diff --git a/include/sot-core/additional-functions.h b/include/sot-core/additional-functions.h
index 6d29204a05edde5fed55c3158958d3874e402370..7ff9c6098da98b7f46107c9b31500dc54ee1a99f 100644
--- a/include/sot-core/additional-functions.h
+++ b/include/sot-core/additional-functions.h
@@ -45,8 +45,6 @@ class AdditionalFunctions
public:
AdditionalFunctions();
~AdditionalFunctions();
- static void cmdNew( const std::string& cmd,std::istringstream& args,
- std::ostream& os );
static void cmdMatrixDisplay( const std::string& cmd,std::istringstream& args,
std::ostream& os );
static void cmdFlagSet( const std::string& cmd,std::istringstream& args,
diff --git a/include/sot-core/factory.h b/include/sot-core/factory.h
index e979eaa00e1b98ff20537c77c6cd06727b0294da..c2f60080eab30dd49b3451d5922354869d61b87a 100644
--- a/include/sot-core/factory.h
+++ b/include/sot-core/factory.h
@@ -1,7 +1,8 @@
/*
* Copyright 2010,
- * François Bleibel,
+ * François Bleibel,
* Olivier Stasse,
+ * Florent Lamiraux
*
* CNRS/AIST
*
@@ -25,130 +26,16 @@
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
-/* --- STD --- */
-#include <map>
-#include <string>
-
-/* --- SOT --- */
-#include <sot-core/exception-factory.h>
-#include <sot-core/sot-core-api.h>
#include <dynamic-graph/factory.h>
-namespace sot {
-
-class FeatureAbstract;
-class TaskAbstract;
-
-/* --------------------------------------------------------------------- */
-/* --- FACTORY ---------------------------------------------------------- */
-/* --------------------------------------------------------------------- */
-
-/*! @ingroup factory
- \brief This class implements the factory that allows creation of
- objects loaded from dynamic link libraries. Objects are referenced by their
- class names, and can be created by passing this string to one of the three
- public "new" methods (newEntity, newFeature or newTask).
- The factory instance (singleton) is publicly available under the name sotFactory
- (include factory.h). A task, feature or entity can register itself by
- using the SOT_FACTORY_{ENTITY,TASK,FEATURE}_PLUGIN macro. See Task.cpp for
- an example.
-*/
-class SOT_CORE_EXPORT FactoryStorage
-{
- public:
- typedef FeatureAbstract* (*FeatureConstructor_ptr)( const std::string& );
- typedef TaskAbstract* (*TaskConstructor_ptr)( const std::string& );
-
- protected:
- typedef std::map< std::string,TaskConstructor_ptr > TaskMap;
- typedef std::map< std::string,FeatureConstructor_ptr > FeatureMap;
-
- FeatureMap featureMap;
- TaskMap taskMap;
-
- public:
-
- ~FactoryStorage( void );
-
- void registerTask( const std::string& entname,TaskConstructor_ptr ent );
- TaskAbstract* newTask( const std::string& name,const std::string& objname );
- bool existTask( const std::string& name, TaskMap::iterator& entPtr );
- bool existTask( const std::string& name );
-
- void registerFeature( const std::string& entname,FeatureConstructor_ptr ent );
- FeatureAbstract* newFeature( const std::string& name,const std::string& objname );
- bool existFeature( const std::string& name, FeatureMap::iterator& entPtr );
- bool existFeature( const std::string& name );
-
- void commandLine( const std::string& cmdLine,std::istringstream& cmdArgs,
- std::ostream& os );
-
-
-};
-
-SOT_CORE_EXPORT extern FactoryStorage sotFactory;
-
-/* --- REGISTERER ----------------------------------------------------------- */
-/* --- REGISTERER ----------------------------------------------------------- */
-/* --- REGISTERER ----------------------------------------------------------- */
-
-/* -------------------------------------------------------------------------- */
-/* --- ENTITY REGISTERER ---------------------------------------------------- */
