Create element from python class in cpp

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This is my workspace

>>Folder1
    >>scr
        >>Gripper.cpp
    >>include
        >>Gripper.h
    >>script
        >>Arm.py

Inside Arm.py , I've got a class ArmClass defined, with some variables and functions. All the code I'm running is inside Gripper.cpp. I need to create a member of ArmClass inside my gripper.cpp. I was reading about this online but I couldn't figure out how to do it and didn't find any information on how to do it in ROS (I only found how to call Cpp classes in python code...)

Thanks