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[py solvers] Split options bindings into their own file (RobotLocomot…
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,84 @@ | ||
| #include "drake/bindings/pydrake/documentation_pybind.h" | ||
| #include "drake/bindings/pydrake/pydrake_pybind.h" | ||
| #include "drake/bindings/pydrake/solvers/solvers_py.h" | ||
| #include "drake/solvers/common_solver_option.h" | ||
| #include "drake/solvers/solver_options.h" | ||
|
|
||
| namespace drake { | ||
| namespace pydrake { | ||
| namespace internal { | ||
|
|
||
| void DefineSolversOptions(py::module m) { | ||
| // NOLINTNEXTLINE(build/namespaces): Emulate placement in namespace. | ||
| using namespace drake::solvers; | ||
| constexpr auto& doc = pydrake_doc.drake.solvers; | ||
|
|
||
| { | ||
| py::enum_<CommonSolverOption>( | ||
| m, "CommonSolverOption", doc.CommonSolverOption.doc) | ||
| .value("kPrintFileName", CommonSolverOption::kPrintFileName, | ||
| doc.CommonSolverOption.kPrintFileName.doc) | ||
| .value("kPrintToConsole", CommonSolverOption::kPrintToConsole, | ||
| doc.CommonSolverOption.kPrintToConsole.doc) | ||
| .value("kStandaloneReproductionFileName", | ||
| CommonSolverOption::kStandaloneReproductionFileName, | ||
| doc.CommonSolverOption.kStandaloneReproductionFileName.doc); | ||
| } | ||
|
|
||
| { | ||
| // TODO(jwnimmer-tri) Bind the accessors for SolverOptions. | ||
| py::class_<SolverOptions>(m, "SolverOptions", doc.SolverOptions.doc) | ||
| .def(py::init<>(), doc.SolverOptions.ctor.doc) | ||
| .def("SetOption", | ||
| py::overload_cast<const SolverId&, const std::string&, double>( | ||
| &SolverOptions::SetOption), | ||
| py::arg("solver_id"), py::arg("solver_option"), | ||
| py::arg("option_value"), | ||
| doc.SolverOptions.SetOption.doc_double_option) | ||
| .def("SetOption", | ||
| py::overload_cast<const SolverId&, const std::string&, int>( | ||
| &SolverOptions::SetOption), | ||
| py::arg("solver_id"), py::arg("solver_option"), | ||
| py::arg("option_value"), doc.SolverOptions.SetOption.doc_int_option) | ||
| .def("SetOption", | ||
| py::overload_cast<const SolverId&, const std::string&, | ||
| const std::string&>(&SolverOptions::SetOption), | ||
| py::arg("solver_id"), py::arg("solver_option"), | ||
| py::arg("option_value"), doc.SolverOptions.SetOption.doc_str_option) | ||
| .def("SetOption", | ||
| py::overload_cast<CommonSolverOption, SolverOptions::OptionValue>( | ||
| &SolverOptions::SetOption), | ||
| py::arg("key"), py::arg("value"), | ||
| doc.SolverOptions.SetOption.doc_common_option) | ||
| .def( | ||
| "GetOptions", | ||
| [](const SolverOptions& solver_options, SolverId solver_id) { | ||
| py::dict out; | ||
| py::object update = out.attr("update"); | ||
| update(solver_options.GetOptionsDouble(solver_id)); | ||
| update(solver_options.GetOptionsInt(solver_id)); | ||
| update(solver_options.GetOptionsStr(solver_id)); | ||
| return out; | ||
| }, | ||
| py::arg("solver_id"), doc.SolverOptions.GetOptionsDouble.doc) | ||
| .def("common_solver_options", &SolverOptions::common_solver_options, | ||
| doc.SolverOptions.common_solver_options.doc) | ||
| .def("get_print_file_name", &SolverOptions::get_print_file_name, | ||
| doc.SolverOptions.get_print_file_name.doc) | ||
| .def("get_print_to_console", &SolverOptions::get_print_to_console, | ||
| doc.SolverOptions.get_print_to_console.doc) | ||
| .def("get_standalone_reproduction_file_name", | ||
| &SolverOptions::get_standalone_reproduction_file_name, | ||
| doc.SolverOptions.get_standalone_reproduction_file_name.doc) | ||
| .def("__repr__", [](const SolverOptions&) -> std::string { | ||
| // This is a minimal implementation that serves to avoid displaying | ||
| // memory addresses in pydrake docs and help strings. In the future, | ||
| // we should enhance this to provide more details. | ||
| return "<SolverOptions>"; | ||
| }); | ||
| } | ||
| } | ||
|
|
||
| } // namespace internal | ||
| } // namespace pydrake | ||
| } // namespace drake |