Corrected installation path and name of plugins. Some minor bugfixes.

include/sot-core/feature-abstract.h

@@ -38,8 +38,9 @@ namespace ml = maal::boost;
 
 /* STD */
 #include <string>
-using namespace dynamicgraph;
+
 namespace sot {
+namespace dg = dynamicgraph;
 
 /* --------------------------------------------------------------------- */
 /* --- CLASS ----------------------------------------------------------- */
@@ -150,13 +151,13 @@ class SOT_CORE_EXPORT FeatureAbstract
   /*! \name Input signals: 
    @{ */
   /*! \brief This signal specifies the desired value \f$ {\bf s}^*(t) \f$ */
-  SignalPtr< FeatureAbstract*,int > desiredValueSIN;
+  dg::SignalPtr< FeatureAbstract*,int > desiredValueSIN;
 
   /*! \brief This vector specifies which dimension are used to perform the computation.
    For instance let us assume that the feature is a 3D point. If only the Y-axis should
    be used for computing error, activation and Jacobian, then the vector to specify
    is \f$ [ 0 1 0] \f$.*/
-  SignalPtr< Flags,int > selectionSIN;
+  dg::SignalPtr< Flags,int > selectionSIN;
   /*! @} */
 
   /*! \name Output signals: 
@@ -164,17 +165,17 @@ class SOT_CORE_EXPORT FeatureAbstract
 
   /*! \brief This signal returns the error between the desired value and
     the current value : \f$ {\bf s}^*(t) - {\bf s}(t)\f$ */
-  SignalTimeDependant<ml::Vector,int> errorSOUT;
+  dg::SignalTimeDependant<ml::Vector,int> errorSOUT;
   
   /*! \brief This signal returns the Jacobian of the current value 
     according to the robot state: \f$ J(t) = \frac{\delta{\bf s}^*(t)}{\delta {\bf q}(t)}\f$ */
-  SignalTimeDependant<ml::Matrix,int> jacobianSOUT;
+  dg::SignalTimeDependant<ml::Matrix,int> jacobianSOUT;
   
   /*! \brief Compute the new value of the feature \f$ {\bf s}(t)\f$ */
-  SignalTimeDependant<ml::Vector,int> activationSOUT;
+  dg::SignalTimeDependant<ml::Vector,int> activationSOUT;
 
   /*! \brief Returns the dimension of the feature as an output signal. */
-  SignalTimeDependant<unsigned int,int> dimensionSOUT;
+  dg::SignalTimeDependant<unsigned int,int> dimensionSOUT;
 
   /*! \brief This method write a graph description on the file named FileName. */
   virtual std::ostream & writeGraph(std::ostream & os) const;

src/CMakeLists.txt

@@ -2,6 +2,9 @@
 #  Copyright 
 # 
 
+# The main library name
+SET(SOTCORE_LIB_NAME ${PROJECT_NAME})
+
 #This project will create many shared libraries as plugins, listed here
 SET(plugins 
 	sot/sot-qr
@@ -10,6 +13,8 @@ SET(plugins
 	sot/sot
 )
 
+SET(LIBRARY_NAME ${SOTCORE_LIB_NAME})
+
 #sot-core library sources
 SET(${PROJECT_NAME}_SOURCES
 	debug/debug.cpp
@@ -65,22 +70,16 @@ SET(${PROJECT_NAME}_SOURCES
 	task/task-abstract.cpp
 	
 	sot/flags.cpp
-	sot/sot-qr.cpp
 	sot/memory-task-sot.cpp
-	sot/sot.cpp
 	sot/rotation-simple.cpp
-	sot/weighted-sot.cpp
 	sot/solver-hierarchical-inequalities.cpp
 	
-	sot/sot-h.cpp
-	
 	factory/additional-functions.cpp
 	factory/factory.cpp
 	factory/pool.cpp
 	factory/command/import.cpp
 )
 
-SET(LIBRARY_NAME ${PROJECT_NAME})
 INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/include)
 
 ADD_DEFINITIONS(-DDEBUG=2)
@@ -147,6 +146,7 @@ SET_TARGET_PROPERTIES(${LIBRARY_NAME}
 
 INSTALL(TARGETS ${LIBRARY_NAME}
   DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
+ 
 
 #Plugins compilation, link, and installation
 FOREACH(plugin ${plugins})
@@ -167,11 +167,19 @@ FOREACH(plugin ${plugins})
 	ADD_LIBRARY(${LIBRARY_NAME} 
 	  SHARED
 	  ${plugin}.cpp)
+	  
+	#remove the "lib" prefix from the plugin output name
+	SET_TARGET_PROPERTIES(${LIBRARY_NAME}
+		PROPERTIES
+		PREFIX "")
 	
 	SET_TARGET_PROPERTIES(${LIBRARY_NAME} 
 	  PROPERTIES 
 	  SOVERSION ${PROJECT_VERSION}
 	  INSTALL_RPATH ${CMAKE_INSTALL_PREFIX}/lib/plugin)
+	  
+	# Link with sot-core library
+	TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${SOTCORE_LIB_NAME})
 	
 	# Add lapack compilation flags and link to library libLapack.so
 	ADD_DEFINITIONS(${LAPACK_CFLAGS})

unitTesting/CMakeLists.txt

@@ -4,7 +4,11 @@
 
 SET (tests
 	main
-	signal/test_signal)
+	signal/test_signal
+	signal/test_array
+	signal/test_depend
+	signal/test_ptr
+	signal/test_dep)
 
 FOREACH(test ${tests})
 	GET_FILENAME_COMPONENT(EXECUTABLE_NAME ${test} NAME)