Merge pull request #1362 from Sergim96/topic/virtual_binding_constraint_dimension

Author: cmastalli

CHANGELOG.md

@@ -6,6 +6,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ## [Unreleased]
 
+* Created Python bindings for (diff)-action getters in https://github.com/loco-3d/crocoddyl/pull/1362
 * Enabled casting and multi-scalar Python bindings in https://github.com/loco-3d/crocoddyl/pull/1346
 * Add install version in https://github.com/loco-3d/crocoddyl/pull/1355
 * Removed absolute path for boost library in https://github.com/loco-3d/crocoddyl/pull/1353

bindings/python/crocoddyl/core/action-base.cpp

@@ -9,6 +9,7 @@
 
 #include "python/crocoddyl/core/action-base.hpp"
 
+#include "python/crocoddyl/utils/deprecate.hpp"
 #include "python/crocoddyl/utils/vector-converter.hpp"
 
 namespace crocoddyl {
@@ -95,20 +96,40 @@ struct ActionModelAbstractVisitor
                       "dimension of cost-residual vector")
         .add_property(
             "ng", bp::make_function(&Model::get_ng),
-            bp::make_setter(&Model::ng_, bp::return_internal_reference<>()),
+            bp::make_setter(
+                &Model::ng_,
+                deprecated<bp::return_internal_reference<>>(
+                    "Deprecated. Contraint dimension should not be modified.")),
             "number of inequality constraints")
+        .def("get_ng", &Model::get_ng, &Model::default_get_ng,
+             "Return the number of inequality constraints.")
         .add_property(
             "nh", bp::make_function(&Model::get_nh),
-            bp::make_setter(&Model::nh_, bp::return_internal_reference<>()),
+            bp::make_setter(
+                &Model::nh_,
+                deprecated<bp::return_internal_reference<>>(
+                    "Deprecated. Contraint dimension should not be modified.")),
             "number of equality constraints")
+        .def("get_nh", &Model::get_nh, &Model::default_get_nh,
+             "Return the number of equality constraints.")
         .add_property(
             "ng_T", bp::make_function(&Model::get_ng_T),
-            bp::make_setter(&Model::ng_T_, bp::return_internal_reference<>()),
+            bp::make_setter(
+                &Model::ng_T_,
+                deprecated<bp::return_internal_reference<>>(
+                    "Deprecated. Contraint dimension should not be modified.")),
             "number of inequality terminal constraints")
+        .def("get_ng_T", &Model::get_ng_T, &Model::default_get_ng_T,
+             "Return the number of inequality terminal constraints.")
         .add_property(
             "nh_T", bp::make_function(&Model::get_nh_T),
-            bp::make_setter(&Model::nh_T_, bp::return_internal_reference<>()),
+            bp::make_setter(
+                &Model::nh_T_,
+                deprecated<bp::return_internal_reference<>>(
+                    "Deprecated. Contraint dimension should not be modified.")),
             "number of equality terminal constraints")
+        .def("get_nh_T", &Model::get_nh_T, &Model::default_get_nh_T,
+             "Return the number of equality terminal constraints.")
         .add_property(
             "state",
             bp::make_function(&Model::get_state,

bindings/python/crocoddyl/core/action-base.hpp

@@ -132,6 +132,42 @@ class ActionModelAbstractTpl_wrap
     return this->ActionModel::quasiStatic(data, u, x, maxiter, tol);
   }
 
+  std::size_t get_ng() const override {
+    if (boost::python::override get_ng = this->get_override("get_ng")) {
+      return bp::call<std::size_t>(get_ng.ptr());
+    }
+    return this->ActionModel::get_ng();
+  }
+
+  std::size_t default_get_ng() const { return this->ActionModel::get_ng(); }
+
+  std::size_t get_nh() const override {
+    if (boost::python::override get_nh = this->get_override("get_nh")) {
+      return bp::call<std::size_t>(get_nh.ptr());
+    }
+    return this->ActionModel::get_nh();
+  }
+
+  std::size_t default_get_nh() const { return this->ActionModel::get_nh(); }
+
+  std::size_t get_ng_T() const override {
+    if (boost::python::override get_ng_T = this->get_override("get_ng_T")) {
+      return bp::call<std::size_t>(get_ng_T.ptr());
+    }
+    return this->ActionModel::get_ng_T();
+  }
+
+  std::size_t default_get_ng_T() const { return this->ActionModel::get_ng_T(); }
+
+  std::size_t get_nh_T() const override {
+    if (boost::python::override get_nh_T = this->get_override("get_nh_T")) {
+      return bp::call<std::size_t>(get_nh_T.ptr());
+    }
+    return this->ActionModel::get_nh_T();
+  }
+
+  std::size_t default_get_nh_T() const { return this->ActionModel::get_nh_T(); }
+
   template <typename NewScalar>
   ActionModelAbstractTpl_wrap<NewScalar> cast() const {
     typedef ActionModelAbstractTpl_wrap<NewScalar> ReturnType;