Some bug fixes.

include/sot-core/debug.h

@@ -105,7 +105,6 @@ class SOT_CORE_EXPORT DebugTrace
 
 };
 
-
 SOT_CORE_EXPORT extern DebugTrace sotDEBUGFLOW;
 SOT_CORE_EXPORT extern DebugTrace sotERRORFLOW;
 
@@ -160,8 +159,6 @@ inline void sotTDEBUGF( const char* format,...) { return; }
 
 } // namespace sot
 
-using namespace sot; //FIXME, for now used for every header that isn't yet in sot::
-
 #endif /* #ifdef __VS_DEBUG_HH */
 
 /*

include/sot-core/exception-abstract.h

@@ -41,9 +41,9 @@
 
 namespace sot {
 
-/* \class sotExceptionAbstract
+/* \class ExceptionAbstract
  */
-class SOT_CORE_EXPORT sotExceptionAbstract 
+class SOT_CORE_EXPORT ExceptionAbstract 
 {
 
  public:
@@ -75,11 +75,11 @@ class SOT_CORE_EXPORT sotExceptionAbstract
 private:
 
   /**  forbid the empty constructor (private). */
-  sotExceptionAbstract( void );
+  ExceptionAbstract( void );
 public:
 
-  sotExceptionAbstract( const int& code, const std::string & msg = "" );
-  virtual ~sotExceptionAbstract( void ){}
+  ExceptionAbstract( const int& code, const std::string & msg = "" );
+  virtual ~ExceptionAbstract( void ){}
 
   /**  Access to the error code. */
   int getCode (void);
@@ -95,7 +95,7 @@ public:
   
   /** Print the error structure. */
   SOT_CORE_EXPORT friend std::ostream & operator << (std::ostream & os,
-				     const sot::sotExceptionAbstract & err);
+				     const sot::ExceptionAbstract & err);
 
 #ifdef SOT_EXCEPTION_PASSING_PARAM 
  public:
@@ -121,20 +121,20 @@ public:
   mutable Param p;
 
   template<class Exc>
-    friend const Exc& operator+ ( const sotExceptionAbstract::Param& p, const Exc& e ) 
+    friend const Exc& operator+ ( const ExceptionAbstract::Param& p, const Exc& e ) 
     { e.p.initCopy(p);   return e;    }
   template<class Exc>
-    friend Exc& operator+ ( const sotExceptionAbstract::Param& p, Exc& e ) 
+    friend Exc& operator+ ( const ExceptionAbstract::Param& p, Exc& e ) 
     { e.p.initCopy(p);   return e;    }
 #endif //#ifdef SOT_EXCEPTION_PASSING_PARAM 
 };
 
-#define SOT_RETHROW ( const sotExceptionAbstract& err ) { throw err; }
+#define SOT_RETHROW ( const ExceptionAbstract& err ) { throw err; }
 
 
 
 #ifdef SOT_EXCEPTION_PASSING_PARAM 
-#  define SOT_THROW throw sotExceptionAbstract::Param(__LINE__,__FUNCTION__,__FILE__) +
+#  define SOT_THROW throw ExceptionAbstract::Param(__LINE__,__FUNCTION__,__FILE__) +
 #else //#ifdef SOT_EXCEPTION_PASSING_PARAM 
 #  define SOT_THROW throw
 #endif //#ifdef SOT_EXCEPTION_PASSING_PARAM 

include/sot-core/exception-dynamic.h

@@ -34,16 +34,16 @@
 
 namespace sot {
 
-/* \class sotExceptionDynamic
+/* \class ExceptionDynamic
  */
-class SOT_CORE_EXPORT sotExceptionDynamic 
-:public sotExceptionAbstract
+class SOT_CORE_EXPORT ExceptionDynamic 
+:public ExceptionAbstract
 
 {
  public:
   enum ErrorCodeEnum
     {
-      GENERIC = sotExceptionAbstract::DYNAMIC
+      GENERIC = ExceptionAbstract::DYNAMIC
 
       ,CANT_DESTROY_SIGNAL
       ,JOINT_RANK
@@ -57,11 +57,11 @@ class SOT_CORE_EXPORT sotExceptionDynamic
 
 public:
 
