[Python 3]

doc/sphinx/conf.py.in

@@ -11,20 +11,21 @@
 # All configuration values have a default; values that are commented out
 # serve to show the default.
 
-import sys, os
+import os
+import sys
 
 # If extensions (or modules to document with autodoc) are in another directory,
 # add these directories to sys.path here. If the directory is relative to the
 # documentation root, use os.path.abspath to make it absolute, like shown here.
-sys.path = [os.path.abspath('@CMAKE_INSTALL_PREFIX@/@PYTHON_SITELIB@')]+sys.path
-sys.path = [os.path.abspath('@CMAKE_BINARY_DIR@/src')]+sys.path
-sys.path = [os.path.abspath('@CMAKE_SOURCE_DIR@/src')]+sys.path
+sys.path = [os.path.abspath('@CMAKE_INSTALL_PREFIX@/@PYTHON_SITELIB@')] + sys.path
+sys.path = [os.path.abspath('@CMAKE_BINARY_DIR@/src')] + sys.path
+sys.path = [os.path.abspath('@CMAKE_SOURCE_DIR@/src')] + sys.path
 
 # -- General configuration -----------------------------------------------------
 
 # Add any Sphinx extension module names here, as strings. They can be extensions
 # coming with Sphinx (named 'sphinx.ext.*') or your custom ones.
-extensions = ['sphinx.ext.autodoc', 'sphinx.ext.doctest', 'sphinx.ext.intersphinx', 'sphinx.ext.todo', 'sphinx.ext.pngmath']
+extensions = ['sphinx.ext.autodoc', 'sphinx.ext.doctest', 'sphinx.ext.intersphinx', 'sphinx.ext.todo']
 
 # Add any paths that contain templates here, relative to this directory.
 templates_path = ['_templates']
@@ -88,7 +89,6 @@ pygments_style = 'sphinx'
 # A list of ignored prefixes for module index sorting.
 #modindex_common_prefix = []
 
-
 # -- Options for HTML output ---------------------------------------------------
 
 # The theme to use for HTML and HTML Help pages.  Major themes that come with
@@ -162,7 +162,6 @@ html_static_path = ['_static']
 # Output file base name for HTML help builder.
 htmlhelp_basename = '@PROJECT_NAME@doc'
 
-
 # -- Options for LaTeX output --------------------------------------------------
 
 # The paper size ('letter' or 'a4').
@@ -174,8 +173,7 @@ htmlhelp_basename = '@PROJECT_NAME@doc'
 # Grouping the document tree into LaTeX files. List of tuples
 # (source start file, target name, title, author, documentclass [howto/manual]).
 latex_documents = [
-  ('index', '@PROJECT_NAME@.tex', u'@PROJECT_NAME@ Documentation',
-   u'Florent Lamiraux', 'manual'),
+    ('index', '@PROJECT_NAME@.tex', u'@PROJECT_NAME@ Documentation', u'Florent Lamiraux', 'manual'),
 ]
 
 # The name of an image file (relative to this directory) to place at the top of
@@ -195,6 +193,5 @@ latex_documents = [
 # If false, no module index is generated.
 #latex_use_modindex = True
 
-
 # Example configuration for intersphinx: refer to the Python standard library.
 intersphinx_mapping = {'http://docs.python.org/': None}

include/sot/core/gain-adaptive.hh

@@ -90,7 +90,7 @@ public: /* --- INIT --- */
    *
    * To visualize the curve of the gain versus the error, use
    * \code{.py}
-   * from dynamic_graph.sot.core import GainAdaptive
+   * from dynamic_graph.sot.core.gain_adaptive import GainAdaptive
    * import numpy, matplotlib.pyplot as plt
    * g = GainAdaptive('g')
    * g.setByPoint(4.9, 0.001, 0.01, 0.1)

src/CMakeLists.txt

@@ -81,7 +81,7 @@ ENDIF(WIN32)
 
 set(feature-task_deps feature-generic task)
 set(feature-point6d-relative_deps feature-point6d)
-set(sot_deps task)
+set(sot_deps task feature-posture)
 set(sequencer_deps sot)
 set(task-conti_deps task)
 set(task-pd_deps task)

src/dynamic_graph/sot/core/feature_position.py

@@ -4,7 +4,7 @@
 
 from dynamic_graph import plug
 from dynamic_graph.entity import Entity
-from dynamic_graph.sot.core import FeaturePoint6d
+from dynamic_graph.sot.core.feature_point6d import FeaturePoint6d
 
 
 class FeaturePosition(Entity):

src/dynamic_graph/sot/core/meta_task_6d.py

 from dynamic_graph import plug
-from dynamic_graph.sot.core import FeaturePoint6d, GainAdaptive, OpPointModifier, Task
+from dynamic_graph.sot.core.feature_point6d import FeaturePoint6d
+from dynamic_graph.sot.core.gain_adaptive import GainAdaptive
+from dynamic_graph.sot.core.op_point_modifier import OpPointModifier
+from dynamic_graph.sot.core.sot import Task
 
