From 6827877bc879593cf712846b92f1ea397c0f5af8 Mon Sep 17 00:00:00 2001
From: Francois Bleibel <fbleibel@gmail.com>
Date: Fri, 25 Jun 2010 12:08:45 +0900
Subject: [PATCH] Removed "using dynamicgraph" directives in headers,
implemented resulting changes.
---
include/sot-core/binary-op.h | 13 +++++----
include/sot-core/constraint.h | 5 ++--
include/sot-core/derivator.h | 12 +++++----
include/sot-core/feature-1d.h | 8 +++---
include/sot-core/feature-abstract.h | 2 +-
include/sot-core/feature-generic.h | 13 ++++-----
include/sot-core/feature-joint-limits.h | 9 ++++---
include/sot-core/feature-line-distance.h | 11 ++++----
include/sot-core/feature-point6d-relative.h | 15 ++++++-----
include/sot-core/feature-point6d.h | 5 ++--
include/sot-core/feature-vector3.h | 9 ++++---
include/sot-core/feature-visual-point.h | 7 ++---
include/sot-core/fir-filter.h | 14 +++++-----
include/sot-core/gain-adaptive.h | 7 ++---
include/sot-core/gain-hyperbolic.h | 7 ++---
include/sot-core/integrator-abstract.h | 29 +++++++++++----------
include/sot-core/integrator-euler.h | 3 ++-
include/sot-core/matrix-constant.h | 7 ++---
include/sot-core/memory-task-sot.h | 13 ++++-----
include/sot-core/op-point-modifier.h | 12 ++++-----
include/sot-core/signal-cast.h | 4 +--
include/sot-core/sot-h.h | 5 ++--
include/sot-core/sot-qr.h | 11 ++++----
include/sot-core/sot.h | 11 ++++----
include/sot-core/task-abstract.h | 9 ++++---
include/sot-core/task-conti.h | 3 ++-
include/sot-core/task-pd.h | 5 ++--
include/sot-core/task-unilateral.h | 9 ++++---
include/sot-core/task.h | 9 ++++---
include/sot-core/unary-op.h | 9 ++++---
include/sot-core/vector-constant.h | 7 ++---
include/sot-core/vector-to-rotation.h | 7 ++---
include/sot-core/weighted-sot.h | 11 ++++----
src/CMakeLists.txt | 8 +++---
src/factory/additional-functions.cpp | 1 +
src/feature/feature-1d.cpp | 1 +
src/feature/feature-abstract.cpp | 3 ++-
src/feature/feature-generic.cpp | 6 ++---
src/feature/feature-line-distance.cpp | 1 +
src/feature/feature-point6d-relative.cpp | 2 +-
src/feature/feature-point6d.cpp | 2 +-
src/feature/feature-task.cpp | 1 +
src/feature/feature-vector3.cpp | 2 +-
src/feature/feature-visual-point.cpp | 2 +-
src/math/op-point-modifier.cpp | 4 +--
src/math/vector-quaternion.cpp | 1 -
src/matrix/binary-op.cpp | 5 ++--
src/matrix/derivator.cpp | 1 +
src/matrix/fir-filter.cpp | 2 +-
src/matrix/integrator-abstract.cpp | 2 +-
src/matrix/integrator-euler.cpp | 2 +-
src/matrix/matrix-constant.cpp | 2 +-
src/matrix/unary-op.cpp | 2 +-
src/matrix/vector-constant.cpp | 9 +++----
src/matrix/vector-to-rotation.cpp | 3 +--
src/sot/memory-task-sot.cpp | 1 +
src/sot/sot-h.cpp | 1 +
src/sot/sot-qr.cpp | 2 +-
src/sot/sot.cpp | 1 +
src/sot/weighted-sot.cpp | 2 +-
src/task/constraint.cpp | 1 +
src/task/gain-adaptative.cpp | 1 +
src/task/gain-hyperbolic.cpp | 1 +
src/task/task-abstract.cpp | 2 +-
src/task/task-conti.cpp | 1 +
src/task/task-pd.cpp | 2 +-
src/task/task-unilateral.cpp | 2 +-
src/task/task.cpp | 3 +--
unitTesting/signal/test_dep.cpp | 4 +--
unitTesting/signal/test_depend.cpp | 1 +
unitTesting/signal/test_ptr.cpp | 1 +
unitTesting/signal/test_signal.cpp | 1 +
72 files changed, 214 insertions(+), 176 deletions(-)
diff --git a/include/sot-core/binary-op.h b/include/sot-core/binary-op.h
index 2d85c13a..e06f8ee8 100644
--- a/include/sot-core/binary-op.h
+++ b/include/sot-core/binary-op.h
@@ -35,7 +35,6 @@ namespace ml = maal::boost;
#include <dynamic-graph/entity.h>
#include <sot-core/pool.h>
#include <dynamic-graph/all-signals.h>
-#include <dynamic-graph/all-signals.h>
#include <sot-core/vector-quaternion.h>
/* STD */
@@ -44,14 +43,14 @@ namespace ml = maal::boost;
#include <boost/function.hpp>
namespace sot {
-
+namespace dg = dynamicgraph;
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
template< class Tin1,class Tin2,class Tout,typename Operator >
class BinaryOp
-:public Entity
+:public dg::Entity
{
Operator op;
@@ -63,7 +62,7 @@ class BinaryOp
static const std::string CLASS_NAME;
BinaryOp( const std::string& name )
- : Entity(name)
+ : dg::Entity(name)
,SIN1(NULL,BinaryOp::CLASS_NAME+"("+name+")::input("+getTypeIn1Name()+")::in1")
,SIN2(NULL,CLASS_NAME+"("+name+")::input("+getTypeIn2Name()+")::in2")
,SOUT( boost::bind(&BinaryOp<Tin1,Tin2,Tout,Operator>::computeOperation,this,_1,_2),
@@ -77,9 +76,9 @@ class BinaryOp
public: /* --- SIGNAL --- */
- SignalPtr<Tin1,int> SIN1;
- SignalPtr<Tin2,int> SIN2;
- SignalTimeDependant<Tout,int> SOUT;
+ dg::SignalPtr<Tin1,int> SIN1;
+ dg::SignalPtr<Tin2,int> SIN2;
+ dg::SignalTimeDependant<Tout,int> SOUT;
protected:
Tout& computeOperation( Tout& res,int time )
diff --git a/include/sot-core/constraint.h b/include/sot-core/constraint.h
index 8955065e..8fd216d4 100644
--- a/include/sot-core/constraint.h
+++ b/include/sot-core/constraint.h
@@ -57,6 +57,7 @@ namespace ml = maal::boost;
namespace sot {
+namespace dg = dynamicgraph;
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
@@ -68,7 +69,7 @@ class SOTCONSTRAINT_EXPORT Constraint
: public TaskAbstract
{
protected:
- typedef std::list< Signal<ml::Matrix,int>* > JacobianList;
+ typedef std::list< dg::Signal<ml::Matrix,int>* > JacobianList;
JacobianList jacobianList;
public:
@@ -78,7 +79,7 @@ class SOTCONSTRAINT_EXPORT Constraint
public:
Constraint( const std::string& n );
- void addJacobian( Signal<ml::Matrix,int>& sig );
+ void addJacobian( dg::Signal<ml::Matrix,int>& sig );
void clearJacobianList( void );
void setControlSelection( const Flags& act );
diff --git a/include/sot-core/derivator.h b/include/sot-core/derivator.h
index ac024504..a3117448 100644
--- a/include/sot-core/derivator.h
+++ b/include/sot-core/derivator.h
@@ -41,13 +41,15 @@ namespace ml = maal::boost;
#include <string>
namespace sot {
+namespace dg = dynamicgraph;
+
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
template< class T >
class Derivator
-:public Entity
+:public dg::Entity
{
protected:
T memory;
@@ -61,7 +63,7 @@ class Derivator
static const std::string CLASS_NAME;
Derivator( const std::string& name )
- : Entity(name)
+ : dg::Entity(name)
,memory(),initialized(false)
,timestep(TIMESTEP_DEFAULT)
,SIN(NULL,"sotDerivator<"+getTypeName()+">("+name+")::input("+getTypeName()+")::in")
@@ -79,9 +81,9 @@ class Derivator
public: /* --- SIGNAL --- */
- SignalPtr<T,int> SIN;
- SignalTimeDependant<T,int> SOUT;
- Signal<double,int> timestepSIN;
+ dg::SignalPtr<T,int> SIN;
+ dg::SignalTimeDependant<T,int> SOUT;
+ dg::Signal<double,int> timestepSIN;
protected:
T& computeDerivation( T& res,int time )
diff --git a/include/sot-core/feature-1d.h b/include/sot-core/feature-1d.h
index afd7f11b..1d8e54b4 100644
--- a/include/sot-core/feature-1d.h
+++ b/include/sot-core/feature-1d.h
@@ -48,7 +48,7 @@
/* --------------------------------------------------------------------- */
namespace sot {
-
+namespace dg = dynamicgraph;
/*!
