The chimera from personalrobotics

@mkoval and I agree that this repo should be renamed chimera. I mean, look at this badass thing:

Abstract classes are not marked as `noncopyable`.

Allow overrides for non-trivial default function parameters

This would have to be a straight string substitution. It's up to the user to make sure that the substitution is valid and has no side effects.

SEGFAULTs on DART

chimera: /usr/lib/llvm-3.7/include/clang/AST/DeclCXX.h:592: struct DefinitionData &clang::CXXRecordDecl::data() const: Assertion `DD && "queried property of class with no definition"' failed.

Add command-line flag to switch between C++ and C.

Wrap array member objects as readonly

In _ZN4dart5utils10c3d_head_tE.cpp we get the error:

/usr/include/boost/python/data_members.hpp:64:22: error: array type 'short [244]' is not assignable
          c.*m_which = d;
          ~~~~~~~~~~ ^

Classes are not enumerated in the correct order

The main .cpp file must register the class_ declarations in an order that matches the inheritance hierarchy; i.e. all parent classes must be emitted before a child class.

Read compilation flags from the YAML configuration file

Generates wrappers for templates that are not fully instantiated

In _ZN4dart6common6SignalIFT_DpT0_ET1_EE.cpp we generated:

::boost::python::class_<dart::common::Signal<type-parameter-0-0 (type-parameter-0-1...), Combiner>, ::boost::noncopyable >("Signal", boost::python::no_init)

Ignores the -o flag and always puts output in the build directory

Suppress non-public inner classes

E.g. dynamics::HierarchicalIK::Constraint

Impossible to inject extra code into a class

I need this to add additional functions to Chimera classes.

Mark classes with noncopyable members as noncopyable

/home/mkoval/storage/dart-ws/devel/include/dart/dynamics/detail/BodyNodePtr.h:52:14: note: copy constructor of 'MutexedWeakSkeletonPtr' is implicitly deleted because field 'mMutex' has a deleted copy constructor
  std::mutex mMutex;
             ^
/usr/bin/../lib/gcc/x86_64-linux-gnu/4.8/../../../../include/c++/4.8/mutex:128:5: note: 'mutex' has been explicitly marked deleted here
    mutex(const mutex&) = delete;
    ^

Wrap overloaded operators

These are currently suppressed.

Generating lambdas inside properties causes... issues.

Automatically flag abstract classes as noncopyable

Unable to set properties on AddonWithProtectedPropertiesInSkeleton

I copied this type out of the Chimera output, but I get this error message if I try to use it in the YAML configuration file:

chimera.util.resolveDeclaration:1:184: error: expected ')'
dart::dynamics::AddonWithProtectedPropertiesInSkeleton<dart::dynamics::detail::EulerJointAddon, dart::dynamics::detail::EulerJointUniqueProperties, dart::dynamics::EulerJoint, &(void dart::dynamics::detail::JointPropertyUpdate<dart::dynamics::detail::EulerJointAddon>(dart::dynamics::detail::EulerJointAddon*)), false>;
                                                                                                                                                                                       ^

I'll break that up a bit:

dart::dynamics::AddonWithProtectedPropertiesInSkeleton<
  dart::dynamics::detail::EulerJointAddon,
  dart::dynamics::detail::EulerJointUniqueProperties,
  dart::dynamics::EulerJoint,
  &(void dart::dynamics::detail::JointPropertyUpdate<   // ERROR
    dart::dynamics::detail::EulerJointAddon>(           // ERROR
      dart::dynamics::detail::EulerJointAddon*)),       // ERROR
  false>;

I don't even think the syntax on those three lines is valid. Any idea what is going on here?

Missing argument names on constructors

The constructors we generate look like this:

.def(::boost::python::init<double, double, double, double, double, bool>()

We should be passing an args() structure to name them, just like we do for methods.

