# file: generate_simtkmath_source.py # Run this script from the above src directory import os import sys import re from pyplusplus import module_builder from pyplusplus.module_builder.call_policies import * from simtk_wrap_utils import find_path, find_program from simtk_wrap_utils import * from doxygen_doc_extractor import doxygen_doc_extractor from pyplusplus import function_transformers as FT def generate_simtkmath_source(): """ Use pyplusplus to generate boost.python source code for simtk commmon module. See pyplusplus documentation at http://www.language-binding.net/pyplusplus/pyplusplus.html """ mb = create_module_builder(['simtkmath/wrap_simtkmath.h',]) # Delegate wrapping details to other subroutines, to keep this one from getting too big mb.namespace('SimTK').include() perform_usual_wrapping_tasks(mb) expose_integrator(mb) expose_timestepper(mb) expose_indexes(mb) expose_cpodes(mb) expose_differentiator(mb) exclude_gcvsplutil(mb) wrap_optimizersystem(mb) wrap_function(mb) wrap_ostream_methods(mb) exclude_rep_classes(mb) wrap_properties(mb) expose_free_functions(mb) # crossMat compile error # Don't rewrap anything already wrapped by simtk.common # See http://www.language-binding.net/pyplusplus/documentation/multi_module_development.html mb.register_module_dependency('external/std/generated_code/') mb.register_module_dependency('simtkvecs/generated_code/') mb.register_module_dependency('simtkcommon/generated_code/') extractor = doxygen_doc_extractor() mb.build_code_creator(module_name='_math', doc_extractor=extractor) mb.split_module(os.path.join(os.path.abspath('.'), 'simtkmath', 'generated_code')) # mb.write_module(os.path.join(os.path.abspath('.'), 'simtkmath', 'generated_code', 'test.cpp')) # If all succeeds, record this accomplishment by touching a particular file open(os.path.join(os.path.abspath('.'), 'simtkmath', 'generated_code', 'generate_simtkmath.stamp'), "w").close() def wrap_function(mb): # Function based mobilizers need to take ownership of Function pointers, so change held_type function = mb.class_('Function_') function.alias = 'Function' # function.no_init = True function.noncopyable = True function.held_type = 'std::auto_ptr< %s >' % function.wrapper_alias function_ptr_type = 'std::auto_ptr< %s >' % function.decl_string function.add_registration_code( 'bp::implicitly_convertible<%s, %s >();' % (function.held_type, function_ptr_type), works_on_instance=False) # Inner classes such as Function::Constant, Function::Linear, Function::Polynomial for fn2 in function.classes(): fn2.held_type = 'std::auto_ptr< %s::%s >' % (function.wrapper_alias, fn2.wrapper_alias) fn2_ptr_type = 'std::auto_ptr< %s >' % fn2.decl_string fn2.add_registration_code( 'bp::implicitly_convertible< %s, %s >();' % (fn2.held_type, fn2_ptr_type), works_on_instance=False) fn2.add_registration_code( 'bp::implicitly_convertible< %s, %s >();' % (fn2.held_type, function_ptr_type), # parent works_on_instance=False) def wrap_arrays(mb): #WARNING: int * SimTK::Array_::insertGapAt(int * p, unsigned int n, char const * methodName) [member function] #> compilation error W1050: The function returns "int *" type. You have #> to specify a call policies.Be sure to take a look on `Py++` defined #> call policies for array in mb.classes(lambda c: c.name.startswith('Array_')): wrap_array(array, mb) def wrap_optimizersystem(mb): opt_sys = mb.class_('OptimizerSystem') #WARNING: int SimTK::OptimizerSystem::objectiveFunc(SimTK::Vector const & parameters, bool const new_parameters, SimTK::Real & f) const [member function] #> execution error W1009: The function takes as argument (name=f, pos=2) #> non-const reference to Python immutable type - function could not be #> called from Python. Take a look on "Function Transformation" #> functionality