Merge pull request #2566 from nim65s/register

python: register Model
stack-of-tasks · Jan 30, 2025 · 190ef9a · 190ef9a
2 parents 6c8b80a + ce0a6ac
commit 190ef9a
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -17,6 +17,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Fix aba explicit template instantiation ([#2541](https://github.com/stack-of-tasks/pinocchio/pull/2541))
 - Fix mjcf parsing of keyframe qpos with newlines ([#2535](https://github.com/stack-of-tasks/pinocchio/pull/2535))
 - Fix sites parsing for MJCF format ([#2548](https://github.com/stack-of-tasks/pinocchio/pull/2548))
+- Fix register `std::shared_ptr<{,Geometry}{Model,Data}>` in bindings ([#2566](https://github.com/stack-of-tasks/pinocchio/pull/2566))
 - Removed useless uses of `PINOCCHIO_WITH_CXX11_SUPPORT` ([#2564](https://github.com/stack-of-tasks/pinocchio/pull/2564))
 
 

diff --git a/include/pinocchio/bindings/python/multibody/data.hpp b/include/pinocchio/bindings/python/multibody/data.hpp
@@ -262,6 +262,8 @@ namespace pinocchio
           .def(bp::self != bp::self)
 #endif
           ;
+
+        bp::register_ptr_to_python<std::shared_ptr<Data>>();
       }
 
       /* --- Expose --------------------------------------------------------- */

diff --git a/include/pinocchio/bindings/python/multibody/geometry-data.hpp b/include/pinocchio/bindings/python/multibody/geometry-data.hpp
@@ -142,6 +142,8 @@ namespace pinocchio
           .def(bp::self != bp::self)
 
           ;
+
+        bp::register_ptr_to_python<std::shared_ptr<GeometryData>>();
       }
 
       /* --- Expose --------------------------------------------------------- */

diff --git a/include/pinocchio/bindings/python/multibody/geometry-model.hpp b/include/pinocchio/bindings/python/multibody/geometry-model.hpp
@@ -108,6 +108,8 @@ namespace pinocchio
 
           .def(bp::self == bp::self)
           .def(bp::self != bp::self);
+
+        bp::register_ptr_to_python<std::shared_ptr<GeometryModel>>();
       }
 
       static GeometryData createData(const GeometryModel & geomModel)

diff --git a/include/pinocchio/bindings/python/multibody/model.hpp b/include/pinocchio/bindings/python/multibody/model.hpp
@@ -232,6 +232,8 @@ namespace pinocchio
 
           .PINOCCHIO_ADD_STATIC_PROPERTY_READONLY_BYVALUE(
             Model, gravity981, "Default gravity field value on the Earth.");
+
+        bp::register_ptr_to_python<std::shared_ptr<Model>>();
       }
 
       static JointIndex addJoint0(
-Original file line number
+Diff line change
@@ Expand Up / @@ -262,6 +262,8 @@ namespace pinocchio @@
               .def(bp::self != bp::self)
     #endif
               ;
+            bp::register_ptr_to_python<std::shared_ptr<Data>>();
           }
           /* --- Expose --------------------------------------------------------- */
@@ Expand Down @@