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roboticslab-uc3m / amor-main

AMOR assistive robot: super/meta repository.
http://amorrobot.com/
GNU Lesser General Public License v2.1
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Generate bindings for Java, Python, etc. #1

Closed PeterBowman closed 6 years ago

PeterBowman commented 7 years ago

From @PeterBowman on November 11, 2016 12:52

Python and Java would be a good start.

Copied from original issue: jgvictores/amor-api#5 Just for the reference, I used https://github-issue-mover.appspot.com (source code)

PeterBowman commented 7 years ago

From @jgvictores on November 11, 2016 17:15

I'd definitely recommend wrapping the AMOR joint interface so it becomes a controlboard YARP device. Essentially, you have to inherit and implement from some YARP virtual classes, as in YarpOpenraveControlboard.

Through the YARP swig bindings, you can invoke the devices (as library or remotely (spanish explanation)) in Java (matlab example), Python (Python example) and many more.

Later on, the AMOR Cartesian interface could also be wrapped (or use our own cartesian controllers).

PeterBowman commented 7 years ago

Currently WIP at the bindings branch.

PeterBowman commented 6 years ago

Perhaps not the best place for AMOR bindings. The issue was moved from the private amor-api repo in order to promote easier distribution and reuse, though.

PeterBowman commented 6 years ago

Moving this back to the amor-api repository. The SWIG interface file (amor.i) may be installed and packaged along with everything else in bindings/. Similarly, YARP copies several files, including CMake ones, to a system data directory (ref).