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Commit 7c750539 authored by Guilhem Saurel's avatar Guilhem Saurel
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require dynamic-graph >= 4.4.0

parent e24b9a3b
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CMakeLists.txt
View file @ 7c750539
......@@ -58,6 +58,7 @@ IF(BUILD_PYTHON_INTERFACE)
ENDIF()
ENDIF(BUILD_PYTHON_INTERFACE)
ADD_PROJECT_DEPENDENCY(dynamic-graph 4.4.0 REQUIRED)
ADD_PROJECT_DEPENDENCY(sot-core REQUIRED)
ADD_PROJECT_DEPENDENCY(eiquadprog REQUIRED)
ADD_PROJECT_DEPENDENCY(parametric-curves REQUIRED)
......
include/sot/talos_balance/utils/commands-helper.hh
View file @ 7c750539
......@@ -20,7 +20,6 @@
#include <boost/function.hpp>
/* --- COMMON INCLUDE -------------------------------------------------- */
#include <dynamic-graph/config.hh>
#include <dynamic-graph/command.h>
#include <dynamic-graph/command-direct-setter.h>
#include <dynamic-graph/command-direct-getter.h>
......@@ -36,6 +35,10 @@ using ::dynamicgraph::command::docCommandVoid1;
using ::dynamicgraph::command::docCommandVoid2;
using ::dynamicgraph::command::docCommandVoid3;
using ::dynamicgraph::command::docCommandVoid4;
using ::dynamicgraph::command::docCommandVoid5;
using ::dynamicgraph::command::docCommandVoid6;
using ::dynamicgraph::command::docCommandVoid7;
using ::dynamicgraph::command::docCommandVoid8;
using ::dynamicgraph::command::docDirectGetter;
using ::dynamicgraph::command::docDirectSetter;
using ::dynamicgraph::command::makeCommandVerbose;
......@@ -44,224 +47,14 @@ using ::dynamicgraph::command::makeCommandVoid1;
using ::dynamicgraph::command::makeCommandVoid2;
using ::dynamicgraph::command::makeCommandVoid3;
using ::dynamicgraph::command::makeCommandVoid4;
using ::dynamicgraph::command::makeDirectGetter;
using ::dynamicgraph::command::makeDirectSetter;
} // namespace talos_balance
} // namespace sot
} // namespace dynamicgraph
#if DYNAMIC_GRAPH_VERSION_AT_LEAST(4, 4, 0)
namespace dynamicgraph {
namespace sot {
namespace dg = dynamicgraph;
namespace torquecontrol {
using ::dynamicgraph::command::docCommandVoid5;
using ::dynamicgraph::command::docCommandVoid6;
using ::dynamicgraph::command::docCommandVoid7;
using ::dynamicgraph::command::docCommandVoid8;
using ::dynamicgraph::command::makeCommandVoid5;
using ::dynamicgraph::command::makeCommandVoid6;
using ::dynamicgraph::command::makeCommandVoid7;
using ::dynamicgraph::command::makeCommandVoid8;
using ::dynamicgraph::command::makeDirectGetter;
using ::dynamicgraph::command::makeDirectSetter;
} // namespace torquecontrol
} // namespace sot
} // namespace dynamicgraph
#else
namespace dynamicgraph {
namespace command {
template <class E, typename T1, typename T2, typename T3, typename T4, typename T5>
struct CommandVoid5 : public Command {
typedef boost::function<void(const T1&, const T2&, const T3&, const T4&, const T5&)> function_t;
typedef boost::function<void(E*, const T1&, const T2&, const T3&, const T4&, const T5&)> memberFunction_t;
typedef void (E::*memberFunction_ptr_t)(const T1&, const T2&, const T3&, const T4&, const T5&);
CommandVoid5(E& entity, function_t function, const std::string& docString)
: Command(entity,
boost::assign::list_of(ValueHelper<T1>::TypeID)(ValueHelper<T2>::TypeID)(ValueHelper<T3>::TypeID)(
ValueHelper<T4>::TypeID)(ValueHelper<T5>::TypeID),
docString),
fptr(function) {}
protected:
virtual Value doExecute() {
assert(getParameterValues().size() == 5);
T1 val1 = getParameterValues()[0].value();
T2 val2 = getParameterValues()[1].value();
T3 val3 = getParameterValues()[2].value();
T4 val4 = getParameterValues()[3].value();
T5 val5 = getParameterValues()[4].value();
fptr(val1, val2, val3, val4, val5);
return Value(); // void
}
private:
function_t fptr;
};
template <class E, typename T1, typename T2, typename T3, typename T4, typename T5>
