[tools] Moved common-py.cpp to robot-utils-py.cpp

Added robot-utils-py.cpp in sot-core from common-py.cpp of sot-torque-control

Complete the moving of "common" to "robot_utils" by moving the python wrapper
Changing the CMakeLists accordingly.

Author: Noëlie Ramuzat

CMakeLists.txt

@@ -53,7 +53,9 @@ IF(BUILD_PYTHON_INTERFACE)
   STRING(REGEX REPLACE "-" "_" PY_NAME ${PROJECT_NAME})
   SET(${PY_NAME}_INSTALL_DIR ${PYTHON_SITELIB}/${PY_NAME})
   INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_DIRS})
+  SET(PYTHON_INSTALL_DIR ${CMAKE_INSTALL_PREFIX}/${PYTHON_SITELIB}/dynamic_graph/sot/core)
   ADD_REQUIRED_DEPENDENCY("dynamic-graph-python >= 3.0.0")
+
 ENDIF(BUILD_PYTHON_INTERFACE)
 ADD_COMPILE_DEPENDENCY ("pinocchio >= 2.0.0")
 
@@ -64,4 +66,16 @@ ADD_SUBDIRECTORY(src)
 ADD_SUBDIRECTORY(unitTesting)
 ADD_SUBDIRECTORY(doc)
 
+# **********************************
+# Robot_utils_sot_py PYTHON module *
+# **********************************
+IF(BUILD_PYTHON_INTERFACE)
+  PYTHON_ADD_MODULE(robot_utils_sot_py src/tools/robot-utils-py.cpp)
+  PKG_CONFIG_USE_DEPENDENCY(robot_utils_sot_py dynamic-graph)
+  TARGET_LINK_LIBRARIES(robot_utils_sot_py ${Boost_LIBRARIES} ${PYTHON_LIBRARIES} ${LIBRARY_NAME})
+  TARGET_LINK_BOOST_PYTHON(robot_utils_sot_py)
+  INSTALL(TARGETS robot_utils_sot_py DESTINATION ${PYTHON_INSTALL_DIR})
+
+ENDIF(BUILD_PYTHON_INTERFACE)
+
 SETUP_PROJECT_FINALIZE()

src/tools/robot-utils-py.cpp

@@ -0,0 +1,72 @@
+/*
+ * Copyright 2017, A. Del Prete, T. Flayols, O. Stasse, LAAS-CNRS
+ *
+ * This file is part of sot-core.
+ * See license file.
+ */
+
+#include <sot/core/robot-utils.hh>
+#include <boost/python.hpp>
+#include <boost/python/suite/indexing/map_indexing_suite.hpp>
+using namespace boost::python;
+using namespace dynamicgraph::sot;
+
+
+BOOST_PYTHON_MODULE(robot_utils_sot_py)
+{
+  class_<JointLimits>
+    ("JointLimits",init<double,double>())
+    .def_readwrite("upper",&JointLimits::upper)
+    .def_readwrite("lower",&JointLimits::lower)
+    ;
+
+  class_<ForceLimits>("ForceLimits",init<const Eigen::VectorXd &,const Eigen::VectorXd &>())
+    .def("display",&ForceLimits::display)
+    .def_readwrite("upper",&ForceLimits::upper)
+    .def_readwrite("lower",&ForceLimits::lower)
+    ;
+
+  class_<ForceUtil>("ForceUtil")
+    .def("set_name_to_force_id", &ForceUtil::set_name_to_force_id)
+    .def("set_force_id_to_limits", &ForceUtil::set_force_id_to_limits)
+    .def("create_force_id_to_name_map",&ForceUtil::create_force_id_to_name_map)
+    .def("get_id_from_name",        &ForceUtil::get_id_from_name)
+    .def("get_name_from_id",        &ForceUtil::cp_get_name_from_id)
+    .def("get_limits_from_id",      &ForceUtil::cp_get_limits_from_id)
+    .def("get_force_id_left_hand",  &ForceUtil::get_force_id_left_hand)
+    .def("set_force_id_left_hand",  &ForceUtil::set_force_id_left_hand)
+    .def("get_force_id_right_hand", &ForceUtil::get_force_id_right_hand)
+    .def("set_force_id_right_hand", &ForceUtil::set_force_id_right_hand)
+    .def("get_force_id_left_foot",  &ForceUtil::get_force_id_left_foot)
+    .def("set_force_id_left_foot",  &ForceUtil::set_force_id_left_foot)
+    .def("get_force_id_right_foot", &ForceUtil::get_force_id_right_foot)
+    .def("set_force_id_right_foot", &ForceUtil::set_force_id_right_foot)
+    .def("display",                 &ForceUtil::display)
+    ;
+
+  class_<RobotUtil>("RobotUtil")
+    .def_readwrite("m_force_util",&RobotUtil::m_force_util)
+    .def_readwrite("m_foot_util",&RobotUtil::m_foot_util)
+    .def_readwrite("m_urdf_to_sot",&RobotUtil::m_urdf_to_sot)
+    .def_readonly("m_nbJoints",&RobotUtil::m_nbJoints)
+    .def_readwrite("m_name_to_id",&RobotUtil::m_name_to_id)
+    .def_readwrite("m_id_to_name",&RobotUtil::m_id_to_name)
+    .def("set_joint_limits_for_id",&RobotUtil::set_joint_limits_for_id)
+    .def("get_joint_limits_from_id",&RobotUtil::cp_get_joint_limits_from_id)
+    //.def("set_joint_limits_for_id",&RobotUtil::set_joint_limits_for_id)
+    //.def("set_name_to_id", &RobotUtil::set_name_to_id)
+    //.def("create_id_to_name_map",&RobotUtil::create_id_to_name_map)
+    //.def("get_id_from_name",&RobotUtil::get_id_from_name)
+    ;
+
+
+  class_<std::map<Index,ForceLimits> >("IndexForceLimits")
+    .def(map_indexing_suite<std::map<Index,ForceLimits> > ());
+
+  class_<std::map<std::string,Index> >("stringIndex")
+    .def(map_indexing_suite<std::map<std::string,Index> > ());
+  
+  class_<std::map<Index,std::string> >("Indexstring")
+    .def(map_indexing_suite<std::map<Index,std::string> > ());
+  
+}