diff --git a/include/CMakeLists.txt b/include/CMakeLists.txt
index 75c424de60410e5b8c0b327fe9eaed329b56aa0f..5a9e0034efc7490a91c4245e03bb7bec71240217 100644
--- a/include/CMakeLists.txt
+++ b/include/CMakeLists.txt
@@ -23,15 +23,15 @@ exception-traces.h
signal-cast.h
#matrix
-sotBinaryOp.h
-sotDerivator.h
-sotFIRFilter.h
-sotIntegratorAbstract.h
-sotIntegratorEuler.h
-sotMatrixConstant.h
-sotUnaryOp.h
-sotVectorConstant.h
-sotVectorToRotation.h
+binary-op.h
+derivator.h
+fir-filter.h
+integrator-abstract.h
+integrator-euler.h
+matrix-constant.h
+unary-op.h
+vector-constant.h
+vector-to-rotation.h
#factory
additional-functions.h
@@ -40,15 +40,15 @@ macros-signal.h
pool.h
#math
-sotMatrixForce.h
-sotMatrixHomogeneous.h
-sotMatrixRotation.h
-sotMatrixTwist.h
-sotOpPointModifior.h
-sotVectorQuaternion.h
-sotVectorRollPitchYaw.h
-sotVectorRotation.h
-sotVectorUTheta.h
+matrix-force.h
+matrix-homogeneous.h
+matrix-rotation.h
+matrix-twist.h
+op-point-modifier.h
+vector-quaternion.h
+vector-roll-pitch-yaw.h
+vector-rotation.h
+vector-utheta.h
#feature
sotFeaturePoint6d.h
diff --git a/include/sot-core/additional-functions.h b/include/sot-core/additional-functions.h
new file mode 100644
index 0000000000000000000000000000000000000000..91134b944478a3863eaa44295b496fb35a771485
--- /dev/null
+++ b/include/sot-core/additional-functions.h
@@ -0,0 +1,51 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: additional-functions.h
+ * Project: SOT
+ * Author: François Bleibel
+ *
+ * Version control
+ * ===============
+ *
+ * $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+/* SOT */
+#include <dynamic-graph/signal-base.h>
+#include <sot-core/exception-factory.h>
+#include <dynamic-graph/pool.h>
+#include <sot-core/pool.h>
+#include <sot-core/sot-core-api.h>
+
+/* --- STD --- */
+#include <string>
+#include <map>
+#include <sstream>
+
+/* --- BOOST --- */
+#include <boost/function.hpp>
+#include <boost/bind.hpp>
+
+/*! @ingroup factory
+ \brief This helper class dynamically overloads the "new" shell command
+ to allow creation of tasks and features as well as entities.
+ */
+class sotAdditionalFunctions
+{
+public:
+ sotAdditionalFunctions();
+ ~sotAdditionalFunctions();
+ 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,
+ std::ostream& os );
+};
diff --git a/include/sot-core/sotBinaryOp.h b/include/sot-core/binary-op.h
similarity index 97%
rename from include/sot-core/sotBinaryOp.h
rename to include/sot-core/binary-op.h
index 73a63d25d0a478868dc45498024421491259c9d5..82e25233079d7681553e3ec19732812f6def203b 100644
--- a/include/sot-core/sotBinaryOp.h
+++ b/include/sot-core/binary-op.h
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotBinaryOp.h
+ * File: binary-op.h
* Project: SOT
* Author: Nicolas Mansard
*
@@ -36,7 +36,7 @@ namespace ml = maal::boost;
#include <sot-core/pool.h>
#include <dynamic-graph/all-signals.h>
#include <dynamic-graph/all-signals.h>
-#include <sot-core/sotVectorQuaternion.h>
+#include <sot-core/vector-quaternion.h>
/* STD */
#include <string>
diff --git a/include/sot-core/contiifstream.h b/include/sot-core/contiifstream.h
new file mode 100644
