Update python bindings accordingly to the Advanceable refactoring

bindings/python/Contacts/src/ContactDetectors.cpp

@@ -28,8 +28,8 @@ void CreateContactDetector(pybind11::module& module)
     using namespace BipedalLocomotion::System;
     using namespace BipedalLocomotion::ParametersHandler;
 
-    py::class_<Advanceable<EstimatedContactList>>(module, "EstimatedContactListAdvanceable");
-    py::class_<ContactDetector, Advanceable<EstimatedContactList>>(module, "ContactDetector");
+    py::class_<Source<EstimatedContactList>>(module, "EstimatedContactListSource");
+    py::class_<ContactDetector, Source<EstimatedContactList>>(module, "ContactDetector");
 }
 
 void CreateSchmittTriggerUnit(pybind11::module& module)
@@ -82,17 +82,16 @@ void CreateSchmittTriggerDetector(pybind11::module& module)
         .def(py::init())
         .def(
             "initialize",
-            [](SchmittTriggerDetector& impl, std::shared_ptr<IParametersHandler> handler) -> bool {
-                return impl.initialize(handler);
-            },
+            [](SchmittTriggerDetector& impl, std::shared_ptr<const IParametersHandler> handler)
+                -> bool { return impl.initialize(handler); },
             py::arg("handler"))
         .def("advance", &SchmittTriggerDetector::advance)
         .def("reset_contacts", &SchmittTriggerDetector::resetContacts)
-        .def("get", py::overload_cast<>(&SchmittTriggerDetector::get, py::const_))
+        .def("get_output", &SchmittTriggerDetector::getOutput)
         .def("get",
              py::overload_cast<const std::string&>(&SchmittTriggerDetector::get, py::const_),
              py::arg("contact_name"))
-        .def("is_valid", &SchmittTriggerDetector::isValid)
+        .def("is_output_valid", &SchmittTriggerDetector::isOutputValid)
         .def("set_timed_trigger_input",
              &SchmittTriggerDetector::setTimedTriggerInput,
              py::arg("contact_name"),

bindings/python/Contacts/tests/test_schmitt_trigger_detector.py

@@ -54,7 +54,7 @@ def test_schmitt_trigger_detector():
     params.switch_off_after = 0.2
     params.switch_on_after = 0.2
     detector.add_contact("left", False, params, 0.6)
-    contacts = detector.get()
+    contacts = detector.get_output()
     assert(len(contacts) == 2)
     assert(contacts["right"].is_active == False)
 
@@ -71,7 +71,7 @@ def test_schmitt_trigger_detector():
 
     # test removing a contact
     assert(detector.remove_contact("left"))
-    contacts = detector.get()
+    contacts = detector.get_output()
     assert(len(contacts) == 1)
 
     # test resetting a contact

bindings/python/FloatingBaseEstimators/src/FloatingBaseEstimators.cpp

@@ -124,11 +124,10 @@ void CreateFloatingBaseEstimator(pybind11::module& module)
         .def_readwrite("forward_kinematics_noise", &SensorsStdDev::forwardKinematicsNoise)
         .def_readwrite("encoders_noise", &SensorsStdDev::encodersNoise);
 
-    py::class_<Advanceable<Output>>(module, "FloatingBaseEstimatorOutputAdvanceable");
+    py::class_<Source<Output>>(module, "FloatingBaseEstimatorOutputSource");
 
-    py::class_<FloatingBaseEstimator, Advanceable<Output>> floatingBaseEstimator(module,
-                                                                                 "FloatingBaseEstim"
-                                                                                 "ator");
+    py::class_<FloatingBaseEstimator, Source<Output>> floatingBaseEstimator(module,
+                                                                            "FloatingBaseEstimator");
 
     floatingBaseEstimator.def(py::init())
         .def("set_imu_measurement",
@@ -154,8 +153,8 @@ void CreateFloatingBaseEstimator(pybind11::module& module)
                  &FloatingBaseEstimator::resetEstimator),
              py::arg("new_base_orientation"),
              py::arg("new_base_position"))
-        .def("get", &FloatingBaseEstimator::get)
-        .def("is_valid", &FloatingBaseEstimator::isValid)
+        .def("get_output", &FloatingBaseEstimator::getOutput)
+        .def("is_output_valid", &FloatingBaseEstimator::isOutputValid)
         .def(
             "initialize",
             [](FloatingBaseEstimator& impl,

bindings/python/FloatingBaseEstimators/src/LeggedOdometry.cpp

@@ -83,8 +83,8 @@ void CreateLeggedOdometry(pybind11::module& module)
              py::arg("frame_orientation_in_world"),
              py::arg("frame_position_in_world"))
         .def("get_fixed_frame_index", &LeggedOdometry::getFixedFrameIdx)
-        .def("get", &LeggedOdometry::get)
-        .def("is_valid", &LeggedOdometry::isValid);
+        .def("get_output", &LeggedOdometry::getOutput)
+        .def("is_output_valid", &LeggedOdometry::isOutputValid);
 }
 
