Added forgotten cpp files.

src/math/op-point-modifier.cpp

+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File:      sotOpPointModifior.cp
+ * Project:   SOT
+ * Author:    Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ *  $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+#include <dynamic-graph/all-signals.h>
+
+#include <sot-core/op-point-modifier.h>
+#include <sot-core/matrix-twist.h>
+
+#include <dynamic-graph/pool.h>
+#include <sot-core/factory.h>
+
+using namespace std;
+using namespace sot;
+
+namespace sot {
+SOT_FACTORY_ENTITY_PLUGIN(sotOpPointModifior,"OpPointModifior");
+}
+
+
+/* --------------------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+sotOpPointModifior::
+sotOpPointModifior( const std::string& name )
+  :Entity( name )
+   ,transformation()
+   ,jacobianSIN(NULL,"OpPointModifior("+name+")::input(matrix)::jacobianIN")
+   ,positionSIN(NULL,"OpPointModifior("+name+")::input(matrixhomo)::positionIN")
+   ,jacobianSOUT( boost::bind(&sotOpPointModifior::computeJacobian,this,_1,_2),
+		  jacobianSIN,
+		  "OpPointModifior("+name+")::output(matrix)::jacobian" )
+   ,positionSOUT( boost::bind(&sotOpPointModifior::computePosition,this,_1,_2),
+		  jacobianSIN,
+		  "OpPointModifior("+name+")::output(matrixhomo)::position" )
+
+
+{
+  signalRegistration( jacobianSIN<<positionSIN<<jacobianSOUT<<positionSOUT );
+  sotDEBUGINOUT(15);
+}
+
+ml::Matrix&
+sotOpPointModifior::computeJacobian( ml::Matrix& res,const int& time )
+{
+  const ml::Matrix& jacobian = jacobianSIN( time );
+  sotMatrixTwist V( transformation );
+  res = V*jacobian;
+  return res;
+}
+
+sotMatrixHomogeneous&
+sotOpPointModifior::computePosition( sotMatrixHomogeneous& res,const int& time )
+{
+  sotDEBUGIN(15);
+  sotDEBUGIN(15) << time << " " << positionSIN.getTime() << positionSOUT.getTime() << endl;
+  const sotMatrixHomogeneous& position = positionSIN( time );
+  position.multiply(transformation,res);
+  sotDEBUGOUT(15);
+  return res;
+}
+
+void
+sotOpPointModifior::setTransformation( const sotMatrixHomogeneous& tr )
+{ transformation = tr; }
+
+
+void sotOpPointModifior::
+commandLine( const std::string& cmdLine,
+	     std::istringstream& cmdArgs, 
+	     std::ostream& os )
+{
+  if( cmdLine == "transfo" ) 
+    {
+      sotMatrixHomogeneous tr;
+      cmdArgs >> tr;
+      setTransformation(tr);
+    }
+  else if( cmdLine == "transfoSignal" ) 
+    {
+      Signal< sotMatrixHomogeneous,int > &sig 
+	= dynamic_cast< Signal< sotMatrixHomogeneous,int >& > 
+	(pool.getSignal( cmdArgs ));
+      setTransformation(sig.accessCopy());
+    }
+  else if( cmdLine == "getTransfo" ) 
+    {
+      os << "Transformation: " << endl << transformation <<endl;
+    }
+  else if( cmdLine == "help" )
+    {
+      os << "sotOpPointModifior"<<endl
+	 << "  - transfo MatrixHomo"<<endl
+	 << "  - transfoSignal ent.signal<matrixhomo>"<<endl
+	 << "  - getTransfo"<<endl;
+    }
+  else Entity::commandLine(cmdLine,cmdArgs,os);
+}

src/sot/sot-h.cpp

@@ -31,14 +31,14 @@
 using namespace std;
 using namespace sot;
 
-#ifdef VP_DEBUG
+//#ifdef VP_DEBUG
 class sotSOTH__INIT
 {
 public:sotSOTH__INIT( void ) { sot::DebugTrace::openFile(); }
 };
 
 sotSOTH__INIT sotSOTH_initiator;
-#endif
+//#endif
 
 /* --------------------------------------------------------------------- */
 /* --- CLASS ----------------------------------------------------------- */