Merge pull request #5 from Simple-Robotics/topic/cleanup-old-python-includes

ManifoldFR · web-flow · commit 6b741eb164f2 · 2025-06-04T10:50:34.000+02:00
[python] Remove/deprecate old headers which were upstreamed into eigenpy
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -20,12 +20,14 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 - bindings/python : Add missing arg names in `visualizer-visitor.hpp`
 - use deprecation, warning macros already provided by jrl-cmakemodules
+- renamed `PINOCCHIO_PRAGMA_DEPRECATED_HEADER` to `PINOCCHIO_DEPRECATED_MOVED_HEADER`
 
 ### Removed
 
 - Remove unused headers `deprecated-macros.hpp` and `deprecated-namespaces.hpp`
 - Remove header `pinocchio/deprecation.hpp`, directly use generated `pinocchio/deprecated.hpp`
 - macros.hpp : remove macros already provided by jrl-cmakemodules
+- bindings/python : deprecate and remove contents of `utils/copyable.hpp`, `utils/registration.hpp` and `utils/deprecation.hpp`, include corresponding eigenpy headers instead
 
 ## [3.7.0] - 2025-05-21
 
diff --git a/bindings/python/algorithm/expose-constrained-dynamics.cpp b/bindings/python/algorithm/expose-constrained-dynamics.cpp
@@ -8,7 +8,6 @@
 #include "pinocchio/bindings/python/algorithm/contact-cholesky.hpp"
 
 #include "pinocchio/bindings/python/utils/std-vector.hpp"
-#include "pinocchio/bindings/python/utils/registration.hpp"
 #include "pinocchio/bindings/python/utils/model-checker.hpp"
 
 #include "pinocchio/algorithm/constrained-dynamics.hpp"
diff --git a/bindings/python/math/expose-eigen-types.cpp b/bindings/python/math/expose-eigen-types.cpp
@@ -1,9 +1,8 @@
 //
-// Copyright (c) 2020-2021 INRIA
+// Copyright (c) 2020-2025 INRIA
 //
 
 #include "pinocchio/bindings/python/fwd.hpp"
-#include "pinocchio/bindings/python/utils/registration.hpp"
 #include "pinocchio/bindings/python/utils/std-vector.hpp"
 
 #include <eigenpy/eigenpy.hpp>
diff --git a/bindings/python/module.cpp b/bindings/python/module.cpp
@@ -1,13 +1,12 @@
 //
-// Copyright (c) 2015-2022 CNRS INRIA
+// Copyright (c) 2015-2022 CNRS INRIA, 2025 INRIA
 //
 
 #include "pinocchio/bindings/python/fwd.hpp"
 #include "pinocchio/multibody/fwd.hpp"
 #include "pinocchio/utils/version.hpp"
 #include "pinocchio/bindings/python/utils/version.hpp"
 #include "pinocchio/bindings/python/utils/dependencies.hpp"
-#include "pinocchio/bindings/python/utils/registration.hpp"
 
 #include "pinocchio/bindings/python/utils/std-vector.hpp"
 #include "pinocchio/spatial/cartesian-axis.hpp"
diff --git a/bindings/python/parsers/urdf/console-bridge.cpp b/bindings/python/parsers/urdf/console-bridge.cpp
@@ -1,10 +1,10 @@
 //
-// Copyright (c) 2020 INRIA
+// Copyright (c) 2020-2025 INRIA
 //
 
 #include <boost/python.hpp>
+#include <eigenpy/registration.hpp>
 #include "pinocchio/bindings/python/parsers/urdf.hpp"
-#include "pinocchio/bindings/python/utils/registration.hpp"
 
