diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7da4fbca6d59a3d29706f6a5bd2635d90a5b0960..b3c09fd0ce62a7d0f7e752c48eb5c9e39b96c5b0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -30,6 +30,8 @@ SET(PROJECT_DESCRIPTION "Classes for manipulation planning.")
SETUP_HPP_PROJECT()
+LIST(APPEND PKG_CONFIG_ADDITIONAL_VARIABLES cmake_plugin)
+
# Activate test using UR5 if requested
SET (TEST_UR5 FALSE CACHE BOOL "Activate tests using ur5")
@@ -103,6 +105,7 @@ SET (${PROJECT_NAME}_HEADERS
)
ADD_SUBDIRECTORY(src)
+ADD_SUBDIRECTORY(plugins)
ADD_SUBDIRECTORY(tests)
# Add dependency toward hpp-manipulation library in pkg-config file.
diff --git a/plugins/CMakeLists.txt b/plugins/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..43cd510111f9edd08f4d425c0d92893ccdaafe47
--- /dev/null
+++ b/plugins/CMakeLists.txt
@@ -0,0 +1,22 @@
+# Copyright (c) 2019, Joseph Mirabel
+# Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
+#
+# This file is part of hpp-manipulation.
+# hpp-manipulation is free software: you can redistribute it
+# and/or modify it under the terms of the GNU Lesser General Public
+# License as published by the Free Software Foundation, either version
+# 3 of the License, or (at your option) any later version.
+#
+# hpp-manipulation is distributed in the hope that it will be
+# useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+# of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+# General Lesser Public License for more details. You should have
+# received a copy of the GNU Lesser General Public License along with
+# hpp-manipulation. If not, see <http://www.gnu.org/licenses/>.
+
+INCLUDE(${HPP_CORE_CMAKE_PLUGIN})
+
+ADD_PLUGIN(manipulation-spline-gradient-based
+ SOURCES spline-gradient-based.cc
+ LINK_DEPENDENCIES ${PROJECT_NAME} ${PROJECT_NAME}-gpl hpp-core-gpl
+ PKG_CONFIG_DEPENDENCIES hpp-core)
diff --git a/plugins/spline-gradient-based.cc b/plugins/spline-gradient-based.cc
new file mode 100644
index 0000000000000000000000000000000000000000..19634d3a8e8daddd606736d0abe827e6c88c2090
--- /dev/null
+++ b/plugins/spline-gradient-based.cc
@@ -0,0 +1,47 @@
+// Copyright (c) 2019, Joseph Mirabel
+// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
+//
+// This file is part of hpp-manipulation.
+// hpp-manipulation 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-manipulation 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-manipulation. If not, see <http://www.gnu.org/licenses/>.
+
+#include <hpp/core/plugin.hh>
+#include <hpp/core/problem-solver.hh>
+
+#include <hpp/manipulation/path-optimization/spline-gradient-based.hh>
+
+namespace hpp {
+ namespace manipulation {
+ class SplineGradientBasedPlugin : public core::ProblemSolverPlugin
+ {
+ public:
+ SplineGradientBasedPlugin ()
+ : ProblemSolverPlugin ("SplineGradientBasedPlugin", "0.0")
+ {}
+
+ protected:
+ virtual bool impl_initialize (core::ProblemSolverPtr_t ps)
+ {
+ // ps->pathOptimizers.add ("SplineGradientBased_cannonical1",pathOptimization::SplineGradientBased<core::path::CanonicalPolynomeBasis, 1>::createFromCore);
+ // ps->pathOptimizers.add ("SplineGradientBased_cannonical2",pathOptimization::SplineGradientBased<core::path::CanonicalPolynomeBasis, 2>::createFromCore);
+ // ps->pathOptimizers.add ("SplineGradientBased_cannonical3",pathOptimization::SplineGradientBased<core::path::CanonicalPolynomeBasis, 3>::createFromCore);
