[python] remove redundant includes, delete macros.hpp (move contents out)

[python] `StdVectorPythonVisitor` had been using-decl in fwd header

Author: ManifoldFR

bindings/python/include/aligator/python/fwd.hpp

@@ -1,16 +1,17 @@
 #pragma once
 
 #include "aligator/context.hpp"
-#include "aligator/python/macros.hpp"
+#include "aligator/utils/exceptions.hpp"
 
 #include <eigenpy/eigenpy.hpp>
 #include <eigenpy/std-vector.hpp>
 
+#include <type_traits>
+
 #include <proxsuite-nlp/python/polymorphic.hpp>
 
-namespace aligator {
 /// @brief  The Python bindings.
-namespace python {
+namespace aligator::python {
 namespace bp = boost::python;
 using eigenpy::StdVectorPythonVisitor;
 
@@ -19,6 +20,16 @@ inline bp::arg operator""_a(const char *argname, std::size_t) {
   return bp::arg(argname);
 }
 
+namespace internal {
+
+template <typename ret_type>
+ret_type suppress_if_void(bp::detail::method_result &&o) {
+  if constexpr (!std::is_void_v<ret_type>)
+    return o.operator ret_type();
+}
+
+} // namespace internal
+
 /// Expose GAR module
 void exposeGAR();
 /// Expose stagewise function classes
@@ -53,5 +64,30 @@ void exposeFilter();
 void exposePinocchioFeatures();
 #endif
 
-} // namespace python
-} // namespace aligator
+} // namespace aligator::python
+
+#define ALIGATOR_PYTHON_OVERRIDE_IMPL(ret_type, pyname, ...)                   \
+  do {                                                                         \
+    if (bp::override fo = this->get_override(pyname)) {                        \
+      decltype(auto) o = fo(__VA_ARGS__);                                      \
+      return ::aligator::python::internal::suppress_if_void<ret_type>(         \
+          std::move(o));                                                       \
+    }                                                                          \
+  } while (false)
+
+/**
+ * @def ALIGATOR_PYTHON_OVERRIDE_PURE(ret_type, pyname, ...)
+ * @brief Define the body of a virtual function override. This is meant
+ *        to reduce boilerplate code when exposing virtual member functions.
+ */
+#define ALIGATOR_PYTHON_OVERRIDE_PURE(ret_type, pyname, ...)                   \
+  ALIGATOR_PYTHON_OVERRIDE_IMPL(ret_type, pyname, __VA_ARGS__);                \
+  ALIGATOR_RUNTIME_ERROR("Tried to call pure virtual function {:s}.", pyname)
+
+/**
+ * @def ALIGATOR_PYTHON_OVERRIDE(ret_type, cname, fname, ...)
+ * @copybrief ALIGATOR_PYTHON_OVERRIDE_PURE()
+ */
+#define ALIGATOR_PYTHON_OVERRIDE(ret_type, cname, fname, ...)                  \
+  ALIGATOR_PYTHON_OVERRIDE_IMPL(ret_type, #fname, __VA_ARGS__);                \
+  return cname::fname(__VA_ARGS__)

bindings/python/include/aligator/python/macros.hpp

@@ -1,7 +1,6 @@
 #pragma once
 
 #include "aligator/python/fwd.hpp"
-#include <proxsuite-nlp/python/polymorphic.hpp>
 
 #include <boost/mpl/vector.hpp>
 

bindings/python/include/aligator/python/polymorphic-convertible.hpp

@@ -1,9 +1,8 @@
 /// @file
-/// @copyright Copyright (C) 2024 LAAS-CNRS, INRIA
+/// @copyright Copyright (C) 2024 LAAS-CNRS, 2024-2025 INRIA
 #pragma once
 
 #include <eigenpy/fwd.hpp>
-#include <proxsuite-nlp/python/deprecation-policy.hpp>
 #include <fmt/format.h>
 
 namespace aligator::python {

bindings/python/include/aligator/python/solvers.hpp

@@ -1,8 +1,6 @@
 #include "aligator/python/fwd.hpp"
 #include "aligator/modelling/spaces/cartesian-product.hpp"
 
-#include <proxsuite-nlp/python/polymorphic.hpp>
-
 namespace aligator::python {
 
 using context::Manifold;

bindings/python/src/expose-cartesian-product.cpp

@@ -1,7 +1,6 @@
 #include "aligator/python/fwd.hpp"
 
 #include "aligator/core/constraint.hpp"
-#include <proxsuite-nlp/python/polymorphic.hpp>
 #include <proxsuite-nlp/constraint-base.hpp>
 #include <eigenpy/deprecation-policy.hpp>
 

bindings/python/src/expose-constraint.cpp

@@ -5,7 +5,6 @@
 #include "aligator/modelling/spaces/cartesian-product.hpp"
 #include "aligator/modelling/spaces/tangent-bundle.hpp"
 
-#include <proxsuite-nlp/python/polymorphic.hpp>
 #include <eigenpy/std-vector.hpp>
 
 namespace aligator::python {
@@ -122,7 +121,7 @@ void exposeManifoldBase() {
             return a * b;
           });
 
-  eigenpy::StdVectorPythonVisitor<std::vector<PolyManifold>>::expose(
+  StdVectorPythonVisitor<std::vector<PolyManifold>>::expose(
       "StdVec_Manifold",
       eigenpy::details::overload_base_get_item_for_std_vector<
           std::vector<PolyManifold>>());

bindings/python/src/expose-manifold.cpp

@@ -4,8 +4,6 @@
 #include "aligator/modelling/spaces/multibody.hpp"
 #include "aligator/modelling/spaces/pinocchio-groups.hpp"
 
-#include <proxsuite-nlp/python/polymorphic.hpp>
-
 namespace aligator::python {
 using context::Manifold;
 using context::Scalar;