Adding [DQ_CoppeliaSimInterface_py.cpp] with the wrapper for DQ_CoppeliaSimInterface.

Author: Murilo M. Marinho

cpp

@@ -170,6 +170,9 @@ PYBIND11_MODULE(_dqrobotics, m) {
     py::module coppeliasim_py = interfaces_py.def_submodule("_coppeliasim", "The CoppeliaSim submodule of DQ Robotics.");
 
     //DQ_CoppeliaSimInterface
+    init_DQ_CoppeliaSimInterface_py(coppeliasim_py);
+
+    //DQ_CoppeliaSimInterfaceZMQ
     init_DQ_CoppeliaSimInterfaceZMQ_py(coppeliasim_py);
 }
 

interfaces/cpp-interface-coppeliasim-zmq

@@ -1,3 +1,4 @@
+#pragma once
 /**
 (C) Copyright 2019 DQ Robotics Developers
 
@@ -20,9 +21,6 @@ This file is part of DQ Robotics.
 - Murilo M. Marinho ([email protected])
 */
 
-#ifndef DQ_ROBOTICS_PYTHON_HEADER_GUARD
-#define DQ_ROBOTICS_PYTHON_HEADER_GUARD
-
 #include <pybind11/pybind11.h>
 #include <pybind11/operators.h>
 #include <pybind11/stl.h>
@@ -63,6 +61,7 @@ namespace py = pybind11;
 #include <dqrobotics/robots/KukaYoubotRobot.h>
 #include <dqrobotics/robots/FrankaEmikaPandaRobot.h>
 
+#include <dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimInterface.h>
 #include <dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimInterfaceZMQ.h>
 
 #include <dqrobotics/interfaces/json11/DQ_JsonReader.h>
@@ -103,9 +102,9 @@ void init_DQ_QuadraticProgrammingController_py(py::module& m);
 void init_DQ_QuadraticProgrammingSolver_py(py::module& m);
 
 //dqrobotics/interfaces/coppeliasim
+void init_DQ_CoppeliaSimInterface_py(py::module& m);
 void init_DQ_CoppeliaSimInterfaceZMQ_py(py::module& m);
 
 //dqrobotics/interfaces/json11
 void init_DQ_JsonReader_py(py::module& m);
 
