diff --git a/dynamic-graph-v3/Makefile b/dynamic-graph-v3/Makefile
index 3a31e102fdcb2435a4ec353ecab5e24e14fb34df..04a062d1b0fb61e6a6e0ac4fb18178bda4d78e7f 100644
--- a/dynamic-graph-v3/Makefile
+++ b/dynamic-graph-v3/Makefile
@@ -2,9 +2,9 @@
# Created: Rohan Budhiraja on Fri, 25 Jan 2016
#
PKG_NAME= dynamic-graph-v3
-VERSION= 3.0.0
+VERSION= 3.0.1
DISTNAME= ${PKG_NAME}-${VERSION}
-PKGREVISION= 2
+PKGREVISION= 0
CATEGORIES= wip
MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=dynamic-graph-v3/}
diff --git a/dynamic-graph-v3/PLIST b/dynamic-graph-v3/PLIST
index bc1040b6591a27d87ef4a39ffac6ff632059d0ff..10aaeb12914ca6aacfe3998f933020635c0c8129 100644
--- a/dynamic-graph-v3/PLIST
+++ b/dynamic-graph-v3/PLIST
@@ -1,59 +1,58 @@
@comment Fri Dec 11 17:57:27 CET 2015
-include/dynamic-graph/all-commands.h
-include/dynamic-graph/all-signals.h
-include/dynamic-graph/command-bind.h
-include/dynamic-graph/command-direct-getter.h
-include/dynamic-graph/command-direct-setter.h
-include/dynamic-graph/command-getter.h
-include/dynamic-graph/command-getter.t.cpp
-include/dynamic-graph/command-setter.h
-include/dynamic-graph/command-setter.t.cpp
-include/dynamic-graph/command.h
-include/dynamic-graph/config-contiifstream.hh
-include/dynamic-graph/config-shell-procedure.hh
-include/dynamic-graph/config-tracer-real-time.hh
-include/dynamic-graph/config-tracer.hh
-include/dynamic-graph/config.h
+
include/dynamic-graph/config.hh
+include/dynamic-graph/deprecated.hh
+include/dynamic-graph/warning.hh
+include/dynamic-graph/config-tracer.hh
+include/dynamic-graph/config-tracer-real-time.hh
+include/dynamic-graph/config-shell-procedure.hh
+include/dynamic-graph/config-contiifstream.hh
+lib/pkgconfig/dynamic-graph.pc
+lib/libdynamic-graph.so.${PKGVERSION}
+lib/libdynamic-graph.so
+lib/plugin/tracer.so
+lib/plugin/tracer-real-time.so
+include/dynamic-graph/import-default-paths.h
+include/dynamic-graph/fwd.hh
+include/dynamic-graph/null-ptr.hh
include/dynamic-graph/contiifstream.h
include/dynamic-graph/debug.h
-include/dynamic-graph/deprecated.hh
include/dynamic-graph/dynamic-graph-api.h
-include/dynamic-graph/entity-helper.h
include/dynamic-graph/entity.h
+include/dynamic-graph/factory.h
+include/dynamic-graph/pool.h
include/dynamic-graph/exception-abstract.h
include/dynamic-graph/exception-factory.h
include/dynamic-graph/exception-signal.h
include/dynamic-graph/exception-traces.h
-include/dynamic-graph/factory.h
-include/dynamic-graph/fwd.hh
-include/dynamic-graph/import-default-paths.h
-include/dynamic-graph/linear-algebra.h
-include/dynamic-graph/eigen-io.h
-include/dynamic-graph/null-ptr.hh
-include/dynamic-graph/pool.h
+include/dynamic-graph/signal.h
include/dynamic-graph/signal-array.h
include/dynamic-graph/signal-base.h
-include/dynamic-graph/signal-cast-helper.h
-include/dynamic-graph/signal-caster.h
-include/dynamic-graph/signal-helper.h
include/dynamic-graph/signal-ptr.h
-include/dynamic-graph/signal-ptr.t.cpp
include/dynamic-graph/signal-time-dependent.h
-include/dynamic-graph/signal.h
