1 #ifndef DYNAMIC_GRAPH_PYTHON_MODULE_HH 2 #define DYNAMIC_GRAPH_PYTHON_MODULE_HH 4 #ifdef PINOCCHIO_WITH_URDFDOM 6 #include <pinocchio/fwd.hpp> 9 #include <dynamic-graph/entity.h> 11 #include <boost/mpl/for_each.hpp> 12 #include <boost/mpl/vector.hpp> 13 #include <boost/python.hpp> 24 template <
typename T,
int Options = AddCommands | AddSignals>
27 assert(dynamic_cast<T*>(ent) != NULL);
28 bp::object obj(bp::ptr(static_cast<T*>(ent)));
33 template <
typename T,
int Options = AddCommands | AddSignals>
35 return makeEntity1<T, Options>(
"");
47 typename bases = boost::python::bases<dynamicgraph::Entity>,
48 int Options = AddCommands | AddSignals>
51 std::string hiddenClassName(T::CLASS_NAME);
53 bp::class_<T, bases, boost::noncopyable> obj(hiddenClassName.c_str(),
54 bp::init<std::string>());
76 bp::def(T::CLASS_NAME.c_str(), &internal::makeEntity1<T, Options>);
77 bp::def(T::CLASS_NAME.c_str(), &internal::makeEntity2<T, Options>);
86 #endif // DYNAMIC_GRAPH_PYTHON_MODULE_HH
void addSignals(boost::python::object obj)
bp::object makeEntity1(const char *name)
constexpr int AddCommands
void addCommands(boost::python::object obj)
Entity * create(const char *type, const char *name)
Create an instance of Entity.