Fixed bug where in place operators returned a new value

lagadic · Dec 8, 2023 · 4663d69 · 4663d69
1 parent b8a3ecf
commit 4663d69
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Showing 2 changed files with 48 additions and 36 deletions.
diff --git a/modules/python/doc/rst/python_api/conversions.rst b/modules/python/doc/rst/python_api/conversions.rst
@@ -41,42 +41,51 @@ You can view
 
 To reinterpret a supported ViSP object as a Numpy array, use either:
 
-.. doctest::
+.. testcode::
 
-  >>> from visp.core import ColVector
-  >>> import numpy as np
+  from visp.core import ColVector
+  import numpy as np
 
-  >>> list_representation = [i for i in range(3)]
-  >>> vec = ColVector(list_representation) # Initialize a 3 vector from a list
-  >>> np_vec = vec.numpy() # A 1D numpy array of size 3
+  list_representation = [i for i in range(3)]
+  vec = ColVector(list_representation) # Initialize a 3 vector from a list
+  np_vec = vec.numpy() # A 1D numpy array of size 3
 
-  >>> np.all(np_vec == list_representation)
-  True
+  print(np.all(np_vec == list_representation))
+
+
+  vec *= 2.0
+  print(np.all(np_vec == list_representation))
 
-  >>> vec *= 2.0
-  >>> np.all(np_vec == list_representation)
+.. testoutput::
+
+  True
   False
 
+
 or
 
-.. doctest::
+.. testcode::
 
-  >>> from visp.core import ColVector
-  >>> import numpy as np
+  from visp.core import ColVector
+  import numpy as np
 
-  >>> list_representation = [i for i in range(3)]
-  >>> vec = ColVector(list_representation) # Initialize a 3 vector from a list
-  >>> np_vec = np.array(vec, copy=False) # A 1D numpy array of size 3
+  list_representation = [i for i in range(3)]
+  vec = ColVector(list_representation) # Initialize a 3 vector from a list
+  np_vec = np.array(vec, copy=False) # A 1D numpy array of size 3
 
-  >>> np.all(np_vec == list_representation)
-  True
+  print(np.all(np_vec == list_representation))
+  # Modifying the ViSP vector modifies the NumPy view
+  vec *= 2.0
+  print(np.all(np_vec == list_representation))
 
-  >>> vec *= 2.0 # Modifying the ViSP vector modifies the NumPy view
-  >>> np.all(np_vec == list_representation)
-  False
+  # Modifying the NumPy array modifies the ViSP object
+  np_vec[:2] = 0.0
+  print(vec[0] == 0.0 and vec[1] == 0.0)
+
+.. testoutput::
 
-  >>> np_vec[:2] = 0.0 # Modifying the NumPy array modifies the ViSP object
-  >>> vec[0] == 0.0 and vec[1] = 0.0
+  True
+  False
   True
 
 
@@ -86,20 +95,23 @@ may lead to an invalid representation (Such as a rotation matrix not conserving
 
 Thus, this code will not work:
 
-.. doctest::
-  :options: +IGNORE_EXCEPTION_DETAIL
+.. testcode::
 
-  >>> from visp.core import RotationMatrix, HomogeneousMatrix
-  >>> import numpy as np
+  from visp.core import RotationMatrix, HomogeneousMatrix
+  import numpy as np
+
+  R = RotationMatrix()
+  R.numpy()[0, 1] = 1.0
+
+  T = HomogeneousMatrix()
+  T.numpy()[0, 1] = 1.0
+
+.. testoutput::
+  :options: +IGNORE_EXCEPTION_DETAIL
 
-  >>> R = RotationMatrix()
-  >>> R.numpy()[0, 1] = 1.0
   Traceback (most recent call last):
    File "<stdin>", line 1, in <module>
   ValueError: assignment destination is read-only
-
-  >>> T = HomogeneousMatrix()
-  >>> T.numpy()[0, 1] = 1.0
   Traceback (most recent call last):
    File "<stdin>", line 1, in <module>
   ValueError: assignment destination is read-only
@@ -139,7 +151,7 @@ For instance, the following code will lead to an undesired behaviour:
   velocity = ColVector(6, 0.1)
   iteration = 0
   # Store the velocities in a list
-  log_data: List[np.ndarray] = []
+  log_data = []
 
   # Servoing loop
   while iteration < 10:

diff --git a/modules/python/generator/visp_python_bindgen/header.py b/modules/python/generator/visp_python_bindgen/header.py
@@ -377,7 +377,7 @@ def add_method_doc_to_pyargs(method: types.Method, py_arg_strs: List[str]) -> Li
           for cpp_op, python_op_name in unary_return_ops.items():
             if method_name == f'operator{cpp_op}':
               operator_str = f'''
-{python_ident}.def("__{python_op_name}__", []({"const" if method_is_const else ""} {name_cpp}& self) {{
+{python_ident}.def("__{python_op_name}__", []({"const" if method_is_const else ""} {name_cpp}& self) -> {return_type_str} {{
   return {cpp_op}self;
 }}, {", ".join(py_args)});'''
               add_to_method_dict(f'__{python_op_name}__', MethodBinding(operator_str, is_static=False, is_lambda=True,
@@ -389,7 +389,7 @@ def add_method_doc_to_pyargs(method: types.Method, py_arg_strs: List[str]) -> Li
         for cpp_op, python_op_name in binary_return_ops.items():
           if method_name == f'operator{cpp_op}':
             operator_str = f'''
-{python_ident}.def("__{python_op_name}__", []({"const" if method_is_const else ""} {name_cpp}& self, {params_strs[0]} o) {{
+{python_ident}.def("__{python_op_name}__", []({"const" if method_is_const else ""} {name_cpp}& self, {params_strs[0]} o) -> {return_type_str} {{
   return (self {cpp_op} o);
 }}, {", ".join(py_args)});'''
             add_to_method_dict(f'__{python_op_name}__', MethodBinding(operator_str, is_static=False, is_lambda=True,
@@ -398,7 +398,7 @@ def add_method_doc_to_pyargs(method: types.Method, py_arg_strs: List[str]) -> Li
         for cpp_op, python_op_name in binary_in_place_ops.items():
           if method_name == f'operator{cpp_op}':
             operator_str = f'''
-{python_ident}.def("__{python_op_name}__", []({"const" if method_is_const else ""} {name_cpp}& self, {params_strs[0]} o) {{
+{python_ident}.def("__{python_op_name}__", []({"const" if method_is_const else ""} {name_cpp}& self, {params_strs[0]} o) -> {return_type_str} {{
   self {cpp_op} o;
   return self;
 }}, {", ".join(py_args)});'''