refactor

MAminSFV · Sep 12, 2024 · 613a5c9 · 613a5c9
1 parent 6afc062
commit 613a5c9
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Showing 2 changed files with 4 additions and 2 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -53,8 +53,8 @@ set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
 # Add a library using FindPython's tooling (pybind11 also provides a helper like
 # this)
-python_add_library(drake_extension_ext MODULE src/drake_extension_ext.cpp WITH_SOABI)
-target_link_libraries(drake_extension_ext PUBLIC pybind11::headers drake::drake)
+pybind11_add_module(drake_extension_ext MODULE src/drake_extension_ext.cpp)
+target_link_libraries(drake_extension_ext PUBLIC drake::drake)
 set_target_properties(drake_extension_ext PROPERTIES CXX_VISIBILITY_PRESET default)
 
 # This is passing in the version as a define just as an example

diff --git a/src/drake_extension_ext.cpp b/src/drake_extension_ext.cpp
@@ -40,6 +40,8 @@ class SimpleAdder : public LeafSystem<T> {
 PYBIND11_MODULE(drake_extension_ext , m) {
   m.doc() = "Example module interfacing with pydrake and Drake C++";
 
+  py::module::import("pydrake.systems.framework");
+
   using T = double;
 
   py::class_<SimpleAdder<T>, LeafSystem<T>>(m, "SimpleAdder")