Fix Switch bindings.

include/sot/core/switch.hh

@@ -22,6 +22,7 @@ template <typename Value, typename Time = int>
 class SOT_CORE_DLLAPI Switch : public VariadicAbstract<Value, Value, Time> {
   DYNAMIC_GRAPH_ENTITY_DECL();
 
+public:
   typedef VariadicAbstract<Value, Value, Time> Base;
 
   Switch(const std::string &name)
@@ -55,6 +56,9 @@ class SOT_CORE_DLLAPI Switch : public VariadicAbstract<Value, Value, Time> {
     return "Dynamically select a given signal based on a input information.\n";
   }
 
+  SignalPtr<int, Time> selectionSIN;
+  SignalPtr<bool, Time> boolSelectionSIN;
+
 private:
   Value &signal(Value &ret, const Time &time) {
     int sel;
@@ -70,9 +74,6 @@ private:
     ret = this->signalsIN[sel]->access(time);
     return ret;
   }
-
-  SignalPtr<int, Time> selectionSIN;
-  SignalPtr<bool, Time> boolSelectionSIN;
 };
 } // namespace sot
 } // namespace dynamicgraph

src/tools/switch-python-module-py.cc

+#include "dynamic-graph/python/module.hh"
+#include <sot/core/switch.hh>
+
+namespace dg = dynamicgraph;
+typedef bp::return_value_policy<bp::reference_existing_object> reference_existing_object;
+
+template<typename T, typename Time>
+void exposeSwitch()
+{
+  typedef dg::sot::Switch<T, Time> E_t;
+  typedef typename E_t::Base B_t;
+  dg::python::exposeEntity<E_t, bp::bases<dg::Entity>, dg::python::AddCommands>()
+      .def_readonly("sout", &E_t::SOUT)
+      .def("sin", &B_t::getSignalIn, reference_existing_object())
+      .add_property("n_sin", &B_t::getSignalNumber, &B_t::setSignalNumber,
+            "the number of input signal.")
+      .def_readonly("selection", &E_t::selectionSIN)
+      .def_readonly("boolSelection", &E_t::boolSelectionSIN)
+
+      .def("setSignalNumber", &B_t::setSignalNumber,
+            "set the number of input signal.", bp::arg("size"))
+      .def("getSignalNumber", &B_t::getSignalNumber,
+            "get the number of input signal.", bp::arg("size"))
+      ;
+}
+
+BOOST_PYTHON_MODULE(wrap)
+{
+  exposeSwitch <bool, int> ();
+  exposeSwitch <dg::Vector, int> ();
+  exposeSwitch <dg::sot::MatrixHomogeneous, int> ();
+
+}

src/tools/switch-python.h

-#include <sot/core/switch.hh>
-
-namespace dg = ::dynamicgraph;
-typedef boost::mpl::vector<
-  dg::sot::Switch<bool, int>
-  , dg::sot::Switch<dg::Vector, int>
-  , dg::sot::Switch<dg::sot::MatrixHomogeneous, int>
-> entities_t;

src/tools/switch.cpp

@@ -18,12 +18,18 @@ std::string VariadicAbstract<Tin, Tout, Time>::getTypeOutName(void) {
   return TypeNameHelper<Tout>::typeName();
 }
 
+template class VariadicAbstract<Vector, Vector, int>;
+
 typedef Switch<Vector, int> SwitchVector;
 template <> DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(SwitchVector, "SwitchVector");
 
+template class VariadicAbstract<bool, bool, int>;
+
 typedef Switch<bool, int> SwitchBool;
 template <> DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(SwitchBool, "SwitchBoolean");
 
+template class VariadicAbstract<MatrixHomogeneous, MatrixHomogeneous, int>;
+
 typedef Switch<MatrixHomogeneous, int> SwitchMatrixHomogeneous;
 template <>
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(SwitchMatrixHomogeneous,