 
 def toFlags(arr):
@@ -26,8 +29,8 @@ class MetaTask6d(object):
     featureDes = 0
 
     def opPointExist(self, opPoint):
-        sigsP = filter(lambda x: x.getName().split(':')[-1] == opPoint, self.dyn.signals())
-        sigsJ = filter(lambda x: x.getName().split(':')[-1] == 'J' + opPoint, self.dyn.signals())
+        sigsP = [x for x in self.dyn.signals() if x.getName().split(':')[-1] == opPoint]
+        sigsJ = [x for x in self.dyn.signals() if x.getName().split(':')[-1] == 'J' + opPoint]
         return len(sigsP) == 1 & len(sigsJ) == 1
 
     def defineDynEntities(self, dyn):

src/dynamic_graph/sot/core/meta_task_posture.py

 from dynamic_graph import plug
-from dynamic_graph.sot.core import FeatureGeneric, GainAdaptive, Task
+from dynamic_graph.sot.core.feature_generic import FeatureGeneric
+from dynamic_graph.sot.core.gain_adaptive import GainAdaptive
 from dynamic_graph.sot.core.matrix_util import matrixToTuple, vectorToTuple
 from dynamic_graph.sot.core.meta_task_6d import toFlags
 from dynamic_graph.sot.core.meta_tasks import setGain
+from dynamic_graph.sot.core.sot import Task
 from numpy import identity, matrix, zeros
 
 

src/dynamic_graph/sot/core/meta_task_visual_point.py

 from dynamic_graph import plug
-from dynamic_graph.sot.core import FeatureVisualPoint, GainAdaptive, OpPointModifier, Task, VisualPointProjecter
+from dynamic_graph.sot.core.feature_visual_point import FeatureVisualPoint
+from dynamic_graph.sot.core.gain_adaptive import GainAdaptive
 from dynamic_graph.sot.core.meta_tasks import setGain
+from dynamic_graph.sot.core.op_point_modifier import OpPointModifier
+from dynamic_graph.sot.core.sot import Task
+from dynamic_graph.sot.core.visual_point_projecter import VisualPointProjecter
 
 
 class MetaTaskVisualPoint(object):

src/dynamic_graph/sot/core/meta_tasks.py

 from dynamic_graph import plug
-from dynamic_graph.sot.core import FeatureGeneric, GainAdaptive
+from dynamic_graph.sot.core.feature_generic import FeatureGeneric
+from dynamic_graph.sot.core.gain_adaptive import GainAdaptive
 from dynamic_graph.sot.core.matrix_util import matrixToTuple, rpy2tr
 from dynamic_graph.sot.core.meta_task_6d import toFlags
 from numpy import array, eye, matrix, ndarray

src/dynamic_graph/sot/core/meta_tasks_kine.py

 from dynamic_graph import plug
-from dynamic_graph.sot.core import GainAdaptive, Task
+from dynamic_graph.sot.core.gain_adaptive import GainAdaptive
 from dynamic_graph.sot.core.meta_task_6d import MetaTask6d
 # TODO: this function is imported from meta_tasks_kine in several places, whereas it is defined in meta_tasks
 from dynamic_graph.sot.core.meta_tasks import gotoNd  # noqa
 from dynamic_graph.sot.core.meta_tasks import MetaTaskCom
+from dynamic_graph.sot.core.sot import Task
 
 
 class MetaTaskKine6d(MetaTask6d):

src/dynamic_graph/sot/core/meta_tasks_kine_relative.py

 from dynamic_graph import plug
-from dynamic_graph.sot.core import OpPointModifier
-from dynamic_graph.sot.core.feature_point6d_relative import FeaturePoint6dRelative
+from dynamic_graph.sot.core.feature_point6d_relative import \
+    FeaturePoint6dRelative
 from dynamic_graph.sot.core.matrix_util import matrixToTuple
 from dynamic_graph.sot.core.meta_task_6d import MetaTask6d, toFlags
 from dynamic_graph.sot.core.meta_tasks import generic6dReference, setGain
+from dynamic_graph.sot.core.op_point_modifier import OpPointModifier
 
 
 class MetaTaskKine6dRel(MetaTask6d):

tests/python/matrix-util.py

@@ -3,7 +3,7 @@
 import unittest
 
 import numpy as np
-from dynamic_graph.sot.core import matrix_util as mod
+import dynamic_graph.sot.core.matrix_util as mod
 
 
 class MatrixUtilTest(unittest.TestCase):

tests/python/op-point-modifier.py

@@ -5,7 +5,7 @@
 import unittest
 
 import numpy as np
-from dynamic_graph.sot.core import OpPointModifier
+from dynamic_graph.sot.core.op_point_modifier import OpPointModifier
 
 gaze = tuple(((1.0, 0.0, 0.0, 0.025000000000000001), (0.0, 1.0, 0.0, 0.0), (0.0, 0.0, 1.0, 0.64800000000000002),
               (0.0, 0.0, 0.0, 1.0)))