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pydrake.systems: Add initial bindings and examples.
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# Blank Python module. |
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# -*- python -*- | ||
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load("@drake//tools/install:install.bzl", "install") | ||
load("//tools/lint:lint.bzl", "add_lint_tests") | ||
load( | ||
"//tools/skylark:pybind.bzl", | ||
"drake_pybind_library", | ||
"get_drake_pybind_installs", | ||
"get_pybind_library_dest", | ||
) | ||
load( | ||
"//tools/skylark:drake_py.bzl", | ||
"drake_py_binary", | ||
"drake_py_library", | ||
"drake_py_test", | ||
) | ||
load("//tools/skylark:6996.bzl", "adjust_labels_for_drake_hoist") | ||
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package(default_visibility = adjust_labels_for_drake_hoist([ | ||
"//drake/bindings/pydrake:__subpackages__", | ||
])) | ||
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# @note Symbols are NOT imported directly into | ||
# `__init__.py` to simplify dependency management, meaning that | ||
# classes are organized by their directory structure rather than | ||
# by C++ namespace. If you want all symbols, use `all.py`. | ||
drake_py_library( | ||
name = "module_py", | ||
srcs = ["__init__.py"], | ||
deps = [ | ||
"//drake/bindings/pydrake:common_py", | ||
], | ||
) | ||
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drake_pybind_library( | ||
name = "framework_py", | ||
cc_so_name = "framework", | ||
cc_srcs = ["framework_py.cc"], | ||
py_deps = [ | ||
":module_py", | ||
], | ||
) | ||
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drake_pybind_library( | ||
name = "primitives_py", | ||
cc_so_name = "primitives", | ||
cc_srcs = ["primitives_py.cc"], | ||
py_deps = [ | ||
":framework_py", | ||
":module_py", | ||
], | ||
) | ||
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drake_pybind_library( | ||
name = "analysis_py", | ||
cc_so_name = "analysis", | ||
cc_srcs = ["analysis_py.cc"], | ||
py_deps = [ | ||
":framework_py", | ||
":module_py", | ||
], | ||
) | ||
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drake_py_library( | ||
name = "drawing_py", | ||
srcs = ["drawing.py"], | ||
deps = [":module_py"], | ||
# TODO(eric.cousineau): Expose information to allow `imports = ...` to be | ||
# defined, rather than rely on `module_py`. | ||
) | ||
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drake_py_library( | ||
name = "all_py", | ||
deps = [ | ||
":analysis_py", | ||
":drawing_py", | ||
":framework_py", | ||
":primitives_py", | ||
], | ||
) | ||
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PYBIND_LIBRARIES = [ | ||
":analysis_py", | ||
":framework_py", | ||
":primitives_py", | ||
] | ||
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PY_LIBRARIES = [ | ||
":all_py", | ||
":drawing_py", | ||
":module_py", | ||
] | ||
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drake_py_library( | ||
name = "systems", | ||
deps = PYBIND_LIBRARIES + PY_LIBRARIES, | ||
) | ||
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install( | ||
name = "install", | ||
targets = PY_LIBRARIES, | ||
py_dest = get_pybind_library_dest(), | ||
deps = get_drake_pybind_installs(PYBIND_LIBRARIES), | ||
) | ||
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drake_py_test( | ||
name = "general_test", | ||
size = "small", | ||
deps = [ | ||
":analysis_py", | ||
":framework_py", | ||
":primitives_py", | ||
], | ||
) | ||
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# TODO(eric.cousineau): Convert this to a workflow test once `pydot` is added | ||
# to `install_prereqs.sh`. | ||
drake_py_binary( | ||
name = "graphviz_example", | ||
srcs = ["test/graphviz_example.py"], | ||
deps = [ | ||
":drawing_py", | ||
":framework_py", | ||
":primitives_py", | ||
], | ||
) | ||
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drake_pybind_library( | ||
name = "lifetime_test_util", | ||
testonly = 1, | ||
add_install = False, | ||
cc_so_name = "test/lifetime_test_util", | ||
cc_srcs = ["test/lifetime_test_util_py.cc"], | ||
py_deps = [ | ||
":primitives_py", | ||
], | ||
) | ||
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drake_py_test( | ||
name = "lifetime_test", | ||
deps = [ | ||
":analysis_py", | ||
":framework_py", | ||
":lifetime_test_util", | ||
":primitives_py", | ||
], | ||
) | ||
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drake_py_test( | ||
name = "custom_test", | ||
size = "small", | ||
deps = [ | ||
":analysis_py", | ||
":framework_py", | ||
":primitives_py", | ||
], | ||
) | ||
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drake_py_test( | ||
name = "vector_test", | ||
size = "small", | ||
deps = [ | ||
":framework_py", | ||
], | ||
) | ||
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add_lint_tests() |
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# Blank Python module. |
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from .analysis import * | ||
from .framework import * | ||
from .primitives import * | ||
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try: | ||
from .drawing import * | ||
except ImportError: | ||
pass |
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#include <pybind11/pybind11.h> | ||
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#include "drake/systems/analysis/simulator.h" | ||
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namespace py = pybind11; | ||
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using std::unique_ptr; | ||
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PYBIND11_MODULE(analysis, m) { | ||
// NOLINTNEXTLINE(build/namespaces): Emulate placement in namespace. | ||
using namespace drake::systems; | ||
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auto py_iref = py::return_value_policy::reference_internal; | ||
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m.doc() = "Bindings for the analysis portion of the Systems framework."; | ||
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using T = double; | ||
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py::class_<Simulator<T>>(m, "Simulator") | ||
.def(py::init<const System<T>&>()) | ||
.def(py::init<const System<T>&, unique_ptr<Context<T>>>()) | ||
.def("Initialize", &Simulator<T>::Initialize) | ||
.def("StepTo", &Simulator<T>::StepTo) | ||
.def("get_context", &Simulator<T>::get_context, py_iref) | ||
.def("get_mutable_context", &Simulator<T>::get_mutable_context, py_iref); | ||
} |
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""" | ||
Provides general visualization utilities. This is NOT related to `rendering`. | ||
@note This is an optional module, dependent on `pydot` and `matplotlib` being | ||
installed. | ||
""" | ||
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from StringIO import StringIO | ||
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import matplotlib.image as mpimg | ||
import matplotlib.pyplot as plt | ||
import pydot | ||
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# TODO(eric.cousineau): Move `plot_graphviz` to something more accessible to | ||
# `call_python_client`. | ||
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def plot_graphviz(dot_text): | ||
"""Renders a DOT graph in matplotlib.""" | ||
# @ref https://stackoverflow.com/a/18522941/7829525 | ||
# Tried (reason ignored): pydotplus (`pydot` works), networkx | ||
# (`read_dot` does not work robustly?), pygraphviz (coupled with | ||
# `networkx`). | ||
g = pydot.graph_from_dot_data(dot_text) | ||
if isinstance(g, list): | ||
# Per Ioannis's follow-up comment in the above link, in pydot >= 1.2.3 | ||
# `graph_from_dot_data` returns a list of graphs. | ||
# Handle this case for now. | ||
assert len(g) == 1 | ||
g = g[0] | ||
s = StringIO() | ||
g.write_png(s) | ||
s.seek(0) | ||
plt.axis('off') | ||
return plt.imshow(plt.imread(s), aspect="equal") | ||
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def plot_system_graphviz(system): | ||
"""Renders a System's Graphviz representation in `matplotlib`. """ | ||
return plot_graphviz(system.GetGraphvizString()) |
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