gazebo.i

来自「机器人人3D仿真工具,可以加入到Simbad仿真环境下应用。」· I 代码 · 共 104 行

%module gazebo
%{
#include "gazebo.h"
%}

// Provide array (read) access
%typemap(out) double [ANY] 
{
  int i;
  $result = PyList_New($1_dim0);
  for (i = 0; i < $1_dim0; i++) 
  {
    PyObject *o = PyFloat_FromDouble((double) $1[i]);
    PyList_SetItem($result,i,o);
  }
}


// Provide array access doubly-dimensioned arrays
%typemap(out) double [ANY][ANY] 
{
  int i, j;
  $result = PyList_New($1_dim0);
  for (i = 0; i < $1_dim0; i++) 
  {
    PyObject *l = PyList_New($1_dim1);
    for (j = 0; j < $1_dim1; j++)
    {
      PyObject *o = PyFloat_FromDouble((double) $1[i][j]);
      PyList_SetItem(l,j,o);
    }
    PyList_SetItem($result,i,l);
  }
}


// Provide array (write) access
%typemap(in) double [ANY] (double temp[$1_dim0])
{
  int i;
  if (!PySequence_Check($input))
  {
    PyErr_SetString(PyExc_ValueError,"Expected a sequence");
    return NULL;
  }
  if (PySequence_Length($input) != $1_dim0) 
  {
    PyErr_SetString(PyExc_ValueError,"Size mismatch. Expected $1_dim0 elements");
    return NULL;
  }
  for (i = 0; i < $1_dim0; i++) 
  {
    PyObject *o = PySequence_GetItem($input,i);
    if (PyNumber_Check(o)) 
    {
      temp[i] = (double) PyFloat_AsDouble(o);
    } 
    else 
    {
      PyErr_SetString(PyExc_ValueError,"Sequence elements must be numbers");      
      return NULL;
    }
  }
  $1 = temp;
}


// Provide write access to arrays that are structure members
%typemap(memberin) double [ANY]
{
  int i;
  for (i = 0; i < $1_dim0; i++)
    $1[i] = $input[i];
}


// Provide read access for string data
%typemap(out) char [ANY] 
{
  $result = PyString_FromString($1);
}


// TODO: tighten up this test
// Provide read access for image data
%typemap(out) unsigned char [ANY] 
{
  $result = PyString_FromStringAndSize($1, $1_dim0);
}


// TODO: tighten up this test; could match to almost anything
// Provide read access for image data
%typemap(out) float [ANY] 
{
  $result = PyString_FromStringAndSize((void*) $1, $1_dim0);
}

 
//%include "../../gazebo.h"
%include "gazebo_oo.i"