+include/dynamic-graph/signal-ptr.t.cpp
include/dynamic-graph/signal.t.cpp
include/dynamic-graph/time-dependency.h
include/dynamic-graph/time-dependency.t.cpp
-include/dynamic-graph/tracer-real-time.h
+include/dynamic-graph/signal-caster.h
+include/dynamic-graph/signal-cast-helper.h
+include/dynamic-graph/all-signals.h
+include/dynamic-graph/signal-helper.h
+include/dynamic-graph/entity-helper.h
include/dynamic-graph/tracer.h
+include/dynamic-graph/tracer-real-time.h
+include/dynamic-graph/command.h
+include/dynamic-graph/eigen-io.h
+include/dynamic-graph/linear-algebra.h
include/dynamic-graph/value.h
-include/dynamic-graph/warning.hh
-lib/libdynamic-graph.so
-lib/libdynamic-graph.so.${PKGVERSION}
-lib/pkgconfig/dynamic-graph.pc
-lib/plugin/tracer-real-time.so
-lib/plugin/tracer.so
+include/dynamic-graph/command-setter.h
+include/dynamic-graph/command-setter.t.cpp
+include/dynamic-graph/command-getter.h
+include/dynamic-graph/command-getter.t.cpp
+include/dynamic-graph/command-direct-getter.h
+include/dynamic-graph/command-direct-setter.h
+include/dynamic-graph/command-bind.h
+include/dynamic-graph/all-commands.h
share/dynamic-graph/script/shell.dg
share/dynamic-graph/script/tracer.dg
${PKGMANDIR}/man1/dg-shell-plugin.1.gz
-${PKGMANDIR}/man1/dg-shell.1.gz
diff --git a/dynamic-graph-v3/distinfo b/dynamic-graph-v3/distinfo
index de055fdaf715fc2681a9e9d681c6aa13de8399d3..370187eb37db049233af62cf6c3052fc82cc0dda 100644
--- a/dynamic-graph-v3/distinfo
+++ b/dynamic-graph-v3/distinfo
@@ -1,6 +1,3 @@
-SHA1 (dynamic-graph-v3-3.0.0.tar.gz) = d04fb4f291b0b2f214502a95006f83e94a804182
-RMD160 (dynamic-graph-v3-3.0.0.tar.gz) = 07a796479e24a08ad8600010846402ba5003c12b
-Size (dynamic-graph-v3-3.0.0.tar.gz) = 430209 bytes
-SHA1 (patch-aa) = d8d3aa22eea6c004d8bce7fbbe3c54c376463303
-SHA1 (patch-ab) = f162e6527d43a57adb10700242997838c0446cc9
-SHA1 (patch-ac) = 302875035b9e3ed3b82593bc4903c46b831b4bb8
+SHA1 (dynamic-graph-v3-3.0.1.tar.gz) = be6b9f53e57394a85ec48763fd840d5e618ead7d
+RMD160 (dynamic-graph-v3-3.0.1.tar.gz) = f2a95a3d995ecf88cc866ac68d88884c1c5bcb58
+Size (dynamic-graph-v3-3.0.1.tar.gz) = 1210602 bytes
diff --git a/dynamic-graph-v3/patches/patch-aa b/dynamic-graph-v3/patches/patch-aa
deleted file mode 100644
index b4410610b5f8598558437d8e2045c7421dfad196..0000000000000000000000000000000000000000
--- a/dynamic-graph-v3/patches/patch-aa
+++ /dev/null
@@ -1,193 +0,0 @@
-Patch for inputing Eigen::Transform as Matrix4d
-
-
-diff --git a/include/dynamic-graph/value.h b/include/dynamic-graph/value.h
-index d8adc30..ffa43c0 100644
---- include/dynamic-graph/value.h
-+++ include/dynamic-graph/value.h
-@@ -30,8 +30,6 @@ namespace dynamicgraph {
- class Value;
- class DYNAMIC_GRAPH_DLLAPI EitherType {
- public:
-- EIGEN_MAKE_ALIGNED_OPERATOR_NEW
--
- EitherType(const Value& value);
- ~EitherType();
- operator bool () const;
-@@ -41,16 +39,14 @@ namespace dynamicgraph {
- operator double () const;
- operator std::string () const;
- operator Vector () const;
-- operator Matrix () const;
