Make a plugin that adds SmallSteps optimizer.

CMakeLists.txt

@@ -42,6 +42,8 @@ SET(CXX_DISABLE_WERROR 1)
 
 SETUP_HPP_PROJECT()
 
+LIST(APPEND PKG_CONFIG_ADDITIONAL_VARIABLES cmake_plugin)
+
 IF(RUN_TESTS)
   SET(BOOST_COMPONENTS "unit_test_framework")
 ENDIF(RUN_TESTS)
@@ -52,6 +54,7 @@ ADD_REQUIRED_DEPENDENCY("hpp-core >= 4")
 ADD_REQUIRED_DEPENDENCY("hpp-walkgen")
 
 ADD_SUBDIRECTORY(src)
+ADD_SUBDIRECTORY(plugins)
 IF(RUN_TESTS)
   ADD_REQUIRED_DEPENDENCY("romeo_description")
   ADD_SUBDIRECTORY(tests)

plugins/CMakeLists.txt

+# Copyright (c) 2019, Joseph Mirabel
+# Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
+#
+# This file is part of hpp-wholebody-step.
+# hpp-wholebody-step is free software: you can redistribute it
+# and/or modify it under the terms of the GNU Lesser General Public
+# License as published by the Free Software Foundation, either version
+# 3 of the License, or (at your option) any later version.
+#
+# hpp-wholebody-step is distributed in the hope that it will be
+# useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+# of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+# General Lesser Public License for more details.  You should have
+# received a copy of the GNU Lesser General Public License along with
+# hpp-wholebody-step. If not, see <http://www.gnu.org/licenses/>.
+
+INCLUDE(${HPP_CORE_CMAKE_PLUGIN})
+
+ADD_PLUGIN(wholebody-step
+  SOURCES wholebody-step.cc
+  LINK_DEPENDENCIES ${PROJECT_NAME}
+  PKG_CONFIG_DEPENDENCIES hpp-core hpp-walkgen)

plugins/wholebody-step.cc

+// Copyright (c) 2019, Joseph Mirabel
+// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
+//
+// This file is part of hpp-wholebody-step.
+// hpp-wholebody-step is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// hpp-wholebody-step is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Lesser Public License for more details.  You should have
+// received a copy of the GNU Lesser General Public License along with
+// hpp-wholebody-step. If not, see <http://www.gnu.org/licenses/>.
+
+#include <hpp/core/plugin.hh>
+#include <hpp/core/problem-solver.hh>
+
+#include <hpp/wholebody-step/small-steps.hh>
+
+namespace hpp {
+  namespace wholebodyStep {
+    class WholebodyStepPlugin : public core::ProblemSolverPlugin
+    {
+      public:
+        WholebodyStepPlugin ()
+          : ProblemSolverPlugin ("WholebodyStepPlugin", "0.0")
+        {}
+
+      protected:
+        virtual bool impl_initialize (core::ProblemSolverPtr_t ps)
+        {
+          ps->pathOptimizers.add ("Walkgen", SmallSteps::create);
+          return true;
+        }
+    };
+  } // namespace wholebodyStep
+} // namespace hpp
+
+HPP_CORE_DEFINE_PLUGIN(hpp::wholebodyStep::WholebodyStepPlugin)