CommandVoid5<E, T1, T2, T3, T4, T5>* makeCommandVoid5(
E& entity, typename CommandVoid5<E, T1, T2, T3, T4, T5>::function_t function, const std::string& docString) {
return new CommandVoid5<E, T1, T2, T3, T4, T5>(entity, function, docString);
}
template <class E, typename T1, typename T2, typename T3, typename T4, typename T5>
CommandVoid5<E, T1, T2, T3, T4, T5>* makeCommandVoid5(
E& entity, boost::function<void(E*, const T1&, const T2&, const T3&, const T4&, const T5&)> function,
const std::string& docString) {
return new CommandVoid5<E, T1, T2, T3, T4, T5>(entity, boost::bind(function, &entity, _1, _2, _3, _4, _5),
docString);
}
template <class E, typename T1, typename T2, typename T3, typename T4, typename T5>
CommandVoid5<E, T1, T2, T3, T4, T5>* makeCommandVoid5(E& entity,
void (E::*function)(const T1&, const T2&, const T3&, const T4&,
const T5&),
const std::string& docString) {
return new CommandVoid5<E, T1, T2, T3, T4, T5>(entity, boost::bind(function, &entity, _1, _2, _3, _4, _5),
docString);
return NULL;
}
inline std::string docCommandVoid5(const std::string& doc, const std::string& type1, const std::string& type2,
const std::string& type3, const std::string& type4, const std::string& type5) {
return (std::string("\n") + doc + "\n\n" + "Input:\n - A " + type1 + ".\n" + "Input:\n - A " + type2 + ".\n" +
"Input:\n - A " + type3 + ".\n" + "Input:\n - A " + type4 + ".\n" + "Input:\n - A " + type5 + ".\n" +
"Void return.\n\n");
}
template <class E, typename T1, typename T2, typename T3, typename T4, typename T5, typename T6>
struct CommandVoid6 : public Command {
typedef boost::function<void(const T1&, const T2&, const T3&, const T4&, const T5&, const T6&)> function_t;
typedef boost::function<void(E*, const T1&, const T2&, const T3&, const T4&, const T5&, const T6&)> memberFunction_t;
typedef void (E::*memberFunction_ptr_t)(const T1&, const T2&, const T3&, const T4&, const T5&, const T6&);
CommandVoid6(E& entity, function_t function, const std::string& docString)
: Command(entity,
boost::assign::list_of(ValueHelper<T1>::TypeID)(ValueHelper<T2>::TypeID)(ValueHelper<T3>::TypeID)(
ValueHelper<T4>::TypeID)(ValueHelper<T5>::TypeID)(ValueHelper<T6>::TypeID),
docString),
fptr(function) {}
protected:
virtual Value doExecute() {
assert(getParameterValues().size() == 6);
T1 val1 = getParameterValues()[0].value();
T2 val2 = getParameterValues()[1].value();
T3 val3 = getParameterValues()[2].value();
T4 val4 = getParameterValues()[3].value();
T5 val5 = getParameterValues()[4].value();
T6 val6 = getParameterValues()[5].value();
fptr(val1, val2, val3, val4, val5, val6);
return Value(); // void
}
private:
function_t fptr;
};
template <class E, typename T1, typename T2, typename T3, typename T4, typename T5, typename T6>
CommandVoid6<E, T1, T2, T3, T4, T5, T6>* makeCommandVoid6(
E& entity, typename CommandVoid6<E, T1, T2, T3, T4, T5, T6>::function_t function, const std::string& docString) {
return new CommandVoid6<E, T1, T2, T3, T4, T5, T6>(entity, function, docString);
}
template <class E, typename T1, typename T2, typename T3, typename T4, typename T5, typename T6>
CommandVoid6<E, T1, T2, T3, T4, T5, T6>* makeCommandVoid6(
E& entity, boost::function<void(E*, const T1&, const T2&, const T3&, const T4&, const T5&, const T6&)> function,
const std::string& docString) {
return new CommandVoid6<E, T1, T2, T3, T4, T5, T6>(entity, boost::bind(function, &entity, _1, _2, _3, _4, _5, _6),
docString);
}
template <class E, typename T1, typename T2, typename T3, typename T4, typename T5, typename T6>
CommandVoid6<E, T1, T2, T3, T4, T5, T6>* makeCommandVoid6(E& entity,
void (E::*function)(const T1&, const T2&, const T3&,
const T4&, const T5&, const T6&),
const std::string& docString) {
return new CommandVoid6<E, T1, T2, T3, T4, T5, T6>(entity, boost::bind(function, &entity, _1, _2, _3, _4, _5, _6),
docString);
