module.h"
 
-#include "doxystub/registry.h"
+#include "doxystub.h"
 #include "placo/model/robot_wrapper.h"
 #include "placo/dynamics/dynamics_solver.h"
 #include <Eigen/Dense>

{placo-0.7.0 → placo-0.7.2}/bindings/expose-footsteps.cpp

@@ -2,7 +2,7 @@
 
 #include "expose-utils.hpp"
 #include "module.h"
-#include "doxystub/registry.h"
+#include "doxystub.h"
 #include "placo/humanoid/footsteps_planner.h"
 #include "placo/humanoid/footsteps_planner_naive.h"
 #include "placo/humanoid/footsteps_planner_repetitive.h"

{placo-0.7.0 → placo-0.7.2}/bindings/expose-kinematics.cpp

@@ -2,7 +2,7 @@
 
 #include "expose-utils.hpp"
 #include "module.h"
-#include "doxystub/registry.h"
+#include "doxystub.h"
 #include "placo/kinematics/kinematics_solver.h"
 #include <boost/python/return_internal_reference.hpp>
 #include <Eigen/Dense>

{placo-0.7.0 → placo-0.7.2}/bindings/expose-parameters.cpp

@@ -2,7 +2,7 @@
 
 #include "expose-utils.hpp"
 #include "module.h"
-#include "doxystub/registry.h"
+#include "doxystub.h"
 #include "placo/model/robot_wrapper.h"
 #include "placo/humanoid/humanoid_robot.h"
 #include "placo/humanoid/humanoid_parameters.h"

{placo-0.7.0 → placo-0.7.2}/bindings/expose-problem.cpp

@@ -5,7 +5,7 @@
 
 #include "expose-utils.hpp"
 #include "module.h"
-#include "doxystub/registry.h"
+#include "doxystub.h"
 #include "placo/problem/problem.h"
 #include "placo/problem/variable.h"
 #include "placo/problem/expression.h"

{placo-0.7.0 → placo-0.7.2}/bindings/expose-robot-wrapper.cpp

@@ -2,7 +2,7 @@
 
 #include "expose-utils.hpp"
 #include "module.h"
-#include "doxystub/registry.h"
+#include "doxystub.h"
 #include "placo/model/robot_wrapper.h"
 #include "placo/humanoid/humanoid_robot.h"
 #include "placo/kinematics/kinematics_solver.h"
@@ -101,7 +101,8 @@ void exposeRobotType(class_<RobotType, W1>& type)
             }
 
             return dict;
-          })
+          },
+          args("self", "qdd_a", "frame"), "Computes the torque required to reach given acceleration in fixed frame")
       .def(
           "get_T_world_frame",
           +[](RobotType& robot, const std::string& frame) { return robot.get_T_world_frame(frame); })

{placo-0.7.0 → placo-0.7.2}/bindings/expose-tools.cpp

@@ -3,7 +3,7 @@
 #include <Eigen/Dense>
 #include <boost/python.hpp>
 #include "module.h"
-#include "doxystub/registry.h"
+#include "doxystub.h"
 #include "placo/tools/utils.h"
 #include "placo/tools/cubic_spline.h"
 #include "placo/tools/cubic_spline_3d.h"

{placo-0.7.0 → placo-0.7.2}/bindings/expose-walk-pattern-generator.cpp

@@ -2,7 +2,7 @@
 
 #include "expose-utils.hpp"
 #include "module.h"
-#include "doxystub/registry.h"
+#include "doxystub.h"
 #include "placo/humanoid/walk_pattern_generator.h"
 #include "placo/kinematics/kinematics_solver.h"
 #include "placo/humanoid/footsteps_planner.h"

{placo-0.7.0 → placo-0.7.2}/bindings/module.cpp

@@ -20,5 +20,4 @@ BOOST_PYTHON_MODULE(placo)
   exposeParameters();
   exposeKinematics();
   exposeWalkPatternGenerator();
-  exposeRegistry();
 }

{placo-0.7.0 → placo-0.7.2}/bindings/module.h

@@ -8,5 +8,4 @@ void exposeProblem();
 void exposeRobotWrapper();
 void exposeParameters();
 void exposeKinematics();
-void exposeWalkPatternGenerator();
-void exposeRegistry();
+void exposeWalkPatternGenerator();

{placo-0.7.0 → placo-0.7.2}/build_wheel.sh

@@ -1,11 +1,9 @@
 #!/bin/bash
 
-export PYTHONPATH="."
 export PATH=$(getconf PATH)
 export PKG_CONFIG_PATH=$(getconf PKG_CONFIG_PATH)
 export LD_LIBRARY_PATH=$(getconf LD_LIBRARY_PATH)
-export PYTHONPATH=$(getconf PYTHONPATH)
+export PYTHONPATH="."
 export CMAKE_PREFIX_PATH=$(getconf CMAKE_PREFIX_PATH)
 
-make
-
+python -m build --sdist --wheel