\class Feature1D
\brief Simple test: the task is defined to be e_2 = .5 . e'.e, with
@@ -77,13 +77,13 @@ class SOTFEATURE1D_EXPORT Feature1D
@{
*/
/*! \brief Input for the error. */
- SignalPtr< ml::Vector,int > errorSIN;
+ dg::SignalPtr< ml::Vector,int > errorSIN;
/*! \brief Input for the Jacobian. */
- SignalPtr< ml::Matrix,int > jacobianSIN;
+ dg::SignalPtr< ml::Matrix,int > jacobianSIN;
/*! \brief Input for the activation. */
- SignalPtr< ml::Vector,int > activationSIN;
+ dg::SignalPtr< ml::Vector,int > activationSIN;
/*! @} */
/*! \name Output signals
diff --git a/include/sot-core/feature-abstract.h b/include/sot-core/feature-abstract.h
index 6dabe661..dc6294b7 100644
--- a/include/sot-core/feature-abstract.h
+++ b/include/sot-core/feature-abstract.h
@@ -60,7 +60,7 @@ namespace dg = dynamicgraph;
\f$ \frac{\delta {\bf s}(t)}{\delta {\bf q}(t)}\f$.
*/
class SOT_CORE_EXPORT FeatureAbstract
-:public Entity
+:public dg::Entity
{
public:
/*! \brief Store the name of the class. */
diff --git a/include/sot-core/feature-generic.h b/include/sot-core/feature-generic.h
index 15511c09..3db33989 100644
--- a/include/sot-core/feature-generic.h
+++ b/include/sot-core/feature-generic.h
@@ -48,6 +48,7 @@
/* --------------------------------------------------------------------- */
namespace sot {
+namespace dg = dynamicgraph;
/*!
\class FeatureGeneric
@@ -77,23 +78,23 @@ class SOTFEATUREGENERIC_EXPORT FeatureGeneric
/* --- SIGNALS ------------------------------------------------------------ */
public:
- /*! \name Signals
+ /*! \name dg::Signals
@{
*/
/*! \name Input signals
@{
*/
/*! \brief Input for the error. */
- SignalPtr< ml::Vector,int > errorSIN;
+ dg::SignalPtr< ml::Vector,int > errorSIN;
/*! \brief Input for the errordot. */
- SignalPtr< ml::Vector,int > errordotSIN;
+ dg::SignalPtr< ml::Vector,int > errordotSIN;
/*! \brief Input for the Jacobian. */
- SignalPtr< ml::Matrix,int > jacobianSIN;
+ dg::SignalPtr< ml::Matrix,int > jacobianSIN;
/*! \brief Input for the activation. */
- SignalPtr< ml::Vector,int > activationSIN;
+ dg::SignalPtr< ml::Vector,int > activationSIN;
/*! @} */
/*! \name Output signals
@@ -109,7 +110,7 @@ class SOTFEATUREGENERIC_EXPORT FeatureGeneric
using FeatureAbstract::activationSOUT;
/*! \brief New signal the errordot. */
- SignalTimeDependant< ml::Vector,int > errordotSOUT;
+ dg::SignalTimeDependant< ml::Vector,int > errordotSOUT;
public:
diff --git a/include/sot-core/feature-joint-limits.h b/include/sot-core/feature-joint-limits.h
index 3912ae88..79a74324 100644
--- a/include/sot-core/feature-joint-limits.h
+++ b/include/sot-core/feature-joint-limits.h
@@ -48,6 +48,7 @@
/* --------------------------------------------------------------------- */
namespace sot {
+namespace dg = dynamicgraph;
/*!
\class FeatureJointLimits
@@ -73,10 +74,10 @@ class SOTFEATUREJOINTLIMITS_EXPORT FeatureJointLimits
/* --- SIGNALS ------------------------------------------------------------ */
public:
- SignalPtr< ml::Vector,int > jointSIN;
- SignalPtr< ml::Vector,int > upperJlSIN;
- SignalPtr< ml::Vector,int > lowerJlSIN;
- SignalTimeDependant< ml::Vector,int > widthJlSINTERN;
+ dg::SignalPtr< ml::Vector,int > jointSIN;
+ dg::SignalPtr< ml::Vector,int > upperJlSIN;
+ dg::SignalPtr< ml::Vector,int > lowerJlSIN;
+ dg::SignalTimeDependant< ml::Vector,int > widthJlSINTERN;
using FeatureAbstract::selectionSIN;
diff --git a/include/sot-core/feature-line-distance.h b/include/sot-core/feature-line-distance.h
index 0d5d0944..c78d362f 100644
--- a/include/sot-core/feature-line-distance.h
+++ b/include/sot-core/feature-line-distance.h
@@ -49,6 +49,7 @@
/* --------------------------------------------------------------------- */
namespace sot {
+namespace dg = dynamicgraph;
/*!
\class FeatureLineDistance
@@ -66,11 +67,11 @@ class SOTFEATURELINEDISTANCE_EXPORT FeatureLineDistance
/* --- SIGNALS ------------------------------------------------------------ */
public:
- SignalPtr< MatrixHomogeneous,int > positionSIN;
- SignalPtr< ml::Matrix,int > articularJacobianSIN;
- SignalPtr< ml::Vector,int > positionRefSIN;
- SignalPtr< ml::Vector,int > vectorSIN;
- SignalTimeDependant<ml::Vector,int> lineSOUT;
+ dg::SignalPtr< MatrixHomogeneous,int > positionSIN;
+ dg::SignalPtr< ml::Matrix,int > articularJacobianSIN;
+ dg::SignalPtr< ml::Vector,int > positionRefSIN;
+ dg::SignalPtr< ml::Vector,int > vectorSIN;
+ dg::SignalTimeDependant<ml::Vector,int> lineSOUT;
using FeatureAbstract::desiredValueSIN;
using FeatureAbstract::selectionSIN;
diff --git a/include/sot-core/feature-point6d-relative.h b/include/sot-core/feature-point6d-relative.h
index 29c4c549..2fec1d5b 100644
--- a/include/sot-core/feature-point6d-relative.h
+++ b/include/sot-core/feature-point6d-relative.h
@@ -50,6 +50,7 @@
/* --------------------------------------------------------------------- */
namespace sot {
+namespace dg = dynamicgraph;
/*!
\class FeaturePoint6dRelative
@@ -71,22 +72,22 @@ class SOTFEATUREPOINT6DRELATIVE_EXPORT FeaturePoint6dRelative
/* --- SIGNALS ------------------------------------------------------------ */
public:
- SignalPtr< MatrixHomogeneous,int > positionReferenceSIN;
- SignalPtr< ml::Matrix,int > articularJacobianReferenceSIN;
+ dg::SignalPtr< MatrixHomogeneous,int > positionReferenceSIN;
+ dg::SignalPtr< ml::Matrix,int > articularJacobianReferenceSIN;
- /*! Signals related to the computation of the derivative of
+ /*! dg::Signals related to the computation of the derivative of
the error
@{ */
- /*! Signals giving the derivative of the input signals.
+ /*! dg::Signals giving the derivative of the input signals.
@{*/
/*! Derivative of the relative position. */
- SignalPtr< MatrixHomogeneous,int > dotpositionSIN;
+ dg::SignalPtr< MatrixHomogeneous,int > dotpositionSIN;
/*! Derivative of the reference position. */
- SignalPtr< MatrixHomogeneous,int > dotpositionReferenceSIN;
+ dg::SignalPtr< MatrixHomogeneous,int > dotpositionReferenceSIN;
/*! @} */
/*! The derivative of the error.*/
- SignalTimeDependant<ml::Vector,int> errordotSOUT;
+ dg::SignalTimeDependant<ml::Vector,int> errordotSOUT;
/*! @} */
public:
diff --git a/include/sot-core/feature-point6d.h b/include/sot-core/feature-point6d.h
index f6fad3b0..4c4f46a6 100644
--- a/include/sot-core/feature-point6d.h
+++ b/include/sot-core/feature-point6d.h
@@ -49,6 +49,7 @@
/* --------------------------------------------------------------------- */
namespace sot {
+namespace dg = dynamicgraph;
/*!
\class FeaturePoint6d
@@ -73,8 +74,8 @@ class SOTFEATUREPOINT6D_EXPORT FeaturePoint6d
/* --- SIGNALS ------------------------------------------------------------ */
public:
- SignalPtr< MatrixHomogeneous,int > positionSIN;
- SignalPtr< ml::Matrix,int > articularJacobianSIN;
+ dg::SignalPtr< MatrixHomogeneous,int > positionSIN;
+ dg::SignalPtr< ml::Matrix,int > articularJacobianSIN;
using FeatureAbstract::desiredValueSIN;
using FeatureAbstract::selectionSIN;
diff --git a/include/sot-core/feature-vector3.h b/include/sot-core/feature-vector3.h
index 0ec9e9ce..87711b25 100644
--- a/include/sot-core/feature-vector3.h
+++ b/include/sot-core/feature-vector3.h
@@ -49,6 +49,7 @@
/* --------------------------------------------------------------------- */
namespace sot {
+namespace dg = dynamicgraph;
/*!
