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  • cberge/dynamic-graph
  • ostasse/dynamic-graph
  • gsaurel/dynamic-graph
  • stack-of-tasks/dynamic-graph
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with 2045 additions and 1822 deletions
doc/figures/use-case.png → doc/pictures/use-case.png
View file @ 2e7a70d5
File moved
dynamic-graph.pc.cmake deleted 100644 → 0
View file @ ee3c525c
prefix=${CMAKE_INSTALL_PREFIX}
exec_prefix=${install_pkg_prefix}
libdir=${install_pkg_exec_prefix}/lib
includedir=${install_pkg_prefix}/include
datarootdir=${install_pkg_prefix}/share
docdir=${install_pkg_datarootdir}/doc/${PROJECT_NAME}
Name: ${PROJECT_NAME}
Description:
Version: ${PROJECT_VERSION}
Requires: ${PACKAGE_REQUIREMENTS}
Libs: ${LIBDIR_KW}${install_pkg_libdir} ${${PROJECT_NAME}_LDFLAGS}
Cflags: -I${install_pkg_include_dir} ${${PROJECT_NAME}_CXXFLAGS}
include/CMakeLists.txt deleted 100644 → 0
View file @ ee3c525c
# Copyright 2010, Olivier Stasse, JRL, CNRS/AIST
#
# This file is part of dynamic-graph.
# dynamic-graph 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.
#
# dynamic-graph 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
# dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
# Add default import directories.
# It is used by the import directive of the sot shell to locate
# scripts and plug-ins.
SET(
DG_IMPORT_DEFAULT_PATHS
"${CMAKE_INSTALL_PREFIX}/share/dynamic-graph/script:${CMAKE_INSTALL_PREFIX}/${PLUGINDIR}"
)
CONFIGURE_FILE(
${PROJECT_NAME}/import-default-paths.h.cmake
${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}/import-default-paths.h)
INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}/import-default-paths.h
DESTINATION include/${PROJECT_NAME}
PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
)
# Headers list.
SET(${PROJECT_NAME}_HEADERS
fwd.hh
null-ptr.hh
contiifstream.h
debug.h
dynamic-graph-api.h
entity.h
factory.h
pool.h
exception-abstract.h
exception-factory.h
exception-signal.h
exception-traces.h
signal.h
signal-array.h
signal-base.h
signal-ptr.h
signal-time-dependent.h
signal-ptr.t.cpp
signal.t.cpp
time-dependency.h
time-dependency.t.cpp
signal-caster.h
signal-cast-helper.h
all-signals.h
signal-helper.h
entity-helper.h
tracer.h
tracer-real-time.h
command.h
linear-algebra.h
value.h
command-setter.h
command-setter.t.cpp
command-getter.h
command-getter.t.cpp
command-direct-getter.h
command-direct-setter.h
command-bind.h
all-commands.h
)
# Recreate correct path for the headers
#--------------------------------------
SET(fullpath_${PROJECT_NAME}_HEADERS)
FOREACH(lHeader ${${PROJECT_NAME}_HEADERS})
SET(fullpath_${PROJECT_NAME}_HEADERS
${fullpath_${PROJECT_NAME}_HEADERS}
./${PROJECT_NAME}/${lHeader}
)
ENDFOREACH(lHeader)
#----------------------------------------------------
# Install procedure for the header files
#----------------------------------------------------
INSTALL(FILES ${fullpath_${PROJECT_NAME}_HEADERS}
DESTINATION include/${PROJECT_NAME}
PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
)
include/dynamic-graph/all-commands.h
View file @ 2e7a70d5
......@@ -2,21 +2,9 @@
// Copyright 2010, François Bleibel, Olivier Stasse, JRL, CNRS/AIST
// Thomas Moulard, Nicolas Mansard LAAS-CNRS
//
// This file is part of dynamic-graph.
// dynamic-graph 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.