-/* -------------------------------------------------------------------------- */
-typedef dynamicgraph::EntityRegisterer sotEntityRegisterer;
-
-/* -------------------------------------------------------------------------- */
-/* --- FEATURE REGISTERER --------------------------------------------------- */
-/* -------------------------------------------------------------------------- */
-
-class SOT_CORE_EXPORT sotFeatureRegisterer
-{
- private:
- sotFeatureRegisterer( void );
-
- public:
- sotFeatureRegisterer( const std::string& featureClassName,
- FactoryStorage::FeatureConstructor_ptr maker);
-};
-
#define SOT_FACTORY_FEATURE_PLUGIN(sotFeatureType,className) \
- const std::string sotFeatureType::CLASS_NAME = className; \
- extern "C" { \
- FeatureAbstract *sotFeatureMaker##_##sotFeatureType( const std::string& objname )\
- { \
- return new sotFeatureType( objname ); \
- } \
- sotFeatureRegisterer reg##_##sotFeatureType( className, \
- &sotFeatureMaker##_##sotFeatureType ); \
- } \
-
-
+ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(sotFeatureType,className)
/* -------------------------------------------------------------------------- */
/* --- TASK REGISTERER ------------------------------------------------------ */
/* -------------------------------------------------------------------------- */
-class SOT_CORE_EXPORT sotTaskRegisterer
-{
- private:
- sotTaskRegisterer( void );
-
- public:
- sotTaskRegisterer( const std::string& taskClassName,
- FactoryStorage::TaskConstructor_ptr maker);
-};
-
-
#define SOT_FACTORY_TASK_PLUGIN(sotTaskType,className) \
- const std::string sotTaskType::CLASS_NAME = className; \
- extern "C" { \
- TaskAbstract *sotTaskMaker##_##sotTaskType( const std::string& objname ) \
- { \
- return new sotTaskType( objname ); \
- } \
- sotTaskRegisterer reg##_##sotTaskType( className,&sotTaskMaker##_##sotTaskType ); \
- } \
-
-} // namespace sot
+ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(sotTaskType,className)
#endif /* #ifndef __SOT_FACTORY_HH__ */
diff --git a/include/sot-core/op-point-modifier.h b/include/sot-core/op-point-modifier.h
index 0151e4017dac9b4a8f10208578f3992c38390886..ea640a0cc6f1cff1d62fadaf06e5897ec280ea9a 100644
--- a/include/sot-core/op-point-modifier.h
+++ b/include/sot-core/op-point-modifier.h
@@ -51,6 +51,12 @@ namespace ml = maal::boost;
namespace sot {
namespace dg = dynamicgraph;
+///
+/// \brief Compute position and jacobian of a local frame attached to a joint.
+///
+/// The position of the local frame in the frame of the joint is represented by
+/// transformation.
+///
class SOTOPPOINTMODIFIER_EXPORT OpPointModifier
: public dg::Entity
{
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index d8cf2de8497d548ad8ecfceb8ae699bc59001bc0..9aeddbf8978cd70a2583b6bd12850db2ec35e797 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -141,7 +141,6 @@ SET(${LIBRARY_NAME}_SOURCES
sot/solver-hierarchical-inequalities.cpp
factory/additional-functions.cpp
- factory/factory.cpp
factory/pool.cpp
tools/utils-windows
diff --git a/src/factory/additional-functions.cpp b/src/factory/additional-functions.cpp
index b7144adfa15180ddca822bd8ff36131fee164d3d..a68678af9dc16785e59bcaa31362454385eeaaa4 100644
--- a/src/factory/additional-functions.cpp
+++ b/src/factory/additional-functions.cpp
@@ -33,43 +33,9 @@ using namespace dynamicgraph;
* again) the 'new' function in the g_shell
*/
AdditionalFunctions::AdditionalFunctions() {
- // overload 'new'
- g_shell.deregisterFunction("new");
- g_shell.registerFunction("new", &AdditionalFunctions::cmdNew);
}
AdditionalFunctions::~AdditionalFunctions() {
- g_shell.deregisterFunction("new");
-}
-
-void AdditionalFunctions::cmdNew( const std::string& cmdLine, istringstream& cmdArg, std::ostream& os )
