Merge branch 'master' into devel

CMakeLists.txt

@@ -23,7 +23,6 @@ ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
 SET(CUSTOM_HEADER_DIR "sot/talos_balance")
 SET(CXX_DISABLE_WERROR TRUE)
 SET(DOXYGEN_USE_MATHJAX YES)
-SET(CMAKE_CXX_STANDARD 11)
 
 # JRL-cmakemodule setup
 INCLUDE(cmake/base.cmake)
@@ -33,6 +32,7 @@ INCLUDE(cmake/python.cmake)
 # Project definition
 COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX C)
 PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
+CHECK_MINIMAL_CXX_STANDARD(11 REQUIRED)
 
 IF(INITIALIZE_WITH_NAN)
   MESSAGE(STATUS "Initialize with NaN all the Eigen entries.")
@@ -40,112 +40,23 @@ IF(INITIALIZE_WITH_NAN)
 ENDIF(INITIALIZE_WITH_NAN)
 
 # Project dependencies
-SET(BOOST_COMPONENTS thread filesystem program_options unit_test_framework system regex)
+#SET(BOOST_COMPONENTS thread filesystem program_options unit_test_framework system regex)
+IF(BUILD_TESTING)
+  FIND_PACKAGE(Boost REQUIRED COMPONENTS unit_test_framework)
+ENDIF(BUILD_TESTING)
 
 IF(BUILD_PYTHON_INTERFACE)
   FINDPYTHON()
-  STRING(REGEX REPLACE "-" "_" PROJECT_NAME_UNDERSCORE ${PROJECT_NAME})  
+  SEARCH_FOR_BOOST_PYTHON(REQUIRED)
+  STRING(REGEX REPLACE "-" "_" PROJECT_NAME_UNDERSCORE ${PROJECT_NAME})
   SET(PY_NAME ${PROJECT_NAME_UNDERSCORE})
-  ADD_PROJECT_DEPENDENCY(dynamic-graph-python REQUIRED
+  ADD_PROJECT_DEPENDENCY(dynamic-graph-python 4.0.0 REQUIRED
     PKG_CONFIG_REQUIRES dynamic-graph-python)
-  SET(BOOST_COMPONENTS ${BOOST_COMPONENTS} python)
 ENDIF(BUILD_PYTHON_INTERFACE)
 