//
// dynamic-graph 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
// dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
#ifndef DYNAMIC_GRAPH_ALL_COMMANDS_H
# define DYNAMIC_GRAPH_ALL_COMMANDS_H
#define DYNAMIC_GRAPH_ALL_COMMANDS_H
// Utility header files including all commands headers
......@@ -24,7 +12,7 @@
#include <dynamic-graph/command-direct-getter.h>
#include <dynamic-graph/command-direct-setter.h>
#include <dynamic-graph/command-getter.h>
#include <dynamic-graph/command.h>
#include <dynamic-graph/command-setter.h>
#include <dynamic-graph/command.h>
#endif //! DYNAMIC_GRAPH_ALL_COMMANDS_H
#endif //! DYNAMIC_GRAPH_ALL_COMMANDS_H
include/dynamic-graph/all-signals.h
View file @ 2e7a70d5
......@@ -2,26 +2,14 @@
// Copyright 2010, François Bleibel, Thomas Moulard, Olivier Stasse,
// JRL, CNRS/AIST.
//
// This file is part of dynamic-graph.
// dynamic-graph 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.
//
// dynamic-graph 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
// dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
#ifndef DYNAMIC_GRAPH_ALL_SIGNALS_H
# define DYNAMIC_GRAPH_ALL_SIGNALS_H
#define DYNAMIC_GRAPH_ALL_SIGNALS_H
// Utility header files including all signal headers
# include <dynamic-graph/signal.h>
# include <dynamic-graph/signal-ptr.h>
# include <dynamic-graph/signal-time-dependent.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
#include <dynamic-graph/signal.h>
#endif //! DYNAMIC_GRAPH_ALL_SIGNALS_H
#endif //! DYNAMIC_GRAPH_ALL_SIGNALS_H
include/dynamic-graph/command-bind.h
View file @ 2e7a70d5
This diff is collapsed.
include/dynamic-graph/command-direct-getter.h
View file @ 2e7a70d5
......@@ -3,17 +3,6 @@
//
// Author: Nicolas Mansard
//
// This file is part of dynamic-graph.
// dynamic-graph 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.
// dynamic-graph 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 dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
#ifndef __dg_command_direct_getter_h__
#define __dg_command_direct_getter_h__
......@@ -26,47 +15,44 @@
*
*/
#include "dynamic-graph/command.h"
#include <boost/assign/list_of.hpp>
#include "dynamic-graph/command.h"
/* --- GETTER --------------------------------------------------------- */
namespace dynamicgraph {
namespace command {
namespace command {
template <class E, typename T>
class DirectGetter
: public Command
{
public:
/// Pointer to method that sets paramter of type T
typedef T (E::*GetterMethod) () const;
template <class E, typename T>
class DirectGetter : public Command {
public:
/// Pointer to method that sets parameter of type T
typedef T (E::*GetterMethod)() const;
/// Constructor
DirectGetter(E& entity,T* ptr,
const std::string& docString)
: Command(entity, std::vector<Value::Type>(), docString),
T_ptr(ptr) {}
/// Constructor
DirectGetter(E &entity, T *ptr, const std::string &docString)
: Command(entity, std::vector<Value::Type>(), docString), T_ptr(ptr) {}
protected:
virtual Value doExecute() { return Value(*T_ptr); }
private:
T* T_ptr;
};
protected:
virtual Value doExecute() { return Value(*T_ptr); }
template <class E, typename T>
DirectGetter<E,T>*
makeDirectGetter( E& entity,T* ptr,
const std::string& docString)
{ return new DirectGetter<E,T>(entity,ptr,docString); }
private:
T *T_ptr;
};
inline std::string docDirectGetter( const std::string& name,
const std::string& type )
{
return std::string("\nGet the ")+name+".\n\nNo input.\nReturn an "+type+".\n\n";
}
template <class E, typename T>
DirectGetter<E, T> *makeDirectGetter(E &entity, T *ptr,
const std::string &docString) {
return new DirectGetter<E, T>(entity, ptr, docString);
}
} // namespace command
} // namespace dynamicgraph
inline std::string docDirectGetter(const std::string &name,
const std::string &type) {
return std::string("\nGet the ") + name + ".\n\nNo input.\nReturn an " +
type + ".\n\n";
}
} // namespace command
} // namespace dynamicgraph
#endif // __dg_command_direct_getter_h__
#endif // __dg_command_direct_getter_h__
include/dynamic-graph/command-direct-setter.h
View file @ 2e7a70d5
......@@ -3,17 +3,6 @@
//
// Author: Nicolas Mansard
//
// This file is part of dynamic-graph.