\class FeatureVector3
@@ -66,10 +67,10 @@ class SOTFEATUREVECTOR3_EXPORT FeatureVector3
/* --- SIGNALS ------------------------------------------------------------ */
public:
- SignalPtr< ml::Vector,int > vectorSIN;
- SignalPtr< MatrixHomogeneous,int > positionSIN;
- SignalPtr< ml::Matrix,int > articularJacobianSIN;
- SignalPtr< ml::Vector,int > positionRefSIN;
+ dg::SignalPtr< ml::Vector,int > vectorSIN;
+ dg::SignalPtr< MatrixHomogeneous,int > positionSIN;
+ dg::SignalPtr< ml::Matrix,int > articularJacobianSIN;
+ dg::SignalPtr< ml::Vector,int > positionRefSIN;
using FeatureAbstract::desiredValueSIN;
using FeatureAbstract::selectionSIN;
diff --git a/include/sot-core/feature-visual-point.h b/include/sot-core/feature-visual-point.h
index 2c5e851a..5ebf6d98 100644
--- a/include/sot-core/feature-visual-point.h
+++ b/include/sot-core/feature-visual-point.h
@@ -48,6 +48,7 @@
/* --------------------------------------------------------------------- */
namespace sot {
+namespace dg = dynamicgraph;
/*!
\class FeatureVisualPoint
@@ -68,11 +69,11 @@ class SOTFEATUREVISUALPOINT_EXPORT FeatureVisualPoint
/* --- SIGNALS ------------------------------------------------------------ */
public:
- SignalPtr< ml::Vector,int > xySIN;
+ dg::SignalPtr< ml::Vector,int > xySIN;
/** FeatureVisualPoint depth (required to compute the interaction matrix)
* default Z = 1m. */
- SignalPtr< double,int > ZSIN;
- SignalPtr< ml::Matrix,int > articularJacobianSIN;
+ dg::SignalPtr< double,int > ZSIN;
+ dg::SignalPtr< ml::Matrix,int > articularJacobianSIN;
using FeatureAbstract::desiredValueSIN;
using FeatureAbstract::selectionSIN;
diff --git a/include/sot-core/fir-filter.h b/include/sot-core/fir-filter.h
index d760147f..20e1b50a 100644
--- a/include/sot-core/fir-filter.h
+++ b/include/sot-core/fir-filter.h
@@ -33,6 +33,8 @@ namespace ml = maal::boost;
#include <dynamic-graph/entity.h>
#include <dynamic-graph/all-signals.h>
+namespace dg = dynamicgraph;
+
namespace detail
{
@@ -76,16 +78,16 @@ namespace detail
template<class sigT, class coefT>
class FIRFilter
- : public Entity
+ : public dg::Entity
{
public:
- virtual const std::string& getClassName() const { return Entity::getClassName(); }
+ virtual const std::string& getClassName() const { return dg::Entity::getClassName(); }
static std::string getTypeName( void ) { return "Unknown"; }
static const std::string CLASS_NAME;
public:
FIRFilter( const std::string& name )
- : Entity(name)
+ : dg::Entity(name)
, SIN(NULL,"sotFIRFilter("+name+")::input(T)::in")
, SOUT(boost::bind(&FIRFilter::compute,this,_1,_2),
SIN,
@@ -131,14 +133,14 @@ public:
else if(cmdLine == "printBuffer") {
for(size_t i = 0; i < data.size(); ++i){ os << data[i] << std::endl; }
}
- else { Entity::commandLine( cmdLine, cmdArgs, os); }
+ else { dg::Entity::commandLine( cmdLine, cmdArgs, os); }
}
static void reset_signal(sigT& res, const sigT& sample) { }
public:
- SignalPtr<sigT, int> SIN;
- SignalTimeDependant<sigT, int> SOUT;
+ dg::SignalPtr<sigT, int> SIN;
+ dg::SignalTimeDependant<sigT, int> SOUT;
private:
std::vector<coefT> coefs;
diff --git a/include/sot-core/gain-adaptive.h b/include/sot-core/gain-adaptive.h
index 254ce752..abeb45d8 100644
--- a/include/sot-core/gain-adaptive.h
+++ b/include/sot-core/gain-adaptive.h
@@ -53,9 +53,10 @@ namespace ml = maal::boost;
/* --------------------------------------------------------------------- */
namespace sot {
+namespace dg = dynamicgraph;
class SOTGAINADAPTATIVE_EXPORT GainAdaptative
-: public Entity
+: public dg::Entity
{
public: /* --- CONSTANTS --- */
@@ -98,8 +99,8 @@ class SOTGAINADAPTATIVE_EXPORT GainAdaptative
void forceConstant( void );
public: /* --- SIGNALS --- */
- SignalPtr<ml::Vector,int> errorSIN;
- SignalTimeDependant<double,int> gainSOUT;
+ dg::SignalPtr<ml::Vector,int> errorSIN;
+ dg::SignalTimeDependant<double,int> gainSOUT;
protected:
double& computeGain( double& res,int t );
diff --git a/include/sot-core/gain-hyperbolic.h b/include/sot-core/gain-hyperbolic.h
index aa7be6e6..320e6ee0 100644
--- a/include/sot-core/gain-hyperbolic.h
+++ b/include/sot-core/gain-hyperbolic.h
@@ -54,9 +54,10 @@ namespace ml = maal::boost;
/* --------------------------------------------------------------------- */
namespace sot {
+namespace dg = dynamicgraph;
class SOTGAINHYPERBOLIC_EXPORT GainHyperbolic
-: public Entity
+: public dg::Entity
{
public: /* --- CONSTANTS --- */
@@ -102,8 +103,8 @@ class SOTGAINHYPERBOLIC_EXPORT GainHyperbolic
void forceConstant( void );
public: /* --- SIGNALS --- */
- SignalPtr<ml::Vector,int> errorSIN;
- SignalTimeDependant<double,int> gainSOUT;
+ dg::SignalPtr<ml::Vector,int> errorSIN;
+ dg::SignalTimeDependant<double,int> gainSOUT;
protected:
double& computeGain( double& res,int t );
diff --git a/include/sot-core/integrator-abstract.h b/include/sot-core/integrator-abstract.h
index 099d9990..69044890 100644
--- a/include/sot-core/integrator-abstract.h
+++ b/include/sot-core/integrator-abstract.h
@@ -46,6 +46,7 @@ namespace ml = maal::boost;
/* --------------------------------------------------------------------- */
namespace sot {
+namespace dg = dynamicgraph;
/*! \brief integrates an ODE. If Y is the output and X the input, the
* following equation is integrated:
@@ -55,16 +56,16 @@ namespace sot {
*/
template<class sigT, class coefT>
class IntegratorAbstract
-:public Entity
+:public dg::Entity
{
public:
- virtual const std::string& getClassName() const { return Entity::getClassName(); }
+ virtual const std::string& getClassName() const { return dg::Entity::getClassName(); }
static std::string getTypeName( void ) { return "Unknown"; }
static const std::string CLASS_NAME;
public:
IntegratorAbstract ( const std::string& name )
- :Entity(name)
+ :dg::Entity(name)
,SIN(NULL,"sotIntegratorAbstract("+name+")::input(vector)::in")
,SOUT(boost::bind(&IntegratorAbstract<sigT,coefT>::integrate,this,_1,_2),
SIN,
@@ -83,11 +84,11 @@ class IntegratorAbstract
if( cmdLine == "pushNumCoef" )
{
std::string objname, signame;
- Interpreter::objectNameParser(cmdArgs, objname, signame);
- Entity& obj = g_pool.getEntity(objname);
- SignalBase<int>& sig = obj.getSignal(signame);
+ dg::Interpreter::objectNameParser(cmdArgs, objname, signame);
+ dg::Entity& obj = dg::g_pool.getEntity(objname);
+ dg::SignalBase<int>& sig = obj.getSignal(signame);
try {
- Signal<coefT,int>& sigc = dynamic_cast<Signal<coefT,int>&>(sig);
+ dg::Signal<coefT,int>& sigc = dynamic_cast<dg::Signal<coefT,int>&>(sig);
pushNumCoef(sigc.accessCopy());
}
catch(std::bad_cast& bc) {
@@ -98,11 +99,11 @@ class IntegratorAbstract
else if( cmdLine == "pushDenomCoef" )
{
std::string objname, signame;
- Interpreter::objectNameParser(cmdArgs, objname, signame);
- Entity& obj = g_pool.getEntity(objname);
- SignalBase<int>& sig = obj.getSignal(signame);
+ dg::Interpreter::objectNameParser(cmdArgs, objname, signame);
+ dg::Entity& obj = dg::g_pool.getEntity(objname);
+ dg::SignalBase<int>& sig = obj.getSignal(signame);
try {
- Signal<coefT,int>& sigc = dynamic_cast<Signal<coefT,int>&>(sig);
+ dg::Signal<coefT,int>& sigc = dynamic_cast<dg::Signal<coefT,int>&>(sig);
pushDenomCoef(sigc.accessCopy());
}
catch(std::bad_cast& bc) {
@@ -120,7 +121,7 @@ class IntegratorAbstract
}
else
{
- Entity::commandLine(cmdLine, cmdArgs, os);
+ dg::Entity::commandLine(cmdLine, cmdArgs, os);
}
}
@@ -131,9 +132,9 @@ class IntegratorAbstract
void popDenomCoef() { denominator.pop_back(); }
public:
- SignalPtr<sigT, int> SIN;
+ dg::SignalPtr<sigT, int> SIN;
- SignalTimeDependant<sigT, int> SOUT;
+ dg::SignalTimeDependant<sigT, int> SOUT;
protected:
std::vector<coefT> numerator;
diff --git a/include/sot-core/integrator-euler.h b/include/sot-core/integrator-euler.h
index 138b1019..2baafc2a 100644
--- a/include/sot-core/integrator-euler.h
+++ b/include/sot-core/integrator-euler.h
@@ -34,6 +34,7 @@
/* --------------------------------------------------------------------- */
namespace sot {
+namespace dg = dynamicgraph;
/*!