-SEARCH_FOR_BOOST()
-
 ADD_PROJECT_DEPENDENCY(sot-core REQUIRED PKG_CONFIG_REQUIRES sot-core)
 ADD_PROJECT_DEPENDENCY(eiquadprog REQUIRED PKG_CONFIG_REQUIRES eiquadprog)
-ADD_PROJECT_DEPENDENCY(talos_data)
-ADD_REQUIRED_DEPENDENCY("parametric-curves")
-
-MACRO(DYNAMIC_GRAPH_CUSTOM_PYTHON_MODULE MODULENAME SUBMODULENAME LIBRARYNAME TARGETNAME)
-
-  # By default the __init__.py file is installed.
-  SET(INSTALL_INIT_PY 1)
-  SET(SOURCE_PYTHON_MODULE "cmake/dynamic_graph/python-module-py.cc")
-
-  IF("${SUBMODULENAME}" STREQUAL "")
-    SET(FULLMODULENAME "${MODULENAME}")
-  ELSE("${SUBMODULENAME}" STREQUAL "")
-    SET(FULLMODULENAME "${MODULENAME}/${SUBMODULENAME}")
-  ENDIF("${SUBMODULENAME}" STREQUAL "")
-
-  # Check if there is optional parameters.
-  set(extra_macro_args ${ARGN})
-  list(LENGTH extra_macro_args num_extra_args)
-  if( ${num_extra_args} GREATER 0)
-    list(GET extra_macro_args 0 INSTALL_INIT_PY)
-    if( ${num_extra_args} GREATER 1)
-      list(GET extra_macro_args 1 SOURCE_PYTHON_MODULE)
-    endif(${num_extra_args} GREATER 1)
-  endif(${num_extra_args} GREATER 0)
-
-  IF(NOT DEFINED PYTHONLIBS_FOUND)
-    FINDPYTHON()
-  ELSEIF(NOT ${PYTHONLIBS_FOUND} STREQUAL "TRUE")
-    MESSAGE(FATAL_ERROR "Python has not been found.")
-  ENDIF()
-
-  SET(PYTHON_MODULE ${TARGETNAME})
-  # We need to set this policy to old to accept wrap target.
-  CMAKE_POLICY(PUSH)
-  IF(POLICY CMP0037)
-    CMAKE_POLICY(SET CMP0037 OLD)
-  ENDIF()
-
-  ADD_LIBRARY(${PYTHON_MODULE}
-    MODULE
-    ${PROJECT_SOURCE_DIR}/${SOURCE_PYTHON_MODULE})
-
-  FILE(MAKE_DIRECTORY ${PROJECT_BINARY_DIR}/src/${FULLMODULENAME})
-
-  SET_TARGET_PROPERTIES(${PYTHON_MODULE}
-    PROPERTIES PREFIX ""
-    OUTPUT_NAME ${FULLMODULENAME}/wrap
-   )
-  CMAKE_POLICY(POP)
-
-  TARGET_LINK_LIBRARIES(${PYTHON_MODULE} ${PUBLIC_KEYWORD} "-Wl,--no-as-needed")
-  TARGET_LINK_LIBRARIES(${PYTHON_MODULE} ${PUBLIC_KEYWORD} ${LIBRARYNAME} ${PYTHON_LIBRARY})
-
-  TARGET_INCLUDE_DIRECTORIES(${PYTHON_MODULE} SYSTEM PRIVATE ${PYTHON_INCLUDE_DIRS})
-
-  #
-  # Installation
-  #
-  SET(PYTHON_INSTALL_DIR ${PYTHON_SITELIB}/${FULLMODULENAME})
-
-  INSTALL(TARGETS ${PYTHON_MODULE}
-    EXPORT ${TARGETS_EXPORT_NAME}
-    DESTINATION
-    ${PYTHON_INSTALL_DIR})
-
-  SET(ENTITY_CLASS_LIST "")
-  FOREACH (ENTITY ${NEW_ENTITY_CLASS})
-    SET(ENTITY_CLASS_LIST "${ENTITY_CLASS_LIST}${ENTITY}('')\n")
-  ENDFOREACH(ENTITY ${NEW_ENTITY_CLASS})
-
-  # Install if INSTALL_INIT_PY is set to 1
-  IF (${INSTALL_INIT_PY} EQUAL 1)
-
-    CONFIGURE_FILE(
-      ${PROJECT_SOURCE_DIR}/cmake/dynamic_graph/submodule/__init__.py.cmake
-      ${PROJECT_BINARY_DIR}/src/${FULLMODULENAME}/__init__.py
-      )
-
-    INSTALL(
-      FILES ${PROJECT_BINARY_DIR}/src/${FULLMODULENAME}/__init__.py
-      DESTINATION ${PYTHON_INSTALL_DIR}
-      )
-
-  ENDIF(${INSTALL_INIT_PY} EQUAL 1)
-
-ENDMACRO(DYNAMIC_GRAPH_CUSTOM_PYTHON_MODULE)
-
-MACRO(SOT_TALOS_BALANCE_PYTHON_MODULE SUBMODULENAME LIBRARYNAME TARGETNAME)
-  DYNAMIC_GRAPH_CUSTOM_PYTHON_MODULE("${PY_NAME}"
-    "${SUBMODULENAME}" "${LIBRARYNAME}" "${TARGETNAME}")
-ENDMACRO(SOT_TALOS_BALANCE_PYTHON_MODULE)
+ADD_PROJECT_DEPENDENCY(parametric-curves REQUIRED)
 
 # Verbosity level
 IF (NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
@@ -176,9 +87,8 @@ SET(${PROJECT_NAME}_SOURCES
 ADD_LIBRARY(${PROJECT_NAME} SHARED
   ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})
 TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
-TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${Boost_LIBRARIES}
-  sot-core::sot-core)
-PKG_CONFIG_USE_DEPENDENCY(${PROJECT_NAME} parametric-curves)
+TARGET_LINK_LIBRARIES(${PROJECT_NAME} PUBLIC
+  sot-core::sot-core parametric-curves::parametric-curves)
 
 IF(SUFFIX_SO_VERSION)
   SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})

cmake @ 9dcde03a

-Subproject commit fb4c22c319ec5320f9a85527eb1a4130954846f5
+Subproject commit 9dcde03a880cccc86531019a6845708f5c54c35d