// dynamic-graph 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.
// dynamic-graph 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 dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
#ifndef __dg_command_direct_setter_h__
#define __dg_command_direct_setter_h__
......@@ -26,50 +15,47 @@
*
*/
#include "dynamic-graph/command.h"
#include <boost/assign/list_of.hpp>
#include "dynamic-graph/command.h"
/* --- SETTER --------------------------------------------------------- */
namespace dynamicgraph {
namespace command {
template <class E, typename T>
class DirectSetter
: public Command
{
public:
DirectSetter(E& entity,T* ptr,const std::string& docString)
:Command(entity, boost::assign::list_of(ValueHelper<T>::TypeID), docString)
,T_ptr(ptr)
{}
protected:
virtual Value doExecute()
{
const std::vector<Value>& values = getParameterValues();
T val = values[0].value();
(*T_ptr) = val;
return Value(); // void
}
private:
T* T_ptr;
};
template <class E, typename T>
DirectSetter<E,T>*
makeDirectSetter( E& entity,T* ptr,
const std::string& docString)
{ return new DirectSetter<E,T>(entity,ptr,docString); }
inline std::string docDirectSetter( const std::string& name,
const std::string& type )
{
return std::string("\nSet the ")+name+".\n\nInput:\n - a "
+type+".\nVoid return.\n\n";
}
} // namespace command
} // namespace dynamicgraph
#endif // __dg_command_direct_setter_h__
namespace command {
template <class E, typename T>
class DirectSetter : public Command {
public:
DirectSetter(E &entity, T *ptr, const std::string &docString)
: Command(entity, boost::assign::list_of(ValueHelper<T>::TypeID),
docString),
T_ptr(ptr) {}
protected:
virtual Value doExecute() {
const std::vector<Value> &values = getParameterValues();
T val = values[0].value();
(*T_ptr) = val;
return Value(); // void
}
private:
T *T_ptr;
};
template <class E, typename T>
DirectSetter<E, T> *makeDirectSetter(E &entity, T *ptr,
const std::string &docString) {
return new DirectSetter<E, T>(entity, ptr, docString);
}
inline std::string docDirectSetter(const std::string &name,
const std::string &type) {
return std::string("\nSet the ") + name + ".\n\nInput:\n - a " + type +
".\nVoid return.\n\n";
}
} // namespace command
} // namespace dynamicgraph
#endif // __dg_command_direct_setter_h__
include/dynamic-graph/command-getter.h
View file @ 2e7a70d5
......@@ -3,17 +3,6 @@
//
// Author: Florent Lamiraux
//
// This file is part of dynamic-graph.
// dynamic-graph 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.
// dynamic-graph 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 dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
#ifndef DYNAMIC_GRAPH_COMMAND_GETTER_H
#define DYNAMIC_GRAPH_COMMAND_GETTER_H
......@@ -21,55 +10,53 @@
#include "dynamic-graph/command.h"
namespace dynamicgraph {
namespace command {
///
/// Command that calls a parameter getter function
///
/// This class is templated by a type E deriving from entity and
/// a type T of data.
///
/// Let us assume that class E has a private member of type T and a
/// public getter function for this member:
/// \code
/// class E : public Entity
/// {
/// public:
/// E (const std::string& inName) : Entity(inName) {}
/// T getParameter() const {return parameter_;}
/// private:
/// T parameter_;
/// };
/// \endcode
/// Then the command defined by:
/// \code
/// E entity("MyEntity");
/// Getter<E,T> command(entity, &E::getParameter)
/// \endcode
/// returns the value of <c>entity.parameter_</c> upon invocation.
