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Re-apply "add missing bindings for State<T> abstract values" #11427

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May 9, 2019
Merged

Re-apply "add missing bindings for State<T> abstract values" #11427

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78f9f4b
Add missing bindings for State<T> abstract values
RussTedrake May 8, 2019
8883716
pydrake: Revert some bindings of State accessors
jwnimmer-tri May 9, 2019
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23 changes: 17 additions & 6 deletions bindings/pydrake/systems/framework_py_semantics.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -100,10 +100,11 @@ void DefineFrameworkPySemantics(py::module m) {
.def(py::init<>(), doc.AbstractValues.ctor.doc_0args)
.def(py::init<AbstractValuePtrList>(), doc.AbstractValues.ctor.doc_1args)
.def("size", &AbstractValues::size, doc.AbstractValues.size.doc)
.def("get_value", &AbstractValues::get_value, py_reference_internal,
doc.AbstractValues.get_value.doc)
.def("get_value", &AbstractValues::get_value, py::arg("index"),
py_reference_internal, doc.AbstractValues.get_value.doc)
.def("get_mutable_value", &AbstractValues::get_mutable_value,
py_reference_internal, doc.AbstractValues.get_mutable_value.doc)
py::arg("index"), py_reference_internal,
doc.AbstractValues.get_mutable_value.doc)
.def("CopyFrom",
[](AbstractValues* self, const AbstractValues& other) {
WarnDeprecated(
Expand Down Expand Up @@ -309,7 +310,8 @@ void DefineFrameworkPySemantics(py::module m) {
[](const Context<T>* self, int index) -> auto& {
return self->get_abstract_state().get_value(index);
},
py_reference_internal, doc.Context.get_abstract_state.doc_1args)
py::arg("index"), py_reference_internal,
doc.Context.get_abstract_state.doc_1args)
.def("get_mutable_abstract_state",
[](Context<T>* self) -> AbstractValues& {
return self->get_mutable_abstract_state();
Expand All @@ -321,7 +323,7 @@ void DefineFrameworkPySemantics(py::module m) {
return self->get_mutable_abstract_state().get_mutable_value(
index);
},
py_reference_internal,
py::arg("index"), py_reference_internal,
doc.Context.get_mutable_abstract_state.doc_1args)
.def("SetAbstractState",
[](py::object self, int index, py::object value) {
Expand Down Expand Up @@ -638,7 +640,16 @@ void DefineFrameworkPySemantics(py::module m) {
.def("get_mutable_discrete_state",
overload_cast_explicit<DiscreteValues<T>&>(
&State<T>::get_mutable_discrete_state),
py_reference_internal, doc.State.get_mutable_discrete_state.doc);
py_reference_internal, doc.State.get_mutable_discrete_state.doc)
.def("get_abstract_state",
static_cast<const AbstractValues& (State<T>::*)() const>(
&State<T>::get_abstract_state),
py_reference_internal, doc.State.get_abstract_state.doc)
.def("get_mutable_abstract_state",
[](State<T>* self) -> AbstractValues& {
return self->get_mutable_abstract_state();
},
py_reference_internal, doc.State.get_mutable_abstract_state.doc);

// - Constituents.
DefineTemplateClassWithDefault<ContinuousState<T>>(
Expand Down
19 changes: 15 additions & 4 deletions bindings/pydrake/systems/test/general_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -169,12 +169,23 @@ def test_context_api(self):
np.testing.assert_equal(
context.get_discrete_state_vector().CopyToVector(), 3 * x)

def check_abstract_value_zero(context, expected_value):
# Check through Context, State, and AbstractValues APIs.
self.assertEqual(context.get_abstract_state(index=0).get_value(),
expected_value)
self.assertEqual(context.get_abstract_state().get_value(
index=0).get_value(), expected_value)
self.assertEqual(context.get_state().get_abstract_state()
.get_value(index=0).get_value(), expected_value)

context.SetAbstractState(index=0, value=True)
value = context.get_abstract_state(0)
self.assertTrue(value.get_value())
check_abstract_value_zero(context, True)
context.SetAbstractState(index=0, value=False)
value = context.get_abstract_state(0)
self.assertFalse(value.get_value())
check_abstract_value_zero(context, False)
value = context.get_mutable_state().get_mutable_abstract_state()\
.get_mutable_value(index=0)
value.set_value(True)
check_abstract_value_zero(context, True)

def test_event_api(self):
# TriggerType - existence check.
Expand Down