index 0000000000000000000000000000000000000000..f4f8fd6562e03a9bd37d70614ae876ab36aa2d9b
--- /dev/null
+++ b/include/sot-core/contiifstream.h
@@ -0,0 +1,88 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: sotContiifstream.h
+ * Project: SOT
+ * Author: Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ * $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+
+#ifndef __SOT_CONTIIFSTREAM_HH__
+#define __SOT_CONTIIFSTREAM_HH__
+
+/* --------------------------------------------------------------------- */
+/* --- INCLUDE --------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+
+#include <iostream>
+#include <fstream>
+#include <sstream>
+#ifndef WIN32
+#include <unistd.h>
+#endif
+#include <list>
+
+#include <dynamic-graph/interpreter.h>
+#ifndef WIN32
+#include <pthread.h>
+#endif
+/* --------------------------------------------------------------------- */
+/* --- API ------------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+#if defined (WIN32)
+# if defined (sotContiifstream_EXPORTS)
+# define SOTCONTIIFSTREAM_EXPORT __declspec(dllexport)
+# else
+# define SOTCONTIIFSTREAM_EXPORT __declspec(dllimport)
+# endif
+#else
+# define SOTCONTIIFSTREAM_EXPORT
+#endif
+/* --------------------------------------------------------------------- */
+/* --- CLASS ----------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+class SOTCONTIIFSTREAM_EXPORT sotContiifstream
+{
+protected:
+ std::string filename;
+ unsigned int cursor;
+ static const unsigned int BUFFER_SIZE = 256;
+ char buffer[BUFFER_SIZE];
+ std::list< std::string > reader;
+ bool first;
+
+public: /* --- Constructor --- */
+ sotContiifstream( const std::string& n="" );
+ ~sotContiifstream( void );
+ void open( const std::string& n ) { filename=n; cursor=0; }
+
+public: /* --- READ FILE --- */
+ bool loop( void );
+
+public: /* --- READ LIST --- */
+ inline bool ready( void ) { return 0<reader.size();}
+ std::string next( void ) ;
+
+
+};
+
+
+#endif /* #ifndef __SOT_CONTIIFSTREAM_HH__ */
+
+
+
+
diff --git a/include/sot-core/debug.h b/include/sot-core/debug.h
new file mode 100644
index 0000000000000000000000000000000000000000..40815fadb67dcb103ea84c2a20e53d3ec11011d1
--- /dev/null
+++ b/include/sot-core/debug.h
@@ -0,0 +1,166 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet Lagadic, 2005
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: sotDebug.h
+ * Project: STack of Tasks
+ * Author: Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ * $Id$
+ *
+ * Description
+ * ============
+ *
+ * Macro de trace et de debugage
+ *
+ * - TRACAGE: TRACE et ERROR_TRACE fonctionnent comme des printf
+ * avec retour chariot en fin de fonction.
+ * CERROR et CTRACE fonctionnent comme les flux de sortie
+ * C++ cout et cerr.
+ * - DEBUGAGE: DEBUG_TRACE(niv, et DERROR_TRACE(niv, fonctionnent
+ * comme des printf, n'imprimant que si le niveau de trace 'niv' est
+ * superieur au mode de debugage VP_DEBUG_MODE.
+ * CDEBUG(niv) fonctionne comme le flux de sortie C++ cout.
+ * DEBUG_ENABLE(niv) vaut 1 ssi le niveau de tracage 'niv'
+ * est superieur au mode de debugage DEBUG_MODE. Il vaut 0 sinon.
+ * - PROG DEFENSIVE: DEFENSIF(a) vaut a ssi le mode defensif est active,
+ * et vaut 0 sinon.