 #ifdef PINOCCHIO_WITH_URDFDOM
   #include <console_bridge/console.h>
@@ -24,7 +24,7 @@ namespace pinocchio
       ::console_bridge::setLogLevel(::console_bridge::CONSOLE_BRIDGE_LOG_ERROR);
 
       typedef ::console_bridge::LogLevel LogLevel;
-      if (!register_symbolic_link_to_registered_type<LogLevel>())
+      if (!eigenpy::register_symbolic_link_to_registered_type<LogLevel>())
       {
         bp::enum_<LogLevel>("LogLevel")
           .value("CONSOLE_BRIDGE_LOG_DEBUG", ::console_bridge::CONSOLE_BRIDGE_LOG_DEBUG)
diff --git a/include/pinocchio/algorithm/parallel/omp.hpp b/include/pinocchio/algorithm/parallel/omp.hpp
@@ -6,7 +6,7 @@
 #define __pinocchio_algorithm_parallel_omp_hpp__
 
 #include "pinocchio/macros.hpp"
-PINOCCHIO_DEPRECATED_HEADER(
+PINOCCHIO_DEPRECATED_MOVED_HEADER(
   pinocchio / algorithm / parallel / omp.hpp, pinocchio / utils / openmp.hpp)
 #include "pinocchio/utils/openmp.hpp"
 
diff --git a/include/pinocchio/bindings/python/collision/geometry-functors.hpp b/include/pinocchio/bindings/python/collision/geometry-functors.hpp
@@ -5,8 +5,6 @@
 #ifndef __pinocchio_python_collision_geometry_functors_hpp__
 #define __pinocchio_python_collision_geometry_functors_hpp__
 
-#include "pinocchio/bindings/python/utils/registration.hpp"
-
 #include "pinocchio/multibody/geometry.hpp"
 
 namespace pinocchio
diff --git a/include/pinocchio/bindings/python/fwd.hpp b/include/pinocchio/bindings/python/fwd.hpp
@@ -16,6 +16,8 @@ namespace pinocchio
 {
   namespace python
   {
+    using eigenpy::register_symbolic_link_to_registered_type;
+
     // Expose spatial classes
     void exposeSE3();
     void exposeForce();
diff --git a/include/pinocchio/bindings/python/multibody/frame.hpp b/include/pinocchio/bindings/python/multibody/frame.hpp
@@ -12,7 +12,6 @@
 #include "pinocchio/bindings/python/utils/cast.hpp"
 #include "pinocchio/bindings/python/utils/copyable.hpp"
 #include "pinocchio/bindings/python/utils/printable.hpp"
-#include "pinocchio/bindings/python/utils/registration.hpp"
 
 namespace pinocchio
 {
diff --git a/include/pinocchio/bindings/python/multibody/geometry-data.hpp b/include/pinocchio/bindings/python/multibody/geometry-data.hpp
@@ -1,19 +1,18 @@
 //
-// Copyright (c) 2015-2022 CNRS INRIA
+// Copyright (c) 2015-2022 CNRS INRIA, 2025 INRIA
 //
 
 #ifndef __pinocchio_python_geometry_data_hpp__
 #define __pinocchio_python_geometry_data_hpp__
 
 #include <eigenpy/memory.hpp>
+#include <eigenpy/copyable.hpp>
 
 #include "pinocchio/serialization/geometry.hpp"
 
 #include "pinocchio/bindings/python/utils/address.hpp"
 #include "pinocchio/bindings/python/utils/printable.hpp"
-#include "pinocchio/bindings/python/utils/copyable.hpp"
 #include "pinocchio/bindings/python/utils/std-vector.hpp"
-#include "pinocchio/bindings/python/utils/registration.hpp"
 #include "pinocchio/bindings/python/serialization/serializable.hpp"
 
 #if EIGENPY_VERSION_AT_MOST(2, 8, 1)
@@ -25,6 +24,7 @@ namespace pinocchio
   namespace python
   {
     namespace bp = boost::python;
+    using eigenpy::CopyableVisitor;
 
