[Python] Reorganize bindings

bindings/python/CMakeLists.txt

@@ -61,41 +61,40 @@ ENDFOREACH(dep ${PKG_CONFIG_PYWRAP_REQUIRES})
 SET(${PYWRAP}_INSTALL_DIR ${CMAKE_INSTALL_PREFIX}/${PYTHON_SITELIB}/${PROJECT_NAME})
 
 SET(${PROJECT_NAME}_PYTHON_HEADERS
-  eigen_container.hpp
-  handler.hpp
+  utils/eigen_container.hpp
+  utils/handler.hpp
   python.hpp
-  se3.hpp
-  force.hpp
-  motion.hpp
-  inertia.hpp
-  joints-models.hpp
-  joints-variant.hpp
-  joint.hpp
-  joint-derived.hpp
-  frame.hpp
-  model.hpp
-  data.hpp
+  spatial/se3.hpp
+  spatial/force.hpp
+  spatial/motion.hpp
+  spatial/inertia.hpp
+  spatial/explog.hpp
+  multibody/frame.hpp
+  multibody/model.hpp
+  multibody/data.hpp
+  multibody/geometry-object.hpp
+  multibody/geometry-model.hpp
+  multibody/geometry-data.hpp
+  multibody/joint/joints-models.hpp
+  multibody/joint/joints-variant.hpp
+  multibody/joint/joint.hpp
+  multibody/joint/joint-derived.hpp
   algorithm/algorithms.hpp 
-  parsers.hpp
-  explog.hpp
-  geometry-object.hpp
-  geometry-model.hpp
-  geometry-data.hpp
+  parsers/parsers.hpp
   )
 
 SET(${PROJECT_NAME}_PYTHON_SOURCES
   module.cpp
-  expose-SE3.cpp
-  expose-motion.cpp
-  expose-force.cpp
-  expose-inertia.cpp
-  expose-explog.cpp
-  expose-joints.cpp
-  expose-frame.cpp
-  expose-model.cpp
-  expose-data.cpp
-  expose-parsers.cpp
-  expose-geometry.cpp
+  spatial/expose-SE3.cpp
+  spatial/expose-motion.cpp
+  spatial/expose-force.cpp
+  spatial/expose-inertia.cpp
+  spatial/expose-explog.cpp
+  multibody/expose-frame.cpp
+  multibody/expose-model.cpp
+  multibody/expose-data.cpp
+  multibody/expose-geometry.cpp
+  multibody/joint/expose-joints.cpp
   algorithm/expose-algorithms.cpp
   algorithm/expose-com.cpp
   algorithm/expose-kinematics.cpp
@@ -109,6 +108,7 @@ SET(${PROJECT_NAME}_PYTHON_SOURCES
   algorithm/expose-frames.cpp
   algorithm/expose-cat.cpp
   algorithm/expose-geometry.cpp
+  parsers/expose-parsers.cpp
   )
 
 SET(${PROJECT_NAME}_PARSER_PYTHON_HEADERS
@@ -124,7 +124,12 @@ LIST(REMOVE_DUPLICATES HEADERS)
 
 # Headers of the python binding
 MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/bindings/python")
+MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/bindings/python/spatial")
+MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/bindings/python/multibody")
+MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/bindings/python/multibody/joint")
+MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/bindings/python/parsers")
 MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/bindings/python/algorithm")
+MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/bindings/python/utils")
 SYMLINK_AND_INSTALL_HEADERS("${${PROJECT_NAME}_PYTHON_HEADERS}" "bindings/python")
 