 } // namespace FloatingBaseEstimators

bindings/python/FloatingBaseEstimators/tests/test_legged_odometry.py

@@ -91,6 +91,6 @@ def test_legged_odometry():
         assert legged_odom.advance()
 
         # sample asserts for show-casing outputs
-        out = legged_odom.get()
+        out = legged_odom.get_output()
         assert len(out.base_twist) == 6
         assert len(out.state.imu_linear_velocity) == 3

bindings/python/Planners/src/DCMPlanner.cpp

@@ -10,7 +10,7 @@
 #include <pybind11/stl.h>
 
 #include <BipedalLocomotion/Planners/DCMPlanner.h>
-#include <BipedalLocomotion/System/Advanceable.h>
+#include <BipedalLocomotion/System/Source.h>
 #include <BipedalLocomotion/bindings/Planners/DCMPlanner.h>
 
 namespace BipedalLocomotion
@@ -34,9 +34,9 @@ void CreateDCMPlanner(pybind11::module& module)
         .def_readwrite("omega", &DCMPlannerState::omega)
         .def_readwrite("omega_dot", &DCMPlannerState::omegaDot);
 
-    py::class_<Advanceable<DCMPlannerState>>(module, "DCMPlannerStateAdvanceable");
+    py::class_<Source<DCMPlannerState>>(module, "DCMPlannerStateSource");
 
-    py::class_<DCMPlanner, Advanceable<DCMPlannerState>>(module, "DCMPlanner")
+    py::class_<DCMPlanner, Source<DCMPlannerState>>(module, "DCMPlanner")
         .def("set_initial_state", &DCMPlanner::setInitialState, py::arg("state"))
         .def("set_contact_phase_list",
              &DCMPlanner::setContactPhaseList,

bindings/python/Planners/src/SwingFootPlanner.cpp

@@ -9,8 +9,9 @@
 #include <pybind11/pybind11.h>
 #include <pybind11/stl.h>
 
+#include <BipedalLocomotion/ParametersHandler/IParametersHandler.h>
 #include <BipedalLocomotion/Planners/SwingFootPlanner.h>
-#include <BipedalLocomotion/System/Advanceable.h>
+#include <BipedalLocomotion/System/Source.h>
 
 #include <BipedalLocomotion/bindings/Planners/SwingFootPlanner.h>
 
@@ -26,6 +27,7 @@ void CreateSwingFootPlanner(pybind11::module& module)
     namespace py = ::pybind11;
     using namespace BipedalLocomotion::Planners;
     using namespace BipedalLocomotion::System;
+    using namespace BipedalLocomotion::ParametersHandler;
 
     py::class_<SwingFootPlannerState>(module, "SwingFootPlannerState")
         .def(py::init())
@@ -52,14 +54,19 @@ void CreateSwingFootPlanner(pybind11::module& module)
                 s.mixedAcceleration.coeffs() = coeffs;
             });
 
-    py::class_<Advanceable<SwingFootPlannerState>>(module, "SwingFootPlannerStateAdvanceable");
+    py::class_<Source<SwingFootPlannerState>>(module, "SwingFootPlannerStateSource");
 
-    py::class_<SwingFootPlanner, Advanceable<SwingFootPlannerState>>(module, "SwingFootPlanner")
+    py::class_<SwingFootPlanner, Source<SwingFootPlannerState>>(module, "SwingFootPlanner")
         .def(py::init())
-        .def("initialize", &SwingFootPlanner::initialize, py::arg("handler"))
+        .def(
+            "initialize",
+            [](SwingFootPlanner& impl, std::shared_ptr<const IParametersHandler> handler) -> bool {
+                return impl.initialize(handler);
+            },
+            py::arg("handler"))
         .def("set_contact_list", &SwingFootPlanner::setContactList, py::arg("contact_list"))
-        .def("get", &SwingFootPlanner::get)
-        .def("is_valid", &SwingFootPlanner::isValid)
+        .def("get_output", &SwingFootPlanner::getOutput)
+        .def("is_output_valid", &SwingFootPlanner::isOutputValid)
         .def("advance", &SwingFootPlanner::advance);
 }
 

bindings/python/Planners/src/TimeVaryingDCMPlanner.cpp

@@ -11,7 +11,7 @@
 
 #include <BipedalLocomotion/Planners/DCMPlanner.h>
 #include <BipedalLocomotion/Planners/TimeVaryingDCMPlanner.h>
-#include <BipedalLocomotion/System/Advanceable.h>
+#include <BipedalLocomotion/System/Source.h>
 #include <BipedalLocomotion/bindings/Planners/TimeVaryingDCMPlanner.h>
 
