pybind_utils.h

// Copyright 2020 DeepMind Technologies Limited.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     https://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef DM_ROBOTICS_PY_CONTROLLERS_PYBIND_UTILS_H_
#define DM_ROBOTICS_PY_CONTROLLERS_PYBIND_UTILS_H_

#include "absl/strings/string_view.h"
#include "mujoco/mujoco.h"
#include "pybind11/pytypes.h"  // pybind

namespace dm_robotics::internal {

// Raises a `RuntimeError` exception in Python with the message `message`.
void RaiseRuntimeErrorWithMessage(absl::string_view message);

// Extracts an mjModel pointer from a Python handle to a mujoco or dm_control
// `MjModel` object. Raises a `RuntimeError` exception in Python if it fails to
// extract an mjModel object from the handle.
//
// Note that this does not increment the reference count.
const mjModel* GetmjModelOrRaise(pybind11::handle obj);

// Extracts an mjData pointer from a Python handle to a mujoco or dm_control
// `MjData` object. Raises a `RuntimeError` exception in Python if it fails to
// extract an mjData object from the handle.
//
// Note that this does not increment the reference count.
const mjData* GetmjDataOrRaise(pybind11::handle obj);

}  // namespace dm_robotics::internal

#endif  // DM_ROBOTICS_PY_CONTROLLERS_PYBIND_UTILS_H_