Fix python bindings import issues

CHANGELOG.md

@@ -16,6 +16,7 @@ Release Versions:
 - Improve installation script and python installation guide (#274)
 - Fix path in protocol installation guide (#275)
 - Add force limit parameter to Impedance controller (#276)
+- Fix python bindings import issues (#279)
 
 ## 5.1.0
 

VERSION

@@ -1 +1 @@
-5.1.4
+5.1.5

doxygen/doxygen.conf

@@ -38,7 +38,7 @@ PROJECT_NAME           = "Control Libraries"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER = 5.1.4
+PROJECT_NUMBER = 5.1.5
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

protocol/clproto_cpp/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.9)
-project(clproto VERSION 5.1.4)
+project(clproto VERSION 5.1.5)
 
 set(CMAKE_CXX_STANDARD 17)
 

python/setup.py

@@ -10,7 +10,7 @@
 osqp_path_var = 'OSQP_INCLUDE_DIR'
 openrobots_path_var = 'OPENROBOTS_INCLUDE_DIR'
 
-__version__ = "5.1.4"
+__version__ = "5.1.5"
 __libraries__ = ['state_representation', 'clproto', 'controllers', 'dynamical_systems', 'robot_model']
 __include_dirs__ = ['include']
 

python/source/controllers/bind_cartesian_controllers.cpp

@@ -14,7 +14,8 @@ using namespace state_representation;
 using namespace py_parameter;
 
 void cartesian_controller(py::module_& m) {
-  py::class_<IController<CartesianState>, std::shared_ptr<IController<CartesianState>>, ParameterMap, PyController<CartesianState>> c(m, "ICartesianController");
+  py::object parameter_map = py::module_::import("state_representation").attr("ParameterMap");
+  py::class_<IController<CartesianState>, std::shared_ptr<IController<CartesianState>>, PyController<CartesianState>> c(m, "ICartesianController", parameter_map);
 
   c.def(
       "compute_command", py::overload_cast<const CartesianState&, const CartesianState&>(&IController<CartesianState>::compute_command),

python/source/controllers/bind_joint_controllers.cpp

@@ -11,7 +11,8 @@ using namespace state_representation;
 using namespace py_parameter;
 
 void joint_controller(py::module_& m) {
-  py::class_<IController<JointState>, std::shared_ptr<IController<JointState>>, ParameterMap, PyController<JointState>> c(m, "IJointController");
+  py::object parameter_map = py::module_::import("state_representation").attr("ParameterMap");
+  py::class_<IController<JointState>, std::shared_ptr<IController<JointState>>, PyController<JointState>> c(m, "IJointController", parameter_map);
 
   c.def(
       "compute_command", py::overload_cast<const JointState&, const JointState&>(&IController<JointState>::compute_command),

python/source/controllers/controllers_bindings.cpp

@@ -12,6 +12,8 @@ PYBIND11_MODULE(controllers, m) {
   m.attr("__version__") = "dev";
   #endif
 
+  py::module_::import("state_representation");
+
   bind_type(m);
   bind_computational_space(m);
   bind_cartesian_controllers(m);

python/source/dynamical_systems/bind_cartesian.cpp

@@ -13,7 +13,8 @@
 using namespace state_representation;
 
 void cartesian(py::module_& m) {
-  py::class_<IDynamicalSystem<CartesianState>, std::shared_ptr<IDynamicalSystem<CartesianState>>, ParameterMap, PyDynamicalSystem<CartesianState>> c(m, "ICartesianDS");
+  py::object parameter_map = py::module_::import("state_representation").attr("ParameterMap");
+  py::class_<IDynamicalSystem<CartesianState>, std::shared_ptr<IDynamicalSystem<CartesianState>>, PyDynamicalSystem<CartesianState>> c(m, "ICartesianDS", parameter_map);
 
   c.def(py::init<>());
 

python/source/dynamical_systems/bind_joint.cpp

@@ -11,7 +11,8 @@
 using namespace state_representation;
 
 void joint(py::module_& m) {
-  py::class_<IDynamicalSystem<JointState>, std::shared_ptr<IDynamicalSystem<JointState>>, ParameterMap, PyDynamicalSystem<JointState>> c(m, "IJointDS");
+  py::object parameter_map = py::module_::import("state_representation").attr("ParameterMap");
+  py::class_<IDynamicalSystem<JointState>, std::shared_ptr<IDynamicalSystem<JointState>>, PyDynamicalSystem<JointState>> c(m, "IJointDS", parameter_map);
 
   c.def(py::init<>());
 

python/source/dynamical_systems/dynamical_systems_bindings.cpp

@@ -12,6 +12,8 @@ PYBIND11_MODULE(dynamical_systems, m) {
   m.attr("__version__") = "dev";
   #endif
 
+  py::module_::import("state_representation");
+
   bind_type(m);
   bind_cartesian(m);
   bind_joint(m);

source/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.15)
 
-project(control_libraries VERSION 5.1.4)
+project(control_libraries VERSION 5.1.5)
 
 # Build options
 option(BUILD_TESTING "Build all tests." OFF)