-+ operator Eigen::MatrixXd () const;
-+ operator Eigen::Matrix4d () const;
- private:
- const Value* value_;
- };
-
- class DYNAMIC_GRAPH_DLLAPI Value {
- public:
--
-- EIGEN_MAKE_ALIGNED_OPERATOR_NEW
--
- enum Type {
- NONE,
- BOOL,
-@@ -61,6 +57,7 @@ namespace dynamicgraph {
- STRING,
- VECTOR,
- MATRIX,
-+ MATRIX4D,
- NB_TYPES
- };
- ~Value();
-@@ -72,7 +69,8 @@ namespace dynamicgraph {
- explicit Value(const double& value);
- explicit Value(const std::string& value);
- explicit Value(const Vector& value);
-- explicit Value(const Matrix& value);
-+ explicit Value(const Eigen::MatrixXd& value);
-+ explicit Value(const Eigen::Matrix4d& value);
- /// Copy constructor
- Value(const Value& value);
- // Construct an empty value (None)
-@@ -108,7 +106,8 @@ namespace dynamicgraph {
- double doubleValue() const;
- std::string stringValue() const;
- Vector vectorValue() const;
-- Matrix matrixValue() const;
-+ Eigen::MatrixXd matrixXdValue() const;
-+ Eigen::Matrix4d matrix4dValue() const;
- Type type_;
- const void* const value_;
- };
-diff --git a/src/command/command.cpp b/src/command/command.cpp
-index 7cd2b51..350a6af 100644
---- src/command/command.cpp
-+++ src/command/command.cpp
-@@ -50,7 +50,7 @@ namespace dynamicgraph {
- for (unsigned int iParam=0; iParam < values.size(); iParam++) {
- if (values[iParam].type() != paramTypes[iParam]) {
- std::stringstream ss;
-- ss << "argument " << iParam << "is of wrong type: "
-+ ss << "argument " << iParam << " is of wrong type: "
- << Value::typeName(paramTypes[iParam]) << " expected, got "
- << Value::typeName(values[iParam].type());
- throw ExceptionAbstract(ExceptionAbstract::TOOLS, ss.str());
-diff --git a/src/command/value.cpp b/src/command/value.cpp
-index ed77090..4ff3123 100644
---- src/command/value.cpp
-+++ src/command/value.cpp
-@@ -61,9 +61,14 @@ namespace dynamicgraph {
- {
- return value_->vectorValue();
- }
-- EitherType::operator Matrix() const
-+ EitherType::operator Eigen::MatrixXd() const
- {
-- return value_->matrixValue();
-+ return value_->matrixXdValue();
-+ }
-+
-+ EitherType::operator Eigen::Matrix4d() const
-+ {
-+ return value_->matrix4dValue();
- }
-
- void Value::deleteValue ()
-@@ -91,7 +96,10 @@ namespace dynamicgraph {
- delete(const Vector*)value_;
- break;
- case MATRIX:
-- delete(const Matrix*)value_;
-+ delete(const Eigen::MatrixXd*)value_;
-+ break;
-+ case MATRIX4D:
-+ delete(const Eigen::Matrix4d*)value_;
- break;
- default:;
- }
-@@ -129,8 +137,12 @@ namespace dynamicgraph {
- value_(new Vector(value))
- {
- }
-- Value::Value(const Matrix& value) : type_(MATRIX),
-- value_(new Matrix(value))
-+ Value::Value(const Eigen::MatrixXd& value) : type_(MATRIX),
-+ value_(new Eigen::MatrixXd(value))
-+ {
-+ }
-+ Value::Value(const Eigen::Matrix4d& value) : type_(MATRIX4D),
-+ value_(new Eigen::Matrix4d(value))
- {
- }
-
-@@ -168,7 +180,10 @@ namespace dynamicgraph {
- copy = new Vector(value.vectorValue());
- break;
- case Value::MATRIX:
-- copy = new Matrix(value.matrixValue());
-+ copy = new Eigen::MatrixXd(value.matrixXdValue());
