Add SWIG bindings for scenario

robotology · Mar 12, 2020 · 1b715c8 · 1b715c8
1 parent 8a213ff
commit 1b715c8
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Showing 2 changed files with 15 additions and 0 deletions.
diff --git a/bindings/CMakeLists.txt b/bindings/CMakeLists.txt
@@ -42,6 +42,7 @@ target_link_libraries(${swig_name} PUBLIC
     GazeboEnvironment
     RobotSingleton
     GazeboWrapper
+    ScenarioGazebo
     ${PYTHON_LIBRARIES})
 
 set_property(TARGET ${swig_name} PROPERTY

diff --git a/bindings/gympp_bindings.i b/bindings/gympp_bindings.i
@@ -11,6 +11,10 @@
 #include "gympp/gazebo/GymFactory.h"
 #include "gympp/gazebo/Metadata.h"
 #include "gympp/gazebo/RobotSingleton.h"
+#include "scenario/gazebo/Joint.h"
+#include "scenario/gazebo/Link.h"
+#include "scenario/gazebo/Model.h"
+#include "scenario/gazebo/World.h"
 #include <cstdint>
 %}
 
@@ -105,3 +109,13 @@
 %include "gympp/gazebo/Metadata.h"
 %include "gympp/gazebo/GymFactory.h"
 %include "gympp/gazebo/RobotSingleton.h"
+
+%shared_ptr(scenario::gazebo::Joint)
+%shared_ptr(scenario::gazebo::Link)
+%shared_ptr(scenario::gazebo::Model)
+%shared_ptr(scenario::gazebo::World)
+
+%include "scenario/gazebo/Joint.h"
+%include "scenario/gazebo/Link.h"
+%include "scenario/gazebo/Model.h"
+%include "scenario/gazebo/World.h"