moveit2
The MoveIt Motion Planning Framework for ROS 2.
py_conversions.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #pragma once
38 
39 #include <boost/python.hpp>
40 #include <boost/python/stl_iterator.hpp>
41 #include <string>
42 #include <vector>
43 #include <map>
44 
45 namespace moveit
46 {
47 namespace py_bindings_tools
48 {
49 template <typename T>
50 std::vector<T> typeFromList(const boost::python::object& values)
51 {
52  boost::python::stl_input_iterator<T> begin(values), end;
53  std::vector<T> v;
54  v.assign(begin, end);
55  return v;
56 }
57 
58 template <typename T>
59 boost::python::list listFromType(const std::vector<T>& v)
60 {
61  boost::python::list l;
62  for (std::size_t i = 0; i < v.size(); ++i)
63  l.append(v[i]);
64  return l;
65 }
66 
67 template <typename T>
68 boost::python::dict dictFromType(const std::map<std::string, T>& v)
69 {
70  boost::python::dict d;
71  for (typename std::map<std::string, T>::const_iterator it = v.begin(); it != v.end(); ++it)
72  d[it->first] = it->second;
73  return d;
74 }
75 
76 std::vector<double> doubleFromList(const boost::python::object& values)
77 {
78  return typeFromList<double>(values);
79 }
80 
81 std::vector<std::string> stringFromList(const boost::python::object& values)
82 {
83  return typeFromList<std::string>(values);
84 }
85 
86 boost::python::list listFromDouble(const std::vector<double>& v)
87 {
88  return listFromType<double>(v);
89 }
90 
91 boost::python::list listFromString(const std::vector<std::string>& v)
92 {
93  return listFromType<std::string>(v);
94 }
95 } // namespace py_bindings_tools
96 } // namespace moveit
boost::python::list listFromString(const std::vector< std::string > &v)
boost::python::list listFromDouble(const std::vector< double > &v)
boost::python::dict dictFromType(const std::map< std::string, T > &v)
std::vector< T > typeFromList(const boost::python::object &values)
std::vector< std::string > stringFromList(const boost::python::object &values)
boost::python::list listFromType(const std::vector< T > &v)
std::vector< double > doubleFromList(const boost::python::object &values)
Main namespace for MoveIt.
Definition: exceptions.h:43
d
Definition: setup.py:4