include/sot/talos_balance/int-identity.hh

+/*
+ * Copyright 2018, Gepetto team, LAAS-CNRS
+ *
+ * This file is part of sot-talos-balance.
+ * sot-talos-balance 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.
+ * sot-talos-balance 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 Lesser General Public License for more details.  You should
+ * have received a copy of the GNU Lesser General Public License along
+ * with sot-talos-balance.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __sot_talos_balance_int_identity_H__
+#define __sot_talos_balance_int_identity_H__
+
+/* --------------------------------------------------------------------- */
+/* --- API ------------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+#if defined(WIN32)
+#if defined(position_controller_EXPORTS)
+#define INT_IDENTITY_EXPORT __declspec(dllexport)
+#else
+#define INT_IDENTITY_EXPORT __declspec(dllimport)
+#endif
+#else
+#define INT_IDENTITY_EXPORT
+#endif
+
+/* --------------------------------------------------------------------- */
+/* --- INCLUDE --------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+#include <dynamic-graph/signal-helper.h>
+
+#include <map>
+
+#include "boost/assign.hpp"
+
+namespace dynamicgraph {
+namespace sot {
+namespace talos_balance {
+
+/* --------------------------------------------------------------------- */
+/* --- CLASS ----------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+class INT_IDENTITY_EXPORT IntIdentity : public ::dynamicgraph::Entity {
+  DYNAMIC_GRAPH_ENTITY_DECL();
+
+ public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  /* --- CONSTRUCTOR ---- */
+  IntIdentity(const std::string& name);
+
+  void init() {}
+
+  /* --- SIGNALS --- */
+  DECLARE_SIGNAL_IN(sin, int);
+
+  DECLARE_SIGNAL_OUT(sout, int);
+
+  /* --- COMMANDS --- */
+  /* --- ENTITY INHERITANCE --- */
+  virtual void display(std::ostream& os) const;
+
+};  // class IntIdentity
+
+}  // namespace talos_balance
+}  // namespace sot
+}  // namespace dynamicgraph
+
+#endif  // #ifndef __sot_talos_balance_int_identity_H__

include/sot/talos_balance/joint-position-controller.hh

@@ -21,75 +21,68 @@
 /* --- API ------------------------------------------------------------- */
 /* --------------------------------------------------------------------- */
 
-#if defined (WIN32)
-#  if defined (position_controller_EXPORTS)
-#    define JOINTPOSITIONCONTROLLER_EXPORT __declspec(dllexport)
-#  else
-#    define JOINTPOSITIONCONTROLLER_EXPORT __declspec(dllimport)
-#  endif
+#if defined(WIN32)
+#if defined(position_controller_EXPORTS)
+#define JOINTPOSITIONCONTROLLER_EXPORT __declspec(dllexport)
 #else
-#  define JOINTPOSITIONCONTROLLER_EXPORT
+#define JOINTPOSITIONCONTROLLER_EXPORT __declspec(dllimport)
+#endif
+#else
+#define JOINTPOSITIONCONTROLLER_EXPORT
 #endif
-
 
 /* --------------------------------------------------------------------- */
 /* --- INCLUDE --------------------------------------------------------- */
 /* --------------------------------------------------------------------- */
 
-#include "utils/signal-helper.hh"
-#include "utils/logger.hh"
+#include <dynamic-graph/signal-helper.h>
+
 #include <map>
+
 #include "boost/assign.hpp"
 
 namespace dynamicgraph {
-  namespace sot {
-    namespace talos_balance {
+namespace sot {
+namespace talos_balance {
 
-      /* --------------------------------------------------------------------- */
-      /* --- CLASS ----------------------------------------------------------- */
-      /* --------------------------------------------------------------------- */
-
-      class JOINTPOSITIONCONTROLLER_EXPORT JointPositionController
-	                         : public ::dynamicgraph::Entity
-      {
-        DYNAMIC_GRAPH_ENTITY_DECL();
-
-      public:
-        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-
-        /* --- CONSTRUCTOR ---- */
-        JointPositionController( const std::string & name );
+/* --------------------------------------------------------------------- */
+/* --- CLASS ----------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
 
-        void init(const unsigned & n);
+class JOINTPOSITIONCONTROLLER_EXPORT JointPositionController
+    : public ::dynamicgraph::Entity {
+  DYNAMIC_GRAPH_ENTITY_DECL();
 
-        /* --- SIGNALS --- */
-        DECLARE_SIGNAL_IN(Kp, dynamicgraph::Vector);
-        DECLARE_SIGNAL_IN(state, dynamicgraph::Vector);
-        DECLARE_SIGNAL_IN(qDes, dynamicgraph::Vector);
-        DECLARE_SIGNAL_IN(dqDes, dynamicgraph::Vector);
+ public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
-        DECLARE_SIGNAL_OUT(dqRef, dynamicgraph::Vector);
+  /* --- CONSTRUCTOR ---- */
+  JointPositionController(const std::string& name);
 
-        /* --- COMMANDS --- */
-        /* --- ENTITY INHERITANCE --- */
-        virtual void display( std::ostream& os ) const;
+  void init(const unsigned& n);
 