+ ps->pathOptimizers.add ("SplineGradientBased_bezier1",pathOptimization::SplineGradientBased<core::path::BernsteinBasis, 1>::createFromCore);
+ // ps->pathOptimizers.add ("SplineGradientBased_bezier2",pathOptimization::SplineGradientBased<core::path::BernsteinBasis, 2>::createFromCore);
+ ps->pathOptimizers.add ("SplineGradientBased_bezier3",pathOptimization::SplineGradientBased<core::path::BernsteinBasis, 3>::createFromCore);
+
+ return true;
+ }
+ };
+ } // namespace manipulation
+} // namespace hpp
+
+HPP_CORE_DEFINE_PLUGIN(hpp::manipulation::SplineGradientBasedPlugin)
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index aca6483826da17dbf7743f6cb1cbe5d143730c6a..23fb579dffb2bd83f38cf610e9fa4db7e11496a1 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -47,7 +47,6 @@ SET(SOURCES
graph/dot.cc
path-optimization/random-shortcut.cc
- path-optimization/spline-gradient-based.cc
path-optimization/enforce-transition-semantic.cc
problem-target/state.cc
@@ -73,3 +72,17 @@ IF(HPP_WHOLEBODY_STEP_FOUND)
ENDIF(HPP_WHOLEBODY_STEP_FOUND)
INSTALL(TARGETS ${LIBRARY_NAME} DESTINATION lib)
+
+ADD_LIBRARY(${LIBRARY_NAME}-gpl SHARED
+ path-optimization/spline-gradient-based.cc
+ )
+
+PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME}-gpl hpp-core)
+PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME}-gpl hpp-statistics)
+PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME}-gpl hpp-constraints)
+IF(HPP_WHOLEBODY_STEP_FOUND)
+ PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME}-gpl hpp-wholebody-step)
+ENDIF(HPP_WHOLEBODY_STEP_FOUND)
+TARGET_LINK_LIBRARIES(${LIBRARY_NAME}-gpl ${LIBRARY_NAME} hpp-core-gpl)
+
+INSTALL(TARGETS ${LIBRARY_NAME}-gpl DESTINATION lib)
diff --git a/src/problem-solver.cc b/src/problem-solver.cc
index 28a5853c622e6fafd0f3a96e5ffb50bacd1335b0..e2ed4d0b03dbb24a1197efb0db4f47b25bdd5477 100644
--- a/src/problem-solver.cc
+++ b/src/problem-solver.cc
@@ -52,7 +52,6 @@
#include "hpp/manipulation/graph-optimizer.hh"
#include "hpp/manipulation/graph-path-validation.hh"
#include "hpp/manipulation/graph-node-optimizer.hh"
-#include "hpp/manipulation/path-optimization/spline-gradient-based.hh"
#include "hpp/manipulation/path-optimization/random-shortcut.hh"
#include "hpp/manipulation/path-optimization/enforce-transition-semantic.hh"
#include "hpp/manipulation/problem-target/state.hh"
@@ -130,13 +129,6 @@ namespace hpp {
pathProjectors.add ("RecursiveHermite",
createPathProjector <core::pathProjector::RecursiveHermite>);
- // pathOptimizers.add ("SplineGradientBased_cannonical1",pathOptimization::SplineGradientBased<core::path::CanonicalPolynomeBasis, 1>::createFromCore);
- // pathOptimizers.add ("SplineGradientBased_cannonical2",pathOptimization::SplineGradientBased<core::path::CanonicalPolynomeBasis, 2>::createFromCore);
- // pathOptimizers.add ("SplineGradientBased_cannonical3",pathOptimization::SplineGradientBased<core::path::CanonicalPolynomeBasis, 3>::createFromCore);
- pathOptimizers.add ("SplineGradientBased_bezier1",pathOptimization::SplineGradientBased<core::path::BernsteinBasis, 1>::createFromCore);
- // pathOptimizers.add ("SplineGradientBased_bezier2",pathOptimization::SplineGradientBased<core::path::BernsteinBasis, 2>::createFromCore);
- pathOptimizers.add ("SplineGradientBased_bezier3",pathOptimization::SplineGradientBased<core::path::BernsteinBasis, 3>::createFromCore);
-
steeringMethods.add ("Graph-SteeringMethodStraight",
steeringMethod::Graph::create <core::SteeringMethodStraight>);
steeringMethods.add ("Graph-Straight",