 # Headers of the python parser

bindings/python/algorithm/algorithms.hpp

@@ -22,8 +22,8 @@
 #include <eigenpy/eigenpy.hpp>
 
 #include "pinocchio/bindings/python/python.hpp"
-#include "pinocchio/bindings/python/model.hpp"
-#include "pinocchio/bindings/python/data.hpp"
+#include "pinocchio/bindings/python/multibody/model.hpp"
+#include "pinocchio/bindings/python/multibody/data.hpp"
 
 namespace se3
 {

bindings/python/algorithm/expose-geometry.cpp

@@ -17,9 +17,9 @@
 
 #include "pinocchio/bindings/python/algorithm/algorithms.hpp"
 #include "pinocchio/algorithm/geometry.hpp"
-#include "pinocchio/bindings/python/geometry-object.hpp"
-#include "pinocchio/bindings/python/geometry-model.hpp"
-#include "pinocchio/bindings/python/geometry-data.hpp"
+#include "pinocchio/bindings/python/multibody/geometry-object.hpp"
+#include "pinocchio/bindings/python/multibody/geometry-model.hpp"
+#include "pinocchio/bindings/python/multibody/geometry-data.hpp"
 
 namespace se3
 {

bindings/python/data.hpp → bindings/python/multibody/data.hpp

@@ -19,7 +19,7 @@
 #define __se3_python_data_hpp__
 
 #include "pinocchio/multibody/model.hpp"
-#include "pinocchio/bindings/python/handler.hpp"
+#include "pinocchio/bindings/python/utils/handler.hpp"
 
 #include <eigenpy/exception.hpp>
 #include <eigenpy/eigenpy.hpp>

bindings/python/expose-data.cpp → bindings/python/multibody/expose-data.cpp

@@ -16,7 +16,7 @@
 // <http://www.gnu.org/licenses/>.
 
 #include "pinocchio/bindings/python/python.hpp"
-#include "pinocchio/bindings/python/data.hpp"
+#include "pinocchio/bindings/python/multibody/data.hpp"
 
 namespace se3
 {

bindings/python/expose-frame.cpp → bindings/python/multibody/expose-frame.cpp

@@ -16,7 +16,7 @@
 // <http://www.gnu.org/licenses/>.
 
 #include "pinocchio/bindings/python/python.hpp"
-#include "pinocchio/bindings/python/frame.hpp"
+#include "pinocchio/bindings/python/multibody/frame.hpp"
 
 namespace se3
 {

bindings/python/expose-geometry.cpp → bindings/python/multibody/expose-geometry.cpp

@@ -16,9 +16,9 @@
 // <http://www.gnu.org/licenses/>.
 
 #include "pinocchio/bindings/python/python.hpp"
-#include "pinocchio/bindings/python/geometry-object.hpp"
-#include "pinocchio/bindings/python/geometry-model.hpp"
-#include "pinocchio/bindings/python/geometry-data.hpp"
+#include "pinocchio/bindings/python/multibody/geometry-object.hpp"
+#include "pinocchio/bindings/python/multibody/geometry-model.hpp"
+#include "pinocchio/bindings/python/multibody/geometry-data.hpp"
 
 namespace se3
 {

bindings/python/expose-model.cpp → bindings/python/multibody/expose-model.cpp

@@ -16,7 +16,7 @@
 // <http://www.gnu.org/licenses/>.
 
 #include "pinocchio/bindings/python/python.hpp"
-#include "pinocchio/bindings/python/model.hpp"
+#include "pinocchio/bindings/python/multibody/model.hpp"
 
 namespace se3
 {

bindings/python/geometry-data.hpp → bindings/python/multibody/geometry-data.hpp

@@ -22,10 +22,10 @@
 #include <eigenpy/exception.hpp>
 #include <eigenpy/eigenpy.hpp>
 
-#include "pinocchio/bindings/python/eigen_container.hpp"
-#include "pinocchio/bindings/python/handler.hpp"
-#include "pinocchio/bindings/python/data.hpp"
-#include "pinocchio/bindings/python/geometry-model.hpp"
+#include "pinocchio/bindings/python/utils/eigen_container.hpp"
+#include "pinocchio/bindings/python/utils/handler.hpp"
+#include "pinocchio/bindings/python/multibody/data.hpp"
+#include "pinocchio/bindings/python/multibody/geometry-model.hpp"
 
 namespace fcl
 {

bindings/python/geometry-model.hpp → bindings/python/multibody/geometry-model.hpp