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+
+
+#ifndef __VS_DEBUG_HH
+#define __VS_DEBUG_HH
+
+#include <stdio.h>
+#include <iostream>
+#include <fstream>
+#include <sstream>
+#include <stdarg.h>
+#include <sot-core/sot-core-api.h>
+
+
+/* -------------------------------------------------------------------------- */
+/* -------------------------------------------------------------------------- */
+/* -------------------------------------------------------------------------- */
+
+/* -------------------------------------------------------------------------- */
+
+#ifndef VP_DEBUG_MODE
+#define VP_DEBUG_MODE 0
+#endif
+#ifndef VP_TEMPLATE_DEBUG_MODE
+#define VP_TEMPLATE_DEBUG_MODE 0
+#endif
+
+#define SOT_COMMON_TRACES do { \
+ va_list arg; \
+ va_start(arg,format); \
+ vsnprintf( charbuffer,SIZE,format,arg ); \
+ va_end(arg); \
+ outputbuffer << tmpbuffer.str() << charbuffer <<std::endl; \
+ } while(0)
+
+class SOT_CORE_EXPORT sotDebugTrace
+{
+ public:
+ static const int SIZE = 512;
+
+ std::stringstream tmpbuffer;
+ std::ostream& outputbuffer;
+ char charbuffer[SIZE+1];
+ int traceLevel;
+ int traceLevelTemplate;
+
+ sotDebugTrace( std::ostream& os ): outputbuffer(os) {}
+
+ inline void trace( const int level,const char* format,...)
+ { if( level<=traceLevel ) SOT_COMMON_TRACES; tmpbuffer.str(""); }
+ inline void trace( const char* format,...){ SOT_COMMON_TRACES; tmpbuffer.str(""); }
+ inline void trace( const int level=-1 )
+ { if( level<=traceLevel ) outputbuffer << tmpbuffer.str(); tmpbuffer.str(""); }
+
+ inline void traceTemplate( const int level,const char* format,...)
+ { if( level<=traceLevelTemplate ) SOT_COMMON_TRACES; tmpbuffer.str(""); }
+ inline void traceTemplate( const char* format,...)
+ { SOT_COMMON_TRACES; tmpbuffer.str(""); }
+
+ inline sotDebugTrace& pre( const std::ostream& dummy ) { return *this; }
+ inline sotDebugTrace& pre( const std::ostream& dummy,int level )
+ { traceLevel = level; return *this; }
+/* inline sotDebugTrace& preTemplate( const std::ostream& dummy,int level ) */
+/* { traceLevelTemplate = level; return *this; } */
+
+
+ static const char * DEBUG_FILENAME_DEFAULT;
+ static void openFile( const char * filename = DEBUG_FILENAME_DEFAULT );
+ static void closeFile( const char * filename = DEBUG_FILENAME_DEFAULT );
+
+};
+
+
+SOT_CORE_EXPORT extern sotDebugTrace sotDEBUGFLOW;
+SOT_CORE_EXPORT extern sotDebugTrace sotERRORFLOW;
+
+#ifdef VP_DEBUG
+#define sotPREDEBUG __FILE__ << ": " <<__FUNCTION__ \
+ << "(#" << __LINE__ << ") :"
+#define sotPREERROR "\t!! "<<__FILE__ << ": " <<__FUNCTION__ \
+ << "(#" << __LINE__ << ") :"
+
+# define sotDEBUG(level) if( (level>VP_DEBUG_MODE)||(!sotDEBUGFLOW.outputbuffer.good()) ) ;\
+ else sotDEBUGFLOW.outputbuffer << sotPREDEBUG
+# define sotDEBUGMUTE(level) if( (level>VP_DEBUG_MODE)||(!sotDEBUGFLOW.outputbuffer.good()) ) ;\
+ else sotDEBUGFLOW.outputbuffer
+# define sotERROR if(!sotDEBUGFLOW.outputbuffer.good()); else sotERRORFLOW.outputbuffer << sotPREERROR
+# define sotDEBUGF if(!sotDEBUGFLOW.outputbuffer.good()); else sotDEBUGFLOW.pre(sotDEBUGFLOW.tmpbuffer<<sotPREDEBUG,VP_DEBUG_MODE).trace
