Merge branch 'solver-bindings' into develop

Conflicts: CMakeLists.txt
roboticslab-uc3m · Jan 19, 2018 · cdc0133 · cdc0133
2 parents 093594c + 6c9084f
commit cdc0133
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Showing 6 changed files with 18 additions and 36 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -57,19 +57,6 @@ set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR})
 set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR})
 set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR})
 
-# Generate export header.
-include(GenerateExportHeader)
-
-# Dummy source file and library target for generate_export_header().
-file(WRITE ${CMAKE_BINARY_DIR}/generated_src/empty.c "")
-add_library(ROBOTICSLAB_KINEMATICS_DYNAMICS EXCLUDE_FROM_ALL ${CMAKE_BINARY_DIR}/generated_src/empty.c)
-
-generate_export_header(ROBOTICSLAB_KINEMATICS_DYNAMICS
-                       EXPORT_FILE_NAME ${CMAKE_BINARY_DIR}/generated_include/roboticslab-kinematics-dynamics-export.h)
-
-install(FILES ${CMAKE_BINARY_DIR}/generated_include/roboticslab-kinematics-dynamics-export.h
-        DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
-
 # Enabling coverage.
 option(ENABLE_coverage "Choose if you want to enable coverage collection" OFF)
 
@@ -93,7 +80,7 @@ if(USE_SYSTEM_COLOR_DEBUG)
 endif()
 
 # Store common include directories in global scope.
-set_property(GLOBAL PROPERTY ROBOTICSLAB_KINEMATICS_DYNAMICS_INCLUDE_DIRS ${CMAKE_BINARY_DIR}/generated_include)
+set_property(GLOBAL PROPERTY ROBOTICSLAB_KINEMATICS_DYNAMICS_INCLUDE_DIRS)
 
 # Store list of exported targets in global scope.
 set_property(GLOBAL PROPERTY ROBOTICSLAB_KINEMATICS_DYNAMICS_TARGETS)

diff --git a/bindings/kinematics_dynamics.i b/bindings/kinematics_dynamics.i
@@ -20,10 +20,12 @@
 
 %{
 /* Includes the header in the wrapper code */
+#include "ICartesianSolver.h"
 #include "ICartesianControl.h"
 %}
 
 /* Parse the header file to generate wrappers */
+%include "ICartesianSolver.h"
 %include "ICartesianControl.h"
 
 %extend roboticslab::ICartesianControl
@@ -37,6 +39,17 @@
     }
 }
 
+%{
+#include <yarp/dev/all.h>
+roboticslab::ICartesianSolver *viewICartesianSolver(yarp::dev::PolyDriver& d)
+{
+    roboticslab::ICartesianSolver *result;
+    d.view(result);
+    return result;
+}
+%}
+extern roboticslab::ICartesianSolver *viewICartesianSolver(yarp::dev::PolyDriver& d);
+
 %{
 #include <yarp/dev/all.h>
 roboticslab::ICartesianControl *viewICartesianControl(yarp::dev::PolyDriver& d)

diff --git a/libraries/YarpPlugins/AmorCartesianControl/ICartesianControlImpl.cpp b/libraries/YarpPlugins/AmorCartesianControl/ICartesianControlImpl.cpp
@@ -4,6 +4,8 @@
 
 #include <cmath>
 
+#include <ColorDebug.hpp>
+
 #include "KinematicRepresentation.hpp"
 
 // ------------------- ICartesianControl Related ------------------------------------

diff --git a/libraries/YarpPlugins/AsibotSolver/ICartesianSolverImpl.cpp b/libraries/YarpPlugins/AsibotSolver/ICartesianSolverImpl.cpp
@@ -9,6 +9,8 @@
 #include <yarp/math/SVD.h>
 #include <yarp/sig/Matrix.h>
 
+#include <ColorDebug.hpp>
+
 #include "KinematicRepresentation.hpp"
 
 // -----------------------------------------------------------------------------

diff --git a/libraries/YarpPlugins/CMakeLists.txt b/libraries/YarpPlugins/CMakeLists.txt
@@ -13,9 +13,6 @@ include(YarpPlugin)
 # Common YARP includes for subdirectories (needless since YARP 2.3.70).
 include_directories(${YARP_INCLUDE_DIRS})
 
-# Include export headers (ATM only deprecation notices).
-include_directories(${CMAKE_BINARY_DIR}/generated_include)
-
 # Make interface headers discoverable by subdirectories.
 include_directories(${CMAKE_CURRENT_SOURCE_DIR})
 

diff --git a/libraries/YarpPlugins/ICartesianSolver.h b/libraries/YarpPlugins/ICartesianSolver.h
@@ -5,10 +5,6 @@
 
 #include <vector>
 
-#include "roboticslab-kinematics-dynamics-export.h"
-
-#include <ColorDebug.hpp>
-
 /**
  * @file
  * @brief Contains roboticslab::ICartesianSolver
@@ -29,21 +25,6 @@ class ICartesianSolver
         //! Destructor
         virtual ~ICartesianSolver() {}
 
-        /**
-         * @deprecated Use @ref getNumJoints instead.
-         *
-         * @brief Get number of links for which the solver has been configured
-         *
-         * @param numLinks Number of links.
-         *
-         * @return true on success, false otherwise
-         */
-        ROBOTICSLAB_KINEMATICS_DYNAMICS_DEPRECATED virtual bool getNumLinks(int* numLinks)
-        {
-            CD_WARNING("getNumLinks deprecated: use getNumJoints instead.\n");
-            return getNumJoints(numLinks);
-        }
-
         /**
          * @brief Get number of joints for which the solver has been configured
          *