Function BOOST_PYTHON_MODULE

bindings/python/src/module.cpp:102–182

} // namespace aligator

BOOST_PYTHON_MODULE(MODULE_NAME) {
  using namespace aligator::python;
  using aligator::context::ConstVectorRef;

  bp::docstring_options module_docstring_options(true, true, true);

  bp::scope().attr("__version__") = ALIGATOR_VERSION;
#ifdef ALIGATOR_MULTITHREADING
  bp::def("get_available_threads", &aligator::omp::get_available_threads,
          "Get the number of available threads.");
  bp::def("get_current_threads", &aligator::omp::get_current_threads,
          "Get the current number of threads.");
  bp::def("set_omp_default_options", &aligator::omp::set_default_options,
          ("num_threads"_a, "dynamic"_a = true));
#endif
  eigenpy::enableEigenPy();

  eigenpy::OptionalConverter<ConstVectorRef, std::optional>::registration();
  eigenpy::detail::NoneToPython<std::nullopt_t>::registration();

  register_string_view_converter();
  eigenpy::StdVectorPythonVisitor<std::vector<std::string_view>, true>::expose(
      "StdVec_StringView");

  bp::import("warnings");
#ifdef ALIGATOR_WITH_PINOCCHIO
  bp::import("pinocchio");
#endif

  bp::def(
      "has_pinocchio_features",
      +[]() constexpr -> bool {
        return
#ifdef ALIGATOR_WITH_PINOCCHIO
            true;
#else
            false;
#endif
      },
      "Whether Aligator (and its Python bindings) were compiled with support "
      "for Pinocchio.");

  {
    bp::scope manifolds = get_namespace("manifolds");
    exposeManifolds();
  }
  exposeContainers();
  exposeGAR();
  exposeEnums();
  exposeFunctions();
  exposeCosts();
  exposeConstraint();
  exposeStage();
  exposeProblem();
  exposeFilter();
  {
    bp::scope dynamics = get_namespace("dynamics");
    exposeContinuousDynamics();