Constructor arguments are not fully qualified

Chimera just generated this code:

.def(::boost::python::init<const MultiDofJoint<3>::Properties &, const PlanarJoint::UniqueProperties &>())

These constructor arguments should be fully qualified, e.g. dart::dynamics::MultiDofJoint<3>::Properties.

Suppress classes inside an uninstantiated template class

For example:

dart::dynamics::MultiDofJoint::Properties

Generates def_readwrite on arrays

E.g.:

.def_readwrite("stuff", &dart::utils::c3d_head_t::stuff)

Suppress copy constructors

Pass a namespace from the command line.

It would be useful to be able to pass a namespace from the command line instead of having to create a configuration YAML file.

Attempt to generate class_ wrapper for protected classes

/homes/mkoval/dartpy-ws/devel/include/dart/common/AddonManager.h:170:29: error: ‘template<class T> struct dart::common::AddonManager::type’ is protected
   template <class T> struct type { };

Inner classes are not nested correctly

This is a special case of #60.

Template functions generate invalid code

typename Derived::PlainObject AdTJacFixed(const Eigen::Isometry3d& _T,
                                          const Eigen::MatrixBase<Derived>& _J)

produces this code:

boost::python::def("AdTJacFixed", static_cast<typename type-parameter-0-0::PlainObject (*)(const Eigen::Transform<double, 3, 1, 0> &, const MatrixBase<type-parameter-0-0> &)>(&dart::math::AdTJacFixed), (::boost::python::arg("_T"), ::boost::python::arg("_J")))

Attempt to wrap incomplete types

This applies to types that are forward declared in the header file, but the full definition is not available. For example:

/usr/include/boost/python/type_id.hpp:85:9: error: 'typeid' of incomplete type 'Ipopt::IpoptData'
        typeid(T)

in _ZN4dart9optimizer8DartTNLPE.cpp.

Suppress functions that take rvalue references

Attempt to generate add_static_property for function pointer type

.add_static_property("UpdateProperties", ::boost::python::make_getter(dart::dynamics::AddonWithProtectedPropertiesInSkeleton<dart::dynamics::detail::PlanarJointAddon, dart::dynamics::detail::PlanarJointUniqueProperties, dart::dynamics::PlanarJoint, &dart::dynamics::detail::JointPropertyUpdate, false>::UpdateProperties))

Cling does not fully qualify array types

In _ZN4dart3gui6JitterE.cpp we generated:

.add_static_property("j2", []() { return dart::gui::Jitter::j2; }, [](jitter_point [2] value) { dart::gui::Jitter::j2 = value; })

Generates invalid code for arguments that default to infinity

It should output something like std::numeric_limits<double>::infinity(). This will also likely break on special values like NaN.

Require a user-specified name for template class instantiations

This was generated with no entry in the YAML file:

::boost::python::class_<dart::common::Signal<void (std::shared_ptr<const dart::dynamics::MetaSkeleton>, const std::basic_string<char> &, const std::basic_string<char> &), signal::detail::DefaultCombiner>, ::boost::noncopyable >("Signal", boost::python::no_init)

Note that the class is named Signal, even though there are likely multiple instantiations of this class. This will cause a name conflict in Python.

Inject code into the top and bottom of BOOST_PYTHON_MODULE

This is necessary to register some custom converters, e.g. Boost.NumPy_Eigen.

Attempt to add global variables for constexpr's inside template classes

/home/mkoval/storage/dartpy-ws/src/dartpy/src_generated/_ZN4dart8dynamics46AddonWithProtectedStateAndPropertiesInSkeleton8OptionalE.cpp:11:61: error: 
      'AddonWithProtectedStateAndPropertiesInSkeleton' is not a class, namespace, or enumeration
::boost::python::scope().attr("Optional") = dart::dynamics::AddonWithProtectedStateAndPropertiesInSkeleton::Optional;