+# define sotERRORF if(!sotDEBUGFLOW.outputbuffer.good()); else sotERRORFLOW.pre(sotERRORFLOW.tmpbuffer<<sotPREERROR).trace
+// TEMPLATE
+# define sotTDEBUG(level) if( (level>VP_TEMPLATE_DEBUG_MODE)||(!sotDEBUGFLOW.outputbuffer.good()) ) ;\
+ else sotDEBUGFLOW.outputbuffer << sotPREDEBUG
+# define sotTDEBUGF if(!sotDEBUGFLOW.outputbuffer.good()); else sotDEBUGFLOW.pre(sotDEBUGFLOW.tmpbuffer<<sotPREDEBUG,VP_TEMPLATE_DEBUG_MODE).trace
+inline bool sotDEBUG_ENABLE( const int & level ) { return level<=VP_DEBUG_MODE; }
+inline bool sotTDEBUG_ENABLE( const int & level ) { return level<=VP_TEMPLATE_DEBUG_MODE; }
+
+/* -------------------------------------------------------------------------- */
+#else // #ifdef VP_DEBUG
+#define sotPREERROR "\t!! "<<__FILE__ << ": " <<__FUNCTION__ \
+ << "(#" << __LINE__ << ") :"
+# define sotDEBUG(level) if( 1 ) ; else std::cout
+# define sotDEBUGMUTE(level) if( 1 ) ; else std::cout
+# define sotERROR sotERRORFLOW.outputbuffer << sotPREERROR
+inline void sotDEBUGF( const int level,const char* format,...) { return; }
+inline void sotDEBUGF( const char* format,...) { return; }
+inline void sotERRORF( const int level,const char* format,...) { return; }
+inline void sotERRORF( const char* format,...) { return; }
+// TEMPLATE
+# define sotTDEBUG(level) if( 1 ) ; else std::cout
+inline void sotTDEBUGF( const int level,const char* format,...) { return; }
+inline void sotTDEBUGF( const char* format,...) { return; }
+#define sotDEBUG_ENABLE(level) false
+#define sotTDEBUG_ENABLE(level) false
+
+#endif // #ifdef VP_DEBUG
+/* -------------------------------------------------------------------------- */
+
+#define sotDEBUGIN(level) sotDEBUG(level) << "# In {" << std::endl
+#define sotDEBUGOUT(level) sotDEBUG(level) << "# Out }" << std::endl
+#define sotDEBUGINOUT(level) sotDEBUG(level) << "# In/Out { }" << std::endl
+
+#define sotTDEBUGIN(level) sotTDEBUG(level) << "# In {" << std::endl
+#define sotTDEBUGOUT(level) sotTDEBUG(level) << "# Out }" << std::endl
+#define sotTDEBUGINOUT(level) sotTDEBUG(level) << "# In/Out { }" << std::endl
+
+
+#endif /* #ifdef __VS_DEBUG_HH */
+
+/*
+ * Local variables:
+ * c-basic-offset: 4
+ * End:
+ */
diff --git a/include/sot-core/sotDerivator.h b/include/sot-core/derivator.h
similarity index 97%
rename from include/sot-core/sotDerivator.h
rename to include/sot-core/derivator.h
index 94b9d4cd86864375effc4dbdca2f75a916ea6293..a2cd7a796e730d3bbbcf1f9f1d11a3fa73c49c79 100644
--- a/include/sot-core/sotDerivator.h
+++ b/include/sot-core/derivator.h
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotDerivator.h
+ * File: derivator.h
* Project: SOT
* Author: Nicolas Mansard
*
@@ -35,7 +35,7 @@ namespace ml = maal::boost;
#include <dynamic-graph/entity.h>
#include <sot-core/pool.h>
#include <dynamic-graph/all-signals.h>
-#include <sot-core/sotVectorQuaternion.h>
+#include <sot-core/vector-quaternion.h>
/* STD */
#include <string>
diff --git a/include/sot-core/exception-abstract.h b/include/sot-core/exception-abstract.h
new file mode 100644
index 0000000000000000000000000000000000000000..c84791faa8791c72bf64359b5bae35ce96dae528
--- /dev/null
+++ b/include/sot-core/exception-abstract.h