* \class IntegratorEuler
@@ -50,7 +51,7 @@ class IntegratorEuler
{
public:
- virtual const std::string& getClassName( void ) const { return Entity::getClassName(); }
+ virtual const std::string& getClassName( void ) const { return dg::Entity::getClassName(); }
static std::string getTypeName( void ) { return "Unknown"; }
static const std::string CLASS_NAME;
diff --git a/include/sot-core/matrix-constant.h b/include/sot-core/matrix-constant.h
index 19789cc3..01870522 100644
--- a/include/sot-core/matrix-constant.h
+++ b/include/sot-core/matrix-constant.h
@@ -31,9 +31,10 @@ namespace ml = maal::boost;
/* --------------------------------------------------------------------- */
namespace sot {
+namespace dg = dynamicgraph;
class MatrixConstant
-: public Entity
+: public dg::Entity
{
public:
static const std::string CLASS_NAME;
@@ -48,13 +49,13 @@ public:
,rows(0),cols(0),color(0.)
,SOUT( "sotMatrixConstant("+name+")::output(matrix)::out" )
{
- SOUT.setDependancyType( TimeDependancy<int>::BOOL_DEPENDANT );
+ SOUT.setDependancyType( dg::TimeDependancy<int>::BOOL_DEPENDANT );
signalRegistration( SOUT );
}
virtual ~MatrixConstant( void ){}
- SignalTimeDependant<ml::Matrix,int> SOUT;
+ dg::SignalTimeDependant<ml::Matrix,int> SOUT;
virtual void commandLine( const std::string& cmdLine,
std::istringstream& cmdArgs,
diff --git a/include/sot-core/memory-task-sot.h b/include/sot-core/memory-task-sot.h
index 26855d0b..b46cece8 100644
--- a/include/sot-core/memory-task-sot.h
+++ b/include/sot-core/memory-task-sot.h
@@ -45,9 +45,10 @@
/* --------------------------------------------------------------------- */
namespace sot {
+namespace dg = dynamicgraph;
class SOTSOT_CORE_EXPORT MemoryTaskSOT
-: public TaskAbstract::MemoryTaskAbstract, public Entity
+: public TaskAbstract::MemoryTaskAbstract, public dg::Entity
{
public:// protected:
/* Internal memory to reduce the dynamic allocation at task resolution. */
@@ -78,11 +79,11 @@ class SOTSOT_CORE_EXPORT MemoryTaskSOT
virtual const std::string& getClassName( void ) const { return CLASS_NAME; }
public: /* --- SIGNALS --- */
- Signal< ml::Matrix,int > jacobianInvSINOUT;
- Signal< ml::Matrix,int > jacobianConstrainedSINOUT;
- Signal< ml::Matrix,int > jacobianProjectedSINOUT;
- Signal< ml::Matrix,int > singularBaseImageSINOUT;
- Signal< unsigned int,int > rankSINOUT;
+ dg::Signal< ml::Matrix,int > jacobianInvSINOUT;
+ dg::Signal< ml::Matrix,int > jacobianConstrainedSINOUT;
+ dg::Signal< ml::Matrix,int > jacobianProjectedSINOUT;
+ dg::Signal< ml::Matrix,int > singularBaseImageSINOUT;
+ dg::Signal< unsigned int,int > rankSINOUT;
public: /* --- PARAMS --- */
virtual void commandLine( const std::string& cmdLine,std::istringstream& cmdArgs,
diff --git a/include/sot-core/op-point-modifier.h b/include/sot-core/op-point-modifier.h
index e0438a74..dd32fa17 100644
--- a/include/sot-core/op-point-modifier.h
+++ b/include/sot-core/op-point-modifier.h
@@ -21,7 +21,6 @@
#define __SOT_OP_POINT_MODIFIOR_H__
#include <dynamic-graph/entity.h>
-
#include <dynamic-graph/all-signals.h>
#include <sot-core/debug.h>
#include <sot-core/matrix-homogeneous.h>
@@ -49,9 +48,10 @@ namespace ml = maal::boost;
/* --------------------------------------------------------------------- */
namespace sot {
+namespace dg = dynamicgraph;
class SOTOPPOINTMODIFIOR_EXPORT OpPointModifior
-: public Entity
+: public dg::Entity
{
public:
static const std::string CLASS_NAME;
@@ -61,11 +61,11 @@ class SOTOPPOINTMODIFIOR_EXPORT OpPointModifior
public:
- SignalPtr<ml::Matrix,int> jacobianSIN;
- SignalPtr<MatrixHomogeneous,int> positionSIN;
+ dg::SignalPtr<ml::Matrix,int> jacobianSIN;
+ dg::SignalPtr<MatrixHomogeneous,int> positionSIN;
- SignalTimeDependant<ml::Matrix,int> jacobianSOUT;
- SignalTimeDependant<MatrixHomogeneous,int> positionSOUT;
+ dg::SignalTimeDependant<ml::Matrix,int> jacobianSOUT;
+ dg::SignalTimeDependant<MatrixHomogeneous,int> positionSOUT;
public:
OpPointModifior( const std::string& name );
diff --git a/include/sot-core/signal-cast.h b/include/sot-core/signal-cast.h
index f55cb6c6..afebf30c 100644
--- a/include/sot-core/signal-cast.h
+++ b/include/sot-core/signal-cast.h
@@ -85,14 +85,14 @@ private:
*/
#define SOT_SIGNAL_CAST_DECLARATION(TYPE) \
- SignalCastRegisterer sotCastRegisterer_##TYPE \
+ dynamicgraph::SignalCastRegisterer sotCastRegisterer_##TYPE \
(typeid(TYPE), \
SignalCast<TYPE>::disp_, \
SignalCast<TYPE>::cast_, \
SignalCast<TYPE>::trace_);
#define SOT_SIGNAL_CAST_DECLARATION_NAMED(TYPE,NAME) \
- SignalCastRegisterer sotCastRegisterer_##NAME \
+ dynamicgraph::SignalCastRegisterer sotCastRegisterer_##NAME \
(typeid(TYPE), \
SignalCast<TYPE>::disp_, \
SignalCast<TYPE>::cast_, \
diff --git a/include/sot-core/sot-h.h b/include/sot-core/sot-h.h
index 65ea9ff4..69e36fcd 100644
--- a/include/sot-core/sot-h.h
+++ b/include/sot-core/sot-h.h
@@ -51,6 +51,7 @@
/* --------------------------------------------------------------------- */
namespace sot {
+namespace dg = dynamicgraph;
class SOTSOTH_EXPORT SotH
:public Sot
@@ -81,8 +82,8 @@ class SOTSOTH_EXPORT SotH
static const std::string CLASS_NAME;
virtual void display( std::ostream& os ) const;
virtual const std::string& getClassName( void ) const { return CLASS_NAME; }
- Signal< ml::Matrix,int > jacobianConstrainedSINOUT;
- Signal< ml::Vector,int > diffErrorSINOUT;
+ dg::Signal< ml::Matrix,int > jacobianConstrainedSINOUT;
+ dg::Signal< ml::Vector,int > diffErrorSINOUT;
virtual void commandLine( const std::string& cmdLine,std::istringstream& cmdArgs,
std::ostream& os );
diff --git a/include/sot-core/sot-qr.h b/include/sot-core/sot-qr.h
index 935256c1..e54a5176 100644
--- a/include/sot-core/sot-qr.h
+++ b/include/sot-core/sot-qr.h
@@ -68,9 +68,10 @@ namespace ml = maal::boost;
*/
namespace sot {
+namespace dg = dynamicgraph;
class SOTSOTQR_EXPORT SotQr
-:public Entity
+:public dg::Entity
{
public:
/*! \brief Specify the name of the class entity. */
@@ -226,14 +227,14 @@ class SOTSOTQR_EXPORT SotQr
* the recurence of the SOT (e.g. velocity comming from the other
* OpenHRP plugins).