-+ break;
-+ case Value::MATRIX4D:
-+ copy = new Eigen::Matrix4d(value.matrix4dValue());
- break;
- default:
- abort();
-@@ -262,12 +277,20 @@ namespace dynamicgraph {
- "value is not an vector");
- }
-
-- Matrix Value::matrixValue() const
-+ Eigen::MatrixXd Value::matrixXdValue() const
- {
- if(type_ == MATRIX)
-- return *((const Matrix*)value_);
-+ return *((const Eigen::MatrixXd*)value_);
-+ throw ExceptionAbstract(ExceptionAbstract::TOOLS,
-+ "value is not a Eigen matrixXd");
-+ }
-+
-+ Eigen::Matrix4d Value::matrix4dValue() const
-+ {
-+ if(type_ == MATRIX4D)
-+ return *((const Eigen::Matrix4d*)value_);
- throw ExceptionAbstract(ExceptionAbstract::TOOLS,
-- "value is not a matrix");
-+ "value is not a Eigen matrix4d");
- }
-
- std::string Value::typeName(Type type)
-@@ -288,7 +311,9 @@ namespace dynamicgraph {
- case VECTOR:
- return std::string("vector");
- case MATRIX:
-- return std::string("matrix");
-+ return std::string("matrixXd");
-+ case MATRIX4D:
-+ return std::string("matrix4d");
- default:
- return std::string("unknown");
- }
-@@ -321,7 +346,10 @@ namespace dynamicgraph {
- os << value.vectorValue();
- break;
- case Value::MATRIX:
-- os << value.matrixValue();
-+ os << value.matrixXdValue();
-+ break;
-+ case Value::MATRIX4D:
-+ os << value.matrix4dValue();
- break;
- default:
- return os;
-@@ -336,7 +364,8 @@ namespace dynamicgraph {
- template<> const Value::Type ValueHelper<double>::TypeID = Value::DOUBLE;
- template<> const Value::Type ValueHelper<std::string>::TypeID = Value::STRING;
- template<> const Value::Type ValueHelper<Vector>::TypeID = Value::VECTOR;
-- template<> const Value::Type ValueHelper<Matrix>::TypeID = Value::MATRIX;
-+ template<> const Value::Type ValueHelper<Eigen::MatrixXd>::TypeID = Value::MATRIX;
-+ template<> const Value::Type ValueHelper<Eigen::Matrix4d>::TypeID = Value::MATRIX4D;
-
- } // namespace command
- } //namespace dynamicgraph
diff --git a/dynamic-graph-v3/patches/patch-ab b/dynamic-graph-v3/patches/patch-ab
deleted file mode 100644
index f1c35cbf09cb84e8d26ae8dc6b3466d03dd44cb4..0000000000000000000000000000000000000000
--- a/dynamic-graph-v3/patches/patch-ab
+++ /dev/null
@@ -1,41 +0,0 @@
-[c++] Patch to update ostream output format for MatrixHomogeneous
-
-diff --git include/dynamic-graph/eigen-io.h include/dynamic-graph/eigen-io.h
-index 60eab3f..89d8f33 100644
---- include/dynamic-graph/eigen-io.h
-+++ include/dynamic-graph/eigen-io.h
-@@ -138,9 +138,21 @@ namespace Eigen {
-
-
-
-+
-+ /* \brief Eigen Homogeneous Matrix output
-+ *
-+ * Matrix format: [M,N]((val11,val12,val13,...,val1N),...,(valM1,valM2,...,valMN))
-+ * e.g. [2,5]((1 23 32.2 12.12 32),(2 32 23 92.01 19.2))
-+ */
-+
- inline std::ostream& operator << (std::ostream &os,
- Transform<double,3,Affine> MH) {
-- os << MH.matrix(); return os; }
-+ IOFormat boostFmt(StreamPrecision, DontAlignCols,
-+ ",", ",",
-+ "(",")",
-+ "(",")");
-+
-+ os << "[4,4]"<< MH.matrix().format(boostFmt); return os; }
-
-
- inline std::ostream& operator << (std::ostream &os,