 namespace BipedalLocomotion
@@ -31,12 +31,12 @@ void CreateTimeVaryingDCMPlanner(pybind11::module& module)
         .def(
             "initialize",
             [](TimeVaryingDCMPlanner& impl,
-               std::shared_ptr<BipedalLocomotion::ParametersHandler::IParametersHandler> handler)
-                -> bool { return impl.initialize(handler); },
+               std::shared_ptr<const BipedalLocomotion::ParametersHandler::IParametersHandler>
+                   handler) -> bool { return impl.initialize(handler); },
             py::arg("handler"))
         .def("compute_trajectory", &TimeVaryingDCMPlanner::computeTrajectory)
-        .def("get", &TimeVaryingDCMPlanner::get)
-        .def("is_valid", &TimeVaryingDCMPlanner::isValid)
+        .def("get_output", &TimeVaryingDCMPlanner::getOutput)
+        .def("is_output_valid", &TimeVaryingDCMPlanner::isOutputValid)
         .def("advance", &TimeVaryingDCMPlanner::advance)
         .def("set_contact_phase_list",
              &TimeVaryingDCMPlanner::setContactPhaseList,
@@ -46,7 +46,6 @@ void CreateTimeVaryingDCMPlanner(pybind11::module& module)
              py::arg("dcm_reference_matrix"))
         .def("set_initial_state", &TimeVaryingDCMPlanner::setInitialState, py::arg("state"));
 }
-
 }
 }
 }

bindings/python/RobotInterface/src/SensorBridge.cpp

@@ -14,7 +14,7 @@
 
 #include <BipedalLocomotion/RobotInterface/YarpHelper.h>
 
-#include <BipedalLocomotion/System/Advanceable.h>
+#include <BipedalLocomotion/System/Source.h>
 
 #include <BipedalLocomotion/bindings/RobotInterface/SensorBridge.h>
 
@@ -77,15 +77,14 @@ void CreateYarpSensorBridge(pybind11::module& module)
     using namespace BipedalLocomotion::System;
     using namespace BipedalLocomotion::ParametersHandler;
 
-    py::class_<Advanceable<SensorBridgeMetaData>>(module, "SensorBridgeMetaDataAdvanceable");
+    py::class_<Source<SensorBridgeMetaData>>(module, "SensorBridgeMetaDataSource");
 
-    py::class_<YarpSensorBridge, ISensorBridge, Advanceable<SensorBridgeMetaData>>(module,
-                                                                                   "YarpSensorBridg"
-                                                                                   "e")
+    py::class_<YarpSensorBridge, ISensorBridge, Source<SensorBridgeMetaData>>(module,
+                                                                              "YarpSensorBridge")
         .def(py::init())
         .def(
             "initialize",
-            [](YarpSensorBridge& impl, std::shared_ptr<IParametersHandler> handler) -> bool {
+            [](YarpSensorBridge& impl, std::shared_ptr<const IParametersHandler> handler) -> bool {
                 return impl.initialize(handler);
             },
             py::arg("handler"))
@@ -100,7 +99,7 @@ void CreateYarpSensorBridge(pybind11::module& module)
             },
             py::arg("polydrivers"))
         .def("advance", &YarpSensorBridge::advance)
-        .def("is_valid", &YarpSensorBridge::isValid)
+        .def("is_output_valid", &YarpSensorBridge::isOutputValid)
         .def("get_failed_sensor_reads", &YarpSensorBridge::getFailedSensorReads)
         .def("get_joints_list",
              [](YarpSensorBridge& impl) {
@@ -148,7 +147,7 @@ void CreateYarpSensorBridge(pybind11::module& module)
             py::arg("joint_name"))
         .def("get_joint_positions",
              [](YarpSensorBridge& impl) {
-                 Eigen::VectorXd joints(impl.get().bridgeOptions.nrJoints);
+                 Eigen::VectorXd joints(impl.getOutput().bridgeOptions.nrJoints);
                  double receiveTimeInSeconds;
                  bool ok = impl.getJointPositions(joints, receiveTimeInSeconds);
                  return std::make_tuple(ok, joints, receiveTimeInSeconds);
@@ -163,7 +162,7 @@ void CreateYarpSensorBridge(pybind11::module& module)
             py::arg("joint_name"))
         .def("get_joint_velocities",
              [](YarpSensorBridge& impl) {
-                 Eigen::VectorXd joints(impl.get().bridgeOptions.nrJoints);
+                 Eigen::VectorXd joints(impl.getOutput().bridgeOptions.nrJoints);
                  double receiveTimeInSeconds;
                  bool ok = impl.getJointVelocities(joints, receiveTimeInSeconds);
                  return std::make_tuple(ok, joints, receiveTimeInSeconds);
@@ -256,7 +255,7 @@ void CreateYarpSensorBridge(pybind11::module& module)
             },
             py::arg("motor_name"))
         .def("get_motor_currents", [](YarpSensorBridge& impl) {
-            Eigen::VectorXd joints(impl.get().bridgeOptions.nrJoints);
+            Eigen::VectorXd joints(impl.getOutput().bridgeOptions.nrJoints);
             double receiveTimeInSeconds;
             bool ok = impl.getMotorCurrents(joints, receiveTimeInSeconds);
             return std::make_tuple(ok, joints, receiveTimeInSeconds);