Map enhancements: add visitor arg to ::expose() with overloads, rename overload_base_get_item_for_std_map

CHANGELOG.md

@@ -6,6 +6,16 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ## [Unreleased]
 
+### Added
+
+- `GenericMapPythonVisitor`/`StdMapPythonVisitor` can now take an extra visitor argument in the `expose()` method, similar to `StdVectorPythonVisitor`
+
+### Changed
+
+- Move `GenericMapPythonVisitor` to its own header `eigenpy/map.hpp`
+- Rename `overload_base_get_item_for_std_map` to `overload_base_get_item_for_map`, move out of `eigenpy::details` namespace
+- Move `EmptyPythonVisitor` to new header `eigenpy/utils/empty-visitor.hpp`
+
 ## [3.9.1] - 2024-09-19
 
 ### Added

CMakeLists.txt

@@ -170,9 +170,12 @@ endif(BUILD_WITH_ACCELERATE_SUPPORT)
 # --- INCLUDE ----------------------------------------
 # ----------------------------------------------------
 set(${PROJECT_NAME}_UTILS_HEADERS
-    include/eigenpy/utils/scalar-name.hpp include/eigenpy/utils/is-approx.hpp
-    include/eigenpy/utils/is-aligned.hpp include/eigenpy/utils/traits.hpp
-    include/eigenpy/utils/python-compat.hpp)
+    include/eigenpy/utils/scalar-name.hpp
+    include/eigenpy/utils/is-approx.hpp
+    include/eigenpy/utils/is-aligned.hpp
+    include/eigenpy/utils/traits.hpp
+    include/eigenpy/utils/python-compat.hpp
+    include/eigenpy/utils/empty-visitor.hpp)
 
 set(${PROJECT_NAME}_SOLVERS_HEADERS
     include/eigenpy/solvers/solvers.hpp
@@ -250,6 +253,7 @@ set(${PROJECT_NAME}_HEADERS
     include/eigenpy/numpy-map.hpp
     include/eigenpy/geometry.hpp
     include/eigenpy/geometry-conversion.hpp
+    include/eigenpy/map.hpp
     include/eigenpy/memory.hpp
     include/eigenpy/numpy.hpp
     include/eigenpy/numpy-allocator.hpp