-  sotExceptionDynamic ( const sotExceptionDynamic::ErrorCodeEnum& errcode,
+  ExceptionDynamic ( const ExceptionDynamic::ErrorCodeEnum& errcode,
 		       const std::string & msg = "" );
-  sotExceptionDynamic( const sotExceptionDynamic::ErrorCodeEnum& errcode,
+  ExceptionDynamic( const ExceptionDynamic::ErrorCodeEnum& errcode,
 			const std::string & msg,const char* format, ... );
-  virtual ~sotExceptionDynamic( void ){}
+  virtual ~ExceptionDynamic( void ){}
 
 
 };

include/sot-core/exception-factory.h

@@ -37,14 +37,14 @@ namespace sot {
 /* \class sotExceptionFactory
  */
 class SOT_CORE_EXPORT sotExceptionFactory 
-:public sotExceptionAbstract
+:public ExceptionAbstract
 
 {
 public:
 
   enum ErrorCodeEnum
     {
-      GENERIC = sotExceptionAbstract::FACTORY
+      GENERIC = ExceptionAbstract::FACTORY
       ,UNREFERED_OBJECT
       ,UNREFERED_SIGNAL
       ,UNREFERED_FUNCTION

include/sot-core/exception-feature.h

@@ -37,14 +37,14 @@ namespace sot {
 /* \class sotExceptionFeature
  */
 class SOT_CORE_EXPORT sotExceptionFeature 
-:public sotExceptionAbstract
+:public ExceptionAbstract
 
 {
 public:
 
   enum ErrorCodeEnum
     {
-      GENERIC = sotExceptionAbstract::FEATURE
+      GENERIC = ExceptionAbstract::FEATURE
       ,BAD_INIT
       ,UNCOMPATIBLE_SIZE
     };

include/sot-core/exception-signal.h

@@ -37,13 +37,13 @@ namespace sot {
 /* \class sotExceptionSignal
  */
 class SOT_CORE_EXPORT sotExceptionSignal 
-:public sotExceptionAbstract
+:public ExceptionAbstract
 
 {
  public:
   enum ErrorCodeEnum
     {
-      GENERIC = sotExceptionAbstract::SIGNAL
+      GENERIC = ExceptionAbstract::SIGNAL
 
       ,READWRITE_LOCK
       ,COPY_NOT_INITIALIZED

include/sot-core/exception-task.h

@@ -37,14 +37,14 @@ namespace sot {
 /* \class sotExceptionTask
  */
 class SOT_CORE_EXPORT sotExceptionTask 
-:public sotExceptionAbstract
+:public ExceptionAbstract
 
 {
 public:
 
   enum ErrorCodeEnum
     {
-      GENERIC = sotExceptionAbstract::TASK
+      GENERIC = ExceptionAbstract::TASK
       ,EMPTY_LIST
       ,NON_ADEQUATE_FEATURES
       ,MATRIX_SIZE

include/sot-core/exception-tools.h

@@ -37,13 +37,13 @@ namespace sot {
 /* \class sotExceptionTools
  */
 class SOT_CORE_EXPORT sotExceptionTools 
-:public sotExceptionAbstract
+:public ExceptionAbstract
 
 {
  public:
   enum ErrorCodeEnum
     {
-      GENERIC = sotExceptionAbstract::TOOLS
+      GENERIC = ExceptionAbstract::TOOLS
 
       ,CORBA
       ,KALMAN_SIZE

include/sot-core/exception-traces.h

@@ -37,13 +37,13 @@ namespace sot {
 /* \class sotExceptionTraces
  */
 class SOT_CORE_EXPORT sotExceptionTraces 
-:public sotExceptionAbstract
+:public ExceptionAbstract
 
 {
  public:
   enum ErrorCodeEnum
     {
-      GENERIC = sotExceptionAbstract::TRACES
+      GENERIC = ExceptionAbstract::TRACES
 