-{
- if( cmdLine == "help" )
- {
- os << " - new <class> <object>"
- << "\t\t\tCreate a new object (entity, task, or feature)." <<endl;
- return;
- }
- string className;
- string objName;
- cmdArg >> className >>objName;
- sotDEBUG(15) << "New <" << className<<"> requested."<<endl;
- if( g_factory.existEntity( className ) )
- {
- sotDEBUG(15) << "New entity<"<<className<<"> " <<objName<<std::endl;
- g_factory.newEntity(className,objName);
- }
- else if( sotFactory.existFeature( className ) )
- {
- sotDEBUG(15) << "New feature<"<<className<<"> " <<objName<<std::endl;
- sotFactory.newFeature(className,objName);
- }
- else if( sotFactory.existTask( className ) )
- {
- sotDEBUG(15) << "New Task<"<<className<<"> " <<objName<<std::endl;
- sotFactory.newTask(className,objName);
- }
- else os << " !! Class <" << className << "> does not exist."<<endl;
}
void AdditionalFunctions::
diff --git a/src/factory/factory.cpp b/src/factory/factory.cpp
index a80385d4701c3b6d5ec59d483b4919dcf58f515c..87b29270e0803af0788944086422c141badfd4d6 100644
--- a/src/factory/factory.cpp
+++ b/src/factory/factory.cpp
@@ -30,181 +30,3 @@ using namespace std;
using namespace sot;
-/* --------------------------------------------------------------------- */
-/* --- CLASS ----------------------------------------------------------- */
-/* --------------------------------------------------------------------- */
-
-
-FactoryStorage::
-~FactoryStorage( void )
-{
- sotDEBUGINOUT(25);
-}
-
-/* --------------------------------------------------------------------- */
-void FactoryStorage::
-registerTask( const std::string& entname,TaskConstructor_ptr ent )
-{
- TaskMap::iterator entkey;
- if( existTask(entname,entkey) ) // key does exist
- {
-// SOT_THROW ExceptionFactory( ExceptionFactory::OBJECT_CONFLICT,
-// "Another task class already defined with the same name. ",
-// "( while adding task class <%s> inside the factory).",
-// entname.c_str() );
- sotERRORF("Another task class already defined with the same name. "
- "( while adding task class <%s> inside the factory).",
- entname.c_str() );
- }
- else
- {
- // sotDEBUG(10) << "Register task <"<< entname
-// << "> in the factory." <<std::endl;
- taskMap[entname] = ent;
- }
-}
-
-TaskAbstract* FactoryStorage::
-newTask( const std::string& classname,const std::string& objname )
-{
- TaskMap::iterator entPtr;
- if(! existTask(classname,entPtr) ) // key does not exist
- {
- SOT_THROW ExceptionFactory( ExceptionFactory::UNREFERED_OBJECT,
- "Unknown task."," (while calling new_task <%s>)",
- classname.c_str() );
- }
- return entPtr->second(objname);
-}
-bool FactoryStorage::
-existTask( const std::string& name, TaskMap::iterator& entPtr )
-{
- entPtr = taskMap .find( name );
- return ( entPtr != taskMap.end() );
-}
-bool FactoryStorage::
-existTask( const std::string& name )
-{
- TaskMap::iterator entPtr;return existTask( name,entPtr );
-}
-
-
-/* --------------------------------------------------------------------- */
-void FactoryStorage::
-registerFeature( const std::string& entname,FeatureConstructor_ptr ent )
-{
- FeatureMap::iterator entkey;
- if( existFeature(entname,entkey) ) // key does exist
- {
-// SOT_THROW ExceptionFactory( ExceptionFactory::OBJECT_CONFLICT,
-// "Another feature already defined with the same name. ",
-// "(while adding feature class <%s> inside the factory).",
-// entname.c_str() );
- sotERRORF("Another feature already defined with the same name. "
- "(while adding feature class <%s> inside the factory).",
- entname.c_str() );
- }
- else
- {
-// sotDEBUG(10) << "Register feature <"<< entname
-// << "> in the factory." <<std::endl;
- featureMap[entname] = ent;
