[CMakeLists.txt] Add DQ_CoppeliaSim wrapper to CMAKE and fix reference to methods.

Author: Murilo M. Marinho

CMakeLists.txt

@@ -95,6 +95,7 @@ pybind11_add_module(_dqrobotics
     interfaces/cpp-interface-json11/dropbox/json11/json11.cpp
 
     #interfaces/copppeliasim-zmq
+    src/interfaces/coppeliasim/DQ_CoppeliaSimInterface_py.cpp
     src/interfaces/coppeliasim/DQ_CoppeliaSimInterfaceZMQ_py.cpp
 )
 

src/interfaces/coppeliasim/DQ_CoppeliaSimInterface_py.cpp

@@ -36,51 +36,51 @@ void init_DQ_CoppeliaSimInterface_py(py::module& m)
     ///Methods
     //Virtual
     //virtual bool connect(const std::string& host, const int& port, const int&TIMEOUT_IN_MILISECONDS) = 0;
-    c.def("connect", DQ_CoppeliaSimInterface::connect,"Connects to CoppeliaSim.");
+    c.def("connect", &DQ_CoppeliaSimInterface::connect,"Connects to CoppeliaSim.");
     //virtual void trigger_next_simulation_step() const = 0;
-    c.def("trigger_next_simulation_step", DQ_CoppeliaSimInterface::trigger_next_simulation_step,"Triggers the next simulation step.");
+    c.def("trigger_next_simulation_step", &DQ_CoppeliaSimInterface::trigger_next_simulation_step,"Triggers the next simulation step.");
     //virtual void set_stepping_mode(const bool& flag) const = 0;
-    c.def("set_stepping_mode", DQ_CoppeliaSimInterface::set_stepping_mode,"Sets the stepping mode.");
+    c.def("set_stepping_mode", &DQ_CoppeliaSimInterface::set_stepping_mode,"Sets the stepping mode.");
     //virtual void start_simulation() const = 0;
-    c.def("start_simulation", DQ_CoppeliaSimInterface::start_simulation,"Starts the simulation.");
+    c.def("start_simulation", &DQ_CoppeliaSimInterface::start_simulation,"Starts the simulation.");
     //virtual void stop_simulation()  const = 0;
-    c.def("stop_simulation", DQ_CoppeliaSimInterface::stop_simulation,"Stops the simulation.");
+    c.def("stop_simulation", &DQ_CoppeliaSimInterface::stop_simulation,"Stops the simulation.");
 
     //virtual int get_object_handle(const std::string& objectname) = 0;
-    c.def("get_object_handle", DQ_CoppeliaSimInterface::get_object_handle,"Gets the object handle.");
+    c.def("get_object_handle", &DQ_CoppeliaSimInterface::get_object_handle,"Gets the object handle.");
     //virtual std::vector<int> get_object_handles(const std::vector<std::string>& objectnames) = 0;
-    c.def("get_object_handles", DQ_CoppeliaSimInterface::get_object_handles,"Gets the object handles.");
+    c.def("get_object_handles", &DQ_CoppeliaSimInterface::get_object_handles,"Gets the object handles.");
 
     //virtual DQ get_object_translation(const std::string& objectname) = 0;
-    c.def("get_object_translation", DQ_CoppeliaSimInterface::get_object_translation,"Gets the object translation.");
+    c.def("get_object_translation", &DQ_CoppeliaSimInterface::get_object_translation,"Gets the object translation.");
     //virtual void set_object_translation(const std::string& objectname, const DQ& t) = 0;
-    c.def("set_object_translation", DQ_CoppeliaSimInterface::set_object_translation,"Sets the object translation.");
+    c.def("set_object_translation", &DQ_CoppeliaSimInterface::set_object_translation,"Sets the object translation.");
 