*/
- SignalPtr<ml::Vector,int> q0SIN;
+ dg::SignalPtr<ml::Vector,int> q0SIN;
/*! \brief This signal allow to change the threshold for the damped pseudo-inverse
on-line */
- SignalPtr<double,int> inversionThresholdSIN;
+ dg::SignalPtr<double,int> inversionThresholdSIN;
/*! \brief This signal allow to get the result of the Constraint projector. */
- SignalTimeDependant<ml::Matrix,int> constraintSOUT;
+ dg::SignalTimeDependant<ml::Matrix,int> constraintSOUT;
/*! \brief This signal allow to get the result of the computed control law. */
- SignalTimeDependant<ml::Vector,int> controlSOUT;
+ dg::SignalTimeDependant<ml::Vector,int> controlSOUT;
/*! @} */
public: /* --- COMMANDS --- */
diff --git a/include/sot-core/sot.h b/include/sot-core/sot.h
index 4aeb2007..f83a6823 100644
--- a/include/sot-core/sot.h
+++ b/include/sot-core/sot.h
@@ -60,6 +60,7 @@ namespace ml = maal::boost;
/* --------------------------------------------------------------------- */
namespace sot {
+namespace dg = dynamicgraph;
/*! @ingroup stackoftasks
\brief This class implements the Stack of Task.
@@ -70,7 +71,7 @@ namespace sot {
*/
class SOTSOT_CORE_EXPORT Sot
-:public Entity
+:public dg::Entity
{
public:
/*! \brief Specify the name of the class entity. */
@@ -241,14 +242,14 @@ class SOTSOT_CORE_EXPORT Sot
* the recurence of the SOT (e.g. velocity comming from the other
* OpenHRP plugins).
*/
- SignalPtr<ml::Vector,int> q0SIN;
+ dg::SignalPtr<ml::Vector,int> q0SIN;
/*! \brief This signal allow to change the threshold for the damped pseudo-inverse
on-line */
- SignalPtr<double,int> inversionThresholdSIN;
+ dg::SignalPtr<double,int> inversionThresholdSIN;
/*! \brief This signal allow to get the result of the Constraint projector. */
- SignalTimeDependant<ml::Matrix,int> constraintSOUT;
+ dg::SignalTimeDependant<ml::Matrix,int> constraintSOUT;
/*! \brief This signal allow to get the result of the computed control law. */
- SignalTimeDependant<ml::Vector,int> controlSOUT;
+ dg::SignalTimeDependant<ml::Vector,int> controlSOUT;
/*! @} */
public: /* --- COMMANDS --- */
diff --git a/include/sot-core/task-abstract.h b/include/sot-core/task-abstract.h
index 95b1173c..2698eecb 100644
--- a/include/sot-core/task-abstract.h
+++ b/include/sot-core/task-abstract.h
@@ -46,9 +46,10 @@ namespace ml = maal::boost;
/* --------------------------------------------------------------------- */
namespace sot {
+namespace dg = dynamicgraph;
class SOT_CORE_EXPORT TaskAbstract
-: public Entity
+: public dg::Entity
{
public:
@@ -81,9 +82,9 @@ class SOT_CORE_EXPORT TaskAbstract
public: /* --- SIGNALS --- */
- SignalTimeDependant< sotVectorMultiBound,int > taskSOUT;
- SignalTimeDependant< ml::Matrix,int > jacobianSOUT;
- SignalTimeDependant< ml::Vector,int > featureActivationSOUT;
+ dg::SignalTimeDependant< sotVectorMultiBound,int > taskSOUT;
+ dg::SignalTimeDependant< ml::Matrix,int > jacobianSOUT;
+ dg::SignalTimeDependant< ml::Vector,int > featureActivationSOUT;
public: /* --- PARAMS --- */
virtual void commandLine( const std::string& cmdLine
diff --git a/include/sot-core/task-conti.h b/include/sot-core/task-conti.h
index cf9c2d5b..c9b10b9b 100644
--- a/include/sot-core/task-conti.h
+++ b/include/sot-core/task-conti.h
@@ -59,6 +59,7 @@ namespace ml = maal::boost;
/* --------------------------------------------------------------------- */
namespace sot {
+namespace dg = dynamicgraph;
class SOTTASKCONTI_EXPORT TaskConti
: public Task
@@ -92,7 +93,7 @@ class SOTTASKCONTI_EXPORT TaskConti
/* --- SIGNALS ------------------------------------------------------------ */
public:
- SignalPtr< ml::Vector,int > controlPrevSIN;
+ dg::SignalPtr< ml::Vector,int > controlPrevSIN;
/* --- DISPLAY ------------------------------------------------------------ */
void display( std::ostream& os ) const;
diff --git a/include/sot-core/task-pd.h b/include/sot-core/task-pd.h
index c7fe053b..0db3efca 100644
--- a/include/sot-core/task-pd.h
+++ b/include/sot-core/task-pd.h
@@ -49,6 +49,7 @@
/* --------------------------------------------------------------------- */
namespace sot {
+namespace dg = dynamicgraph;
class SOTTASKPD_EXPORT TaskPD
: public Task
@@ -71,8 +72,8 @@ class SOTTASKPD_EXPORT TaskPD
/* --- SIGNALS ------------------------------------------------------------ */
public:
- SignalTimeDependant< ml::Vector,int > errorDotSOUT;
- SignalPtr< ml::Vector,int > errorDotSIN;
+ dg::SignalTimeDependant< ml::Vector,int > errorDotSOUT;
+ dg::SignalPtr< ml::Vector,int > errorDotSIN;
/* --- PARAMS --- */
virtual void commandLine( const std::string& cmdLine
diff --git a/include/sot-core/task-unilateral.h b/include/sot-core/task-unilateral.h
index 56ca84a7..a227d7ee 100644
--- a/include/sot-core/task-unilateral.h
+++ b/include/sot-core/task-unilateral.h
@@ -61,6 +61,7 @@ namespace ml = maal::boost;
/* --------------------------------------------------------------------- */
namespace sot {
+namespace dg = dynamicgraph;
class SOTTASKUNILATERAL_EXPORT TaskUnilateral
: public Task
@@ -82,10 +83,10 @@ class SOTTASKUNILATERAL_EXPORT TaskUnilateral
/* --- SIGNALS ------------------------------------------------------------ */
public:
- SignalPtr< ml::Vector,int > positionSIN;
- SignalPtr< ml::Vector,int > referenceInfSIN;
- SignalPtr< ml::Vector,int > referenceSupSIN;
- SignalPtr< double,int > dtSIN;
+ dg::SignalPtr< ml::Vector,int > positionSIN;
+ dg::SignalPtr< ml::Vector,int > referenceInfSIN;
+ dg::SignalPtr< ml::Vector,int > referenceSupSIN;
+ dg::SignalPtr< double,int > dtSIN;
/* --- DISPLAY ------------------------------------------------------------ */
void display( std::ostream& os ) const;
diff --git a/include/sot-core/task.h b/include/sot-core/task.h
index 39a106f1..e8d22861 100644
--- a/include/sot-core/task.h
+++ b/include/sot-core/task.h
@@ -83,6 +83,7 @@ namespace ml = maal::boost;
*/
namespace sot {
+namespace dg = dynamicgraph;
class SOTTASK_EXPORT Task
: public TaskAbstract
@@ -116,12 +117,12 @@ class SOTTASK_EXPORT Task
/* --- SIGNALS ------------------------------------------------------------ */
public:
- SignalPtr< double,int > controlGainSIN;
- SignalPtr< double,int > dampingGainSINOUT;
- SignalPtr< Flags,int > controlSelectionSIN; // At the task level or at the feature level?
