Merge pull request #2436 from jorisv/topic/numpy2

Numpy 2 compatibility
stack-of-tasks · Sep 25, 2024 · bc7e4a8 · bc7e4a8
2 parents e6c1399 + ed3439c
commit bc7e4a8
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Showing 5 changed files with 21 additions and 8 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -11,6 +11,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Default visualizer can be changed with `PINOCCHIO_VIEWER` environment variable ([#2419](https://github.com/stack-of-tasks/pinocchio/pull/2419))
 - Add more Python and C++ examples related to inverse kinematics with 3d tasks ([#2428](https://github.com/stack-of-tasks/pinocchio/pull/2428))
 - Add parsing of equality/connect tag for closed-loop chains for MJCF format ([#2413](https://github.com/stack-of-tasks/pinocchio/pull/2413))
+- Add compatibility with NumPy 2 `__array__` API ([#2436](https://github.com/stack-of-tasks/pinocchio/pull/2436))
 
 ### Fixed
 - Fix linkage of Boost.Serialization on Windows ([#2400](https://github.com/stack-of-tasks/pinocchio/pull/2400))

diff --git a/include/pinocchio/bindings/python/spatial/force.hpp b/include/pinocchio/bindings/python/spatial/force.hpp
@@ -161,7 +161,10 @@ namespace pinocchio
             "__array__", bp::make_function(
                            (typename Force::ToVectorReturnType(Force::*)()) & Force::toVector,
                            bp::return_internal_reference<>()))
-          .def("__array__", &__array__, bp::return_internal_reference<>())
+          .def(
+            "__array__", &__array__,
+            (bp::arg("self"), bp::arg("dtype") = bp::object(), bp::arg("copy") = bp::object()),
+            bp::return_internal_reference<>())
 #ifndef PINOCCHIO_PYTHON_NO_SERIALIZATION
           .def_pickle(Pickle())
 #endif
@@ -197,7 +200,8 @@ namespace pinocchio
       }
 
     private:
-      static typename Force::ToVectorConstReturnType __array__(const Force & self, bp::object)
+      static typename Force::ToVectorConstReturnType
+      __array__(const Force & self, bp::object, bp::object)
       {
         return self.toVector();
       }

diff --git a/include/pinocchio/bindings/python/spatial/inertia.hpp b/include/pinocchio/bindings/python/spatial/inertia.hpp
@@ -193,7 +193,9 @@ namespace pinocchio
           .staticmethod("FromCapsule")
 
           .def("__array__", (Matrix6(Inertia::*)() const) & Inertia::matrix)
-          .def("__array__", &__array__)
+          .def(
+            "__array__", &__array__,
+            (bp::arg("self"), bp::arg("dtype") = bp::object(), bp::arg("copy") = bp::object()))
 #ifndef PINOCCHIO_PYTHON_NO_SERIALIZATION
           .def_pickle(Pickle())
 #endif
@@ -273,7 +275,7 @@ namespace pinocchio
       }
 
     private:
-      static Matrix6 __array__(const Inertia & self, bp::object)
+      static Matrix6 __array__(const Inertia & self, bp::object, bp::object)
       {
         return self.matrix();
       }

diff --git a/include/pinocchio/bindings/python/spatial/motion.hpp b/include/pinocchio/bindings/python/spatial/motion.hpp
@@ -184,7 +184,10 @@ namespace pinocchio
             "__array__", bp::make_function(
                            (typename Motion::ToVectorReturnType(Motion::*)()) & Motion::toVector,
                            bp::return_internal_reference<>()))
-          .def("__array__", &__array__, bp::return_internal_reference<>())
+          .def(
+            "__array__", &__array__,
+            (bp::arg("self"), bp::arg("dtype") = bp::object(), bp::arg("copy") = bp::object()),
+            bp::return_internal_reference<>())
 #ifndef PINOCCHIO_PYTHON_NO_SERIALIZATION
           .def_pickle(Pickle())
 #endif
@@ -220,7 +223,8 @@ namespace pinocchio
       }
 
     private:
-      static typename Motion::ToVectorConstReturnType __array__(const Motion & self, bp::object)
+      static typename Motion::ToVectorConstReturnType
+      __array__(const Motion & self, bp::object, bp::object)
       {
         return self.toVector();
       }

diff --git a/include/pinocchio/bindings/python/spatial/se3.hpp b/include/pinocchio/bindings/python/spatial/se3.hpp
@@ -197,7 +197,9 @@ namespace pinocchio
           .staticmethod("Interpolate")
 
           .def("__array__", &SE3::toHomogeneousMatrix)
-          .def("__array__", &__array__)
+          .def(
+            "__array__", &__array__,
+            (bp::arg("self"), bp::arg("dtype") = bp::object(), bp::arg("copy") = bp::object()))
 
 #ifndef PINOCCHIO_PYTHON_NO_SERIALIZATION
           .def_pickle(Pickle())
@@ -230,7 +232,7 @@ namespace pinocchio
       }
 
     private:
-      static Matrix4 __array__(const SE3 & self, bp::object)
+      static Matrix4 __array__(const SE3 & self, bp::object, bp::object)
       {
         return self.toHomogeneousMatrix();
       }