include/eigenpy/map.hpp

@@ -0,0 +1,248 @@
+/// Copyright (c) 2016-2024 CNRS INRIA
+/// This file was originally taken from Pinocchio (header
+/// <pinocchio/bindings/python/utils/std-vector.hpp>)
+///
+
+#ifndef __eigenpy_map_hpp__
+#define __eigenpy_map_hpp__
+
+#include "eigenpy/pickle-vector.hpp"
+#include "eigenpy/registration.hpp"
+#include "eigenpy/utils/empty-visitor.hpp"
+
+#include <boost/python/suite/indexing/map_indexing_suite.hpp>
+#include <boost/python/stl_iterator.hpp>
+#include <boost/python/to_python_converter.hpp>
+
+namespace eigenpy {
+
+/// \brief Change the behavior of indexing (method __getitem__ in Python).
+/// This is suitable e.g. for container of Eigen matrix objects if you want to
+/// mutate them.
+/// \sa overload_base_get_item_for_std_vector
+template <typename Container>
+struct overload_base_get_item_for_map
+    : public boost::python::def_visitor<
+          overload_base_get_item_for_map<Container> > {
+  typedef typename Container::value_type value_type;
+  typedef typename Container::value_type::second_type data_type;
+  typedef typename Container::key_type key_type;
+  typedef typename Container::key_type index_type;
+
+  template <class Class>
+  void visit(Class& cl) const {
+    cl.def("__getitem__", &base_get_item);
+  }
+
+ private:
+  static boost::python::object base_get_item(
+      boost::python::back_reference<Container&> container, PyObject* i_) {
+    index_type idx = convert_index(container.get(), i_);
+    typename Container::iterator i = container.get().find(idx);
+    if (i == container.get().end()) {
+      PyErr_SetString(PyExc_KeyError, "Invalid key");
+      boost::python::throw_error_already_set();
+    }
+
+    typename boost::python::to_python_indirect<
+        data_type&, boost::python::detail::make_reference_holder>
+        convert;
+    return boost::python::object(boost::python::handle<>(convert(i->second)));
+  }
+
+  static index_type convert_index(Container& /*container*/, PyObject* i_) {
+    boost::python::extract<key_type const&> i(i_);
+    if (i.check()) {
+      return i();
+    } else {
+      boost::python::extract<key_type> i(i_);
+      if (i.check()) return i();
+    }
+
+    PyErr_SetString(PyExc_TypeError, "Invalid index type");
+    boost::python::throw_error_already_set();
+    return index_type();
+  }
+};
+
+///////////////////////////////////////////////////////////////////////////////
+// The following snippet of code has been taken from the header
+// https://github.com/loco-3d/crocoddyl/blob/v2.1.0/bindings/python/crocoddyl/utils/map-converter.hpp
+// The Crocoddyl library is written by Carlos Mastalli, Nicolas Mansard and
+// Rohan Budhiraja.
+///////////////////////////////////////////////////////////////////////////////
+
+namespace bp = boost::python;
+
+/**
+ * @brief Create a pickle interface for the map type
+ *
+ * @param[in] Container  Map type to be pickled
+ * \sa Pickle
+ */
+template <typename Container>
+struct PickleMap : public PickleVector<Container> {
+  static void setstate(bp::object op, bp::tuple tup) {
+    Container& o = bp::extract<Container&>(op)();
+    bp::stl_input_iterator<typename Container::value_type> begin(tup[0]), end;
+    o.insert(begin, end);
+  }
+};
+
+/// Conversion from dict to map solution proposed in
+/// https://stackoverflow.com/questions/6116345/boostpython-possible-to-automatically-convert-from-dict-stdmap
+/// This template encapsulates the conversion machinery.
+template <typename Container>
+struct dict_to_map {
+  static void register_converter() {
+    bp::converter::registry::push_back(&dict_to_map::convertible,
+                                       &dict_to_map::construct,
+                                       bp::type_id<Container>());
+  }
+
+  /// Check if conversion is possible
+  static void* convertible(PyObject* object) {
+    // Check if it is a list
+    if (!PyObject_GetIter(object)) return 0;
+    return object;
+  }
+
+  /// Perform the conversion
+  static void construct(PyObject* object,
+                        bp::converter::rvalue_from_python_stage1_data* data) {
+    // convert the PyObject pointed to by `object` to a bp::dict
+    bp::handle<> handle(bp::borrowed(object));  // "smart ptr"
+    bp::dict dict(handle);
+
+    // get a pointer to memory into which we construct the map
+    // this is provided by the Python runtime
+    typedef bp::converter::rvalue_from_python_storage<Container> storage_type;
+    void* storage = reinterpret_cast<storage_type*>(data)->storage.bytes;
+