       ,NOT_OPEN
     };

src/CMakeLists.txt

@@ -37,7 +37,7 @@ SET(${LIBRARY_NAME}_SOURCES
 	math/matrix-homogeneous.cpp
 	math/matrix-rotation.cpp
 	math/matrix-twist.cpp
-	math/op-point-modifior.cpp
+	math/op-point-modifier.cpp
 	math/vector-quaternion.cpp
 	math/vector-roll-pitch-yaw.cpp
 	math/vector-utheta.cpp

src/debug/debug.cpp

@@ -38,32 +38,35 @@
 
 using namespace sot;
 
+namespace sot {
 #ifdef WIN32
-const char * DebugTrace::DEBUG_FILENAME_DEFAULT = "c:/tmp/traces.txt";
+const char * DebugTrace::DEBUG_FILENAME_DEFAULT = "c:/tmp/sot-core-traces.txt";
 #else	/*WIN32*/
-const char * DebugTrace::DEBUG_FILENAME_DEFAULT = "/tmp/traces.txt";
+const char * DebugTrace::DEBUG_FILENAME_DEFAULT = "/tmp/sot-core-traces.txt";
 #endif	/*WIN32*/
 
-
-
 #ifdef VP_DEBUG
  #ifdef WIN32
-  std::ofstream debugfile( "C:/tmp/traces.txt", std::ios::trunc&std::ios::out );
+  std::ofstream debugfile( "C:/tmp/sot-core-traces.txt", std::ios::trunc&std::ios::out );
  #else	/*WIN32*/
-  std::ofstream debugfile( "/tmp/traces.txt", std::ios::trunc&std::ios::out );
-#endif	/*WIN32*/
+  std::ofstream debugfile( "/tmp/sot-core-traces.txt", std::ios::trunc&std::ios::out );
+ #endif	/*WIN32*/
+
 #else
+
 std::ofstream debugfile; //( "/dev/null", std::ios::trunc&std::ios::out );
+
  class __sotDebug_init
  {
  public:
-   __sotDebug_init( void ) 
-     { debugfile.setstate( std::ios::failbit ) ; /* debugfile.close(); */ }
+   __sotDebug_init( void ) {
+     debugfile.setstate( std::ios::failbit ) ; /* debugfile.close(); */ }
  };
  __sotDebug_init __sotDebug_initialisator;
 
 #endif
 
+} // namespace sot
 
 void DebugTrace::openFile( const char * filename )
 {
@@ -79,12 +82,7 @@ void DebugTrace::closeFile( const char * filename )
   debugfile.setstate( std::ios::failbit ) ;
 }
 
-
-//DebugTrace sotDEBUGFLOW(std::cout);
-//DebugTrace sotERRORFLOW(std::cerr);
-
-/// Debug objects instances
 namespace sot {
-DebugTrace sotDEBUGFLOW(debugfile);
-DebugTrace sotERRORFLOW(debugfile);
+	DebugTrace sotDEBUGFLOW(debugfile);
+	DebugTrace sotERRORFLOW(debugfile);
 }

src/exception/exception-abstract.cpp

@@ -2,7 +2,7 @@
  * Copyright Projet JRL-Japan, 2007
  *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  *
- * File:      sotExceptionAbstract.cpp
+ * File:      ExceptionAbstract.cpp
  * Project:   SOT
  * Author:    Nicolas Mansard
  *
@@ -29,11 +29,11 @@ using namespace sot;
 /* --- CONSTRUCTORS -------------------------------------------------------- */
 /* ------------------------------------------------------------------------- */
 
-const std::string sotExceptionAbstract::EXCEPTION_NAME = "Abstract";
+const std::string ExceptionAbstract::EXCEPTION_NAME = "Abstract";
 
 
-sotExceptionAbstract::
-sotExceptionAbstract (const int& _code,
+ExceptionAbstract::
+ExceptionAbstract (const int& _code,
 		      const string & _msg)
     :
     code (_code),
@@ -48,19 +48,19 @@ sotExceptionAbstract (const int& _code,
 /* --- ACCESSORS ---------------------------------------------------------- */
 /* ------------------------------------------------------------------------ */
 
-const char *sotExceptionAbstract::
+const char *ExceptionAbstract::
 getMessage (void)
 {
     return (this->message) .c_str();
 }
 