///
/// \note
/// \li T should be a type supported by class Value,
/// \li prototype of E::getParameter should be exactly as specified in this
/// example.
template <class E, typename T>
class DYNAMIC_GRAPH_DLLEXPORT Getter : public Command {
public:
/// Pointer to method that sets paramter of type T
typedef T (E::*GetterMethod) () const;
/// Constructor
Getter(E& entity, GetterMethod getterMethod,
const std::string& docString);
protected:
virtual Value doExecute();
private:
GetterMethod getterMethod_;
};
} // namespace command
} // namespace dynamicgraph
namespace command {
///
/// Command that calls a parameter getter function
///
/// This class is templated by a type E deriving from entity and
/// a type T of data.
///
/// Let us assume that class E has a private member of type T and a
/// public getter function for this member:
/// \code
/// class E : public Entity
/// {
/// public:
/// E (const std::string& inName) : Entity(inName) {}
/// T getParameter() const {return parameter_;}
/// private:
/// T parameter_;
/// };
/// \endcode
/// Then the command defined by:
/// \code
/// E entity("MyEntity");
/// Getter<E,T> command(entity, &E::getParameter)
/// \endcode
/// returns the value of <c>entity.parameter_</c> upon invocation.
///
/// \note
/// \li T should be a type supported by class Value,
/// \li prototype of E::getParameter should be exactly as specified in this
/// example.
template <class E, typename T>
class Getter : public Command {
public:
/// Pointer to method that sets parameter of type T
typedef T (E::*GetterMethod)() const;
/// Constructor
Getter(E &entity, GetterMethod getterMethod, const std::string &docString);
protected:
virtual Value doExecute();
private:
GetterMethod getterMethod_;
};
} // namespace command
} // namespace dynamicgraph
#include "dynamic-graph/command-getter.t.cpp"
#endif //DYNAMIC_GRAPH_COMMAND_GETTER_H
#endif // DYNAMIC_GRAPH_COMMAND_GETTER_H
include/dynamic-graph/command-getter.t.cpp
View file @ 2e7a70d5
......@@ -3,43 +3,31 @@
//
// Author: Florent Lamiraux
//
// This file is part of dynamic-graph.
// dynamic-graph 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.
// dynamic-graph 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 dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
#ifndef DYNAMIC_GRAPH_COMMAND_GETTER_T_CPP
#define DYNAMIC_GRAPH_COMMAND_GETTER_T_CPP
#include "dynamic-graph/command-getter.h"
#include <sstream>
namespace dynamicgraph {
class Entity;
namespace command {
class Entity;
namespace command {
template <class E, typename T>
Getter<E, T>::Getter(E& entity, GetterMethod getterMethod,
const std::string& docstring) :
Command(entity, std::vector<Value::Type>(), docstring),
getterMethod_(getterMethod)
{
}
template <class E, typename T>
Getter<E, T>::Getter(E &entity, GetterMethod getterMethod,
const std::string &docstring)
: Command(entity, std::vector<Value::Type>(), docstring),
getterMethod_(getterMethod) {}
template <class E, typename T>
Value Getter<E, T>::doExecute()
{
E& entity = static_cast<E&>(owner());
T value = (entity.*getterMethod_)();
return Value(value);
}
} // namespace command
} // namespace dynamicgraph
template <class E, typename T>
Value Getter<E, T>::doExecute() {
E &entity = static_cast<E &>(owner());
T value = (entity.*getterMethod_)();
return Value(value);
}
} // namespace command
} // namespace dynamicgraph
#endif // DYNAMIC_GRAPH_COMMAND_GETTER_T_CPP
#endif // DYNAMIC_GRAPH_COMMAND_GETTER_T_CPP
include/dynamic-graph/command-setter.h
View file @ 2e7a70d5
......@@ -3,17 +3,6 @@
//
// Author: Florent Lamiraux
//
// This file is part of dynamic-graph.
// dynamic-graph 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.
