[Python] Add printable visitor

bindings/python/CMakeLists.txt

@@ -64,6 +64,7 @@ SET(${PROJECT_NAME}_PYTHON_HEADERS
   utils/eigen_container.hpp
   utils/handler.hpp
   utils/copyable.hpp
+  utils/printable.hpp
   fwd.hpp
   spatial/se3.hpp
   spatial/force.hpp

bindings/python/utils/printable.hpp

+//
+// Copyright (c) 2016 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
+#ifndef __se3_python_utils_printable_hpp__
+#define __se3_python_utils_printable_hpp__
+
+#include <boost/python.hpp>
+
+namespace se3
+{
+  namespace python
+  {
+    
+    namespace bp = boost::python;
+    
+    ///
+    /// \brief Set the Python method __str__ and __repr__ to use the overloading operator<<.
+    ///
+    template<class C>
+    struct PrintableVisitor : public bp::def_visitor< PrintableVisitor<C> >
+    {
+      template<class PyClass>
+      void visit(PyClass & cl) const
+      {
+        cl
+        .def(bp::self_ns::str(bp::self_ns::self))
+        .def(bp::self_ns::repr(bp::self_ns::self))
+        ;
+      }
+    };
+  } // namespace python
+} // namespace se3
+
+#endif // ifndef __se3_python_utils_printable_hpp__