Mark classes with no copy assignment operator as noncopyable

/home/mkoval/storage/dart-ws/devel/include/dart/common/Signal.h:240:27: note: copy assignment operator of 'SlotRegister<dart::common::Signal<void (const dart::dynamics::BodyNode *), signal::detail::DefaultCombiner> >' is implicitly deleted because field 'mSignal' is of reference type 'typename Signal<void (const BodyNode *), signal::detail::DefaultCombiner>::SignalType &' (aka 'Signal<void (const dart::dynamics::BodyNode *)> &')
  typename T::SignalType& mSignal;

Generate Python packages to match C++ namespaces

Invalid reference to add_static_property constexpr's

ImportError: ./dartpy.so: undefined symbol: _ZN4dart8dynamics38AddonWithProtectedPropertiesInSkeletonINS0_6detail15ScrewJointAddonENS2_26ScrewJointUniquePropertiesENS0_10ScrewJointEXadL_ZNS2_19JointPropertyUpdateIS3_EEvPT_EELb0EE8OptionalE

This expands to:

dart::dynamics::AddonWithProtectedPropertiesInSkeleton<dart::dynamics::detail::ScrewJointAddon, dart::dynamics::detail::ScrewJointUniqueProperties, dart::dynamics::ScrewJoint, &(void dart::dynamics::detail::JointPropertyUpdate<dart::dynamics::detail::ScrewJointAddon>(dart::dynamics::detail::ScrewJointAddon*)), false>::Optional

Generated code #include's `.cpp` files

Add support for a custom 'return_value_policy' on properties

This requires integration with the YAML configuration file.

Missing typeinfo for some classes

E.g.:

$ python -c 'import dartpy'
Traceback (most recent call last):
  File "<string>", line 1, in <module>
ImportError: ./dartpy.so: undefined symbol: _ZTIN4dart9optimizer8DartTNLPE

_ZTIN4dart9optimizer8DartTNLPE demangles to typeinfo for dart::optimizer::DartTNLP.

Don't generate constructors for pure-virtual classes

Attempt to generate code for anonymous structs

For example:

/tmp/chimera_output/_ZN4dart3gui12jitter_pointE.cpp:11:33: error: unexpected parenthesis after '::'
.def_readwrite("x", &dart::gui::(anonymous struct)::x)

Require held_type and noncopyable for pure virtual classes

Generate setters for const static member variables

E.g.:

/tmp/dartpy/_ZN4dart9optimizer21GradientDescentSolverE.cpp:35:168: error: no viable overloaded '='
.add_static_property("Type", []() { return dart::optimizer::GradientDescentSolver::Type; }, [](const std::string value) { dart::optimizer::GradientDescentSolver::Type = value; })

Type lookup fails on template specializations

This requires replacing the using Foo; generated code with a typedef Foo Foo_t (preferable) or using Foo_t = Foo statement.

std::cout is not fully qualified as a default parameter

In _ZN4dart9optimizer6Solver10PropertiesE.cpp we generate:

/tmp/dartpy/_ZN4dart9optimizer6Solver10PropertiesE.cpp:11:368: error: use of undeclared identifier 'cout'; did you mean 'std::cout'?
  ...= 500, ::boost::python::arg("_iterationsPerPrint") = 0, ::boost::python::arg("_ostream") = &cout, ::boost::python::arg("_printFinalRes...
                                                                                                 ^~~~
                                                                                                 std::cout

Generated class declaration is not fully qualified

::boost::python::class_<dart::common::Signal<void (std::shared_ptr<const dart::dynamics::MetaSkeleton>, const std::basic_string<char> &, const std::basic_string<char> &), signal::detail::DefaultCombiner>, ::boost::noncopyable >("Signal", boost::python::no_init)

Note that signal::detail::DefaultCombiner should be dart::common::signal::detail::DefaultCombiner.

Explicitly suppressing classes produces a YAML error

terminate called after throwing an instance of 'YAML::BadSubscript'
  what():  yaml-cpp: error at line 0, column 0: operator[] call on a scalar
Aborted (core dumped)

Generates def_readwrites for objects that are not assignable

For example:

.def_readwrite("onNameChanged", &dart::simulation::World::onNameChanged)

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