Merge pull request #1882 from cmastalli/topic/enable-copy

Enabled copy and deepcopy
stack-of-tasks · Jul 13, 2023 · d2c1904 · d2c1904
2 parents fc10553 + 28bda82
commit d2c1904
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Showing 3 changed files with 25 additions and 4 deletions.
diff --git a/.github/workflows/macos-linux-conda.yml b/.github/workflows/macos-linux-conda.yml
@@ -8,6 +8,7 @@ jobs:
     runs-on: ${{ matrix.os }}
     env:
       CCACHE_DIR: ${{ matrix.CCACHE_DIR }}
+      BUILD_ADVANCED_TESTING: ${{ matrix.BUILD_ADVANCED_TESTING }}
 
     strategy:
       fail-fast: false
@@ -18,8 +19,10 @@ jobs:
         include:
           - os: ubuntu-latest
             CCACHE_DIR: /home/runner/.ccache
+            BUILD_ADVANCED_TESTING: OFF
           - os: macos-latest
             CCACHE_DIR: /Users/runner/.ccache
+            BUILD_ADVANCED_TESTING: ON
 
     steps:
     - uses: actions/checkout@v3
@@ -54,7 +57,7 @@ jobs:
         mkdir build
         cd build
 
-        cmake .. -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DBUILD_WITH_COLLISION_SUPPORT=ON -DBUILD_ADVANCED_TESTING=ON -DBUILD_WITH_CASADI_SUPPORT=OFF -DPYTHON_EXECUTABLE=$(which python3) -DBUILD_WITH_OPENMP_SUPPORT=ON -DINSTALL_DOCUMENTATION=ON -DOpenMP_ROOT=$CONDA_PREFIX
+        cmake .. -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DBUILD_WITH_COLLISION_SUPPORT=ON -DBUILD_ADVANCED_TESTING=${{ env.BUILD_ADVANCED_TESTING }}  -DBUILD_WITH_CASADI_SUPPORT=OFF -DPYTHON_EXECUTABLE=$(which python3) -DBUILD_WITH_OPENMP_SUPPORT=ON -DINSTALL_DOCUMENTATION=ON -DOpenMP_ROOT=$CONDA_PREFIX
         make
         make build_tests
         CTEST_OUTPUT_ON_FAILURE=1 make test

diff --git a/bindings/python/utils/copyable.hpp b/bindings/python/utils/copyable.hpp
@@ -1,5 +1,5 @@
 //
-// Copyright (c) 2016-2021 CNRS INRIA
+// Copyright (c) 2016-2023 CNRS INRIA
 //
 
 #ifndef __pinocchio_python_utils_copyable_hpp__
@@ -13,7 +13,7 @@ namespace pinocchio
   {
 
     namespace bp = boost::python;
-    
+
     ///
     /// \brief Add the Python method copy to allow a copy of this by calling the copy constructor.
     ///
@@ -23,10 +23,15 @@ namespace pinocchio
     {
       template<class PyClass>
       void visit(PyClass & cl) const
-      { cl.def("copy",&copy,bp::arg("self"),"Returns a copy of *this."); }
+      {
+        cl.def("copy",&copy,bp::arg("self"),"Returns a copy of *this.");
+        cl.def("__copy__", &copy,bp::arg("self"),"Returns a copy of *this.");
+        cl.def("__deepcopy__", &deepcopy,bp::args("self","memo"),"Returns a deep copy of *this.");
+      }
 
     private:
       static C copy(const C & self) { return C(self); }
+      static C deepcopy(const C & self, bp::dict) { return C(self); }
     };
   } // namespace python
 } // namespace pinocchio

diff --git a/unittest/python/bindings_SE3.py b/unittest/python/bindings_SE3.py
@@ -2,6 +2,7 @@
 import pinocchio as pin
 import numpy as np
 from pinocchio.utils import eye,zero,rand
+from copy import deepcopy, copy
 
 ones = lambda n: np.ones([n, 1] if isinstance(n, int) else n)
 
@@ -158,5 +159,17 @@ def test_several_init(self):
             s = r.__str__()
             self.assertTrue(s != '')
 
+    def test_copy(self):
+        M = pin.SE3.Random()
+        Mc = copy(M)
+        Mdc = deepcopy(M)
+        self.assertTrue(M == Mc)
+        self.assertTrue(M == Mdc)
+
+        Mc.setRandom()
+        self.assertFalse(M == Mc)
+        Mdc.setRandom()
+        self.assertFalse(M == Mc)
+
 if __name__ == '__main__':
     unittest.main()