@@ -0,0 +1,147 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: exception-abstract.h
+ * Project: SOT
+ * Author: Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ * $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+#ifndef __SOT_ABSTRACT_EXCEPTION_H
+#define __SOT_ABSTRACT_EXCEPTION_H
+
+/* --------------------------------------------------------------------- */
+/* --- INCLUDE --------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+
+/* Classes standards. */
+#include <iostream> /* Classe ostream. */
+#include <string> /* Classe string. */
+#include <sot-core/sot-core-api.h>
+
+// Uncomment this macros to have lines parameter on the throw display
+// #define SOT_EXCEPTION_PASSING_PARAM
+
+/* --------------------------------------------------------------------- */
+/* --- CLASS ----------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+
+/* \class sotExceptionAbstract
+ */
+class SOT_CORE_EXPORT sotExceptionAbstract
+{
+
+ public:
+
+ enum ExceptionEnum
+ {
+ ABSTRACT = 0
+ ,SIGNAL = 100
+ ,TASK = 200
+ ,FEATURE = 300
+ ,FACTORY = 400
+ ,DYNAMIC = 500
+ ,TRACES = 600
+ ,TOOLS = 700
+ ,PATTERN_GENERATOR= 800
+ };
+
+ static const std::string EXCEPTION_NAME;
+ virtual const std::string& getExceptionName( void ) const { return EXCEPTION_NAME; }
+
+ protected:
+ /** Error code.
+ * \sa ErrorCodeEnum */
+ int code;
+
+ /** Error message (can be empty). */
+ std::string message;
+
+private:
+
+ /** forbid the empty constructor (private). */
+ sotExceptionAbstract( void );
+public:
+
+ sotExceptionAbstract( const int& code, const std::string & msg = "" );
+ virtual ~sotExceptionAbstract( void ){}
+
+ /** Access to the error code. */
+ int getCode (void);
+
+ /** Reference access to the error message (can be empty). */
+ const std::string &getStringMessage (void);
+
+ /** Access to the pointer on the array of \e char related to the error string.
+ * Cannot be \e NULL.
+ */
+ const char *getMessage (void);
+
+
+ /** Print the error structure. */
+ SOT_CORE_EXPORT friend std::ostream & operator << (std::ostream & os,
+ const sotExceptionAbstract & err);
+
+#ifdef SOT_EXCEPTION_PASSING_PARAM
+ public:
+ class Param
+ {
+ public:
+ static const int BUFFER_SIZE = 80;
+
+ const char * functionPTR;
+ char function[ BUFFER_SIZE ];
+ int line;
+ const char * filePTR;
+ char file[ BUFFER_SIZE ];
+ bool pointersSet,set;
+ public:
+ Param( const int& _line, const char * _function, const char * _file );
+ Param( void ) : pointersSet(false),set(false) {}
+ Param& initCopy( const Param& p );
+
+ };
+
+ protected:
+ mutable Param p;
+
+ template<class Exc>
+ friend const Exc& operator+ ( const sotExceptionAbstract::Param& p, const Exc& e )
+ { e.p.initCopy(p); return e; }
+ template<class Exc>
+ friend Exc& operator+ ( const sotExceptionAbstract::Param& p, Exc& e )
+ { e.p.initCopy(p); return e; }
+#endif //#ifdef SOT_EXCEPTION_PASSING_PARAM
+};
+
+#define SOT_RETHROW ( const sotExceptionAbstract& err ) { throw err; }
+
+
+
+#ifdef SOT_EXCEPTION_PASSING_PARAM
+# define SOT_THROW throw sotExceptionAbstract::Param(__LINE__,__FUNCTION__,__FILE__) +
+#else //#ifdef SOT_EXCEPTION_PASSING_PARAM
+# define SOT_THROW throw