include/sot/talos_balance/delay.hh

+// Copyright 2018 CNRS - Airbus SAS
+// Author: Joseph Mirabel
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+
+// 1. Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+
+// 2. Redistributions in binary form must reproduce the above copyright
+// notice, this list of conditions and the following disclaimer in the
+// documentation and/or other materials provided with the distribution.
+
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+#ifndef __sot_talos_balance_delay_H__
+#define __sot_talos_balance_delay_H__
+
+#include <dynamic-graph/entity.h>
+#include <dynamic-graph/signal.h>
+#include <dynamic-graph/signal-ptr.h>
+#include <dynamic-graph/factory.h>
+#include <dynamic-graph/command-bind.h>
+
+#if defined(WIN32)
+#if defined(delay_EXPORTS)
+#define DELAY_EXPORT __declspec(dllexport)
+#else
+#define DELAY_EXPORT __declspec(dllimport)
+#endif
+#else
+#define DELAY_EXPORT
+#endif
+
+namespace dynamicgraph {
+namespace sot {
+namespace talos_balance {
+/// Delay
+template <typename Value, typename Time = int>
+class DELAY_EXPORT Delay : public dynamicgraph::Entity {
+  DYNAMIC_GRAPH_ENTITY_DECL();
+
+  Delay(const std::string& name)
+      : Entity(name),
+        sin(NULL, "Delay(" + name + ")::input(unspecified)::sin"),
+        currentOUT("Delay(" + name + ")::output(unspecified)::current"),
+        previousOUT("Delay(" + name + ")::output(unspecified)::previous") {
+    currentOUT.setFunction(boost::bind(&Delay::current, this, _1, _2));
+    previousOUT.setFunction(boost::bind(&Delay::previous, this, _1, _2));
+    signalRegistration(sin << currentOUT << previousOUT);
+
+    using command::makeCommandVoid1;
+    std::string docstring =
+        "\n"
+        "    Set current value in memory\n";
+    addCommand("setMemory", makeCommandVoid1(*this, &Delay::setMemory, docstring));
+  }
+
+  ~Delay() {}
+
+  /// Header documentation of the python class
+  virtual std::string getDocString() const {
+    return "Enable delayed signal in SoT.\n"
+           "Signal previous at time t+1 will return the value of signal current "
+           " at time <= t (the last time signal current was called).";
+  }
+
+  void setMemory(const Value& val) { mem = val; }
+
+ private:
+  Value& current(Value& res, const Time& time) {
+    previousOUT.access(time);
+    res = sin.access(time);
+    mem = res;
+    return res;
+  }
+
+  Value& previous(Value& res, const Time&) {
+    res = mem;
+    return res;
+  }
+
+  Value mem;
+  SignalPtr<Value, Time> sin;
+  Signal<Value, Time> currentOUT, previousOUT;
+};
+
+typedef Delay<Vector, int> DelayVector;
+}  // namespace talos_balance
+}  // namespace sot
+}  // namespace dynamicgraph
+
+#endif  // #ifndef __sot_talos_balance_simple_pid_H__

package.xml

@@ -2,7 +2,7 @@
 <!--Author: Gabriele Buondonno-->
 <package>
   <name>sot-talos-balance</name>
-  <version>1.9.2</version>
+  <version>2.0.0</version>
   <description>The sot_talos_balance package</description>
 
   <maintainer email="gbuondon@laas.fr">Gabriele Buondonno</maintainer>

src/CMakeLists.txt

@@ -53,7 +53,7 @@ FOREACH(plugin ${plugins})
     SET_TARGET_PROPERTIES(${LIBRARY_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
   ENDIF(SUFFIX_SO_VERSION)
 
-  TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${PROJECT_NAME} ${${LIBRARY_NAME}_deps})
+  TARGET_LINK_LIBRARIES(${LIBRARY_NAME} PUBLIC ${PROJECT_NAME} ${${LIBRARY_NAME}_deps})
 
   IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
     INSTALL(TARGETS ${LIBRARY_NAME} EXPORT ${TARGETS_EXPORT_NAME}
@@ -62,21 +62,19 @@ FOREACH(plugin ${plugins})
 
   IF(BUILD_PYTHON_INTERFACE)
     STRING(REPLACE - _ PYTHON_LIBRARY_NAME ${LIBRARY_NAME})
-    SOT_TALOS_BALANCE_PYTHON_MODULE(${PYTHON_LIBRARY_NAME}
-      ${LIBRARY_NAME} ${PROJECT_NAME}-${PYTHON_LIBRARY_NAME}-wrap)
+    if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/${plugin}-python-module-py.cc")
+      DYNAMIC_GRAPH_PYTHON_MODULE("${PY_NAME}/${PYTHON_LIBRARY_NAME}"
+        ${LIBRARY_NAME} ${PROJECT_NAME}-${PYTHON_LIBRARY_NAME}-wrap
+        SOURCE_PYTHON_MODULE "${CMAKE_CURRENT_SOURCE_DIR}/${plugin}-python-module-py.cc")
+    elseif(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/${plugin}-python.hh")
+      DYNAMIC_GRAPH_PYTHON_MODULE("${PY_NAME}/${PYTHON_LIBRARY_NAME}"
+        ${LIBRARY_NAME} ${PROJECT_NAME}-${PYTHON_LIBRARY_NAME}-wrap
+        MODULE_HEADER "${CMAKE_CURRENT_SOURCE_DIR}/${plugin}-python.hh")
+    endif()
   ENDIF(BUILD_PYTHON_INTERFACE)
 ENDFOREACH(plugin)
 
