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Bind copyability of schema types #16261

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Dec 20, 2021
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Bind copyability of schema types #16261

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42 changes: 34 additions & 8 deletions bindings/pydrake/common/schema_py.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -39,42 +39,54 @@ PYBIND11_MODULE(schema, m) {
{
using Class = Deterministic;
constexpr auto& cls_doc = doc.Deterministic;
py::class_<Class, Distribution>(m, "Deterministic", cls_doc.doc)
py::class_<Class, Distribution> cls(m, "Deterministic", cls_doc.doc);
cls // BR
.def(py::init<>(), cls_doc.ctor.doc)
.def(py::init<const Class&>(), py::arg("other"))
.def(py::init<double>(), py::arg("value"), cls_doc.ctor.doc)
.def_readwrite("value", &Class::value, cls_doc.value.doc);
DefCopyAndDeepCopy(&cls);
}

{
using Class = Gaussian;
constexpr auto& cls_doc = doc.Gaussian;
py::class_<Class, Distribution>(m, "Gaussian", cls_doc.doc)
py::class_<Class, Distribution> cls(m, "Gaussian", cls_doc.doc);
cls // BR
.def(py::init<>(), cls_doc.ctor.doc)
.def(py::init<const Class&>(), py::arg("other"))
.def(py::init<double, double>(), py::arg("mean"), py::arg("stddev"),
cls_doc.ctor.doc)
.def_readwrite("mean", &Class::mean, cls_doc.mean.doc)
.def_readwrite("stddev", &Class::stddev, cls_doc.stddev.doc);
DefCopyAndDeepCopy(&cls);
}

{
using Class = Uniform;
constexpr auto& cls_doc = doc.Uniform;
py::class_<Class, Distribution>(m, "Uniform", cls_doc.doc)
py::class_<Class, Distribution> cls(m, "Uniform", cls_doc.doc);
cls // BR
.def(py::init<>(), cls_doc.ctor.doc)
.def(py::init<const Class&>(), py::arg("other"))
.def(py::init<double, double>(), py::arg("min"), py::arg("max"),
cls_doc.ctor.doc)
.def_readwrite("min", &Class::min, cls_doc.min.doc)
.def_readwrite("max", &Class::max, cls_doc.max.doc);
DefCopyAndDeepCopy(&cls);
}

{
using Class = UniformDiscrete;
constexpr auto& cls_doc = doc.UniformDiscrete;
py::class_<Class, Distribution>(m, "UniformDiscrete", cls_doc.doc)
py::class_<Class, Distribution> cls(m, "UniformDiscrete", cls_doc.doc);
cls // BR
.def(py::init<>(), cls_doc.ctor.doc)
.def(py::init<const Class&>(), py::arg("other"))
.def(py::init<std::vector<double>>(), py::arg("values"),
cls_doc.ctor.doc)
.def_readwrite("values", &Class::values, cls_doc.values.doc);
DefCopyAndDeepCopy(&cls);
}

{
Expand Down Expand Up @@ -126,38 +138,48 @@ PYBIND11_MODULE(schema, m) {
constexpr int size = Eigen::Dynamic;
using Class = DeterministicVector<size>;
constexpr auto& cls_doc = doc.DeterministicVector;
py::class_<Class, DistributionVector>(
m, "DeterministicVectorX", cls_doc.doc)
py::class_<Class, DistributionVector> cls(
m, "DeterministicVectorX", cls_doc.doc);
cls // BR
.def(py::init<>(), cls_doc.ctor.doc)
.def(py::init<const Class&>(), py::arg("other"))
.def(py::init<const drake::Vector<double, size>&>(), py::arg("value"),
cls_doc.ctor.doc)
.def_readwrite("value", &Class::value, cls_doc.value.doc);
DefCopyAndDeepCopy(&cls);
}

{
constexpr int size = Eigen::Dynamic;
using Class = GaussianVector<size>;
constexpr auto& cls_doc = doc.GaussianVector;
py::class_<Class, DistributionVector>(m, "GaussianVectorX", cls_doc.doc)
py::class_<Class, DistributionVector> cls(
m, "GaussianVectorX", cls_doc.doc);
cls // BR
.def(py::init<>(), cls_doc.ctor.doc)
.def(py::init<const Class&>(), py::arg("other"))
.def(py::init<const drake::Vector<double, size>&,
const drake::VectorX<double>&>(),
py::arg("mean"), py::arg("stddev"), cls_doc.ctor.doc)
.def_readwrite("mean", &Class::mean, cls_doc.mean.doc)
.def_readwrite("stddev", &Class::stddev, cls_doc.stddev.doc);
DefCopyAndDeepCopy(&cls);
}

