Merge pull request #374 from pariterre/python_wrapper

Added back compatibility with python 3.10 to 3.12

Author: pariterre

binding/python3/CMakeLists.txt

@@ -14,12 +14,12 @@ if(MSVC)
     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${COMPILE_FLAGS}")
 endif()
 
-# We need to trick MSVC into keeping the rbdl-casadi as the first import. If we
+# We need to trick MSVC (and why not all of them) into keeping the rbdl-casadi as the first import. If we
 # just add it, it is pushed at the end because BIORBD will also includes it but
 # as an external:import. Added the /../ tricks the parser into not recognizing
 # that it is in fact the same directory
 set(FORCED_FIRST_INCLUDE_DIRS "")
-if(MSVC AND ${MATH_LIBRARY_BACKEND} STREQUAL "Casadi")
+if(${MATH_LIBRARY_BACKEND} STREQUAL "Casadi")
     set(FORCED_FIRST_INCLUDE_DIRS
         "${RBDLCasadi_INCLUDE_DIR}/../rbdl-casadi"
     )

binding/python3/wrapper/extended_kalman_filter.py

@@ -53,6 +53,6 @@ def reconstruct_frame(self, markers: BiorbdArray):
 
     def reconstruct_frames(
         self, all_markers: list[BiorbdArray]
-    ) -> Generator[tuple[BiorbdArray, BiorbdArray, BiorbdArray]]:
+    ) -> Generator[tuple[BiorbdArray, BiorbdArray, BiorbdArray], None, None]:
         for markers in all_markers:
             yield self.reconstruct_frame(markers)

binding/python3/wrapper/misc.py

@@ -1,4 +1,5 @@
 from typing import Any
+import sys
 
 import numpy as np
 
@@ -11,12 +12,22 @@
 
 # If we are using the Eigen backend, returns are np.arrays, if we are using CasADi backend, returns are MX
 # So declare an "Array" typedef that will be np.array or MX depending on the backend
-if currentLinearAlgebraBackend() == BIORBD_CASADI:
-    type BiorbdArray = MX
-    type BiorbdScalar = MX
+if sys.version_info >= (3, 12):
+    if currentLinearAlgebraBackend() == BIORBD_CASADI:
+        type BiorbdArray = MX
+        type BiorbdScalar = MX
+    else:
+        type BiorbdArray = np.ndarray
+        type BiorbdScalar = float
 else:
-    type BiorbdArray = np.ndarray
-    type BiorbdScalar = float
+    from typing import TypeAlias
+
+    if currentLinearAlgebraBackend() == BIORBD_CASADI:
+        BiorbdArray: TypeAlias = MX
+        BiorbdScalar: TypeAlias = MX
+    else:
+        BiorbdArray: TypeAlias = np.ndarray
+        BiorbdScalar: TypeAlias = float
 
 
 # Declare a method that converts output to BiorbdArray