-TARGET_LINK_LIBRARIES(distribute-wrench eiquadprog::eiquadprog)
-
-IF(BUILD_PYTHON_INTERFACE)
-  SOT_TALOS_BALANCE_PYTHON_MODULE("" ${PROJECT_NAME} wrap)
-
-  INSTALL(FILES
-    ${CMAKE_CURRENT_BINARY_DIR}/${PY_NAME}/__init__.py
-    DESTINATION ${PYTHON_SITELIB}/${PY_NAME}
-    )
-ENDIF(BUILD_PYTHON_INTERFACE)
+TARGET_LINK_LIBRARIES(distribute-wrench PUBLIC eiquadprog::eiquadprog)
 
 # main python module
 SET(${PROJECT_NAME}_PYTHON_FILES
@@ -174,24 +172,24 @@ SET(${PROJECT_NAME}_ROS_EXEC_FILES
 
 IF(BUILD_PYTHON_INTERFACE)
   FOREACH(python ${${PROJECT_NAME}_PYTHON_FILES})
-    PYTHON_INSTALL_ON_SITE(${PY_NAME} ${python})
+    PYTHON_INSTALL_ON_SITE(dynamic_graph/${PY_NAME} ${python})
   ENDFOREACH(python ${${PROJECT_NAME}_PYTHON_FILES})
 
   FOREACH(python ${${PROJECT_NAME}_TALOS_PYTHON_FILES})
-    PYTHON_INSTALL_ON_SITE(${PY_NAME}/talos ${python})
+    PYTHON_INSTALL_ON_SITE(dynamic_graph/${PY_NAME}/talos ${python})
   ENDFOREACH(python ${${PROJECT_NAME}_TALOS_PYTHON_FILES})
 
   FOREACH(python ${${PROJECT_NAME}_UTILS_PYTHON_FILES})
-    PYTHON_INSTALL_ON_SITE(${PY_NAME}/utils ${python})
+    PYTHON_INSTALL_ON_SITE(dynamic_graph/${PY_NAME}/utils ${python})
   ENDFOREACH(python ${${PROJECT_NAME}_UTILS_PYTHON_FILES})
 
   FOREACH(python ${${PROJECT_NAME}_SIMULATION_FILES})
-    PYTHON_INSTALL_ON_SITE(${PY_NAME}/test ${python})
+    PYTHON_INSTALL_ON_SITE(dynamic_graph/${PY_NAME}/test ${python})
   ENDFOREACH(python ${${PROJECT_NAME}_SIMULATION_FILES})
 
   FOREACH(python ${${PROJECT_NAME}_ROS_EXEC_FILES})
     INSTALL(PROGRAMS ${PY_NAME}/test/${python}
-      DESTINATION ${CMAKE_BINARY_DIR}/lib/${PROJECT_NAME})
+      DESTINATION lib/${PROJECT_NAME})
   ENDFOREACH(python ${${PROJECT_NAME}_ROS_EXEC_FILES})
 
 ENDIF(BUILD_PYTHON_INTERFACE)

src/admittance-controller-end-effector-python.hh

+#include <sot/talos_balance/admittance-controller-end-effector.hh>
+
+typedef boost::mpl::vector<dynamicgraph::sot::talos_balance::AdmittanceControllerEndEffector> entities_t;

src/ankle-admittance-controller-python.hh

+#include <sot/talos_balance/ankle-admittance-controller.hh>
+
+typedef boost::mpl::vector<dynamicgraph::sot::talos_balance::AnkleAdmittanceController> entities_t;

src/ankle-joint-selector-python.hh

+#include <sot/talos_balance/ankle-joint-selector.hh>
+
+typedef boost::mpl::vector<dynamicgraph::sot::talos_balance::AnkleJointSelector> entities_t;

src/boolean-identity-python.hh

+#include <sot/talos_balance/boolean-identity.hh>
+
+typedef boost::mpl::vector<dynamicgraph::sot::talos_balance::BooleanIdentity> entities_t;