{
constexpr int size = Eigen::Dynamic;
using Class = UniformVector<size>;
constexpr auto& cls_doc = doc.UniformVector;
py::class_<Class, DistributionVector>(m, "UniformVectorX", cls_doc.doc)
py::class_<Class, DistributionVector> cls(m, "UniformVectorX", cls_doc.doc);
cls // BR
.def(py::init<>(), cls_doc.ctor.doc)
.def(py::init<const Class&>(), py::arg("other"))
.def(py::init<const drake::Vector<double, size>&,
const drake::Vector<double, size>&>(),
py::arg("min"), py::arg("max"), cls_doc.ctor.doc)
.def_readwrite("min", &Class::min, cls_doc.min.doc)
.def_readwrite("max", &Class::max, cls_doc.max.doc);
DefCopyAndDeepCopy(&cls);
}

{
Expand Down Expand Up @@ -187,6 +209,7 @@ PYBIND11_MODULE(schema, m) {
py::class_<Class> cls(m, "Rotation", cls_doc.doc);
cls // BR
.def(py::init<>(), cls_doc.ctor.doc_0args)
.def(py::init<const Class&>(), py::arg("other"))
.def(py::init<const math::RotationMatrixd&>(), cls_doc.ctor.doc_1args)
.def(py::init<const math::RollPitchYawd&>(), cls_doc.ctor.doc_1args)
.def("IsDeterministic", &Class::IsDeterministic,
Expand All @@ -199,6 +222,7 @@ PYBIND11_MODULE(schema, m) {
// TODO(jwnimmer-tri) Bind the .value field.
// In the meantime, a work-around for read access is to call ToSymbolic or
// GetDeterministicValue.
DefCopyAndDeepCopy(&cls);
}

// Bindings for transform.h.
Expand All @@ -209,6 +233,7 @@ PYBIND11_MODULE(schema, m) {
py::class_<Class> cls(m, "Transform", cls_doc.doc);
cls // BR
.def(py::init<>(), cls_doc.ctor.doc_0args)
.def(py::init<const Class&>(), py::arg("other"))
.def(py::init<const math::RigidTransformd&>(), cls_doc.ctor.doc_1args)
.def("set_rotation_rpy_deg", &Class::set_rotation_rpy_deg,
py::arg("rpy_deg"), cls_doc.set_rotation_rpy_deg.doc)
Expand All @@ -223,6 +248,7 @@ PYBIND11_MODULE(schema, m) {
// TODO(jwnimmer-tri) Bind the .translation and .rotation fields.
// In the meantime, a work-around for read access is to call ToSymbolic or
// GetDeterministicValue.
DefCopyAndDeepCopy(&cls);
}
}

Expand Down
19 changes: 16 additions & 3 deletions bindings/pydrake/common/test/schema_test.py
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Original file line number Diff line number Diff line change
@@ -1,3 +1,4 @@
import copy
import unittest

from pydrake.common import RandomGenerator
Expand All @@ -8,8 +9,13 @@
class TestSchema(unittest.TestCase):

def _check_distribution(self, dut):
"""Confirms that subclasses of Distribution bind the base methods."""
"""Confirms that a subclass instance of Distribution
* binds the base methods, and
* supports copy/deepcopy (even though the superclass does not).
"""
self.assertIsInstance(dut, mut.Distribution)
copy.copy(dut)
copy.deepcopy(dut)
dut.Sample(generator=RandomGenerator())
dut.Mean()
dut.ToSymbolic()
Expand Down Expand Up @@ -59,10 +65,13 @@ def test_distribution_variant(self):
mut.GetDeterministicValue(var=item)

def _check_distribution_vector(self, dut):
"""Confirms that subclasses of DistributionVector bind the base
methods.
"""Confirms that a subclass instance of DistributionVector
* binds the base methods, and
* supports copy/deepcopy (even though the superclass does not).
"""
self.assertIsInstance(dut, mut.DistributionVector)
copy.copy(dut)
copy.deepcopy(dut)
dut.Sample(generator=RandomGenerator())
dut.Mean()
dut.ToSymbolic()
Expand Down Expand Up @@ -105,6 +114,8 @@ def test_rotation(self):
mut.Rotation()
mut.Rotation(pydrake.math.RotationMatrix())
dut = mut.Rotation(pydrake.math.RollPitchYaw([0.0, 0.0, 0.0]))
copy.copy(dut)
copy.deepcopy(dut)
dut.IsDeterministic()
dut.GetDeterministicValue()
dut.ToSymbolic()
Expand All @@ -113,6 +124,8 @@ def test_rotation(self):
def test_transform(self):
mut.Transform()
dut = mut.Transform(pydrake.math.RigidTransform())
copy.copy(dut)
copy.deepcopy(dut)
dut.set_rotation_rpy_deg([0.1, 0.2, 0.3])
dut.IsDeterministic()
dut.GetDeterministicValue()
Expand Down