@@ -22,10 +22,10 @@
 #include <eigenpy/exception.hpp>
 #include <eigenpy/eigenpy.hpp>
 
-#include "pinocchio/bindings/python/eigen_container.hpp"
-#include "pinocchio/bindings/python/handler.hpp"
+#include "pinocchio/bindings/python/utils/eigen_container.hpp"
+#include "pinocchio/bindings/python/utils/handler.hpp"
 #include "pinocchio/multibody/geometry.hpp"
-#include "pinocchio/bindings/python/model.hpp"
+#include "pinocchio/bindings/python/multibody/model.hpp"
 
 namespace se3
 {

bindings/python/expose-joints.cpp → bindings/python/multibody/joint/expose-joints.cpp

@@ -16,9 +16,9 @@
 // <http://www.gnu.org/licenses/>.
 
 #include "pinocchio/bindings/python/python.hpp"
-#include "pinocchio/bindings/python/joint-derived.hpp"
-#include "pinocchio/bindings/python/joints-variant.hpp"
-#include "pinocchio/bindings/python/joint.hpp"
+#include "pinocchio/bindings/python/multibody/joint/joint-derived.hpp"
+#include "pinocchio/bindings/python/multibody/joint/joints-variant.hpp"
+#include "pinocchio/bindings/python/multibody/joint/joint.hpp"
 
 #include <boost/python/suite/indexing/vector_indexing_suite.hpp>
 

bindings/python/joints-variant.hpp → bindings/python/multibody/joint/joints-variant.hpp

@@ -21,7 +21,7 @@
 #include <eigenpy/exception.hpp>
 #include <eigenpy/eigenpy.hpp>
 #include "pinocchio/multibody/joint/joint-variant.hpp"
-#include "pinocchio/bindings/python/joints-models.hpp"
+#include "pinocchio/bindings/python/multibody/joint/joints-models.hpp"
 
 namespace se3
 {

bindings/python/model.hpp → bindings/python/multibody/model.hpp

@@ -25,8 +25,8 @@
 
 #include "pinocchio/multibody/model.hpp"
 #include "pinocchio/parsers/sample-models.hpp"
-#include "pinocchio/bindings/python/eigen_container.hpp"
-#include "pinocchio/bindings/python/handler.hpp"
+#include "pinocchio/bindings/python/utils/eigen_container.hpp"
+#include "pinocchio/bindings/python/utils/handler.hpp"
 
 
 namespace se3

bindings/python/expose-parsers.cpp → bindings/python/parsers/expose-parsers.cpp

@@ -16,7 +16,7 @@
 // <http://www.gnu.org/licenses/>.
 
 #include "pinocchio/bindings/python/python.hpp"
-#include "pinocchio/bindings/python/parsers.hpp"
+#include "pinocchio/bindings/python/parsers/parsers.hpp"
 
 namespace se3
 {

bindings/python/parsers.hpp → bindings/python/parsers/parsers.hpp

@@ -21,15 +21,15 @@
 #include <eigenpy/exception.hpp>
 #include <eigenpy/eigenpy.hpp>
 
-#include "pinocchio/bindings/python/model.hpp"
-#include "pinocchio/bindings/python/data.hpp"
+#include "pinocchio/bindings/python/multibody/model.hpp"
+#include "pinocchio/bindings/python/multibody/data.hpp"
 
 #ifdef WITH_URDFDOM
   #include "pinocchio/parsers/urdf.hpp"
 #endif
 
-  #include "pinocchio/bindings/python/geometry-model.hpp"
-  #include "pinocchio/bindings/python/geometry-data.hpp"
+  #include "pinocchio/bindings/python/multibody/geometry-model.hpp"
+  #include "pinocchio/bindings/python/multibody/geometry-data.hpp"
 
 #ifdef WITH_LUA
   #include "pinocchio/parsers/lua.hpp"