1 |
|
|
#include <sot/tools/cubic-interpolation-se3.hh> |
2 |
|
|
#include <sot/tools/cubic-interpolation.hh> |
3 |
|
|
#include <sot/tools/kinematic-planner.hh> |
4 |
|
|
#include <sot/tools/oscillator.hh> |
5 |
|
|
#include <sot/tools/seqplay.hh> |
6 |
|
|
#include <sot/tools/simpleseqplay.hh> |
7 |
|
|
|
8 |
|
|
#include "dynamic-graph/python/module.hh" |
9 |
|
|
|
10 |
|
|
namespace dgst = dynamicgraph::sot::tools; |
11 |
|
|
|
12 |
|
|
typedef boost::mpl::vector<dgst::CubicInterpolation, |
13 |
|
|
dgst::CubicInterpolationSE3, dgst::Oscillator, |
14 |
|
|
dgst::Seqplay> |
15 |
|
|
entities_t; |
16 |
|
|
|
17 |
|
|
struct register_entity { |
18 |
|
|
template <typename T> |
19 |
|
8 |
inline void operator()(boost::type<T>) const { |
20 |
|
8 |
dynamicgraph::python::exposeEntity<T>(); |
21 |
|
8 |
} |
22 |
|
|
}; |
23 |
|
|
|
24 |
✓✗✓✗
|
4 |
BOOST_PYTHON_MODULE(wrap) { |
25 |
✓✗ |
2 |
bp::import("dynamic_graph"); |
26 |
✓✗ |
2 |
boost::mpl::for_each<entities_t, boost::type<boost::mpl::_> >( |
27 |
|
|
register_entity()); |
28 |
|
|
|
29 |
|
|
using dgst::SimpleSeqPlay; |
30 |
|
4 |
dynamicgraph::python::exposeEntity<SimpleSeqPlay>() |
31 |
✓✗ |
2 |
.def("waiting", &SimpleSeqPlay::waiting) |
32 |
✓✗ |
2 |
.def("initializing", &SimpleSeqPlay::initializing) |
33 |
✓✗ |
2 |
.def("executing", &SimpleSeqPlay::executing) |
34 |
✓✗ |
2 |
.def("finished", &SimpleSeqPlay::finished); |
35 |
|
2 |
} |