-const string &sotExceptionAbstract::
+const string &ExceptionAbstract::
 getStringMessage (void)
 {
     return this->message;
 }
 
-int sotExceptionAbstract::
+int ExceptionAbstract::
 getCode (void)
 {
     return this->code;
@@ -73,7 +73,7 @@ getCode (void)
 #ifdef SOT_EXCEPTION_PASSING_PARAM 
 
 
-sotExceptionAbstract::Param& sotExceptionAbstract::Param::
+ExceptionAbstract::Param& ExceptionAbstract::Param::
 initCopy( const Param& p )
 {
     sotDEBUGIN(25);
@@ -88,7 +88,7 @@ initCopy( const Param& p )
     sotDEBUGOUT(25);
     return *this;
 }
-sotExceptionAbstract::Param::
+ExceptionAbstract::Param::
 Param( const int& _line, const char * _function, const char * _file )
     : functionPTR(_function),line(_line),filePTR(_file),pointersSet(true)
 {
@@ -104,7 +104,7 @@ Param( const int& _line, const char * _function, const char * _file )
 namespace sot {
 ostream &
 operator << (ostream & os,
-	     const sotExceptionAbstract & error)
+	     const ExceptionAbstract & error)
 {
     os << error.getExceptionName()<<"Error [#" << error.code << "]:  " << error.message << endl;
 

src/exception/exception-dynamic.cpp

@@ -2,7 +2,7 @@
  * Copyright Projet JRL-Japan, 2007
  *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  *
- * File:      sotExceptionDynamic.cpp
+ * File:      ExceptionDynamic.cpp
  * Project:   SOT
  * Author:    Nicolas Mansard
  *
@@ -27,19 +27,19 @@ using namespace sot;
 /* --- CLASS ----------------------------------------------------------- */
 /* --------------------------------------------------------------------- */
 
-const std::string sotExceptionDynamic::EXCEPTION_NAME = "Dynamic";
+const std::string ExceptionDynamic::EXCEPTION_NAME = "Dynamic";
 
-sotExceptionDynamic::
-sotExceptionDynamic ( const sotExceptionDynamic::ErrorCodeEnum& errcode,
+ExceptionDynamic::
+ExceptionDynamic ( const ExceptionDynamic::ErrorCodeEnum& errcode,
 		     const std::string & msg )
-  :sotExceptionAbstract(errcode,msg)
+  :ExceptionAbstract(errcode,msg)
 {
 }
 
-sotExceptionDynamic::
-sotExceptionDynamic ( const sotExceptionDynamic::ErrorCodeEnum& errcode,
+ExceptionDynamic::
+ExceptionDynamic ( const ExceptionDynamic::ErrorCodeEnum& errcode,
 			const std::string & msg,const char* format, ... )
-  :sotExceptionAbstract(errcode,msg)
+  :ExceptionAbstract(errcode,msg)
 {
   va_list args;
   va_start(args,format);

src/exception/exception-factory.cpp

@@ -33,7 +33,7 @@ const std::string sotExceptionFactory::EXCEPTION_NAME = "Factory";
 sotExceptionFactory::
 sotExceptionFactory ( const sotExceptionFactory::ErrorCodeEnum& errcode,
 		      const std::string & msg )
-  :sotExceptionAbstract(errcode,msg)
+  :ExceptionAbstract(errcode,msg)
 {
   sotDEBUGF( 15,"Created with message <%s>.",msg.c_str());
   sotDEBUG( 1) <<"Created with message <%s>."<<msg<<std::endl;
@@ -42,7 +42,7 @@ sotExceptionFactory ( const sotExceptionFactory::ErrorCodeEnum& errcode,
 sotExceptionFactory::
 sotExceptionFactory ( const sotExceptionFactory::ErrorCodeEnum& errcode,
 			const std::string & msg,const char* format, ... )
-  :sotExceptionAbstract(errcode,msg)
+  :ExceptionAbstract(errcode,msg)
 {
   va_list args;
   va_start(args,format);

