Fix Python bindings.

include/sot/dynamic-pinocchio/dynamic-pinocchio.h

@@ -166,6 +166,10 @@ class SOTDYNAMIC_EXPORT DynamicPinocchio : public dg::Entity {
 
   void setData(pinocchio::Data*);
 
+  pinocchio::Model* getModel() { return m_model; };
+
+  pinocchio::Data* getData() { return m_data; };
+
   /* --- GETTERS --- */
 
   /// \brief Get joint position lower limits

src/dynamic-python-module-py.cc

@@ -5,11 +5,21 @@
 namespace dg = dynamicgraph;
 namespace dgs = dynamicgraph::sot;
 
+typedef bp::return_value_policy<bp::reference_existing_object> reference_existing_object;
+
 BOOST_PYTHON_MODULE(wrap)
 {
   bp::import("dynamicgraph");
   bp::import("pinocchio");
 
   dg::python::exposeEntity<dgs::DynamicPinocchio>()
-    .def_readwrite("model", &dgs::DynamicPinocchio::m_model);
+    .add_property("model",
+        bp::make_function(&dgs::DynamicPinocchio::getModel, reference_existing_object()),
+        bp::make_function(&dgs::DynamicPinocchio::setModel))
+    .add_property("data",
+        bp::make_function(&dgs::DynamicPinocchio::getData, reference_existing_object()),
+        bp::make_function(&dgs::DynamicPinocchio::setData))
+    .def("setModel", &dgs::DynamicPinocchio::setModel)
+    .def("setData", &dgs::DynamicPinocchio::setData)
+    ;
 }

src/dynamic_graph/sot/dynamic_pinocchio/__init__.py

 import numpy as np
 from numpy import cos, sin, sqrt
 
-from .dynamic import DynamicPinocchio as DynamicCpp
-
-# DynamicOld = Dynamic
-
-
-class DynamicPinocchio(DynamicCpp):
-    def __init__(self, name):
-        DynamicCpp.__init__(self, name)
-        self.model = None
-        self.data = None
-
-    def setData(self, pinocchio_data):
-        dynamic.wrap.set_pinocchio_data(self.obj, pinocchio_data)  # noqa TODO
-        self.data = pinocchio_data
-        return
-
-    def setModel(self, pinocchio_model):
-        dynamic.wrap.set_pinocchio_model(self.obj, pinocchio_model)  # noqa TODO
-        self.model = pinocchio_model
-        return
-
+from .dynamic import DynamicPinocchio
 
 def fromSotToPinocchio(q_sot, freeflyer=True):
     if freeflyer:

src/python-module-py.cpp

-// Copyright (C) 2008-2016, 2019 LAAS-CNRS, JRL AIST-CNRS.
-
-#define PY_SSIZE_T_CLEAN
-
-#include <sot/core/debug.hh>
-
-#include <sot/dynamic-pinocchio/dynamic-pinocchio.h>
-#include <Python.h>
-#include <boost/python.hpp>
-#include <typeinfo>
-#include <cstdio>
-
-namespace dynamicgraph {
-namespace sot {
-
-PyObject* setPinocchioModel(PyObject* /* self */, PyObject* args) {
-  PyObject* object = NULL;
-  PyObject* pyPinocchioObject;
-  void* pointer1 = NULL;
-  pinocchio::Model* pointer2 = NULL;
-  if (!PyArg_ParseTuple(args, "OO", &object, &pyPinocchioObject)) return NULL;
-
-  if (!PyCapsule_CheckExact(object)) {
-    PyErr_SetString(PyExc_TypeError, "function takes a PyCapsule as argument");
-    return NULL;
-  }
-
-  pointer1 = PyCapsule_GetPointer(object, "dynamic_graph.Entity");
-  DynamicPinocchio* dyn_entity = (DynamicPinocchio*)pointer1;
-
-  try {
-    boost::python::extract<pinocchio::Model&> cppHandle(pyPinocchioObject);
-    pointer2 = (pinocchio::Model*)&cppHandle();
-    dyn_entity->setModel(pointer2);
-  } catch (const std::exception& exc) {
-    // PyErr_SetString(dgpyError, exc.what());
-    return NULL;
-  } catch (const char* s) {
-    // PyErr_SetString(dgpyError, s);
-    return NULL;
-  } catch (...) {
-    // PyErr_SetString(dgpyError, "Unknown exception");
-    return NULL;
-  }
-
-  return Py_BuildValue("");
-}
-
-PyObject* setPinocchioData(PyObject* /* self */, PyObject* args) {
-  PyObject* object = NULL;
-  PyObject* pyPinocchioObject;
-  void* pointer1 = NULL;
-  pinocchio::Data* pointer2 = NULL;
-  if (!PyArg_ParseTuple(args, "OO", &object, &pyPinocchioObject)) return NULL;
-
-  if (!PyCapsule_CheckExact(object)) {
-    PyErr_SetString(PyExc_TypeError, "function takes a PyCapsule as argument");
-    return NULL;
-  }
-
-  pointer1 = PyCapsule_GetPointer(object, "dynamic_graph.Entity");
-  DynamicPinocchio* dyn_entity = (DynamicPinocchio*)pointer1;
-
-  try {
-    boost::python::extract<pinocchio::Data&> cppHandle(pyPinocchioObject);
-    pointer2 = (pinocchio::Data*)&cppHandle();
-    dyn_entity->setData(pointer2);
-  } catch (const std::exception& exc) {
-    //	PyErr_SetString(dgpyError, exc.what());
-    return NULL;
-  } catch (const char* s) {
-    //	PyErr_SetString(dgpyError, s);
-    return NULL;
-  } catch (...) {
-    //	PyErr_SetString(dgpyError, "Unknown exception");
-    return NULL;
-  }
-
-  return Py_BuildValue("");
-}
-}  // namespace sot
-}  // namespace dynamicgraph
-/**
-   \brief List of python functions
-*/
-
-static PyMethodDef functions[] = {
-    /*  {"get_pinocchio_model",  dynamicgraph::sot::getPinocchioModel, METH_VARARGS,
-        "Get the pinocchio model as python object"},*/
-    {"set_pinocchio_model", dynamicgraph::sot::setPinocchioModel, METH_VARARGS,
-     "Set the model from pinocchio python object"},
-    {"set_pinocchio_data", dynamicgraph::sot::setPinocchioData, METH_VARARGS,
-     "Set the data from pinocchio python object"},
-    {NULL, NULL, 0, NULL} /* Sentinel */
-};
-
-#if PY_MAJOR_VERSION >= 3
-static struct PyModuleDef SotDynamicPinocchioModuleDef = {
-    PyModuleDef_HEAD_INIT, "wrap", NULL, 0, functions, NULL, NULL, NULL, NULL};
-#define INITERROR return NULL
-#else
-#define INITERROR return
-#endif
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#if PY_MAJOR_VERSION >= 3
-PyMODINIT_FUNC PyInit_wrap(void)
-#else
-void initwrap(void)
-#endif
-{
-#if PY_MAJOR_VERSION >= 3
-  PyObject* module = PyModule_Create(&SotDynamicPinocchioModuleDef);
-#else
-  PyObject* module = Py_InitModule("wrap", functions);
-#endif
-
-  if (module == NULL) INITERROR;
-
-#if PY_MAJOR_VERSION >= 3
-  return module;
-#endif
-}
-
-#ifdef __cplusplus
-}  // extern "C"
-#endif