src/com-admittance-controller-python.hh

+#include <sot/talos_balance/com-admittance-controller.hh>
+
+typedef boost::mpl::vector<dynamicgraph::sot::talos_balance::ComAdmittanceController> entities_t;

src/coupled-admittance-controller-python.hh

+#include <sot/talos_balance/coupled-admittance-controller.hh>
+
+typedef boost::mpl::vector<dynamicgraph::sot::talos_balance::CoupledAdmittanceController> entities_t;

src/dcm-com-controller-python.hh

+#include <sot/talos_balance/dcm-com-controller.hh>
+
+typedef boost::mpl::vector<dynamicgraph::sot::talos_balance::DcmComController> entities_t;

src/dcm-controller-python.hh

+#include <sot/talos_balance/dcm-controller.hh>
+
+typedef boost::mpl::vector<dynamicgraph::sot::talos_balance::DcmController> entities_t;

src/dcm-estimator-python.hh

+#include <sot/talos_balance/dcm-estimator.hh>
+
+typedef boost::mpl::vector<dynamicgraph::sot::talos_balance::DcmEstimator> entities_t;

src/delay-python.hh

+#include <sot/talos_balance/delay.hh>
+
+typedef boost::mpl::vector<dynamicgraph::sot::talos_balance::DelayVector> entities_t;

src/delay.cpp

@@ -24,76 +24,12 @@
 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
-#include <dynamic-graph/entity.h>
-#include <dynamic-graph/signal.h>
-#include <dynamic-graph/signal-ptr.h>
-#include <dynamic-graph/factory.h>
-#include <dynamic-graph/command-bind.h>
-
-#if defined(WIN32)
-#if defined(delay_EXPORTS)
-#define DELAY_EXPORT __declspec(dllexport)
-#else
-#define DELAY_EXPORT __declspec(dllimport)
-#endif
-#else
-#define DELAY_EXPORT
-#endif
+#include "sot/talos_balance/delay.hh"
 
 namespace dynamicgraph {
 namespace sot {
 namespace talos_balance {
-/// Delay
-template <typename Value, typename Time = int>
-class DELAY_EXPORT Delay : public dynamicgraph::Entity {
-  DYNAMIC_GRAPH_ENTITY_DECL();
-
-  Delay(const std::string& name)
-      : Entity(name),
-        sin(NULL, "Delay(" + name + ")::input(unspecified)::sin"),
-        currentOUT("Delay(" + name + ")::output(unspecified)::current"),
-        previousOUT("Delay(" + name + ")::output(unspecified)::previous") {
-    currentOUT.setFunction(boost::bind(&Delay::current, this, _1, _2));
-    previousOUT.setFunction(boost::bind(&Delay::previous, this, _1, _2));
-    signalRegistration(sin << currentOUT << previousOUT);
-
-    using command::makeCommandVoid1;
-    std::string docstring =
-        "\n"
-        "    Set current value in memory\n";
-    addCommand("setMemory", makeCommandVoid1(*this, &Delay::setMemory, docstring));
-  }
-
-  ~Delay() {}
-
-  /// Header documentation of the python class
-  virtual std::string getDocString() const {
-    return "Enable delayed signal in SoT.\n"
-           "Signal previous at time t+1 will return the value of signal current "
-           " at time <= t (the last time signal current was called).";
-  }
-
-  void setMemory(const Value& val) { mem = val; }
-
- private:
-  Value& current(Value& res, const Time& time) {
-    previousOUT.access(time);
-    res = sin.access(time);
-    mem = res;
-    return res;
-  }
-
-  Value& previous(Value& res, const Time&) {
-    res = mem;
-    return res;
-  }
-
-  Value mem;
-  SignalPtr<Value, Time> sin;
-  Signal<Value, Time> currentOUT, previousOUT;
-};
 
-typedef Delay<Vector, int> DelayVector;
 template <>
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(DelayVector, "DelayVector");
 }  // namespace talos_balance

src/distribute-wrench-python.hh

+#include <sot/talos_balance/distribute-wrench.hh>
+
+typedef boost::mpl::vector<dynamicgraph::sot::talos_balance::DistributeWrench> entities_t;

src/dummy-dcm-estimator-python.hh

+#include <sot/talos_balance/dummy-dcm-estimator.hh>
+
+typedef boost::mpl::vector<dynamicgraph::sot::talos_balance::DummyDcmEstimator> entities_t;

src/dummy-walking-pattern-generator-python.hh

+#include <sot/talos_balance/dummy-walking-pattern-generator.hh>
+
+typedef boost::mpl::vector<dynamicgraph::sot::talos_balance::DummyWalkingPatternGenerator> entities_t;