- }
-}
-
-FeatureAbstract* FactoryStorage::
-newFeature( const std::string& classname,const std::string& objname )
-{
- FeatureMap::iterator entPtr;
- if(! existFeature(classname,entPtr) ) // key does not exist
- {
- SOT_THROW ExceptionFactory( ExceptionFactory::UNREFERED_OBJECT,
- "Unknown feature."," (while calling new_feature <%s>)",
- classname.c_str() );
- }
- return entPtr->second(objname);
-}
-bool FactoryStorage::
-existFeature( const std::string& name, FeatureMap::iterator& entPtr )
-{
- // sotDEBUGINOUT(25) << "(name=<"<<name<<">)."<<std::endl;
- entPtr = featureMap .find( name );
- // sotDEBUG(6) << "str: "<< entPtr->first <<std::endl;
- // sotDEBUG(6) << "ptr: "<< entPtr->second <<std::endl;
- return ( entPtr != featureMap.end() );
-}
-bool FactoryStorage::
-existFeature( const std::string& name )
-{
- FeatureMap::iterator entPtr;return existFeature( name,entPtr );
-}
-
-
-
-/* --------------------------------------------------------------------- */
-/* --- REGISTERERS ----------------------------------------------------- */
-/* --------------------------------------------------------------------- */
-
-sotFeatureRegisterer::
-sotFeatureRegisterer( const std::string& featureClassName,
- FactoryStorage::FeatureConstructor_ptr maker)
-{
- //sotDEBUG(3) << "Register feature class: "<< featureClassName << std::endl;
- sotFactory.registerFeature(featureClassName,maker);
-}
-
-sotTaskRegisterer::
-sotTaskRegisterer( const std::string& taskClassName,
- FactoryStorage::TaskConstructor_ptr maker)
-{
- //sotDEBUG(3) << "Register task class: "<< taskClassName << std::endl;
- sotFactory.registerTask(taskClassName,maker);
-}
-
-
-/* --------------------------------------------------------------------- */
-/* --- COMMAND LINE ---------------------------------------------------- */
-/* --------------------------------------------------------------------- */
-void FactoryStorage::
-commandLine( const std::string& cmdLine,std::istringstream& cmdArgs,
- std::ostream& os )
-{
- if( cmdLine == "help" )
- {
- os<< "factory ";
- string cmd2; cmdArgs >> cmd2;
- if(! cmdArgs.good())
- os << " <arg>\t\t\t\taccess to the factory (help <arg> for more detail)" <<endl;
- else if( cmd2 == "list" )
- os << "list\t\t:List all available creator." << endl;
- else if( cmd2 == "listFeatures" )
- os <<"listFeatures\t:List available features." << endl;
- else if( cmd2 == "listTasks" )
- os << " - listTasks\t:List available tasks." << endl;
- }
- else if( cmdLine == "list" )
- {
- commandLine("listTasks",cmdArgs,os);
- commandLine("listFeatures",cmdArgs,os);
- }
- else if( cmdLine == "listFeatures" )
- {
- os <<" List of available features:" << endl;
- for( FeatureMap::iterator iter = featureMap.begin();iter!=featureMap.end();++iter )
- { os << " - " << iter->first << endl; }
- }
- else if( cmdLine == "listTasks" )
- {
- os <<" List of available tasks:" << endl;
- for( TaskMap::iterator iter = taskMap.begin();iter!=taskMap.end();++iter )
- { os << " - " << iter->first << endl; }
- }
- return;
-}
-
-
-
-/// The global sotFactory object
-namespace sot {
-FactoryStorage sotFactory;
-}
diff --git a/src/feature/feature-1d.cpp b/src/feature/feature-1d.cpp
index b9fdabd0bc54dd3bd5abec73b215db598e1af898..0a3ea41fe1ea6bb1669bb9114f139b3fdbebc0d6 100644
--- a/src/feature/feature-1d.cpp
+++ b/src/feature/feature-1d.cpp
@@ -33,7 +33,7 @@ using namespace std;
using namespace sot;
using namespace dynamicgraph;
-SOT_FACTORY_FEATURE_PLUGIN(Feature1D,"Feature1D")
+SOT_FACTORY_FEATURE_PLUGIN(Feature1D,"Feature1D");
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
diff --git a/src/feature/feature-generic.cpp b/src/feature/feature-generic.cpp
