symforce.codegen.codegen_config module

class ZeroEpsilonBehavior(value)

Bases: Enum

Options for what to do when attempting to generate code with the default epsilon set to 0

FAIL = 0

WARN = 1

ALLOW = 2

class RenderTemplateConfig(autoformat=True, custom_preamble='')

Bases: object

Arguments to template_util.render_template

Parameters:

• autoformat (bool) – Run a code formatter on the generated code

• custom_preamble (str) – An optional string to be prepended on the front of the rendered template

autoformat: bool = True

custom_preamble: str = ''

__init__(autoformat=True, custom_preamble='')

Parameters:

• autoformat (bool) –

• custom_preamble (str) –

class CodegenConfig(doc_comment_line_prefix, line_length, use_eigen_types, render_template_config=<factory>, cse_optimizations=None, zero_epsilon_behavior=<factory>)

Bases: object

Base class for backend-specific arguments for code generation.

Parameters:

• doc_comment_line_prefix (str) – Prefix applied to each line in a docstring, e.g. “ * “ for C++ block-style docstrings

• line_length (int) – Maximum allowed line length in docstrings; used for formatting docstrings.

• use_eigen_types (bool) – Use eigen_lcm types for vectors instead of lists

• render_template_config (RenderTemplateConfig) – Configuration for template rendering, see RenderTemplateConfig for more information

• cse_optimizations (Union[Literal[‘basic’], Sequence[Tuple[Callable, Callable]], None]) – Optimizations argument to pass to sf.cse

• zero_epsilon_behavior (ZeroEpsilonBehavior) – What should codegen do if a default epsilon is not set?

doc_comment_line_prefix: str

line_length: int

use_eigen_types: bool

render_template_config: RenderTemplateConfig

cse_optimizations: Optional[Union[Literal['basic'], Sequence[Tuple[Callable, Callable]]]] = None

zero_epsilon_behavior: ZeroEpsilonBehavior

abstract classmethod backend_name()

String name for the backend. This should match the directory name in codegen/backends and will be used to namespace by backend in generated code.

Return type:

str

abstract classmethod template_dir()

Directory for jinja templates.

Return type:

Path

abstract templates_to_render(generated_file_name)

Given a single symbolic function’s filename, provide one or more Jinja templates to render and the relative output paths where they should go.

Parameters:

generated_file_name (str) –

Return type:

List[Tuple[str, str]]

abstract printer()

Return an instance of the code printer to use for this language.

Return type:

CodePrinter

static format_data_accessor(prefix, index)

Format data for accessing a data array in code.

Parameters:

• prefix (str) –

• index (int) –

Return type:

str

abstract format_matrix_accessor(key, i, j, *, shape)

Format accessor for 2D matrices. Raises an index exception if either of the following is false:

0 <= i < shape[0] 0 <= j < shape[1]

Parameters:

• key (str) –

• i (int) –

• j (int) –

• shape (Tuple[int, int]) –

Return type:

str

abstract static format_eigen_lcm_accessor(key, i)

Format accessor for eigen_lcm types.

Parameters:

• key (str) –

• i (int) –

Return type:

str

__init__(doc_comment_line_prefix, line_length, use_eigen_types, render_template_config=<factory>, cse_optimizations=None, zero_epsilon_behavior=<factory>)

Parameters:

• doc_comment_line_prefix (str) –

• line_length (int) –

• use_eigen_types (bool) –

• render_template_config (RenderTemplateConfig) –

• cse_optimizations (Union[Literal[‘basic’], Sequence[Tuple[Callable, Callable]], None]) –

• zero_epsilon_behavior (ZeroEpsilonBehavior) –