     //virtual DQ get_object_rotation (const std::string& objectname) = 0;
-    c.def("get_object_rotation", DQ_CoppeliaSimInterface::get_object_rotation,"Gets the object rotation.");
+    c.def("get_object_rotation", &DQ_CoppeliaSimInterface::get_object_rotation,"Gets the object rotation.");
     //virtual void set_object_rotation (const std::string& objectname, const DQ& r) = 0;
-    c.def("set_object_rotation", DQ_CoppeliaSimInterface::set_object_rotation,"Sets the object rotation.");
+    c.def("set_object_rotation", &DQ_CoppeliaSimInterface::set_object_rotation,"Sets the object rotation.");
 
     //virtual DQ   get_object_pose       (const std::string& objectname) = 0;
-    c.def("get_object_pose", DQ_CoppeliaSimInterface::get_object_pose,"Gets the object pose.");
+    c.def("get_object_pose", &DQ_CoppeliaSimInterface::get_object_pose,"Gets the object pose.");
     //virtual void set_object_pose       (const std::string& objectname, const DQ& h) = 0;
-    c.def("set_object_pose", DQ_CoppeliaSimInterface::set_object_pose,"Sets the object pose.");
+    c.def("set_object_pose", &DQ_CoppeliaSimInterface::set_object_pose,"Sets the object pose.");
 
     //virtual VectorXd get_joint_positions(const std::vector<std::string>& jointnames) = 0;
-    c.def("get_joint_positions", DQ_CoppeliaSimInterface::get_joint_positions, "Gets the joint positions.");
+    c.def("get_joint_positions", &DQ_CoppeliaSimInterface::get_joint_positions, "Gets the joint positions.");
     //virtual void     set_joint_positions(const std::vector<std::string>& jointnames, const VectorXd& joint_positions) = 0;
-    c.def("set_joint_positions", DQ_CoppeliaSimInterface::set_joint_positions, "Sets the joint positions.");
+    c.def("set_joint_positions", &DQ_CoppeliaSimInterface::set_joint_positions, "Sets the joint positions.");
     //virtual void     set_joint_target_positions(const std::vector<std::string>& jointnames, const VectorXd& joint_target_positions) = 0;
-    c.def("set_joint_target_positions", DQ_CoppeliaSimInterface::set_joint_target_positions, "Sets the joint target positions.");
+    c.def("set_joint_target_positions", &DQ_CoppeliaSimInterface::set_joint_target_positions, "Sets the joint target positions.");
 
     //virtual VectorXd get_joint_velocities(const std::vector<std::string>& jointnames) = 0;
-    c.def("get_joint_velocities", DQ_CoppeliaSimInterface::get_joint_velocities, "Gets the joint velocities.");
+    c.def("get_joint_velocities", &DQ_CoppeliaSimInterface::get_joint_velocities, "Gets the joint velocities.");
     //virtual void     set_joint_target_velocities(const std::vector<std::string>& jointnames, const VectorXd& joint_target_velocities) = 0;
-    c.def("set_joint_target_velocities", DQ_CoppeliaSimInterface::set_joint_target_velocities, "Sets the target joint velocities");
+    c.def("set_joint_target_velocities", &DQ_CoppeliaSimInterface::set_joint_target_velocities, "Sets the target joint velocities");
 
     //virtual void     set_joint_torques(const std::vector<std::string>& jointnames, const VectorXd& torques) = 0;
-    c.def("set_joint_torques", DQ_CoppeliaSimInterface::set_joint_torques, "Sets the joint torques");
+    c.def("set_joint_torques", &DQ_CoppeliaSimInterface::set_joint_torques, "Sets the joint torques");
     //virtual VectorXd get_joint_torques(const std::vector<std::string>& jointnames) = 0;
-    c.def("get_joint_torques", DQ_CoppeliaSimInterface::get_joint_torques, "Gets the joint torques");
+    c.def("get_joint_torques", &DQ_CoppeliaSimInterface::get_joint_torques, "Gets the joint torques");
 
 }