[Python 3] PyCObject → PyCapsule

Author: nim65s

CMakeLists.txt

@@ -42,7 +42,7 @@ OPTION (INSTALL_PYTHON_INTERFACE_ONLY "Install *ONLY* the python bindings" OFF)
 
 IF(BUILD_PYTHON_INTERFACE)
   FINDPYTHON()
-  ADD_REQUIRED_DEPENDENCY("dynamic-graph-python >= 3.0.0")
+  ADD_REQUIRED_DEPENDENCY("dynamic-graph-python >= 3.4.0")
   SET(BOOST_COMPONENTS ${BOOST_COMPONENTS} python)
   INCLUDE_DIRECTORIES(SYSTEM ${PYTHON_INCLUDE_PATH})
   ADD_REQUIRED_DEPENDENCY("eigenpy")

src/python-module-py.cpp

@@ -18,12 +18,12 @@ PyObject* setPinocchioModel(PyObject* /* self */, PyObject* args) {
   pinocchio::Model* pointer2 = NULL;
   if (!PyArg_ParseTuple(args, "OO", &object, &pyPinocchioObject)) return NULL;
 
-  if (!PyCObject_Check(object)) {
-    PyErr_SetString(PyExc_TypeError, "function takes a PyCObject as argument");
+  if (!PyCapsule_CheckExact(object)) {
+    PyErr_SetString(PyExc_TypeError, "function takes a PyCapsule as argument");
     return NULL;
   }
 
-  pointer1 = PyCObject_AsVoidPtr(object);
+  pointer1 = PyCapsule_GetPointer(object, "dynamic_graph.Entity");
   DynamicPinocchio* dyn_entity = (DynamicPinocchio*)pointer1;
 
   try {
@@ -51,12 +51,12 @@ PyObject* setPinocchioData(PyObject* /* self */, PyObject* args) {
   pinocchio::Data* pointer2 = NULL;
   if (!PyArg_ParseTuple(args, "OO", &object, &pyPinocchioObject)) return NULL;
 
-  if (!PyCObject_Check(object)) {
-    PyErr_SetString(PyExc_TypeError, "function takes a PyCObject as argument");
+  if (!PyCapsule_CheckExact(object)) {
+    PyErr_SetString(PyExc_TypeError, "function takes a PyCapsule as argument");
     return NULL;
   }
 
-  pointer1 = PyCObject_AsVoidPtr(object);
+  pointer1 = PyCapsule_GetPointer(object, "dynamic_graph.Entity");
   DynamicPinocchio* dyn_entity = (DynamicPinocchio*)pointer1;
 
   try {