Fix compiling and deployment of python-module-py.cpp

include/sot-dynamic-pinocchio/dynamic-pinocchio.h

@@ -29,8 +29,6 @@
 /* STD */
 #include <string>
 #include <map>
-/* Matrix */
-#include <dynamic-graph/linear-algebra.h>
 
 /* SOT */
 #include <sot/core/flags.hh>
@@ -40,6 +38,8 @@
 #include <dynamic-graph/signal-time-dependent.h>
 #include <sot/core/exception-dynamic.hh>
 #include <sot/core/matrix-geometry.hh>
+/* Matrix */
+#include <dynamic-graph/linear-algebra.h>
 
 /* PINOCCHIO */
 #include <pinocchio/macros.hpp>

src/CMakeLists.txt

@@ -61,6 +61,17 @@ FOREACH(lib ${plugins})
   UNSET({libname})
 ENDFOREACH(lib)
 
+IF(BUILD_PYTHON_INTERFACE)
+  DYNAMIC_GRAPH_PYTHON_MODULE("sot/dynamics_pinocchio/dynamic"
+    ""
+    dynamic-wrap-python
+    1
+    "src/python-module-py.cpp"
+    )
+  PKG_CONFIG_USE_DEPENDENCY(dynamic-wrap-python pinocchio)
+ENDIF(BUILD_PYTHON_INTERFACE)
+
+
 # Main Library
 ADD_LIBRARY(${LIBRARY_NAME} SHARED sot-dynamic-pinocchio.cpp)
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME} pinocchio)

src/python-module-py.cpp

@@ -13,8 +13,10 @@
 // You should have received a copy of the GNU Lesser General Public License
 // along with sot-dynamic-pinocchio.  If not, see <http://www.gnu.org/licenses/>.
 
-#include <Python.h>
+#include <sot/core/debug.hh>
+
 #include <sot-dynamic-pinocchio/dynamic-pinocchio.h>
+#include <Python.h>
 #include <boost/python.hpp>
 #include <typeinfo>
 #include <cstdio>