From b29d04ea33980e9df07f939374251284026aff0f Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Wed, 3 Apr 2019 16:49:26 +0200
Subject: [PATCH] Add extra constructors to carla.command objects to use actors
 directly

---
 PythonAPI/carla/source/libcarla/Commands.cpp | 36 +++++++++++++++++++-
 1 file changed, 35 insertions(+), 1 deletion(-)

diff --git a/PythonAPI/carla/source/libcarla/Commands.cpp b/PythonAPI/carla/source/libcarla/Commands.cpp
index 9e77a9a05..565be2efe 100644
--- a/PythonAPI/carla/source/libcarla/Commands.cpp
+++ b/PythonAPI/carla/source/libcarla/Commands.cpp
@@ -7,63 +7,97 @@
 #include <carla/PythonUtil.h>
 #include <carla/rpc/Command.h>
 
+namespace command_impl {
+
+  template <typename T>
+  const T &Convert(const T &in) {
+    return in;
+  }
+
+  carla::rpc::ActorId Convert(const boost::shared_ptr<carla::client::Actor> &actor) {
+    return actor->GetId();
+  }
+
+  carla::rpc::ActorDescription Convert(const carla::client::ActorBlueprint &blueprint) {
+    return blueprint.MakeActorDescription();
+  }
+
+  template <typename... ArgsT>
+  static boost::python::object CustomInit(boost::python::object self, ArgsT... args) {
+    return self.attr("__init__")(Convert(args)...);
+  }
+
+} // namespace command_impl
+
 void export_commands() {
   using namespace boost::python;
-  namespace cr = carla::rpc;
+  namespace cc = carla::client;
   namespace cg = carla::geom;
+  namespace cr = carla::rpc;
+
+  using ActorPtr = boost::shared_ptr<cc::Actor>;
 
   object command_module(handle<>(borrowed(PyImport_AddModule("libcarla.command"))));
   scope().attr("command") = command_module;
   scope io_scope = command_module;
 
   class_<cr::Command::DestroyActor>("DestroyActor")
+    .def("__init__", &command_impl::CustomInit<ActorPtr>, (arg("actor")))
     .def(init<cr::ActorId>((arg("actor_id"))))
     .def_readwrite("actor_id", &cr::Command::DestroyActor::actor)
   ;
 
   class_<cr::Command::ApplyVehicleControl>("ApplyVehicleControl")
+    .def("__init__", &command_impl::CustomInit<ActorPtr, cr::VehicleControl>, (arg("actor"), arg("control")))
     .def(init<cr::ActorId, cr::VehicleControl>((arg("actor_id"), arg("control"))))
     .def_readwrite("actor_id", &cr::Command::ApplyVehicleControl::actor)
     .def_readwrite("control", &cr::Command::ApplyVehicleControl::control)
   ;
 
   class_<cr::Command::ApplyWalkerControl>("ApplyWalkerControl")
+    .def("__init__", &command_impl::CustomInit<ActorPtr, cr::WalkerControl>, (arg("actor"), arg("control")))
     .def(init<cr::ActorId, cr::WalkerControl>((arg("actor_id"), arg("control"))))
     .def_readwrite("actor_id", &cr::Command::ApplyWalkerControl::actor)
     .def_readwrite("control", &cr::Command::ApplyWalkerControl::control)
   ;
 
   class_<cr::Command::ApplyTransform>("ApplyTransform")
+    .def("__init__", &command_impl::CustomInit<ActorPtr, cg::Transform>, (arg("actor"), arg("transform")))
     .def(init<cr::ActorId, cg::Transform>((arg("actor_id"), arg("transform"))))
     .def_readwrite("actor_id", &cr::Command::ApplyTransform::actor)
     .def_readwrite("transform", &cr::Command::ApplyTransform::transform)
   ;
 
   class_<cr::Command::ApplyVelocity>("ApplyVelocity")
+    .def("__init__", &command_impl::CustomInit<ActorPtr, cg::Vector3D>, (arg("actor"), arg("velocity")))
     .def(init<cr::ActorId, cg::Vector3D>((arg("actor_id"), arg("velocity"))))
     .def_readwrite("actor_id", &cr::Command::ApplyVelocity::actor)
     .def_readwrite("velocity", &cr::Command::ApplyVelocity::velocity)
   ;
 
   class_<cr::Command::ApplyAngularVelocity>("ApplyAngularVelocity")
+    .def("__init__", &command_impl::CustomInit<ActorPtr, cg::Vector3D>, (arg("actor"), arg("angular_velocity")))
     .def(init<cr::ActorId, cg::Vector3D>((arg("actor_id"), arg("angular_velocity"))))
     .def_readwrite("actor_id", &cr::Command::ApplyAngularVelocity::actor)
     .def_readwrite("angular_velocity", &cr::Command::ApplyAngularVelocity::angular_velocity)
   ;
 
   class_<cr::Command::ApplyImpulse>("ApplyImpulse")
+    .def("__init__", &command_impl::CustomInit<ActorPtr, cg::Vector3D>, (arg("actor"), arg("impulse")))
     .def(init<cr::ActorId, cg::Vector3D>((arg("actor_id"), arg("impulse"))))
     .def_readwrite("actor_id", &cr::Command::ApplyImpulse::actor)
     .def_readwrite("impulse", &cr::Command::ApplyImpulse::impulse)
   ;
 
   class_<cr::Command::SetSimulatePhysics>("SetSimulatePhysics")
+    .def("__init__", &command_impl::CustomInit<ActorPtr, bool>, (arg("actor"), arg("enabled")))
     .def(init<cr::ActorId, bool>((arg("actor_id"), arg("enabled"))))
     .def_readwrite("actor_id", &cr::Command::SetSimulatePhysics::actor)
     .def_readwrite("enabled", &cr::Command::SetSimulatePhysics::enabled)
   ;
 
   class_<cr::Command::SetAutopilot>("SetAutopilot")
+    .def("__init__", &command_impl::CustomInit<ActorPtr, bool>, (arg("actor"), arg("enabled")))
     .def(init<cr::ActorId, bool>((arg("actor_id"), arg("enabled"))))
     .def_readwrite("actor_id", &cr::Command::SetAutopilot::actor)
     .def_readwrite("enabled", &cr::Command::SetAutopilot::enabled)