Add some documentation about python module and python classes.

Author: florent-lamiraux

include/dynamic-graph/tutorial/doc-cxx.hh

@@ -125,6 +125,10 @@ using a macro defined in <c>dynamic-graph/factory.h</c>:
 \code
     DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(InvertedPendulum, "InvertedPendulum");
 \endcode
+\note The two parameters of the macros are respectively
+\li the C++ type of the new Entity,
+\li the name of the type of the corresponding python class. It is highly
+recommended to use the same name for both.
 
 \subsection dg_tutorial_inverted_pendulum_cxx_implementation_constructor Constructor
 

include/dynamic-graph/tutorial/doc-python.hh

@@ -6,13 +6,12 @@
 Generating python bindings for new Entity classes is straightforward. We only need to add the following lines into file <c>src/CMakeLists.txt</c>:
 
 <code>
-SET(NEW_ENTITY_CLASS
-  InvertedPendulum
-  FeedbackController
-  )
-
-DYNAMIC_GRAPH_PYTHON_MODULE("tutorial")
+DYNAMIC_GRAPH_PYTHON_MODULE("tutorial" ${LIBRARY_NAME} wrap)
 </code>
-\sa <a href="../sphinx-html/index.html">documentation of python bindings</a>,
-<c>src/simu.py</c> for an example python script.
+
+This will create and install a python module called <c>dynamic_graph.tutorial</c>, linked with library <c>${LIBRARY_NAME} (libdynamic-graph-tutorial.so)</c>.
+When importing this module, two new python classes deriving from <c>Entity</c> are created:
+\li InvertedPendulum, and
+\li FeedbackController.
+\sa <c>src/simu.py</c> for an example python script.
  */

src/CMakeLists.txt

@@ -41,9 +41,5 @@ PKG_CONFIG_USE_DEPENDENCY(${PROJECT_NAME} dynamic-graph-python)
 INSTALL(TARGETS ${LIBRARY_NAME}
   DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
 
-SET(NEW_ENTITY_CLASS
-  InvertedPendulum
-  FeedbackController
-  )
-
+# Create a python module containing new Python entity classes
 DYNAMIC_GRAPH_PYTHON_MODULE("tutorial" ${LIBRARY_NAME} wrap)

src/feedback-controller.cc

@@ -13,6 +13,9 @@
 using namespace dynamicgraph;
 using namespace dynamicgraph::tutorial;
 
+// Register new Entity type in the factory
+// Note that the second argument is the type name of the python class
+// that will be created when importing the python module.
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(FeedbackController, "FeedbackController");
 
 FeedbackController::FeedbackController(const std::string& inName) :

src/inverted-pendulum.cc

@@ -19,6 +19,9 @@ using namespace dynamicgraph::tutorial;
 
 const double Constant::gravity = 9.81;
 
+// Register new Entity type in the factory
+// Note that the second argument is the type name of the python class
+// that will be created when importing the python module.
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(InvertedPendulum, "InvertedPendulum");
 
 InvertedPendulum::InvertedPendulum(const std::string& inName) :