index f500b7875925874b98607509d227fb979275aee0..bc1042d6902ad2d5eca2262e08f2ef89dac5a4bc 100644
--- a/src/feature/feature-generic.cpp
+++ b/src/feature/feature-generic.cpp
@@ -31,7 +31,7 @@
using namespace std;
using namespace sot;
using namespace dynamicgraph;
-SOT_FACTORY_FEATURE_PLUGIN(FeatureGeneric,"FeatureGeneric")
+SOT_FACTORY_FEATURE_PLUGIN(FeatureGeneric,"FeatureGeneric");
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
diff --git a/src/feature/feature-joint-limits.cpp b/src/feature/feature-joint-limits.cpp
index fde462f2b010a634b3d749ccf376cf11d9008bfe..5d7ff7a22e04bedc4f84d66d883ad6324bcb028a 100644
--- a/src/feature/feature-joint-limits.cpp
+++ b/src/feature/feature-joint-limits.cpp
@@ -35,7 +35,7 @@ using namespace std;
/* --------------------------------------------------------------------- */
using namespace sot;
-SOT_FACTORY_FEATURE_PLUGIN(FeatureJointLimits,"FeatureJointLimits")
+SOT_FACTORY_FEATURE_PLUGIN(FeatureJointLimits,"FeatureJointLimits");
const double FeatureJointLimits::THRESHOLD_DEFAULT = .9;
diff --git a/src/feature/feature-line-distance.cpp b/src/feature/feature-line-distance.cpp
index 379da99926ac4950bd4b6038ce93217624793fb3..5b6534ee930a18429b567c696fd113dc21daa84c 100644
--- a/src/feature/feature-line-distance.cpp
+++ b/src/feature/feature-line-distance.cpp
@@ -37,7 +37,7 @@ using namespace sot;
using namespace dynamicgraph;
#include <sot-core/factory.h>
-SOT_FACTORY_FEATURE_PLUGIN(FeatureLineDistance,"FeatureLineDistance")
+SOT_FACTORY_FEATURE_PLUGIN(FeatureLineDistance,"FeatureLineDistance");
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
diff --git a/src/feature/feature-point6d-relative.cpp b/src/feature/feature-point6d-relative.cpp
index 08c0b6bcf0d16f969c46b660ed2cb8f9b6be269b..08c571214d610c9b5a0f9e7582fe3a84179c3661 100644
--- a/src/feature/feature-point6d-relative.cpp
+++ b/src/feature/feature-point6d-relative.cpp
@@ -37,7 +37,7 @@ using namespace sot;
using namespace dynamicgraph;
#include <sot-core/factory.h>
-SOT_FACTORY_FEATURE_PLUGIN(FeaturePoint6dRelative,"FeaturePoint6dRelative")
+SOT_FACTORY_FEATURE_PLUGIN(FeaturePoint6dRelative,"FeaturePoint6dRelative");
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
diff --git a/src/feature/feature-point6d.cpp b/src/feature/feature-point6d.cpp
index 8df15c4c3318815f93217fc59827f6b18c7ff86c..05f5e6c75301474aa75f77fecfaf4fc0eb084c68 100644
--- a/src/feature/feature-point6d.cpp
+++ b/src/feature/feature-point6d.cpp
@@ -38,7 +38,7 @@ using namespace dynamicgraph;
using namespace sot;
#include <sot-core/factory.h>
-SOT_FACTORY_FEATURE_PLUGIN(FeaturePoint6d,"FeaturePoint6d")
+DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(FeaturePoint6d,"FeaturePoint6d");
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
diff --git a/src/feature/feature-task.cpp b/src/feature/feature-task.cpp
index 68f8bba1161e956a682c8cc2f3c788f6dd086e02..d88eb72e26fa21db4255b185dcf81b1763c0c408 100644
--- a/src/feature/feature-task.cpp
+++ b/src/feature/feature-task.cpp
@@ -34,7 +34,7 @@ using namespace dynamicgraph;
#include <sot-core/factory.h>
-SOT_FACTORY_FEATURE_PLUGIN(FeatureTask,"FeatureTask")
+SOT_FACTORY_FEATURE_PLUGIN(FeatureTask,"FeatureTask");
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
diff --git a/src/feature/feature-vector3.cpp b/src/feature/feature-vector3.cpp
index 82ec0249d9bf5dc87a7714d02eca1dd3ec2cfe26..8d3c93e23245a05bdf6892196e773be4b0ca9cdc 100644
--- a/src/feature/feature-vector3.cpp
+++ b/src/feature/feature-vector3.cpp
@@ -38,7 +38,7 @@ using namespace sot;
using namespace std;
using namespace dynamicgraph;
-SOT_FACTORY_FEATURE_PLUGIN(FeatureVector3,"FeatureVector3")
+SOT_FACTORY_FEATURE_PLUGIN(FeatureVector3,"FeatureVector3");
