SoTTalosDevice inherits from Device

stack-of-tasks · Sep 2, 2020 · 4bad0d9 · 4bad0d9
1 parent 9e1ac69
commit 4bad0d9
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Showing 3 changed files with 12 additions and 4 deletions.
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -29,7 +29,7 @@ INSTALL(TARGETS ${DEVICE_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
 STRING(REPLACE - _ PYTHON_LIBRARY_NAME ${DEVICE_NAME})
 DYNAMIC_GRAPH_PYTHON_MODULE("sot/talos/${PYTHON_LIBRARY_NAME}"
   ${DEVICE_NAME} sot-talos-${PYTHON_LIBRARY_NAME}-wrap
-  MODULE_HEADER "${CMAKE_CURRENT_SOURCE_DIR}/${DEVICE_NAME}-python.hh")
+  SOURCE_PYTHON_MODULE "${CMAKE_CURRENT_SOURCE_DIR}/${DEVICE_NAME}-python-module-py.cc")
 
 # Add the library to wrap the controller of Pyrene.
 SET(CONTROLLER_NAME sot-pyrene-controller)

diff --git a/src/sot-talos-device-python-module-py.cc b/src/sot-talos-device-python-module-py.cc
@@ -0,0 +1,11 @@
+#include <dynamic-graph/python/module.hh>
+#include "sot-talos-device.hh"
+
+namespace dg = dynamicgraph;
+
+BOOST_PYTHON_MODULE(wrap)
+{
+  bp::import("dynamic_graph.sot.core.wrap");
+
+  dg::python::exposeEntity<SoTTalosDevice, bp::bases<dg::sot::Device> >();
+}
diff --git a/src/sot-talos-device-python.hh b/src/sot-talos-device-python.hh