kdl.orogen

name "kdl"
version "0.1"

# If new data types need to be defined, they have to be put in a separate C++
# header, and this header will be loaded here
# import_types_from "KDLType.hpp"

using_library 'base-types'
using_library 'orocos-kdl'

using_typekit 'base'
import_types_from 'base'

import_types_from 'KDL/wrappers/KDLTypes.hpp'

typekit.opaque_type '/KDL/Vector', 'wrappers/KDLVector'
typekit.opaque_type '/KDL/Vector2', 'wrappers/KDLVector2'
typekit.opaque_type '/KDL/Rotation', 'wrappers/KDLRotation'
typekit.opaque_type '/KDL/Rotation2', 'wrappers/KDLRotation2'
typekit.opaque_type '/KDL/Frame', 'wrappers/KDLFrame'
typekit.opaque_type '/KDL/Frame2', 'wrappers/KDLFrame2'
typekit.opaque_type '/KDL/Wrench', 'wrappers/KDLWrench'
typekit.opaque_type '/KDL/Twist', 'wrappers/KDLTwist'

typekit.opaque_type '/KDL/Jacobian', 'wrappers/KDLJacobian'
typekit.opaque_type '/KDL/Joint', 'wrappers/KDLJoint' #, :includes => ["KDL/frames.hpp"]
typekit.opaque_type '/KDL/JntArray', 'wrappers/KDLJntArray'

typekit.opaque_type '/KDL/RotationalInertia', 'wrappers/KDLRotationalInertia'
typekit.opaque_type '/KDL/RigidBodyInertia', 'wrappers/KDLRigidBodyInertia'
typekit.opaque_type '/KDL/Segment', 'wrappers/KDLSegment'
typekit.opaque_type '/KDL/Chain', 'wrappers/KDLChain'

import_types_from 'kdl/joint.hpp'
import_types_from 'kdl/jntarray.hpp'
import_types_from 'kdl/frames.hpp'
import_types_from 'kdl/chain.hpp'
import_types_from 'kdl/jacobian.hpp'
import_types_from 'kdl/rigidbodyinertia.hpp'
import_types_from 'kdl/rotationalinertia.hpp'
import_types_from 'kdl/segment.hpp'


typekit do
    remove_types "/KDL/Joint/JointType"
    export_types 'KDL/Joint',
        '/KDL/JntArray',
        '/KDL/Vector',
        '/KDL/Rotation',
        '/KDL/Segment',
        '/KDL/Chain',
        '/KDL/Frame',
        '/KDL/Twist',
        '/KDL/Wrench',
        '/std/vector</KDL/Frame>',
        '/std/vector</KDL/Wrench>',
        '/std/vector</KDL/Twist>'
end