Add Python bindings.

CMakeLists.txt

@@ -46,6 +46,7 @@ IF(BUILD_PYTHON_INTERFACE)
   ADD_PROJECT_DEPENDENCY(dynamic-graph-python REQUIRED
     PKG_CONFIG_REQUIRES dynamic-graph-python)
   SET(BOOST_COMPONENTS ${BOOST_COMPONENTS} python)
+  ADD_PROJECT_DEPENDENCY(dynamic-graph-python REQUIRED PKG_CONFIG_REQUIRES dynamic-graph-python)
 ENDIF(BUILD_PYTHON_INTERFACE)
 
 SEARCH_FOR_BOOST()

src/CMakeLists.txt

@@ -105,14 +105,19 @@ FOREACH(plugin ${plugins})
 
   IF(BUILD_PYTHON_INTERFACE)
     STRING(REPLACE - _ PYTHON_LIBRARY_NAME ${LIBRARY_NAME})
-    DYNAMIC_GRAPH_PYTHON_MODULE("${PYTHON_DIR}/${PYTHON_LIBRARY_NAME}"
-      ${LIBRARY_NAME} ${PROJECT_NAME}-${PYTHON_LIBRARY_NAME}-wrap)
+    if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/${plugin}-python-module-py.cc")
+      DYNAMIC_GRAPH_PYTHON_MODULE("${PYTHON_DIR}/${PYTHON_LIBRARY_NAME}"
+        ${LIBRARY_NAME} ${PROJECT_NAME}-${PYTHON_LIBRARY_NAME}-wrap
+        SOURCE_PYTHON_MODULE "${CMAKE_CURRENT_SOURCE_DIR}/${plugin}-python-module-py.cc")
+    else()
+      DYNAMIC_GRAPH_PYTHON_MODULE("${PYTHON_DIR}/${PYTHON_LIBRARY_NAME}"
+        ${LIBRARY_NAME} ${PROJECT_NAME}-${PYTHON_LIBRARY_NAME}-wrap
+        MODULE_HEADER "${CMAKE_CURRENT_SOURCE_DIR}/${plugin}-python.h")
+    endif()
   ENDIF(BUILD_PYTHON_INTERFACE)
 ENDFOREACH(plugin)
 
 IF(BUILD_PYTHON_INTERFACE)
-  DYNAMIC_GRAPH_PYTHON_MODULE(${PYTHON_DIR} ${PROJECT_NAME} wrap)
-
   INSTALL(FILES
     ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/__init__.py
     DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot)

src/control/admittance-control-op-point-python.h

+#include <sot/core/admittance-control-op-point.hh>
+
+typedef boost::mpl::vector<dynamicgraph::sot::core::AdmittanceControlOpPoint> entities_t;

src/control/control-gr-python.h

+#include <sot/core/control-gr.hh>
+
+typedef boost::mpl::vector<dynamicgraph::sot::ControlGR> entities_t;

src/control/control-pd-python.h

+#include <sot/core/control-pd.hh>
+
+typedef boost::mpl::vector<dynamicgraph::sot::ControlPD> entities_t;

src/feature/feature-1d-python.h

+#include <sot/core/feature-1d.hh>
+
+typedef boost::mpl::vector<dynamicgraph::sot::Feature1D> entities_t;

src/feature/feature-generic-python.h

+#include <sot/core/feature-generic.hh>
+
+typedef boost::mpl::vector<dynamicgraph::sot::FeatureGeneric> entities_t;

src/feature/feature-joint-limits-python.h

+#include <sot/core/feature-joint-limits.hh>
+
+typedef boost::mpl::vector<dynamicgraph::sot::FeatureJointLimits> entities_t;

src/feature/feature-line-distance-python.h

+#include <sot/core/feature-line-distance.hh>
+
+typedef boost::mpl::vector<dynamicgraph::sot::FeatureLineDistance> entities_t;

src/feature/feature-point6d-python.h

+#include <sot/core/feature-point6d.hh>
+
+typedef boost::mpl::vector<dynamicgraph::sot::FeaturePoint6d> entities_t;

src/feature/feature-point6d-relative-python.h

+#include <sot/core/feature-point6d-relative.hh>
+
+typedef boost::mpl::vector<dynamicgraph::sot::FeaturePoint6dRelative> entities_t;

src/feature/feature-pose-python.h

+#include <sot/core/feature-pose.hh>
+
+namespace dgs = dynamicgraph::sot;
+
+typedef boost::mpl::vector<
+  dgs::FeaturePose<dgs::SE3Representation>
+, dgs::FeaturePose<dgs::R3xSO3Representation>
+  > entities_t;

src/feature/feature-posture-python.h

+#include <sot/core/feature-posture.hh>
+
+typedef boost::mpl::vector<dynamicgraph::sot::FeaturePosture> entities_t;

src/feature/feature-task-python.h

+#include <sot/core/feature-task.hh>
+
+typedef boost::mpl::vector<dynamicgraph::sot::FeatureTask> entities_t;

src/feature/feature-vector3-python.h

+#include <sot/core/feature-vector3.hh>
+
+typedef boost::mpl::vector<dynamicgraph::sot::FeatureVector3> entities_t;

src/feature/feature-visual-point-python.h

+#include <sot/core/feature-visual-point.hh>
+
+typedef boost::mpl::vector<dynamicgraph::sot::FeatureVisualPoint> entities_t;

src/feature/visual-point-projecter-python.h

+#include <sot/core/visual-point-projecter.hh>
+
+typedef boost::mpl::vector<dynamicgraph::sot::VisualPointProjecter> entities_t;

src/filters/filter-differentiator-python.h

+#include <sot/core/filter-differentiator.hh>
+
+typedef boost::mpl::vector<dynamicgraph::sot::FilterDifferentiator> entities_t;

src/filters/madgwickahrs-python.h

+#include <sot/core/madgwickahrs.hh>
+
+typedef boost::mpl::vector<dynamicgraph::sot::MadgwickAHRS> entities_t;

src/math/op-point-modifier-python.h

+#include <sot/core/op-point-modifier.hh>
+
+typedef boost::mpl::vector<dynamicgraph::sot::OpPointModifier> entities_t;