[tools] Moved common-py.cpp to robot-utils-py.cpp

Added robot-utils-py.cpp in sot-core from common-py.cpp of sot-torque-control

Complete the moving of "common" to "robot_utils" by moving the python wrapper
Changing the CMakeLists accordingly.

CMakeLists.txt

@@ -100,15 +100,12 @@ SET(${LIBRARY_NAME}_HEADERS
   include/sot/torque_control/control-manager.hh
   include/sot/torque_control/current-controller.hh
   include/sot/torque_control/commands-helper.hh
-  include/sot/torque_control/signal-helper.hh
-  include/sot/torque_control/common.hh
   include/sot/torque_control/madgwickahrs.hh
   include/sot/torque_control/device-torque-ctrl.hh
   include/sot/torque_control/trace-player.hh
   include/sot/torque_control/torque-offset-estimator.hh
   include/sot/torque_control/imu_offset_compensation.hh
   include/sot/torque_control/admittance-controller.hh
-  include/sot/torque_control/utils/logger.hh
   include/sot/torque_control/utils/trajectory-generators.hh
   include/sot/torque_control/utils/lin-estimator.hh
   include/sot/torque_control/utils/poly-estimator.hh
@@ -124,7 +121,6 @@ SET(${LIBRARY_NAME}_HEADERS
 #  PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
 
 SET(${LIBRARY_NAME}_SOURCES ${${LIBRARY_NAME}_HEADERS}
-    src/logger.cpp
     src/trajectory-generators.cpp
     src/lin-estimator.cpp
     src/poly-estimator.cpp
@@ -132,7 +128,6 @@ SET(${LIBRARY_NAME}_SOURCES ${${LIBRARY_NAME}_HEADERS}
     src/causal-filter.cpp
     src/stop-watch.cpp
     src/motor-model.cpp
-    src/common.cpp
 )
 
 
@@ -194,13 +189,9 @@ ADD_SUBDIRECTORY(src)
 ADD_SUBDIRECTORY(unitTesting)
 
 # *****************************
-# Common-sot-py PYTHON module *
+# PYTHON interface            *
 # *****************************
 IF(BUILD_PYTHON_INTERFACE)
-  PYTHON_ADD_MODULE(common_sot_py src/common-py.cpp)
-  TARGET_LINK_LIBRARIES(common_sot_py ${Boost_LIBRARIES} ${PYTHON_LIBRARIES} ${LIBRARY_NAME})
-  TARGET_LINK_BOOST_PYTHON(common_sot_py)
-  INSTALL(TARGETS common_sot_py DESTINATION ${PYTHON_INSTALL_DIR})
 
   IF(TALOS_DATA_FOUND)
     FOREACH(py_filename test_torque_offset_estimator)

src/common-py.cpp

-/*
- * Copyright 2017, A. Del Prete, T. Flayols, O. Stasse, LAAS-CNRS
- *
- * This file is part of sot-torque-control.
- * sot-torque-control is free software: you can redistribute it and/or
- * modify it under the terms of the GNU Lesser General Public License
- * as published by the Free Software Foundation, either version 3 of
- * the License, or (at your option) any later version.
- * sot-torque-control is distributed in the hope that it will be
- * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
- * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU Lesser General Public License for more details.  You should
- * have received a copy of the GNU Lesser General Public License along
- * with sot-torque-control.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#include <sot/torque_control/common.hh>
-#include <boost/python.hpp>
-#include <boost/python/suite/indexing/map_indexing_suite.hpp>
-using namespace boost::python;
-using namespace dynamicgraph::sot::torque_control;
-
-
-BOOST_PYTHON_MODULE(common_sot_py)
-{
-  class_<JointLimits>
-    ("JointLimits",init<double,double>())
-    .def_readwrite("upper",&JointLimits::upper)
-    .def_readwrite("lower",&JointLimits::lower)
-    ;
-
-  class_<ForceLimits>("ForceLimits",init<const Eigen::VectorXd &,const Eigen::VectorXd &>())
-    .def("display",&ForceLimits::display)
-    .def_readwrite("upper",&ForceLimits::upper)
-    .def_readwrite("lower",&ForceLimits::lower)
-    ;
-
-  class_<ForceUtil>("ForceUtil")
-    .def("set_name_to_force_id", &ForceUtil::set_name_to_force_id)
-    .def("set_force_id_to_limits", &ForceUtil::set_force_id_to_limits)
-    .def("create_force_id_to_name_map",&ForceUtil::create_force_id_to_name_map)
-    .def("get_id_from_name",        &ForceUtil::get_id_from_name)
-    .def("get_name_from_id",        &ForceUtil::cp_get_name_from_id)
-    .def("get_limits_from_id",      &ForceUtil::cp_get_limits_from_id)
-    .def("get_force_id_left_hand",  &ForceUtil::get_force_id_left_hand)
-    .def("set_force_id_left_hand",  &ForceUtil::set_force_id_left_hand)
-    .def("get_force_id_right_hand", &ForceUtil::get_force_id_right_hand)
-    .def("set_force_id_right_hand", &ForceUtil::set_force_id_right_hand)
-    .def("get_force_id_left_foot",  &ForceUtil::get_force_id_left_foot)
-    .def("set_force_id_left_foot",  &ForceUtil::set_force_id_left_foot)
-    .def("get_force_id_right_foot", &ForceUtil::get_force_id_right_foot)
-    .def("set_force_id_right_foot", &ForceUtil::set_force_id_right_foot)
-    .def("display",                 &ForceUtil::display)
-    ;
-
-  class_<RobotUtil>("RobotUtil")
-    .def_readwrite("m_force_util",&RobotUtil::m_force_util)
-    .def_readwrite("m_foot_util",&RobotUtil::m_foot_util)
-    .def_readwrite("m_urdf_to_sot",&RobotUtil::m_urdf_to_sot)
-    .def_readonly("m_nbJoints",&RobotUtil::m_nbJoints)
-    .def_readwrite("m_name_to_id",&RobotUtil::m_name_to_id)
-    .def_readwrite("m_id_to_name",&RobotUtil::m_id_to_name)
-    .def("set_joint_limits_for_id",&RobotUtil::set_joint_limits_for_id)
-    .def("get_joint_limits_from_id",&RobotUtil::cp_get_joint_limits_from_id)
-    //.def("set_joint_limits_for_id",&RobotUtil::set_joint_limits_for_id)
-    //.def("set_name_to_id", &RobotUtil::set_name_to_id)
-    //.def("create_id_to_name_map",&RobotUtil::create_id_to_name_map)
-    //.def("get_id_from_name",&RobotUtil::get_id_from_name)
-    ;
-
-
-  class_<std::map<Index,ForceLimits> >("IndexForceLimits")
-    .def(map_indexing_suite<std::map<Index,ForceLimits> > ());
-
-  class_<std::map<std::string,Index> >("stringIndex")
-    .def(map_indexing_suite<std::map<std::string,Index> > ());
-  
-  class_<std::map<Index,std::string> >("Indexstring")
-    .def(map_indexing_suite<std::map<Index,std::string> > ());
-  
-}