src/exception/exception-feature.cpp

@@ -32,14 +32,14 @@ const std::string sotExceptionFeature::EXCEPTION_NAME = "Feature";
 sotExceptionFeature::
 sotExceptionFeature ( const sotExceptionFeature::ErrorCodeEnum& errcode,
 		      const std::string & msg )
-  :sotExceptionAbstract(errcode,msg)
+  :ExceptionAbstract(errcode,msg)
 {
 }
 
 sotExceptionFeature::
 sotExceptionFeature ( const sotExceptionFeature::ErrorCodeEnum& errcode,
 			const std::string & msg,const char* format, ... )
-  :sotExceptionAbstract(errcode,msg)
+  :ExceptionAbstract(errcode,msg)
 {
   va_list args;
   va_start(args,format);

src/exception/exception-signal.cpp

@@ -32,14 +32,14 @@ const std::string sotExceptionSignal::EXCEPTION_NAME = "Signal";
 sotExceptionSignal::
 sotExceptionSignal ( const sotExceptionSignal::ErrorCodeEnum& errcode,
 		     const std::string & msg )
-  :sotExceptionAbstract(errcode,msg)
+  :ExceptionAbstract(errcode,msg)
 {
 }
 
 sotExceptionSignal::
 sotExceptionSignal ( const sotExceptionSignal::ErrorCodeEnum& errcode,
 			const std::string & msg,const char* format, ... )
-  :sotExceptionAbstract(errcode,msg)
+  :ExceptionAbstract(errcode,msg)
 {
   va_list args;
   va_start(args,format);

src/exception/exception-task.cpp

@@ -33,14 +33,14 @@ const std::string sotExceptionTask::EXCEPTION_NAME = "Task";
 sotExceptionTask::
 sotExceptionTask ( const sotExceptionTask::ErrorCodeEnum& errcode,
 		   const std::string & msg )
-  :sotExceptionAbstract(errcode,msg)
+  :ExceptionAbstract(errcode,msg)
 {
 }
 
 sotExceptionTask::
 sotExceptionTask ( const sotExceptionTask::ErrorCodeEnum& errcode,
 			const std::string & msg,const char* format, ... )
-  :sotExceptionAbstract(errcode,msg)
+  :ExceptionAbstract(errcode,msg)
 {
   va_list args;
   va_start(args,format);

src/exception/exception-tools.cpp

@@ -32,14 +32,14 @@ const std::string sotExceptionTools::EXCEPTION_NAME = "Tools";
 sotExceptionTools::
 sotExceptionTools ( const sotExceptionTools::ErrorCodeEnum& errcode,
 		     const std::string & msg )
-  :sotExceptionAbstract(errcode,msg)
+  :ExceptionAbstract(errcode,msg)
 {
 }
 
 sotExceptionTools::
 sotExceptionTools ( const sotExceptionTools::ErrorCodeEnum& errcode,
 			const std::string & msg,const char* format, ... )
-  :sotExceptionAbstract(errcode,msg)
+  :ExceptionAbstract(errcode,msg)
 {
   va_list args;
   va_start(args,format);

src/exception/exception-traces.cpp

@@ -32,14 +32,14 @@ const std::string sotExceptionTraces::EXCEPTION_NAME = "Traces";
 sotExceptionTraces::
 sotExceptionTraces ( const sotExceptionTraces::ErrorCodeEnum& errcode,
 		     const std::string & msg )
-  :sotExceptionAbstract(errcode,msg)
+  :ExceptionAbstract(errcode,msg)
 {
 }
 
 sotExceptionTraces::
 sotExceptionTraces ( const sotExceptionTraces::ErrorCodeEnum& errcode,
 			const std::string & msg,const char* format, ... )
-  :sotExceptionAbstract(errcode,msg)
+  :ExceptionAbstract(errcode,msg)
 {
   va_list args;
   va_start(args,format);

src/factory/command/import.cpp

@@ -195,7 +195,7 @@ namespace sot
 	      sotDEBUGOUT (15);
 	    }
 	}
-      catch (sotExceptionAbstract& exc)
+      catch (ExceptionAbstract& exc)
 	{
 	  // FIXME: come on...
 	  std::string& msg = const_cast<std::string&> (exc.getStringMessage ());