-diff --git include/dynamic-graph/linear-algebra.h include/dynamic-graph/linear-algebra.h
-index 7605815..4b566fb 100644
---- include/dynamic-graph/linear-algebra.h
-+++ include/dynamic-graph/linear-algebra.h
-@@ -18,6 +18,7 @@
- #ifndef DYNAMIC_GRAPH_LINEAR_ALGEBRA_H
- #define DYNAMIC_GRAPH_LINEAR_ALGEBRA_H
- #include <Eigen/Core>
-+#include <Eigen/Geometry>
-
- namespace dynamicgraph {
- typedef Eigen::MatrixXd Matrix;
diff --git a/dynamic-graph-v3/patches/patch-ac b/dynamic-graph-v3/patches/patch-ac
deleted file mode 100644
index 5591b2e22f40f46dd652e40fb0e85fb25f2aeb1f..0000000000000000000000000000000000000000
--- a/dynamic-graph-v3/patches/patch-ac
+++ /dev/null
@@ -1,73 +0,0 @@
-[c++] fix bug in matrix istream input operator
-
-diff --git include/dynamic-graph/eigen-io.h include/dynamic-graph/eigen-io.h
-index 89d8f33..6352cb5 100644
---- include/dynamic-graph/eigen-io.h
-+++ include/dynamic-graph/eigen-io.h
-@@ -39,6 +39,7 @@ using dynamicgraph::ExceptionSignal;
- */
- namespace Eigen {
- typedef EIGEN_DEFAULT_DENSE_INDEX_TYPE eigen_index;
-+
- inline std::istringstream& operator >> (std::istringstream &iss,
- dynamicgraph::Vector &inst) {
- unsigned int _size;
-@@ -88,7 +89,8 @@ namespace Eigen {
- unsigned int _rowsize;
- double _dbl_val;
- char _ch;
-- boost::format fmt ("Failed to enter %s as vector. Reenter as [N](val1,val2,val3,...,valN)");
-+ boost::format fmt ("Failed to enter %s as matrix. Reenter as ((val11,val12,val13,...,val1N),...,(valM1,valM2,...,valMN))");
-+ MatrixXd _tmp_matrix;
- fmt %iss.str();
- if(iss>> _ch && _ch != '['){
- throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
-@@ -101,7 +103,7 @@ namespace Eigen {
- if (iss.fail())
- throw ExceptionSignal(ExceptionSignal::GENERIC,fmt.str());
- else {
-- inst.resize(_rowsize,_colsize);
-+ _tmp_matrix.resize(_rowsize,_colsize);
- if(iss >> _ch && _ch != ']')
- throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
- else {
-@@ -115,7 +117,7 @@ namespace Eigen {
- iss >> _dbl_val;
- if (iss.peek() == ',' || iss.peek() == ' ')
- iss.ignore();
-- inst(j,i) = _dbl_val;
-+ _tmp_matrix(j,i) = _dbl_val;
- }
- if(iss >> _ch && _ch != ')')
- throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
-@@ -128,13 +130,14 @@ namespace Eigen {
- }
- }
- }
-+ inst = _tmp_matrix;
- return iss;
- }
-
-
- inline std::istringstream& operator >> (std::istringstream &iss,
- Transform<double,3,Affine> &inst) {
-- Matrix4d M; iss >> M; inst = M; return iss; }
-+ MatrixXd M; iss >> M; inst.matrix() = M; return iss; }
-
-
-
-@@ -157,12 +160,12 @@ namespace Eigen {
-
- inline std::ostream& operator << (std::ostream &os,
- AngleAxisd quat) {
-- Vector4d v; v(0) = quat.angle(); v.tail<3>() = quat.axis();
-+ VectorXd v(4); v(0) = quat.angle(); v.tail<3>() = quat.axis();
- os << v; return os; }
-
- inline std::istringstream& operator >> (std::istringstream &iss,
- AngleAxisd &inst) {
-- Vector4d v; iss >>v;
-+ VectorXd v(4); iss >>v;
- inst.angle() = v(0); inst.axis() = v.tail<3>();
- return iss; }
-