// dynamic-graph 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 dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
#ifndef DYNAMIC_GRAPH_COMMAND_SETTER_H
#define DYNAMIC_GRAPH_COMMAND_SETTER_H
......@@ -21,55 +10,53 @@
#include "dynamic-graph/command.h"
namespace dynamicgraph {
namespace command {
///
/// Command that calls a parameter setter function
///
/// This class is templated by a type E deriving from entity and
/// a type T of data.
///
/// Let us assume that class E has a private member of type T and a
/// public setter function for this member:
/// \code
/// class E : public Entity
/// {
/// public:
/// E (const std::string& inName) : Entity(inName) {}
/// void setParameter(const T& parameter) {parameter_ = parameter;}
/// private:
/// T parameter_;
/// };
/// \endcode
/// Then the command defined by:
/// \code
/// E entity("MyEntity");
/// Setter<E,T> command(entity, &E::getParameter)
/// \endcode
/// sets the value of <c>entity.parameter_</c> upon invocation.
///
/// \note
/// \li T should be a type supported by class Value,
/// \li prototype of E::setParameter should be exactly as specified in this
/// example.
template <class E, typename T>
class DYNAMIC_GRAPH_DLLEXPORT Setter : public Command {
public:
/// Pointer to method that sets paramter of type T
typedef void (E::*SetterMethod) (const T&);
/// Constructor
Setter(E& entity, SetterMethod setterMethod,
const std::string& docString);
protected:
virtual Value doExecute();
private:
SetterMethod setterMethod_;
};
} // namespace command
} // namespace dynamicgraph
namespace command {
///
/// Command that calls a parameter setter function
///
/// This class is templated by a type E deriving from entity and
/// a type T of data.
///
/// Let us assume that class E has a private member of type T and a
/// public setter function for this member:
/// \code
/// class E : public Entity
/// {
/// public:
/// E (const std::string& inName) : Entity(inName) {}
/// void setParameter(const T& parameter) {parameter_ = parameter;}
/// private:
/// T parameter_;
/// };
/// \endcode
/// Then the command defined by:
/// \code
/// E entity("MyEntity");
/// Setter<E,T> command(entity, &E::getParameter)
/// \endcode
/// sets the value of <c>entity.parameter_</c> upon invocation.
///
/// \note
/// \li T should be a type supported by class Value,
/// \li prototype of E::setParameter should be exactly as specified in this
/// example.
template <class E, typename T>
class Setter : public Command {
public:
/// Pointer to method that sets parameter of type T
typedef void (E::*SetterMethod)(const T &);
/// Constructor
Setter(E &entity, SetterMethod setterMethod, const std::string &docString);
protected:
virtual Value doExecute();
private:
SetterMethod setterMethod_;
};
} // namespace command
} // namespace dynamicgraph
#include "dynamic-graph/command-setter.t.cpp"
#endif //DYNAMIC_GRAPH_COMMAND_SETTER_H
#endif // DYNAMIC_GRAPH_COMMAND_SETTER_H
include/dynamic-graph/command.h
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include/dynamic-graph/contiifstream.h deleted 100644 → 0
View file @ ee3c525c
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include/dynamic-graph/debug.h
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include/dynamic-graph/dynamic-graph-api.h
View file @ 2e7a70d5
......@@ -2,20 +2,8 @@
// Copyright 2010, François Bleibel, Thomas Moulard, Olivier Stasse,
// JRL, CNRS/AIST.
//
// This file is part of dynamic-graph.
// dynamic-graph 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.
//
// dynamic-graph 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
// dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
#ifndef DYNAMIC_GRAPH_API_H
# define DYNAMIC_GRAPH_API_H
# include <dynamic-graph/config.hh>
#endif //! DYNAMIC_GRAPH_API_H
#define DYNAMIC_GRAPH_API_H
#include <dynamic-graph/config.hh>
#endif //! DYNAMIC_GRAPH_API_H
include/dynamic-graph/eigen-io.h 0 → 100644
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include/dynamic-graph/entity-helper.h
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include/dynamic-graph/entity.h
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