From 5c94af11aff1e545deee45a42ccb090fef61f45b Mon Sep 17 00:00:00 2001
From: Jeongseok Lee <jslee02@gmail.com>
Date: Fri, 18 May 2018 22:10:49 -0700
Subject: [PATCH 1/2] Add registries to the bottom of the module

---
 chimera/chimera.yml                | 12 ++++++++----
 chimera/templates/module.mstch.cpp |  2 +-
 2 files changed, 9 insertions(+), 5 deletions(-)

diff --git a/chimera/chimera.yml b/chimera/chimera.yml
index 036d246..e7da642 100644
--- a/chimera/chimera.yml
+++ b/chimera/chimera.yml
@@ -18,6 +18,7 @@ template:
     header: |
       #include <dartpy/pointers.h>
       #include <dartpy/template_registry.h>
+
       #include <dart/dart.hpp>
       #include <dart/collision/bullet/bullet.hpp>
       #include <dart/optimizer/optimizer.hpp>
@@ -32,15 +33,15 @@ template:
       '/* postinclude */'
     footer:
       '/* footer */'
-    # TODO: Put this at the bottom of the module:
-    # dart::python::JointTemplateRegistry::register_default_types();
-    # dart::python::JointAndNodeTemplateRegistry::register_default_types();
   main:
     header: |
       #include <vector>
-      #include <dartpy/pointers.h>
+
       #include <dartpy/collections.h>
+      #include <dartpy/pointers.h>
+      #include <dartpy/template_registry.h>
       #include <dartpy/util.h>
+
       #include <dart/dart.hpp>
       #include <dart/collision/bullet/bullet.hpp>
       #include <dart/optimizer/optimizer.hpp>
@@ -117,6 +118,9 @@ template:
         dart::dynamics::DegreeOfFreedom*, dart::dynamics::DegreeOfFreedomPtr>();
       dart::python::util::collection_from_python<
         std::vector<dart::dynamics::DegreeOfFreedom*> >();
+    postcontent: |
+      dart::python::JointTemplateRegistry::register_default_types();
+      dart::python::JointAndNodeTemplateRegistry::register_default_types();
     footer: |
       // main footer
 
diff --git a/chimera/templates/module.mstch.cpp b/chimera/templates/module.mstch.cpp
index cecb521..fd13ab3 100644
--- a/chimera/templates/module.mstch.cpp
+++ b/chimera/templates/module.mstch.cpp
@@ -32,6 +32,6 @@ ::boost::python::docstring_options options(true, true, false);
   }
 
 {{/module.bindings}}
-}
 {{{postcontent}}}
+}
 {{{footer}}}

From c1fa6e75e5b2254db06bf784cf35a82057da1ea9 Mon Sep 17 00:00:00 2001
From: Jeongseok Lee <jslee02@gmail.com>
Date: Tue, 22 May 2018 16:30:40 -0700
Subject: [PATCH 2/2] Correct header inclusion order

---
 chimera/chimera.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/chimera/chimera.yml b/chimera/chimera.yml
index b3f547c..aaed129 100644
--- a/chimera/chimera.yml
+++ b/chimera/chimera.yml
@@ -39,8 +39,8 @@ template:
     header: |
       #include <vector>
 
+      #include <dartpy/pointers.h> // should be included before any other non-STL headers
       #include <dartpy/collections.h>
-      #include <dartpy/pointers.h>
       #include <dartpy/template_registry.h>
       #include <dartpy/util.h>