a ijB&@srdZddlmZddlZddlZddlZddlZddlZddlmZm Z m Z m Z ddl m Z ddlmZddlmZddlmZddlZeZe d ZejGd d d ZejGd d d Zejd.ddddddddZejd/ddd dd dddZd0ddddddZddddddZdddd d!Zedddd"d#d$Zd d%d&d'Z d(d)d*d+d,d-Z!dS)1z Check util.) annotationsN)AnyCallableOptionalTypeVar)epy) numpy_utils) type_parsing)typing_Fnc@s8eZdZUdZded<ded<ded<dd d d Zd S) _ArrayParamzArgument matching an array.zarray_typing.ArrayAliasMetatypebool is_optionalstrnamenumpy_utils.NpModulexnpc CsXz|jjj||ddWStyR}z$tj|d|jddWYd}~n d}~00dS)z0Convert the value to array of the correct dtype.none)rZcastingInvalid : prefixN)r Zdtypeasarray Exceptionrreraiser)selfvrer P/home/ghrups/robot-bench/.venv/lib/python3.9/site-packages/etils/enp/checking.pyr2sz_ArrayParam.asarrayN)__name__ __module__ __qualname____doc____annotations__rr r r r!r *s r c@s*eZdZUdZded<ded<ded<dS) _FnSignatureCachez Cache of the function signature.zinspect.Signaturesigrhas_xnp_kwargszdict[str, _ArrayParam] array_paramsN)r"r#r$r%r&r r r r!r':s r'.strictNonerzCallable[[_Fn], _Fn])fnr,returncCsdSNr r.r,r r r!check_and_normalize_arraysCsr2cCsdSr0r r1r r r!r2LsTcs8durtjtdSd_tfdd}|S)aCheck and normalize arrays. This function: * Validate that the dtype/shape input arrays match the typing annotations * Normalize np, jnp, tf types to be consistent * Add an optional `xnp` argument to convert input arrays to np/jnp/tnp. See doc at: https://github.com/google/etils/blob/main/etils/array_types/README.md Example: ```python @enp.check_and_normalize_arrays(strict=False) def add(x: FloatArray[...], y: FloatArray[...]) -> y: FloatArray[...]: return x + y # Inside the function, `np` normalized to `jnp` add(np.array(1.), jnp.array(2.)) == jnp.array(3.) # strict=False, so `list` accepted and normalized to `xnp` add(jnp.array(1.), [1., 2., 3.]) == jnp.array([2., 3., 4.]) ``` Args: fn: The function to decorate. 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