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Added back compatibility with python 3.10 to 3.12 #374

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Merged
pariterre merged 2 commits into from
Sep 25, 2025
Merged

Added back compatibility with python 3.10 to 3.12 #374

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fc73a45
Added back compatibility with python 3.10 to 3.12
pariterre Sep 25, 2025
c85a75f
Trying to fix ninja for windows
pariterre Sep 25, 2025
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4 changes: 2 additions & 2 deletions binding/python3/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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"
)
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2 changes: 1 addition & 1 deletion binding/python3/wrapper/extended_kalman_filter.py
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Expand Up @@ -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)
21 changes: 16 additions & 5 deletions binding/python3/wrapper/misc.py
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Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
from typing import Any
import sys

import numpy as np

Expand All @@ -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
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