+ dg::SignalPtr< double,int > controlGainSIN;
+ dg::SignalPtr< double,int > dampingGainSINOUT;
+ dg::SignalPtr< Flags,int > controlSelectionSIN; // At the task level or at the feature level?
public:
- SignalTimeDependant< ml::Vector,int > errorSOUT;
+ dg::SignalTimeDependant< ml::Vector,int > errorSOUT;
/* --- DISPLAY ------------------------------------------------------------ */
void display( std::ostream& os ) const;
diff --git a/include/sot-core/unary-op.h b/include/sot-core/unary-op.h
index 24fd4eec..2e58acae 100644
--- a/include/sot-core/unary-op.h
+++ b/include/sot-core/unary-op.h
@@ -47,10 +47,11 @@ namespace ml = maal::boost;
/* --------------------------------------------------------------------- */
namespace sot {
+namespace dg = dynamicgraph;
template< class Tin,class Tout,typename Operator >
class UnaryOp
-:public Entity
+:public dg::Entity
{
Operator op;
@@ -61,7 +62,7 @@ class UnaryOp
static const std::string CLASS_NAME;
UnaryOp( const std::string& name )
- : Entity(name)
+ : dg::Entity(name)
,SIN(NULL,UnaryOp::CLASS_NAME+"("+name+")::input("+getTypeInName()+")::in")
,SOUT( boost::bind(&UnaryOp<Tin,Tout,Operator>::computeOperation,this,_1,_2),
SIN,CLASS_NAME+"("+name+")::output("+getTypeOutName()+")::out")
@@ -74,8 +75,8 @@ class UnaryOp
public: /* --- SIGNAL --- */
- SignalPtr<Tin,int> SIN;
- SignalTimeDependant<Tout,int> SOUT;
+ dg::SignalPtr<Tin,int> SIN;
+ dg::SignalTimeDependant<Tout,int> SOUT;
protected:
Tout& computeOperation( Tout& res,int time )
diff --git a/include/sot-core/vector-constant.h b/include/sot-core/vector-constant.h
index 9f0efb18..c69cee53 100644
--- a/include/sot-core/vector-constant.h
+++ b/include/sot-core/vector-constant.h
@@ -29,9 +29,10 @@ namespace ml = maal::boost;
/* --- VECTOR ---------------------------------------------------------- */
/* --------------------------------------------------------------------- */
namespace sot{
+namespace dg = dynamicgraph;
class VectorConstant
-: public Entity
+: public dg::Entity
{
static const std::string CLASS_NAME;
virtual const std::string& getClassName( void ) const { return CLASS_NAME; }
@@ -45,13 +46,13 @@ public:
,rows(0),color(0.)
,SOUT( "sotVectorConstant("+name+")::output(vector)::out" )
{
- SOUT.setDependancyType( TimeDependancy<int>::BOOL_DEPENDANT );
+ SOUT.setDependancyType( dg::TimeDependancy<int>::BOOL_DEPENDANT );
signalRegistration( SOUT );
}
virtual ~VectorConstant( void ){}
- SignalTimeDependant<ml::Vector,int> SOUT;
+ dg::SignalTimeDependant<ml::Vector,int> SOUT;
virtual void commandLine( const std::string& cmdLine,
std::istringstream& cmdArgs,
diff --git a/include/sot-core/vector-to-rotation.h b/include/sot-core/vector-to-rotation.h
index e2e0b338..b9932a41 100644
--- a/include/sot-core/vector-to-rotation.h
+++ b/include/sot-core/vector-to-rotation.h
@@ -36,9 +36,10 @@ namespace ml = maal::boost;
/* --- VECTOR ---------------------------------------------------------- */
/* --------------------------------------------------------------------- */
namespace sot {
+namespace dg = dynamicgraph;
class VectorToRotation
-: public Entity
+: public dg::Entity
{
static const std::string CLASS_NAME;
virtual const std::string& getClassName( void ) const { return CLASS_NAME; }
@@ -59,8 +60,8 @@ public:
virtual ~VectorToRotation( void ){}
- SignalPtr<ml::Vector,int> SIN;
- SignalTimeDependant<MatrixRotation,int> SOUT;
+ dg::SignalPtr<ml::Vector,int> SIN;
+ dg::SignalTimeDependant<MatrixRotation,int> SOUT;
MatrixRotation& computeRotation( const ml::Vector& angles,
MatrixRotation& res );
diff --git a/include/sot-core/weighted-sot.h b/include/sot-core/weighted-sot.h
index 32d9b6d3..0e221fe5 100644
--- a/include/sot-core/weighted-sot.h
+++ b/include/sot-core/weighted-sot.h
@@ -65,6 +65,7 @@ namespace ml = maal::boost;
*/
namespace sot {
+namespace dg = dynamicgraph;
class SOTWEIGHTEDSOT_CORE_EXPORT WeightedSot
:public Sot
@@ -98,11 +99,11 @@ class SOTWEIGHTEDSOT_CORE_EXPORT WeightedSot
/*! \name Methods to handle signals
@{
*/
- SignalPtr<ml::Matrix,int> weightSIN;
- SignalTimeDependant<ml::Matrix,int> constrainedWeightSOUT;
- SignalPtr<ml::Matrix,int> constrainedWeightSIN;
- SignalTimeDependant<ml::Matrix,int> squareRootInvWeightSOUT;
- SignalPtr<ml::Matrix,int> squareRootInvWeightSIN;
+ dg::SignalPtr<ml::Matrix,int> weightSIN;
+ dg::SignalTimeDependant<ml::Matrix,int> constrainedWeightSOUT;
+ dg::SignalPtr<ml::Matrix,int> constrainedWeightSIN;
+ dg::SignalTimeDependant<ml::Matrix,int> squareRootInvWeightSOUT;
+ dg::SignalPtr<ml::Matrix,int> squareRootInvWeightSIN;
/*! @} */
};
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 90153707..87acce63 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -86,9 +86,9 @@ SET(${PROJECT_NAME}_SOURCES
INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/include)
#define VP_DEBUG if we're building in debug mode
-IF ( ${CMAKE_BUILD_TYPE} STREQUAL "DEBUG" )
+IF(${CMAKE_BUILD_TYPE} STREQUAL DEBUG)
ADD_DEFINITIONS(-DVP_DEBUG)
-ENDIF ( ${CMAKE_BUILD_TYPE} STREQUAL "DEBUG" )
+ENDIF (${CMAKE_BUILD_TYPE} STREQUAL DEBUG)
ADD_DEFINITIONS(-DDEBUG=2)
@@ -163,9 +163,9 @@ FOREACH(plugin ${plugins})
INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/include)
#define VP_DEBUG if we're building in debug mode
- IF ( ${CMAKE_BUILD_TYPE} STREQUAL "DEBUG" )
+ IF(${CMAKE_BUILD_TYPE} STREQUAL DEBUG)
ADD_DEFINITIONS(-DVP_DEBUG)
- ENDIF ( ${CMAKE_BUILD_TYPE} STREQUAL "DEBUG" )
+ ENDIF (${CMAKE_BUILD_TYPE} STREQUAL DEBUG)
ADD_DEFINITIONS(-DDEBUG=2)
diff --git a/src/factory/additional-functions.cpp b/src/factory/additional-functions.cpp
index aa2166ab..471dd27c 100644
--- a/src/factory/additional-functions.cpp
+++ b/src/factory/additional-functions.cpp
@@ -28,6 +28,7 @@
#include <sot-core/flags.h>
using namespace std;
using namespace sot;
+using namespace dynamicgraph;
/* \brief Constructor. At creation, overloads (deregisters-then registers
* again) the 'new' function in the g_shell
diff --git a/src/feature/feature-1d.cpp b/src/feature/feature-1d.cpp
index 168bb12f..5ba2ac93 100644
--- a/src/feature/feature-1d.cpp
+++ b/src/feature/feature-1d.cpp
@@ -32,6 +32,7 @@ using namespace std;
using namespace sot;
+using namespace dynamicgraph;
SOT_FACTORY_FEATURE_PLUGIN(Feature1D,"Feature1D");
/* --------------------------------------------------------------------- */
diff --git a/src/feature/feature-abstract.cpp b/src/feature/feature-abstract.cpp
index dbbc566c..00df89eb 100644
--- a/src/feature/feature-abstract.cpp
+++ b/src/feature/feature-abstract.cpp
@@ -21,6 +21,7 @@
#include <sot-core/pool.h>
using namespace sot;
+namespace dg = dynamicgraph;
const std::string
FeatureAbstract::CLASS_NAME = "FeatureAbstract";
@@ -67,7 +68,7 @@ writeGraph( std::ostream& os ) const
if( desiredValueSIN )
{
// const SignalAbstract<int> & sdesAbs = desiredValueSIN;
- const SignalPtr<FeatureAbstract *,int> & sdesSig = desiredValueSIN;
+ const dg::SignalPtr<FeatureAbstract *,int> & sdesSig = desiredValueSIN;
if (sdesSig!=0)
{
diff --git a/src/feature/feature-generic.cpp b/src/feature/feature-generic.cpp
index 07fa7a9c..b82d59ed 100644
--- a/src/feature/feature-generic.cpp
+++ b/src/feature/feature-generic.cpp
