update for dynamic-graph-python v4

CMakeLists.txt

@@ -33,15 +33,14 @@ COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
 PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
 
 # Project dependencies
-ADD_PROJECT_DEPENDENCY(dynamic-graph REQUIRED PKG_CONFIG_REQUIRES dynamic-graph)
+ADD_PROJECT_DEPENDENCY(dynamic-graph REQUIRED)
 IF(BUILD_TESTING)
   FIND_PACKAGE(Boost REQUIRED COMPONENTS unit_test_framework)
 ENDIF(BUILD_TESTING)
 
 IF(BUILD_PYTHON_INTERFACE)
   FINDPYTHON()
-  ADD_PROJECT_DEPENDENCY(dynamic-graph-python REQUIRED
-    PKG_CONFIG_REQUIRES dynamic-graph-python)
+  ADD_PROJECT_DEPENDENCY(dynamic-graph-python 4.0.0 REQUIRED)
   SEARCH_FOR_BOOST_PYTHON(REQUIRED)
 ENDIF(BUILD_PYTHON_INTERFACE)
 
@@ -70,7 +69,9 @@ IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
 ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
 
 ADD_SUBDIRECTORY(src)
-ADD_SUBDIRECTORY(tests)
+IF(BUILD_TESTING)
+  ADD_SUBDIRECTORY(tests)
+ENDIF(BUILD_TESTING)
 ADD_SUBDIRECTORY(doc)
 
 IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)

cmake @ 59d817dc

-Subproject commit 91f97c1c31608f48d697a6b11037f13e878b9837
+Subproject commit 59d817dca29527e98bdbef555e09f25358810cae

include/dynamic-graph/tutorial/feedback-controller.hh

@@ -54,7 +54,7 @@ class FeedbackController : public Entity {
      @}
   */
 
- protected:
+ public:
   /*
     \brief Class name
   */

include/dynamic-graph/tutorial/inverted-pendulum.hh

@@ -125,7 +125,7 @@ class InvertedPendulum : public Entity {
      @}
   */
 
- protected:
+ public:
   /*
     \brief Class name
   */

src/CMakeLists.txt

 IF(BUILD_PYTHON_INTERFACE)
   PYTHON_INSTALL_ON_SITE("dynamic_graph/tutorial" simu.py)
-  DYNAMIC_GRAPH_PYTHON_MODULE("tutorial" ${PROJECT_NAME} tutorial-wrap)
+  DYNAMIC_GRAPH_PYTHON_MODULE("tutorial" ${PROJECT_NAME} tutorial-wrap
+    MODULE_HEADER "${CMAKE_CURRENT_SOURCE_DIR}/tutorial-python.h")
 ENDIF(BUILD_PYTHON_INTERFACE)

src/dynamic_graph/tutorial/simu.py

@@ -26,14 +26,9 @@ def build_graph():
     s = stateOut
     f = forceIn
 
-    s.value = (0.0, 0.1, 0.0, 0.0)
-
-    gain = ((
-        0.0,
-        27.0,
-        0.001,
-        0.001,
-    ), )
+    s.value = np.array((0.0, 0.1, 0.0, 0.0))
+
+    gain = np.array((0.0, 27.0, 0.001, 0.001))
     b.setGain(gain, )
 
     return s, f, a

src/tutorial-python.h

+#include "dynamic-graph/tutorial/feedback-controller.hh"
+#include "dynamic-graph/tutorial/inverted-pendulum.hh"
+
+typedef boost::mpl::vector<dynamicgraph::tutorial::FeedbackController, dynamicgraph::tutorial::InvertedPendulum>
+    entities_t;