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<div class="moz-cite-prefix">On 09/06/2013 04:42 PM, Leif
Christensen wrote:<br>
</div>
<blockquote cite="mid:5229E9E7.7050207@dfki.de" type="cite">
<pre wrap="">Hi,
The c++ RigidBodyState has for example a 'hasValidPosition' method,
which seems to have no ruby binding
a) Do we have to implement the bindings manually?
b) Where to implement them (somewhere beneath base/types_ruby?
base/types/bindings/ruby? Conventions?)</pre>
</blockquote>
base/types/bindings/ruby. base/types_ruby is a historical artefact
that is going away.<br>
<blockquote cite="mid:5229E9E7.7050207@dfki.de" type="cite">
<pre wrap="">
c) Is there docu on this?</pre>
</blockquote>
Not really.<br>
<br>
There are three ways to get these methods on the Ruby side.<br>
<br>
- write bindings manually using e.g. rice<br>
- extend the typelib types, e.g. reimplement the C++ methods on the
Ruby side. This is done as typelib plugins, which for the base types
lie in types/bindings/ruby/typelib/blablabla.rb and should be
require'd by types/bindings/ruby/typelib.rb. This method is a bit
documented there:
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<a
href="http://rock-robotics.org/master/documentation/runtime/ruby_and_types.html">http://rock-robotics.org/master/documentation/runtime/ruby_and_types.html</a>.
The big issue with those is that they currently don't appear in the
API documentation (yuk)<br>
- write bindings automatically, but this is very experimental ATM<br>
<br>
IMO, if the stuff you need on the ruby side is simple, use the
typelib extension method. If it gets to more complicated methods,
wrap the type manually. I hope that in fine the automatic can be
hardened and generalized to all Rock packages.<br>
<pre class="moz-signature" cols="72">--
Sylvain Joyeux (Dr.Ing.)
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Space & Security Robotics
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