-#endif

src/dqrobotics_module.cpp

@@ -0,0 +1,86 @@
+/**
+(C) Copyright 2019-2025 DQ Robotics Developers
+
+This file is part of DQ Robotics.
+
+    DQ Robotics is free software: you can redistribute it and/or modify
+    it under the terms of the GNU Lesser General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    DQ Robotics is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU Lesser General Public License for more details.
+
+    You should have received a copy of the GNU Lesser General Public License
+    along with DQ Robotics.  If not, see <http://www.gnu.org/licenses/>.
+
+Contributors:
+1.  Murilo M. Marinho        ([email protected])
+        - Initial implementation.
+*/
+
+#include "../../dqrobotics_module.h"
+
+void init_DQ_CoppeliaSimInterface_py(py::module& m)
+{
+    /***************************************************
+    *  DQ SerialManipulator
+    * **************************************************/
+    py::class_<
+            DQ_CoppeliaSimInterface,
+            std::shared_ptr<DQ_CoppeliaSimInterface>
+            > c(m, "DQ_SerialManipulator");
+
+    ///Methods
+    //Virtual
+    //virtual bool connect(const std::string& host, const int& port, const int&TIMEOUT_IN_MILISECONDS) = 0;
+    c.def("connect", DQ_CoppeliaSimInterface::connect,"Connects to CoppeliaSim.");
+    //virtual void trigger_next_simulation_step() const = 0;
+    c.def("trigger_next_simulation_step", DQ_CoppeliaSimInterface::trigger_next_simulation_step,"Triggers the next simulation step.");
+    //virtual void set_stepping_mode(const bool& flag) const = 0;
+    c.def("set_stepping_mode", DQ_CoppeliaSimInterface::set_stepping_mode,"Sets the stepping mode.");
+    //virtual void start_simulation() const = 0;
+    c.def("start_simulation", DQ_CoppeliaSimInterface::start_simulation,"Starts the simulation.");
+    //virtual void stop_simulation()  const = 0;
+    c.def("stop_simulation", DQ_CoppeliaSimInterface::stop_simulation,"Stops the simulation.");
+
+    //virtual int get_object_handle(const std::string& objectname) = 0;
+    c.def("get_object_handle", DQ_CoppeliaSimInterface::get_object_handle,"Gets the object handle.");
+    //virtual std::vector<int> get_object_handles(const std::vector<std::string>& objectnames) = 0;
+    c.def("get_object_handles", DQ_CoppeliaSimInterface::get_object_handles,"Gets the object handles.");
+
+    //virtual DQ get_object_translation(const std::string& objectname) = 0;
+    c.def("get_object_translation", DQ_CoppeliaSimInterface::get_object_translation,"Gets the object translation.");
+    //virtual void set_object_translation(const std::string& objectname, const DQ& t) = 0;
+    c.def("set_object_translation", DQ_CoppeliaSimInterface::set_object_translation,"Sets the object translation.");
+
+    //virtual DQ get_object_rotation (const std::string& objectname) = 0;
+    c.def("get_object_rotation", DQ_CoppeliaSimInterface::get_object_rotation,"Gets the object rotation.");
+    //virtual void set_object_rotation (const std::string& objectname, const DQ& r) = 0;
+    c.def("set_object_rotation", DQ_CoppeliaSimInterface::set_object_rotation,"Sets the object rotation.");
+
+    //virtual DQ   get_object_pose       (const std::string& objectname) = 0;
+    c.def("get_object_pose", DQ_CoppeliaSimInterface::get_object_pose,"Gets the object pose.");
+    //virtual void set_object_pose       (const std::string& objectname, const DQ& h) = 0;
+    c.def("set_object_pose", DQ_CoppeliaSimInterface::set_object_pose,"Sets the object pose.");
+
+    //virtual VectorXd get_joint_positions(const std::vector<std::string>& jointnames) = 0;
+    c.def("get_joint_positions", DQ_CoppeliaSimInterface::get_joint_positions, "Gets the joint positions.");
+    //virtual void     set_joint_positions(const std::vector<std::string>& jointnames, const VectorXd& joint_positions) = 0;
+    c.def("set_joint_positions", DQ_CoppeliaSimInterface::set_joint_positions, "Sets the joint positions.");
+    //virtual void     set_joint_target_positions(const std::vector<std::string>& jointnames, const VectorXd& joint_target_positions) = 0;
+    c.def("set_joint_target_positions", DQ_CoppeliaSimInterface::set_joint_target_positions, "Sets the joint target positions.");
+
+    //virtual VectorXd get_joint_velocities(const std::vector<std::string>& jointnames) = 0;
+    c.def("get_joint_velocities", DQ_CoppeliaSimInterface::get_joint_velocities, "Gets the joint velocities.");
+    //virtual void     set_joint_target_velocities(const std::vector<std::string>& jointnames, const VectorXd& joint_target_velocities) = 0;
+    c.def("set_joint_target_velocities", DQ_CoppeliaSimInterface::set_joint_target_velocities, "Sets the target joint velocities");
+
+    //virtual void     set_joint_torques(const std::vector<std::string>& jointnames, const VectorXd& torques) = 0;
+    c.def("set_joint_torques", DQ_CoppeliaSimInterface::set_joint_torques, "Sets the joint torques");
+    //virtual VectorXd get_joint_torques(const std::vector<std::string>& jointnames) = 0;
+    c.def("get_joint_torques", DQ_CoppeliaSimInterface::get_joint_torques, "Gets the joint torques");
+
+}