[Unit test] Update python parser unit test to reflect change

CMakeLists.txt

@@ -296,6 +296,7 @@ ENDFOREACH(header)
 ADD_SUBDIRECTORY(src)
 
 # --- BINDINGS -----------------------------------------------------------------
+SET(PYWRAP ${PROJECT_NAME}_pywrap)
 ADD_SUBDIRECTORY(bindings)
 
 # --- EXECUTABLES --------------------------------------------------------------

bindings/python/CMakeLists.txt

@@ -134,7 +134,6 @@ IF(BUILD_PYTHON_INTERFACE)
   SYMLINK_AND_INSTALL_HEADERS("${${PROJECT_NAME}_PARSER_PYTHON_HEADERS}" "")
 
   # --- COMPILE WRAPPER
-  SET(PYWRAP ${PROJECT_NAME}_pywrap)
   MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/lib/python/${PROJECT_NAME}")
   SET(${PYWRAP}_SOURCES ${${PROJECT_NAME}_PYTHON_SOURCES} ${${PROJECT_NAME}_PARSER_PYTHON_SOURCES})
   SET(${PYWRAP}_HEADERS ${${PROJECT_NAME}_PYTHON_HEADERS} ${${PROJECT_NAME}_PARSER_PYTHON_HEADERS})

models/simple_model.py

@@ -36,10 +36,10 @@ def color(body_number=1):
 
 
 class ModelWrapper(object):
-    def __init__(self, model, name=None, display=False):
+    def __init__(self, name=None, display=False):
         self.visuals = [('universe', se3.SE3.Identity(), se3.SE3.Identity().translation)]
         self.name = self.__class__.__name__ if name is None else name
-        self.model = model
+        self.model = se3.Model.BuildEmptyModel()
         self.display = display
         self.add_joints()
 
@@ -149,4 +149,5 @@ class SimplestWalker(ModelWrapper):
          },
     ]
 
-SimplestWalker(model)
+walker = SimplestWalker()
+model = walker.model

unittest/CMakeLists.txt

@@ -36,11 +36,6 @@ MACRO(ADD_UNIT_TEST NAME PKGS)
   TARGET_LINK_LIBRARIES(${NAME} ${PROJECT_NAME})
   TARGET_LINK_LIBRARIES(${NAME} ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY})
 
-  IF(BUILD_PYTHON_INTERFACE)
-    TARGET_LINK_BOOST_PYTHON(${NAME})
-    TARGET_LINK_LIBRARIES(${NAME} ${PYTHON_LIBRARIES})
-  ENDIF(BUILD_PYTHON_INTERFACE)
-
   ADD_TEST(NAME ${NAME} COMMAND ${NAME})
   ADD_DEPENDENCIES(check ${NAME})
 ENDMACRO(ADD_UNIT_TEST)
@@ -98,8 +93,11 @@ IF(LUA5_1_FOUND)
 ENDIF(LUA5_1_FOUND)
 
 IF(BUILD_PYTHON_INTERFACE)
-  ADD_UNIT_TEST(python_parser eigen3)
+  ADD_EXECUTABLE(python_parser python_parser.cpp)
   ADD_TEST_CFLAGS(python_parser '-DPINOCCHIO_SOURCE_DIR=\\\"${${PROJECT_NAME}_SOURCE_DIR}\\\"')
+  TARGET_LINK_LIBRARIES(python_parser ${PYWRAP})
+  TARGET_LINK_LIBRARIES(python_parser ${PYTHON_LIBRARIES})
+  TARGET_LINK_LIBRARIES(python_parser ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY})
 ENDIF(BUILD_PYTHON_INTERFACE)
 
 # Work in progress