@@ -26,13 +26,11 @@
#include <sot-core/debug.h>
#include <sot-core/feature-generic.h>
#include <sot-core/exception-feature.h>
-using namespace std;
-
#include <sot-core/factory.h>
-
+using namespace std;
using namespace sot;
-
+using namespace dynamicgraph;
SOT_FACTORY_FEATURE_PLUGIN(FeatureGeneric,"FeatureGeneric");
/* --------------------------------------------------------------------- */
diff --git a/src/feature/feature-line-distance.cpp b/src/feature/feature-line-distance.cpp
index 4344475d..785695d3 100644
--- a/src/feature/feature-line-distance.cpp
+++ b/src/feature/feature-line-distance.cpp
@@ -34,6 +34,7 @@
using namespace std;
using namespace sot;
+using namespace dynamicgraph;
#include <sot-core/factory.h>
SOT_FACTORY_FEATURE_PLUGIN(FeatureLineDistance,"FeatureLineDistance");
diff --git a/src/feature/feature-point6d-relative.cpp b/src/feature/feature-point6d-relative.cpp
index 52ac3715..8a1ed547 100644
--- a/src/feature/feature-point6d-relative.cpp
+++ b/src/feature/feature-point6d-relative.cpp
@@ -34,7 +34,7 @@
using namespace std;
using namespace sot;
-
+using namespace dynamicgraph;
#include <sot-core/factory.h>
SOT_FACTORY_FEATURE_PLUGIN(FeaturePoint6dRelative,"FeaturePoint6dRelative");
diff --git a/src/feature/feature-point6d.cpp b/src/feature/feature-point6d.cpp
index febbc331..e5253741 100644
--- a/src/feature/feature-point6d.cpp
+++ b/src/feature/feature-point6d.cpp
@@ -34,7 +34,7 @@
#include <sot-core/vector-utheta.h>
using namespace std;
-
+using namespace dynamicgraph;
using namespace sot;
#include <sot-core/factory.h>
diff --git a/src/feature/feature-task.cpp b/src/feature/feature-task.cpp
index f0658341..59124f14 100644
--- a/src/feature/feature-task.cpp
+++ b/src/feature/feature-task.cpp
@@ -29,6 +29,7 @@
#include <dynamic-graph/pool.h>
using namespace std;
using namespace sot;
+using namespace dynamicgraph;
#include <sot-core/factory.h>
diff --git a/src/feature/feature-vector3.cpp b/src/feature/feature-vector3.cpp
index 7b9568df..81aa5830 100644
--- a/src/feature/feature-vector3.cpp
+++ b/src/feature/feature-vector3.cpp
@@ -36,7 +36,7 @@
using namespace sot;
using namespace std;
-
+using namespace dynamicgraph;
SOT_FACTORY_FEATURE_PLUGIN(FeatureVector3,"FeatureVector3");
diff --git a/src/feature/feature-visual-point.cpp b/src/feature/feature-visual-point.cpp
index 4965c93a..d24186a0 100644
--- a/src/feature/feature-visual-point.cpp
+++ b/src/feature/feature-visual-point.cpp
@@ -29,7 +29,7 @@
#include <sot-core/factory.h>
using namespace std;
using namespace sot;
-
+using namespace dynamicgraph;
SOT_FACTORY_FEATURE_PLUGIN(FeatureVisualPoint,"FeatureVisualPoint");
diff --git a/src/math/op-point-modifier.cpp b/src/math/op-point-modifier.cpp
index 7cb8f29a..bf013012 100644
--- a/src/math/op-point-modifier.cpp
+++ b/src/math/op-point-modifier.cpp
@@ -27,10 +27,10 @@
using namespace std;
using namespace sot;
+using namespace dynamicgraph;
+
-namespace sot {
SOT_FACTORY_ENTITY_PLUGIN(OpPointModifior,"OpPointModifior");
-}
/* --------------------------------------------------------------------- */
diff --git a/src/math/vector-quaternion.cpp b/src/math/vector-quaternion.cpp
index baefd496..b351bdcd 100644
--- a/src/math/vector-quaternion.cpp
+++ b/src/math/vector-quaternion.cpp
@@ -22,7 +22,6 @@
using namespace std;
using namespace sot;
-
static const double ANGLE_MINIMUM = 0.0001;
static const double SINC_MINIMUM = 1e-8;
static const double COSC_MINIMUM = 2.5e-4;
diff --git a/src/matrix/binary-op.cpp b/src/matrix/binary-op.cpp
index 1109a3fb..5bec92e6 100644
--- a/src/matrix/binary-op.cpp
+++ b/src/matrix/binary-op.cpp
@@ -29,6 +29,7 @@
#include <deque>
namespace sot {
+using namespace dynamicgraph;
#define SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_ExE_E_CMD(sotClassType,sotType,index,className,CMDLINE,CMDHELP) \
template<> \
@@ -189,7 +190,7 @@ public:
}
};
typedef BinaryOp< Vector,Vector,Vector,VectorStack > stackvector;
-SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_ExE_E_CMD(stackvector,vector,stack_vector,"Stack<vector>",else if( cmdLine=="selec1" ){ cmdArgs>>op.v1min>>op.v1max; }
+SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_ExE_E_CMD(stackvector,vector,stack_vector,"Stack<vector>",else if( cmdLine=="selec1" ){ cmdArgs>>op.v1min>>op.v1max; }
else if( cmdLine=="selec2" ){ cmdArgs>>op.v2min>>op.v2max; }
else if( cmdLine=="print" ){ os<<"Stack ["<<op.v1min<<","<<op.v1max<<"] - ["<<op.v2min<<","<<op.v2max<<"] "<<std::endl; },
"Stack<vector>: \n - select{1|2} index_min index_max.");
@@ -210,7 +211,7 @@ public:
}
};
typedef BinaryOp< Vector,Vector,Vector,WeightedAdder > weightadd;
-SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_ExE_E_CMD(weightadd,vector,weight_add,"WeightAdd<vector>",else if( cmdLine=="gain1" ){ cmdArgs>>op.gain1; }
+SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_ExE_E_CMD(weightadd,vector,weight_add,"WeightAdd<vector>",else if( cmdLine=="gain1" ){ cmdArgs>>op.gain1; }
else if( cmdLine=="gain2" ){ cmdArgs>>op.gain2;}
else if( cmdLine=="print" ){os<<"WeightAdd: "<<op.gain1<<" "<<op.gain2<<std::endl; },
"WeightAdd<vector>: \n - gain{1|2} gain.");
diff --git a/src/matrix/derivator.cpp b/src/matrix/derivator.cpp
index 9ee42067..39293493 100644
--- a/src/matrix/derivator.cpp
+++ b/src/matrix/derivator.cpp
@@ -22,6 +22,7 @@
using namespace sot;
using namespace ml;
+using namespace dynamicgraph;
#define SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN(sotClassType,sotType,className) \
template<> \
diff --git a/src/matrix/fir-filter.cpp b/src/matrix/fir-filter.cpp
index 69f1f089..51d4b2d9 100644
--- a/src/matrix/fir-filter.cpp
+++ b/src/matrix/fir-filter.cpp
@@ -21,7 +21,7 @@
#include <sot-core/factory.h>
using namespace sot;
-
+using namespace dynamicgraph;
#define SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN(sotClassType,sotSigType,sotCoefType,id,className) \
template<> \
diff --git a/src/matrix/integrator-abstract.cpp b/src/matrix/integrator-abstract.cpp
index 984ded1b..f628b2ad 100644
--- a/src/matrix/integrator-abstract.cpp
+++ b/src/matrix/integrator-abstract.cpp
@@ -21,7 +21,7 @@
#include <sot-core/factory.h>
using namespace sot;
-
+using namespace dynamicgraph;
#define SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN(sotClassType,sotSigType,sotCoefType,className) \
template<> \
diff --git a/src/matrix/integrator-euler.cpp b/src/matrix/integrator-euler.cpp
index fdd37e3c..69cddf31 100644
--- a/src/matrix/integrator-euler.cpp
+++ b/src/matrix/integrator-euler.cpp
@@ -21,7 +21,7 @@
#include <sot-core/factory.h>
using namespace sot;
-
+using namespace dynamicgraph;
#define SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN(sotClassType,sotSigType,sotCoefType,className) \
template<> \
diff --git a/src/matrix/matrix-constant.cpp b/src/matrix/matrix-constant.cpp
index 6e885509..0e49ac8f 100644
--- a/src/matrix/matrix-constant.cpp
+++ b/src/matrix/matrix-constant.cpp
@@ -22,7 +22,7 @@
using namespace std;
using namespace sot;
-
+using namespace dynamicgraph;
SOT_FACTORY_ENTITY_PLUGIN(MatrixConstant,"MatrixConstant");
diff --git a/src/matrix/unary-op.cpp b/src/matrix/unary-op.cpp