+    // placement-new allocate the result
+    new (storage) Container();
+
+    // iterate over the dictionary `dict`, fill up the map `map`
+    Container& map(*(static_cast<Container*>(storage)));
+    bp::list keys(dict.keys());
+    int keycount(static_cast<int>(bp::len(keys)));
+    for (int i = 0; i < keycount; ++i) {
+      // get the key
+      bp::object keyobj(keys[i]);
+      bp::extract<typename Container::key_type> keyproxy(keyobj);
+      if (!keyproxy.check()) {
+        PyErr_SetString(PyExc_KeyError, "Bad key type");
+        bp::throw_error_already_set();
+      }
+      typename Container::key_type key = keyproxy();
+
+      // get the corresponding value
+      bp::object valobj(dict[keyobj]);
+      bp::extract<typename Container::mapped_type> valproxy(valobj);
+      if (!valproxy.check()) {
+        PyErr_SetString(PyExc_ValueError, "Bad value type");
+        bp::throw_error_already_set();
+      }
+      typename Container::mapped_type val = valproxy();
+      map.emplace(key, val);
+    }
+
+    // remember the location for later
+    data->convertible = storage;
+  }
+
+  static bp::dict todict(Container& self) {
+    bp::dict dict;
+    typename Container::const_iterator it;
+    for (it = self.begin(); it != self.end(); ++it) {
+      dict.setdefault(it->first, it->second);
+    }
+    return dict;
+  }
+};
+
+/// Policies which handle the non-default constructible case
+/// and set_item() using emplace().
+template <class Container, bool NoProxy>
+struct emplace_set_derived_policies
+    : bp::map_indexing_suite<
+          Container, NoProxy,
+          emplace_set_derived_policies<Container, NoProxy> > {
+  typedef typename Container::key_type index_type;
+  typedef typename Container::value_type::second_type data_type;
+  typedef typename Container::value_type value_type;
+  using DerivedPolicies =
+      bp::detail::final_map_derived_policies<Container, NoProxy>;
+
+  template <class Class>
+  static void extension_def(Class& cl) {
+    //  Wrap the map's element (value_type)
+    std::string elem_name = "map_indexing_suite_";
+    bp::object class_name(cl.attr("__name__"));
+    bp::extract<std::string> class_name_extractor(class_name);
+    elem_name += class_name_extractor();
+    elem_name += "_entry";
+    namespace mpl = boost::mpl;
+
+    typedef typename mpl::if_<
+        mpl::and_<boost::is_class<data_type>, mpl::bool_<!NoProxy> >,
+        bp::return_internal_reference<>, bp::default_call_policies>::type
+        get_data_return_policy;
+
+    bp::class_<value_type>(elem_name.c_str(), bp::no_init)
+        .def("__repr__", &DerivedPolicies::print_elem)
+        .def("data", &DerivedPolicies::get_data, get_data_return_policy())
+        .def("key", &DerivedPolicies::get_key);
+  }
+
+  static void set_item(Container& container, index_type i, data_type const& v) {
+    container.emplace(i, v);
+  }
+};
+
+/**
+ * @brief Expose the map-like container, e.g. (std::map).
+ *
+ * @param[in] Container  Container to expose.
+ * @param[in] NoProxy    When set to false, the elements will be copied when
+ * returned to Python.
+ */
+template <class Container, bool NoProxy = false>
+struct GenericMapVisitor
+    : public emplace_set_derived_policies<Container, NoProxy>,
+      public dict_to_map<Container> {
+  typedef dict_to_map<Container> FromPythonDictConverter;
+
+  template <typename DerivedVisitor>
+  static void expose(const std::string& class_name,
+                     const std::string& doc_string,
+                     const bp::def_visitor<DerivedVisitor>& visitor) {
+    namespace bp = bp;
+
+    if (!register_symbolic_link_to_registered_type<Container>()) {
+      bp::class_<Container>(class_name.c_str(), doc_string.c_str())
+          .def(GenericMapVisitor())
+          .def("todict", &FromPythonDictConverter::todict, bp::arg("self"),
+               "Returns the map type as a Python dictionary.")
+          .def_pickle(PickleMap<Container>())
+          .def(visitor);
+      // Register conversion
+      FromPythonDictConverter::register_converter();
+    }
+  }
+
+  static void expose(const std::string& class_name,
+                     const std::string& doc_string = "") {
+    expose(class_name, doc_string, EmptyPythonVisitor());
+  }
+
+  template <typename DerivedVisitor>
+  static void expose(const std::string& class_name,
+                     const bp::def_visitor<DerivedVisitor>& visitor) {
+    expose(class_name, "", visitor);
+  }
+};
+
+}  // namespace eigenpy
+
+#endif  // ifndef __eigenpy_map_hpp__