     /* --- COLLISION PAIR --------------------------------------------------- */
     /* --- COLLISION PAIR --------------------------------------------------- */
diff --git a/include/pinocchio/bindings/python/multibody/geometry-model.hpp b/include/pinocchio/bindings/python/multibody/geometry-model.hpp
@@ -10,7 +10,7 @@
 #include "pinocchio/bindings/python/utils/address.hpp"
 #include "pinocchio/bindings/python/utils/printable.hpp"
 #include "pinocchio/bindings/python/utils/copyable.hpp"
-#include "pinocchio/bindings/python/utils/registration.hpp"
+
 #include "pinocchio/bindings/python/utils/pickle.hpp"
 #include "pinocchio/bindings/python/serialization/serializable.hpp"
 
diff --git a/include/pinocchio/bindings/python/multibody/geometry-object.hpp b/include/pinocchio/bindings/python/multibody/geometry-object.hpp
@@ -1,5 +1,5 @@
 //
-// Copyright (c) 2017-2023 CNRS INRIA
+// Copyright (c) 2017-2023 CNRS INRIA, 2025 INRIA
 //
 
 #ifndef __pinocchio_python_geometry_object_hpp__
@@ -9,11 +9,10 @@
 #include <eigenpy/eigen-from-python.hpp>
 #include <eigenpy/eigen-to-python.hpp>
 #include <eigenpy/variant.hpp>
+#include <eigenpy/copyable.hpp>
+#include <eigenpy/deprecation-policy.hpp>
 
 #include "pinocchio/bindings/python/utils/address.hpp"
-#include "pinocchio/bindings/python/utils/copyable.hpp"
-#include "pinocchio/bindings/python/utils/registration.hpp"
-#include "pinocchio/bindings/python/utils/deprecation.hpp"
 #include "pinocchio/bindings/python/utils/pickle.hpp"
 #include "pinocchio/bindings/python/serialization/serializable.hpp"
 
@@ -28,6 +27,8 @@ namespace pinocchio
   namespace python
   {
     namespace bp = boost::python;
+    using eigenpy::CopyableVisitor;
+    using eigenpy::deprecated_function;
 
     struct GeometryObjectPythonVisitor
     : public boost::python::def_visitor<GeometryObjectPythonVisitor>
diff --git a/include/pinocchio/bindings/python/parsers/python.hpp b/include/pinocchio/bindings/python/parsers/python.hpp
@@ -8,7 +8,7 @@
 #include "pinocchio/macros.hpp"
 
 // clang-format off
-PINOCCHIO_DEPRECATED_HEADER(pinocchio/bindings/python/parsers/python.hpp, pinocchio/parsers/python.hpp)
+PINOCCHIO_DEPRECATED_MOVED_HEADER(pinocchio/bindings/python/parsers/python.hpp, pinocchio/parsers/python.hpp)
 // clang-format on
 
 #include "pinocchio/parsers/python.hpp"
diff --git a/include/pinocchio/bindings/python/utils/copyable.hpp b/include/pinocchio/bindings/python/utils/copyable.hpp
@@ -1,44 +1,21 @@
 //
-// Copyright (c) 2016-2023 CNRS INRIA
+// Copyright (c) 2016-2023 CNRS INRIA, 2025 INRIA
 //
 
 #ifndef __pinocchio_python_utils_copyable_hpp__
 #define __pinocchio_python_utils_copyable_hpp__
 
-#include <eigenpy/eigenpy.hpp>
+#include <eigenpy/copyable.hpp>
+
+#include "pinocchio/deprecated.hpp"
+
+PINOCCHIO_DEPRECATED_HEADER("Directly include <eigenpy/copyable.hpp> instead.")
 
 namespace pinocchio
 {
   namespace python
   {
-
-    namespace bp = boost::python;
-
-    ///
-    /// \brief Add the Python method copy to allow a copy of this by calling the copy constructor.
-    ///
-    template<class C>
-    struct CopyableVisitor : public bp::def_visitor<CopyableVisitor<C>>
-    {
-      template<class PyClass>
-      void visit(PyClass & cl) const
-      {
-        cl.def("copy", &copy, bp::arg("self"), "Returns a copy of *this.");
-        cl.def("__copy__", &copy, bp::arg("self"), "Returns a copy of *this.");
-        cl.def(
-          "__deepcopy__", &deepcopy, bp::args("self", "memo"), "Returns a deep copy of *this.");
-      }
-
-    private:
-      static C copy(const C & self)
-      {
-        return C(self);
-      }
-      static C deepcopy(const C & self, bp::dict)
-      {
-        return C(self);
-      }
-    };
+    using eigenpy::CopyableVisitor;
   } // namespace python
 } // namespace pinocchio
 
diff --git a/include/pinocchio/bindings/python/utils/deprecation.hpp b/include/pinocchio/bindings/python/utils/deprecation.hpp
@@ -1,62 +1,25 @@
 //
-// Copyright (c) 2020 INRIA
+// Copyright (c) 2020-2025 INRIA
 //
 