-        void sendMsg(const std::string& msg, MsgType t=MSG_TYPE_INFO, const char* file="", int line=0)
-        {
-          getLogger().sendMsg("[JointPositionController-"+name+"] "+msg, t, file, line);
-        }
+  /* --- SIGNALS --- */
+  DECLARE_SIGNAL_IN(Kp, dynamicgraph::Vector);
+  DECLARE_SIGNAL_IN(state, dynamicgraph::Vector);
+  DECLARE_SIGNAL_IN(qDes, dynamicgraph::Vector);
+  DECLARE_SIGNAL_IN(dqDes, dynamicgraph::Vector);
 
-      protected:
-        int m_n;
-        bool m_initSucceeded;    /// true if the entity has been successfully initialized
-        dynamicgraph::Vector m_Kp;
+  DECLARE_SIGNAL_OUT(dqRef, dynamicgraph::Vector);
 
-      }; // class JointPositionController
+  /* --- COMMANDS --- */
+  /* --- ENTITY INHERITANCE --- */
+  virtual void display(std::ostream& os) const;
 
-    }    // namespace talos_balance
-  }      // namespace sot
-}        // namespace dynamicgraph
+ protected:
+  int m_n;
+  bool
+      m_initSucceeded;  /// true if the entity has been successfully initialized
+  dynamicgraph::Vector m_Kp;
 
+};  // class JointPositionController
 
+}  // namespace talos_balance
+}  // namespace sot
+}  // namespace dynamicgraph
 
-#endif // #ifndef __sot_talos_balance_joint_position_controller_H__
+#endif  // #ifndef __sot_talos_balance_joint_position_controller_H__

include/sot/talos_balance/math/fwd.hh

@@ -21,50 +21,46 @@
 #include <Eigen/Core>
 
 #ifdef EIGEN_RUNTIME_NO_MALLOC
-  #define EIGEN_MALLOC_ALLOWED Eigen::internal::set_is_malloc_allowed(true);
-  #define EIGEN_MALLOC_NOT_ALLOWED Eigen::internal::set_is_malloc_allowed(false);
+#define EIGEN_MALLOC_ALLOWED Eigen::internal::set_is_malloc_allowed(true);
+#define EIGEN_MALLOC_NOT_ALLOWED Eigen::internal::set_is_malloc_allowed(false);
 #else
-  #define EIGEN_MALLOC_ALLOWED
-  #define EIGEN_MALLOC_NOT_ALLOWED 
+#define EIGEN_MALLOC_ALLOWED
+#define EIGEN_MALLOC_NOT_ALLOWED
 #endif
-namespace dynamicgraph
-{
-  namespace sot
-  {
-    namespace talos_balance
-    {
-      namespace math
-      {
-        
-        typedef double Scalar;
-        typedef Eigen::Matrix<Scalar,Eigen::Dynamic,1> Vector;
-        typedef Eigen::Matrix<Scalar,Eigen::Dynamic,Eigen::Dynamic> Matrix;
-        typedef Eigen::VectorXi VectorXi;
-        typedef Eigen::Matrix<bool,Eigen::Dynamic,1> VectorXb;
-        
-        typedef Eigen::Matrix<Scalar,3,1> Vector3;
-        typedef Eigen::Matrix<Scalar,6,1> Vector6;
-        typedef Eigen::Matrix<Scalar,3,Eigen::Dynamic> Matrix3x;
-        
-        typedef Eigen::Ref<Vector3>             RefVector3;
-        typedef const Eigen::Ref<const Vector3> ConstRefVector3;
-        
-        typedef Eigen::Ref<Vector>              RefVector;
-        typedef const Eigen::Ref<const Vector>  ConstRefVector;
-        
-        typedef Eigen::Ref<Matrix>              RefMatrix;
-        typedef const Eigen::Ref<const Matrix>  ConstRefMatrix;
-        
-        typedef std::size_t Index;
-        
-        // Forward declaration of constraints
-        class ConstraintBase;
-        class ConstraintEquality;
-        class ConstraintInequality;
-        class ConstraintBound;
-        
-      }
-    }
-  }
-}
-#endif // ifndef __invdyn_math_fwd_hpp__
+namespace dynamicgraph {
+namespace sot {
+namespace talos_balance {
+namespace math {
+
+typedef double Scalar;
+typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1> Vector;
+typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> Matrix;
+typedef Eigen::VectorXi VectorXi;
+typedef Eigen::Matrix<bool, Eigen::Dynamic, 1> VectorXb;
+
+typedef Eigen::Matrix<Scalar, 3, 1> Vector3;
+typedef Eigen::Matrix<Scalar, 6, 1> Vector6;
+typedef Eigen::Matrix<Scalar, 3, Eigen::Dynamic> Matrix3x;
+
+typedef Eigen::Ref<Vector3> RefVector3;
+typedef const Eigen::Ref<const Vector3> ConstRefVector3;
+
+typedef Eigen::Ref<Vector> RefVector;
+typedef const Eigen::Ref<const Vector> ConstRefVector;
+
+typedef Eigen::Ref<Matrix> RefMatrix;
+typedef const Eigen::Ref<const Matrix> ConstRefMatrix;
+
+typedef std::size_t Index;
+
+// Forward declaration of constraints
+class ConstraintBase;
+class ConstraintEquality;
+class ConstraintInequality;
+class ConstraintBound;
+
+}  // namespace math
+}  // namespace talos_balance
+}  // namespace sot
+}  // namespace dynamicgraph
+#endif  // ifndef __invdyn_math_fwd_hpp__