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
diff --git a/src/feature/feature-visual-point.cpp b/src/feature/feature-visual-point.cpp
index 97250275c3395b4082d51c1995e82c27e513ff37..c4bbf29efcbaf77514f7045289fdd589042446b3 100644
--- a/src/feature/feature-visual-point.cpp
+++ b/src/feature/feature-visual-point.cpp
@@ -32,7 +32,7 @@ using namespace sot;
using namespace dynamicgraph;
-SOT_FACTORY_FEATURE_PLUGIN(FeatureVisualPoint,"FeatureVisualPoint")
+SOT_FACTORY_FEATURE_PLUGIN(FeatureVisualPoint,"FeatureVisualPoint");
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
diff --git a/src/matrix/fir-filter.cpp b/src/matrix/fir-filter.cpp
index 602811c7d8fb9b55a7e755edd9b6d9430fc826e6..b1ae9a5fe921c25ae16e725cf36074a4d1cb5392 100644
--- a/src/matrix/fir-filter.cpp
+++ b/src/matrix/fir-filter.cpp
@@ -21,7 +21,7 @@
#include <sot-core/fir-filter.h>
#include <sot-core/factory.h>
-using namespace sot;
+//using namespace sot;
using namespace dynamicgraph;
#define SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN(sotClassType,sotSigType,sotCoefType,id,className) \
diff --git a/src/task/constraint.cpp b/src/task/constraint.cpp
index 443a0f4f90e854ebd766aab00ce77bab84f0dff1..aca2d262c48175db822561a18c74544a7d0b8d1f 100644
--- a/src/task/constraint.cpp
+++ b/src/task/constraint.cpp
@@ -30,7 +30,7 @@ using namespace std;
using namespace sot;
#include <sot-core/factory.h>
-SOT_FACTORY_TASK_PLUGIN(Constraint,"Constraint")
+SOT_FACTORY_TASK_PLUGIN(Constraint,"Constraint");
using namespace dynamicgraph;
diff --git a/src/task/task-conti.cpp b/src/task/task-conti.cpp
index cc1cd07a09a762864eb41dabbcef345d846a95ef..b86f548d666d7b13db718bf39226b019f87fbc78 100644
--- a/src/task/task-conti.cpp
+++ b/src/task/task-conti.cpp
@@ -32,7 +32,7 @@ using namespace std;
using namespace sot;
using namespace dynamicgraph;
-SOT_FACTORY_TASK_PLUGIN(TaskConti,"TaskConti")
+SOT_FACTORY_TASK_PLUGIN(TaskConti,"TaskConti");
/* --------------------------------------------------------------------- */
diff --git a/src/task/task-pd.cpp b/src/task/task-pd.cpp
index bcb0c3cda6a43b34e218e77d6b109507ed23d835..89b45d31f0a9a37a851de3f9ceb1f37d2fea8b50 100644
--- a/src/task/task-pd.cpp
+++ b/src/task/task-pd.cpp
@@ -34,7 +34,7 @@ using namespace dynamicgraph;
#include <sot-core/factory.h>
-SOT_FACTORY_TASK_PLUGIN(TaskPD,"TaskPD")
+SOT_FACTORY_TASK_PLUGIN(TaskPD,"TaskPD");
/* --------------------------------------------------------------------- */
diff --git a/src/task/task-unilateral.cpp b/src/task/task-unilateral.cpp
index 559378ed33dac1f416038e75694d48d15a3a18f4..51f41ae04e5fc799f7297e5856c15c948e5cc1a3 100644
--- a/src/task/task-unilateral.cpp
+++ b/src/task/task-unilateral.cpp
@@ -35,7 +35,7 @@ using namespace dynamicgraph;
#include <sot-core/factory.h>
-SOT_FACTORY_TASK_PLUGIN(TaskUnilateral,"TaskUnilateral")
+SOT_FACTORY_TASK_PLUGIN(TaskUnilateral,"TaskUnilateral");
/* --------------------------------------------------------------------- */
diff --git a/src/task/task.cpp b/src/task/task.cpp
index 274f5e47f4fee9b617459c767adc8f375132dcda..b657e98674cad3599c86dda967d2c0acde63a917 100644
--- a/src/task/task.cpp
+++ b/src/task/task.cpp
@@ -31,7 +31,7 @@ using namespace dynamicgraph;
#include <sot-core/factory.h>
-SOT_FACTORY_TASK_PLUGIN(Task,"Task")
+SOT_FACTORY_TASK_PLUGIN(Task,"Task");
/* --------------------------------------------------------------------- */
diff --git a/unitTesting/CMakeLists.txt b/unitTesting/CMakeLists.txt
index 51ebc5ab823de6d6759cc1ae179b92324c2ae752..926f483426c18758fc7558c18a5d4ae57be1c5a8 100644
--- a/unitTesting/CMakeLists.txt
+++ b/unitTesting/CMakeLists.txt
@@ -71,8 +71,6 @@ SET (tests
sot/tsot
sot/test_solverSoth
- factory/test_factory
-
traces/files
traces/traces