 #ifndef __pinocchio_python_utils_deprecation_hpp__
 #define __pinocchio_python_utils_deprecation_hpp__
 
-#include <Python.h>
-#include <boost/python.hpp>
-#include <string>
+#include <eigenpy/eigenpy.hpp>
+#include <eigenpy/deprecation-policy.hpp>
+#include "pinocchio/deprecated.hpp"
+
+PINOCCHIO_DEPRECATED_HEADER("Directly include <eigenpy/deprecation-policy.hpp> instead.")
 
 namespace pinocchio
 {
   namespace python
   {
-    template<class Policy = boost::python::default_call_policies>
-    struct deprecated_warning_policy : Policy
-    {
-      deprecated_warning_policy(const std::string & warning_message = "")
-      : Policy()
-      , m_warning_message(warning_message)
-      {
-      }
-
-      template<class ArgumentPackage>
-      bool precall(ArgumentPackage const & args) const
-      {
-        PyErr_WarnEx(PyExc_UserWarning, m_warning_message.c_str(), 1);
-        return static_cast<const Policy *>(this)->precall(args);
-      }
-
-      typedef typename Policy::result_converter result_converter;
-      typedef typename Policy::argument_package argument_package;
-
-    protected:
-      const std::string m_warning_message;
-    };
-
-    template<class Policy = boost::python::default_call_policies>
-    struct deprecated_member : deprecated_warning_policy<Policy>
-    {
-      deprecated_member(
-        const std::string & warning_message = "This class member has been marked as deprecated and "
-                                              "will be removed in a future release.")
-      : deprecated_warning_policy<Policy>(warning_message)
-      {
-      }
-    };
-
-    template<class Policy = boost::python::default_call_policies>
-    struct deprecated_function : deprecated_warning_policy<Policy>
-    {
-      deprecated_function(
-        const std::string & warning_message =
-          "This function has been marked as deprecated and will be removed in a future release.")
-      : deprecated_warning_policy<Policy>(warning_message)
-      {
-      }
-    };
+    template<class P = boost::python::default_call_policies>
+    using deprecated_warning_policy =
+      eigenpy::deprecation_warning_policy<eigenpy::DeprecationType::DEPRECATION, P>;
+    using eigenpy::deprecated_function;
+    using eigenpy::deprecated_member;
   } // namespace python
 } // namespace pinocchio
 
diff --git a/include/pinocchio/bindings/python/utils/registration.hpp b/include/pinocchio/bindings/python/utils/registration.hpp
@@ -1,33 +1,20 @@
 //
-// Copyright (c) 2019-2020 INRIA
+// Copyright (c) 2019-2025 INRIA
 //
 
 #ifndef __pinocchio_python_utils_registration_hpp__
 #define __pinocchio_python_utils_registration_hpp__
 
+#include "pinocchio/deprecated.hpp"
 #include <eigenpy/registration.hpp>
 
+PINOCCHIO_DEPRECATED_HEADER("Directly include <eigenpy/registration.hpp> instead.")
+
 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(bp::borrowed(reg->get_class_object()));
-        bp::scope().attr(reg->get_class_object()->tp_name) = bp::object(class_obj);
-        return true;
-      }
-
-      return false;
-    }
-
+    using eigenpy::register_symbolic_link_to_registered_type;
   } // namespace python
 } // namespace pinocchio
 
diff --git a/include/pinocchio/macros.hpp b/include/pinocchio/macros.hpp
@@ -77,6 +77,9 @@ namespace pinocchio
   #define PINOCCHIO_MAYBE_UNUSED
 #endif
 