return NULL;
}
inline std::string docCommandVoid6(const std::string& doc, const std::string& type1, const std::string& type2,
const std::string& type3, const std::string& type4, const std::string& type5,
const std::string& type6) {
return (std::string("\n") + doc + "\n\n" + "Input:\n - A " + type1 + ".\n" + "Input:\n - A " + type2 + ".\n" +
"Input:\n - A " + type3 + ".\n" + "Input:\n - A " + type4 + ".\n" + "Input:\n - A " + type5 + ".\n" +
"Input:\n - A " + type6 + ".\n" + "Void return.\n\n");
}
template <class E, typename T1, typename T2, typename T3, typename T4, typename T5, typename T6, typename T7>
struct CommandVoid7 : public Command {
typedef boost::function<void(const T1&, const T2&, const T3&, const T4&, const T5&, const T6&, const T7&)>
function_t;
typedef boost::function<void(E*, const T1&, const T2&, const T3&, const T4&, const T5&, const T6&, const T7&)>
memberFunction_t;
typedef void (E::*memberFunction_ptr_t)(const T1&, const T2&, const T3&, const T4&, const T5&, const T6&, const T7&);
CommandVoid7(E& entity, function_t function, const std::string& docString)
: Command(
entity,
boost::assign::list_of(ValueHelper<T1>::TypeID)(ValueHelper<T2>::TypeID)(ValueHelper<T3>::TypeID)(
ValueHelper<T4>::TypeID)(ValueHelper<T5>::TypeID)(ValueHelper<T6>::TypeID)(ValueHelper<T7>::TypeID),
docString),
fptr(function) {}
protected:
virtual Value doExecute() {
assert(getParameterValues().size() == 7);
T1 val1 = getParameterValues()[0].value();
T2 val2 = getParameterValues()[1].value();
T3 val3 = getParameterValues()[2].value();
T4 val4 = getParameterValues()[3].value();
T5 val5 = getParameterValues()[4].value();
T6 val6 = getParameterValues()[5].value();
T7 val7 = getParameterValues()[6].value();
fptr(val1, val2, val3, val4, val5, val6, val7);
return Value(); // void
}
private:
function_t fptr;
};
template <class E, typename T1, typename T2, typename T3, typename T4, typename T5, typename T6, typename T7>
CommandVoid7<E, T1, T2, T3, T4, T5, T6, T7>* makeCommandVoid7(
E& entity, typename CommandVoid7<E, T1, T2, T3, T4, T5, T6, T7>::function_t function,
const std::string& docString) {
return new CommandVoid7<E, T1, T2, T3, T4, T5, T6, T7>(entity, function, docString);
}
template <class E, typename T1, typename T2, typename T3, typename T4, typename T5, typename T6, typename T7>
CommandVoid7<E, T1, T2, T3, T4, T5, T6, T7>* makeCommandVoid7(
E& entity,
boost::function<void(E*, const T1&, const T2&, const T3&, const T4&, const T5&, const T6&, const T7&)> function,
const std::string& docString) {
return new CommandVoid7<E, T1, T2, T3, T4, T5, T6, T7>(
entity, boost::bind(function, &entity, _1, _2, _3, _4, _5, _6, _7), docString);
}
template <class E, typename T1, typename T2, typename T3, typename T4, typename T5, typename T6, typename T7>
CommandVoid7<E, T1, T2, T3, T4, T5, T6, T7>* makeCommandVoid7(
E& entity, void (E::*function)(const T1&, const T2&, const T3&, const T4&, const T5&, const T6&, const T7&),
const std::string& docString) {
return new CommandVoid7<E, T1, T2, T3, T4, T5, T6, T7>(
entity, boost::bind(function, &entity, _1, _2, _3, _4, _5, _6, _7), docString);
return NULL;
}
inline std::string docCommandVoid7(const std::string& doc, const std::string& type1, const std::string& type2,
const std::string& type3, const std::string& type4, const std::string& type5,
const std::string& type6, const std::string& type7) {
return (std::string("\n") + doc + "\n\n" + "Input:\n - A " + type1 + ".\n" + "Input:\n - A " + type2 + ".\n" +
"Input:\n - A " + type3 + ".\n" + "Input:\n - A " + type4 + ".\n" + "Input:\n - A " + type5 + ".\n" +
"Input:\n - A " + type6 + ".\n" + "Input:\n - A " + type7 + ".\n" + "Void return.\n\n");
}
} // namespace command
} // namespace dynamicgraph
#endif
#endif // __sot_talos_balance_commands_helper_H__
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