and define the transformation. # opt_sys.member_function('objectiveFunc').add_transformation(FT.output('f')) opt_sys.member_function('gradientFunc').add_transformation(FT.output('gradient')) opt_sys.member_function('constraintFunc').add_transformation(FT.output('constraints')) opt_sys.member_function('constraintJacobian').add_transformation(FT.output('jac')) opt_sys.member_function('hessian').add_transformation(FT.output('gradient')) #WARNING: void SimTK::OptimizerSystem::getParameterLimits(double * * lower, double * * upper) const [member function] #> warning W1051: The function takes as argument (name=lower, pos=0) #> "double * *" type. You have to specify a call policies or to use #> "Function Transformation" functionality. opt_sys.member_function('getParameterLimits').exclude() def exclude_gcvsplutil(mb): #WARNING: static void SimTK::GCVSPLUtil::gcvspl(SimTK::Vector const & x, SimTK::Vector const & y, SimTK::Vector const & wx, SimTK::Real wy, int m, int md, SimTK::Real val, SimTK::Vector & c, SimTK::Vector & wk, int & ier) [member function] #> execution error W1009: The function takes as argument (name=ier, #> pos=9) non-const reference to Python immutable type - function could #> not be called from Python. Take a look on "Function Transformation" #> functionality and define the transformation. # Plus there is no documentation for this class. mb.class_('GCVSPLUtil').exclude() def exclude_crossmat(mb): # compile error #6>c:\program files\simtk\include\SimTKcommon/internal/SmallMatrixMixed.h(630) : error C2665: 'SimTK::Row::Row' : none of the 13 overloads could convert all the argument types #6> with #6> [ #6> N=3, #6> ELT=SimTK::negator, #6> STRIDE=1 #6> ] #6> c:\program files\simtk\include\SimTKcommon/internal/Row.h(308): could be 'SimTK::Row::Row(const SimTK::negator &,const SimTK::negator &,const SimTK::negator &)' #6> with #6> [ #6> N=3, #6> ELT=SimTK::negator, #6> STRIDE=1, #6> NUMBER=double #6> ] #6> while trying to match the argument list '(SimTK::negator, const double, const SimTK::negator)' #6> with #6> [ #6> NUMBER=double #6> ] #6> src\simtkmath\generated_code\_simtkmath_free_functions.pypp.cpp(28) : see reference to function template instantiation 'SimTK::Mat SimTK::crossMat,1>(const SimTK::Vec<3,ELT,STRIDE> &)' being compiled #6> with #6> [ #6> M=3, #6> N=3, #6> ELT=SimTK::negator, #6> CS=3, #6> RS=1, #6> NUMBER=double, #6> STRIDE=1 #6> ] #6>c:\program files\simtk\include\SimTKcommon/internal/SmallMatrixMixed.h(631) : error C2665: 'SimTK::Row::Row' : none of the 13 overloads could convert all the argument types #6> with #6> [ #6> N=3, #6> ELT=SimTK::negator, #6> STRIDE=1 #6> ] #6> c:\program files\simtk\include\SimTKcommon/internal/Row.h(308): could be 'SimTK::Row::Row(const SimTK::negator &,const SimTK::negator &,const SimTK::negator &)' #6> with #6> [ #6> N=3, #6> ELT=SimTK::negator, #6> STRIDE=1, #6> NUMBER=double #6> ] #6> while trying to match the argument list '(const SimTK::negator, SimTK::negator, const double)' #6> with #6> [ #6> NUMBER=double #6> ] #6>c:\program files\simtk\include\SimTKcommon/internal/SmallMatrixMixed.h(632) : error C2665: 'SimTK::Row::Row' : none of the 13 overloads could convert all the argument types #6> with #6> [ #6> N=3, #6> ELT=SimTK::negator, #6> STRIDE=1 #6> ] #6> c:\program files\simtk\include\SimTKcommon/internal/Row.h(308): could be 'SimTK::Row::Row(const SimTK::negator &,const SimTK::negator &,const SimTK::negator &)' #6> with #6> [ #6> N=3, #6> ELT=SimTK::negator, #6> STRIDE=1, #6> NUMBER=double #6> ] #6> while trying to match the argument list '(const double, const SimTK::negator, SimTK::negator)' #6> with #6> [ #6> NUMBER=double #6> ] mb.free_functions('crossMat').exclude() def expose_differentiator(mb): #~ WARNING: SimTK::Differentiator::GradientFunction [class]^M #~ > warning W1031: `Py++` will generate class wrapper - user asked to^M #~ > expose non - public member function "GradientFunction" diff = mb.class_('Differentiator') # diff.exclude() #~ for cls in diff.classes(): #~ if cls.name.endswith('Function'): #~ cls.constructors().exclude() #~ cls.no_init = True #~ cls.exclude() # protected destructor compile error #~ diff.constructors(arg_types=[None]).exclude() #~ diff.no_init = True # #WARNING: int SimTK::Differentiator::ScalarFunction::f(SimTK::Real x, SimTK::Real & fx) const [member function] #> execution error W1009: The function takes as argument (name=fx, pos=1) #> non-const reference to Python immutable type - function could not be #> called from Python. Take a look on "Function Transformation" #> functionality and define the transformation. scalar = diff.class_('ScalarFunction') scalar.member_function('f').add_transformation(FT.output('fx')) scalar.no_init = True scalar.noncopyable = True # scalar.exclude() # I give up; compile errors on protected destructor gradient = diff.class_('GradientFunction') gradient.member_function('f').add_transformation(FT.output('fy')) gradient.no_init = True gradient.noncopyable = True # gradient.exclude() # I give up; compile errors on protected destructor diff.member_function('calcDerivative', arg_types=[None, None, None, None]).add_transformation(FT.output('dfdy')) function = diff.class_('Function') function.no_init = True function.noncopyable = True # function.exclude() diff.exclude() def expose_cpodes(mb): #~ WARNING: char * SimTK::CPodes::getReturnFlagName(int flag) [member function]^M #~ > compilation error W1050: The function returns "char *" type. You have^M #~ > to specify a call policies.Be sure to take a look on `Py++` defined^M #~ > call policies cpodes = mb.class_('CPodes') cpodes.member_function('getReturnFlagName').exclude() cpodes.member_function('dlsGetReturnFlagName').exclude() #~ WARNING: void SimTK::CPodes::registerQuadratureFunc(int (*)( ::SimTK::CPodesSystem const &,::SimTK::Real,::SimTK::Vector const &,::SimTK::Vector & ) * arg0) [member function]^M #~ > compilation error W1004: Boost.Python library can not expose function,^M #~ > which takes as argument/returns pointer to function. See^M #~ > http://www.boost.org/libs/python/doc/v2/faq.html#funcptr for more^M #~ > information. for fn in cpodes.member_functions(): if fn.name.startswith('register') and fn.name.endswith('Func'): fn.exclude() #~ WARNING: _iobuf [struct]^M #~ > execution error W1040: The declaration is unexposed, but there are^M #~ > other declarations, which refer to it. This could cause "no to_python^M #~ > converter found" run time error. Declarations: int^M #~ > SimTK::CPodes::setErrFile(FILE * errfp) [member function] cpodes.member_function('setErrFile').exclude() def expose_integrator(mb): mb.class_('Integrator').include() sys_ref = declarations.reference_t(declarations.const_t (declarations.declarated_t(mb.class_('System')))) for integ_name in ['VerletIntegrator', 'RungeKuttaMersonIntegrator']: integ = mb.class_(integ_name) integ.include() integ.constructor(arg_types=[sys_ref]).call_policies = with_custodian_and_ward(1, 2) def expose_timestepper(mb): t = mb.class_('TimeStepper') t.include() sys_ref = declarations.reference_t(declarations.const_t (declarations.declarated_t(mb.class_('System')))) integ_ref = declarations.reference_t(declarations.declarated_t(mb.class_('Integrator'))) t.constructor(arg_types=[sys_ref]).call_policies = with_custodian_and_ward(1, 2) t.constructor(arg_types=[sys_ref, integ_ref]).call_policies = with_custodian_and_ward(1, 2, with_custodian_and_ward(1, 3)) t.member_function('setIntegrator').call_policies = with_custodian_and_ward(1, 2) if __name__ == "__main__": generate_simtkmath_source()