+#define PINOCCHIO_DEPRECATED_MOVED_HEADER(old_header, new_header)                                  \
+  PINOCCHIO_DEPRECATED_HEADER("#old_header has been replaced by #new_header.")
+
 /// Ensure that a matrix (or vector) is of correct size (compile-time and run-time assertion)
 #define PINOCCHIO_ASSERT_MATRIX_SPECIFIC_SIZE(type, M, nrows, ncols)                               \
   EIGEN_STATIC_ASSERT(                                                                             \
diff --git a/include/pinocchio/math/cppad.hpp b/include/pinocchio/math/cppad.hpp
@@ -8,7 +8,7 @@
 #include "pinocchio/macros.hpp"
 
 // clang-format off
-PINOCCHIO_DEPRECATED_HEADER(pinocchio/math/cppad.hpp, pinocchio/autodiff/cppad.hpp)
+PINOCCHIO_DEPRECATED_MOVED_HEADER(pinocchio/math/cppad.hpp, pinocchio/autodiff/cppad.hpp)
 // clang-format on
 
 #include "pinocchio/autodiff/cppad.hpp"
diff --git a/include/pinocchio/math/cppadcg.hpp b/include/pinocchio/math/cppadcg.hpp
@@ -8,7 +8,7 @@
 #include "pinocchio/macros.hpp"
 
 // clang-format off
-PINOCCHIO_DEPRECATED_HEADER(pinocchio/math/cppadcg.hpp, pinocchio/codegen/cppadcg.hpp)
+PINOCCHIO_DEPRECATED_MOVED_HEADER(pinocchio/math/cppadcg.hpp, pinocchio/codegen/cppadcg.hpp)
 // clang-format on
 
 #include "pinocchio/codegen/cppadcg.hpp"
diff --git a/include/pinocchio/parsers/sample-models.hpp b/include/pinocchio/parsers/sample-models.hpp
@@ -8,7 +8,7 @@
 #include "pinocchio/macros.hpp"
 
 // clang-format off
-PINOCCHIO_DEPRECATED_HEADER(pinocchio/parsers/sample-models.hpp, pinocchio/multibody/sample-models.hpp)
+PINOCCHIO_DEPRECATED_MOVED_HEADER(pinocchio/parsers/sample-models.hpp, pinocchio/multibody/sample-models.hpp)
 // clang-format on
 
 #include "pinocchio/multibody/sample-models.hpp"
diff --git a/include/pinocchio/spatial/fcl-pinocchio-conversions.hpp b/include/pinocchio/spatial/fcl-pinocchio-conversions.hpp
@@ -8,7 +8,7 @@
 #include "pinocchio/macros.hpp"
 
 // clang-format off
-PINOCCHIO_DEPRECATED_HEADER(
+PINOCCHIO_DEPRECATED_MOVED_HEADER(
   pinocchio/spatial/fcl-pinocchio-conversions.hpp,
   pinocchio/collision/fcl-pinocchio-conversions.hpp)
 // clang-format on

Original file line number	Diff line number	Diff line change
`@@ -16,6 +16,8 @@ namespace pinocchio`
`16`	`16`	`{`
`17`	`17`	`namespace python`
`18`	`18`	`{`
	`19`	`+ using eigenpy::register_symbolic_link_to_registered_type;`
	`20`	`+`
`19`	`21`	`// Expose spatial classes`
`20`	`22`	`void exposeSE3();`
`21`	`23`	`void exposeForce();`
Original file line number	Diff line number	Diff line change
`@@ -12,7 +12,6 @@`
`12`	`12`	`#include "pinocchio/bindings/python/utils/cast.hpp"`
`13`	`13`	`#include "pinocchio/bindings/python/utils/copyable.hpp"`
`14`	`14`	`#include "pinocchio/bindings/python/utils/printable.hpp"`
`15`		`-#include "pinocchio/bindings/python/utils/registration.hpp"`
`16`	`15`
`17`	`16`	`namespace pinocchio`
`18`	`17`	`{`