index fb74cc53..1e88744e 100644
--- a/src/matrix/unary-op.cpp
+++ b/src/matrix/unary-op.cpp
@@ -29,7 +29,7 @@
using namespace sot;
-
+using namespace dynamicgraph;
#define SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_E_E(sotClassType,sotType,index,className,CMDLINE,CMDHELP) \
diff --git a/src/matrix/vector-constant.cpp b/src/matrix/vector-constant.cpp
index 376a49c3..4db6f1bc 100644
--- a/src/matrix/vector-constant.cpp
+++ b/src/matrix/vector-constant.cpp
@@ -18,15 +18,14 @@
* ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
#include <sot-core/vector-constant.h>
-
#include <sot-core/factory.h>
-namespace sot {
-SOT_FACTORY_ENTITY_PLUGIN(VectorConstant,"VectorConstant");
-}
-
using namespace std;
using namespace sot;
+using namespace dynamicgraph;
+
+SOT_FACTORY_ENTITY_PLUGIN(VectorConstant,"VectorConstant");
+
/* --------------------------------------------------------------------- */
diff --git a/src/matrix/vector-to-rotation.cpp b/src/matrix/vector-to-rotation.cpp
index 7d206935..44154a64 100644
--- a/src/matrix/vector-to-rotation.cpp
+++ b/src/matrix/vector-to-rotation.cpp
@@ -25,10 +25,9 @@
using namespace std;
using namespace sot;
+using namespace dynamicgraph;
-namespace sot {
SOT_FACTORY_ENTITY_PLUGIN(VectorToRotation,"VectorToRotation");
-}
/* --------------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
diff --git a/src/sot/memory-task-sot.cpp b/src/sot/memory-task-sot.cpp
index f1ed0743..784347c1 100644
--- a/src/sot/memory-task-sot.cpp
+++ b/src/sot/memory-task-sot.cpp
@@ -22,6 +22,7 @@
#include <sot-core/debug.h>
using namespace sot;
+using namespace dynamicgraph;
const std::string MemoryTaskSOT::CLASS_NAME = "MemoryTaskSOT";
diff --git a/src/sot/sot-h.cpp b/src/sot/sot-h.cpp
index 242c992d..d83042e7 100644
--- a/src/sot/sot-h.cpp
+++ b/src/sot/sot-h.cpp
@@ -30,6 +30,7 @@
using namespace std;
using namespace sot;
+using namespace dynamicgraph;
#ifdef VP_DEBUG
class sotSOTH__INIT
diff --git a/src/sot/sot-qr.cpp b/src/sot/sot-qr.cpp
index c6de0808..9446ff0e 100644
--- a/src/sot/sot-qr.cpp
+++ b/src/sot/sot-qr.cpp
@@ -40,7 +40,7 @@
#define FORTRAN_ID( id ) id##_
using namespace std;
using namespace sot;
-
+using namespace dynamicgraph;
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
diff --git a/src/sot/sot.cpp b/src/sot/sot.cpp
index e66f1c86..87a75411 100644
--- a/src/sot/sot.cpp
+++ b/src/sot/sot.cpp
@@ -42,6 +42,7 @@
using namespace std;
using namespace sot;
+using namespace dynamicgraph;
/* --------------------------------------------------------------------- */
diff --git a/src/sot/weighted-sot.cpp b/src/sot/weighted-sot.cpp
index 21bc5f7b..1b9ba6b9 100644
--- a/src/sot/weighted-sot.cpp
+++ b/src/sot/weighted-sot.cpp
@@ -30,7 +30,7 @@
#include <sot-core/debug.h>
using namespace std;
using namespace sot;
-
+using namespace dynamicgraph;
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
diff --git a/src/task/constraint.cpp b/src/task/constraint.cpp
index 130a91f3..1d642fa7 100644
--- a/src/task/constraint.cpp
+++ b/src/task/constraint.cpp
@@ -32,6 +32,7 @@ using namespace sot;
#include <sot-core/factory.h>
SOT_FACTORY_TASK_PLUGIN(Constraint,"Constraint");
+using namespace dynamicgraph;
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
diff --git a/src/task/gain-adaptative.cpp b/src/task/gain-adaptative.cpp
index b3849620..33730c38 100644
--- a/src/task/gain-adaptative.cpp
+++ b/src/task/gain-adaptative.cpp
@@ -30,6 +30,7 @@
#include <sot-core/exception-signal.h>
using namespace sot;
+using namespace dynamicgraph;
SOT_FACTORY_ENTITY_PLUGIN(GainAdaptative,"GainAdaptative");
diff --git a/src/task/gain-hyperbolic.cpp b/src/task/gain-hyperbolic.cpp
index 9203380a..e5b0401c 100644
--- a/src/task/gain-hyperbolic.cpp
+++ b/src/task/gain-hyperbolic.cpp
@@ -30,6 +30,7 @@
#include <sot-core/exception-signal.h>
using namespace sot;
+using namespace dynamicgraph;
SOT_FACTORY_ENTITY_PLUGIN(GainHyperbolic,"GainHyperbolic");
diff --git a/src/task/task-abstract.cpp b/src/task/task-abstract.cpp
index 15dd7220..daa6a445 100644
--- a/src/task/task-abstract.cpp
+++ b/src/task/task-abstract.cpp
@@ -26,7 +26,7 @@
#include <sot-core/pool.h>
using namespace sot;
-
+using namespace dynamicgraph;
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
diff --git a/src/task/task-conti.cpp b/src/task/task-conti.cpp
index b07c3b47..172b2566 100644
--- a/src/task/task-conti.cpp
+++ b/src/task/task-conti.cpp
@@ -30,6 +30,7 @@
using namespace std;
using namespace sot;
+using namespace dynamicgraph;
SOT_FACTORY_TASK_PLUGIN(TaskConti,"TaskConti");
diff --git a/src/task/task-pd.cpp b/src/task/task-pd.cpp
index 761c96c0..d32c550e 100644
--- a/src/task/task-pd.cpp
+++ b/src/task/task-pd.cpp
@@ -28,7 +28,7 @@
using namespace std;
using namespace sot;
-
+using namespace dynamicgraph;
diff --git a/src/task/task-unilateral.cpp b/src/task/task-unilateral.cpp
index c8acc999..5549ddc8 100644
--- a/src/task/task-unilateral.cpp
+++ b/src/task/task-unilateral.cpp
@@ -31,7 +31,7 @@
using namespace std;
using namespace sot;
-
+using namespace dynamicgraph;
#include <sot-core/factory.h>
diff --git a/src/task/task.cpp b/src/task/task.cpp
index 5c8a3cdc..b0ebf518 100644
--- a/src/task/task.cpp
+++ b/src/task/task.cpp
@@ -27,8 +27,7 @@
#include <sot-core/debug.h>
using namespace std;
using namespace sot;
-
-
+using namespace dynamicgraph;
#include <sot-core/factory.h>
diff --git a/unitTesting/signal/test_dep.cpp b/unitTesting/signal/test_dep.cpp
index c004603d..01ff8e20 100644
--- a/unitTesting/signal/test_dep.cpp
+++ b/unitTesting/signal/test_dep.cpp
@@ -21,14 +21,12 @@
/* -------------------------------------------------------------------------- */
/* --- INCLUDES ------------------------------------------------------------- */
/* -------------------------------------------------------------------------- */
-// #include <dynamic-graph/all-signals.h>
#include <dynamic-graph/all-signals.h>
-//#include <sot/TimeDependancy.h>
#include <iostream>
-
#include <MatrixAbstractLayer/boost.h>
using namespace std;
+using namespace dynamicgraph;
namespace ml = maal::boost;
diff --git a/unitTesting/signal/test_depend.cpp b/unitTesting/signal/test_depend.cpp
index ae0a8dc9..8ef005bf 100644
--- a/unitTesting/signal/test_depend.cpp
+++ b/unitTesting/signal/test_depend.cpp
@@ -30,6 +30,7 @@
#include <MatrixAbstractLayer/boost.h>
using namespace std;
+using namespace dynamicgraph;
namespace ml = maal::boost;
diff --git a/unitTesting/signal/test_ptr.cpp b/unitTesting/signal/test_ptr.cpp
index ee3f8996..1cbfc994 100644
--- a/unitTesting/signal/test_ptr.cpp
+++ b/unitTesting/signal/test_ptr.cpp
@@ -30,6 +30,7 @@
using namespace std;
using namespace sot;
+using namespace dynamicgraph;
namespace ml = maal::boost;
diff --git a/unitTesting/signal/test_signal.cpp b/unitTesting/signal/test_signal.cpp
index 420214e3..bd75071b 100644
--- a/unitTesting/signal/test_signal.cpp
+++ b/unitTesting/signal/test_signal.cpp
@@ -25,6 +25,7 @@
#include <iostream>
#include <MatrixAbstractLayer/boost.h>
using namespace std;
+using namespace dynamicgraph;
namespace ml = maal::boost;
--
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