+#endif //#ifdef SOT_EXCEPTION_PASSING_PARAM
+
+
+#endif /* #ifndef __SOT_ABSTRACT_EXCEPTION_H */
+
+/*
+ * Local variables:
+ * c-basic-offset: 2
+ * End:
+ */
diff --git a/include/sot-core/exception-dynamic.h b/include/sot-core/exception-dynamic.h
new file mode 100644
index 0000000000000000000000000000000000000000..8f73310835390051ff51dbff379b785277290b1c
--- /dev/null
+++ b/include/sot-core/exception-dynamic.h
@@ -0,0 +1,78 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: exception-dynamic.h
+ * Project: SOT
+ * Author: Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ * $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+#ifndef __SOT_DYNAMIC_EXCEPTION_H
+#define __SOT_DYNAMIC_EXCEPTION_H
+
+/* --------------------------------------------------------------------- */
+/* --- INCLUDE --------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+
+#include <sot-core/exception-abstract.h>
+#include <sot-core/sot-core-api.h>
+/* --------------------------------------------------------------------- */
+/* --- CLASS ----------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+
+/* \class sotExceptionDynamic
+ */
+class SOT_CORE_EXPORT sotExceptionDynamic
+:public sotExceptionAbstract
+
+{
+ public:
+ enum ErrorCodeEnum
+ {
+ GENERIC = sotExceptionAbstract::DYNAMIC
+
+ ,CANT_DESTROY_SIGNAL
+ ,JOINT_RANK
+ ,DYNAMIC_JRL
+ ,JOINT_SIZE
+ ,INTEGRATION
+ };
+
+ static const std::string EXCEPTION_NAME;
+ virtual const std::string& getExceptionName( void ) const { return EXCEPTION_NAME; }
+
+public:
+
+ sotExceptionDynamic ( const sotExceptionDynamic::ErrorCodeEnum& errcode,
+ const std::string & msg = "" );
+ sotExceptionDynamic( const sotExceptionDynamic::ErrorCodeEnum& errcode,
+ const std::string & msg,const char* format, ... );
+ virtual ~sotExceptionDynamic( void ){}
+
+
+};
+
+
+
+
+
+#endif /* #ifndef __SOT_DYNAMIC_EXCEPTION_H */
+
+/*
+ * Local variables:
+ * c-basic-offset: 2
+ * End:
+ */
diff --git a/include/sot-core/exception-factory.h b/include/sot-core/exception-factory.h
new file mode 100644
index 0000000000000000000000000000000000000000..feedd21257000217b11c60fad72b8d940e519079
--- /dev/null
+++ b/include/sot-core/exception-factory.h
@@ -0,0 +1,79 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: exception-factory.h
+ * Project: SOT
+ * Author: Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ * $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+#ifndef __SOT_EXCEPTION_FACTORY_H
+#define __SOT_EXCEPTION_FACTORY_H
+
+/* --------------------------------------------------------------------- */
+/* --- INCLUDE --------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+
+#include <sot-core/exception-abstract.h>
+#include <sot-core/sot-core-api.h>
+/* --------------------------------------------------------------------- */
+/* --- CLASS ----------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+
+/* \class sotExceptionFactory
+ */
+class SOT_CORE_EXPORT sotExceptionFactory
+:public sotExceptionAbstract
+
+{
+public:
+
+ enum ErrorCodeEnum
+ {
+ GENERIC = sotExceptionAbstract::FACTORY
+ ,UNREFERED_OBJECT
+ ,UNREFERED_SIGNAL
+ ,UNREFERED_FUNCTION
+ ,DYNAMIC_LOADING
+ ,SIGNAL_CONFLICT
+ ,FUNCTION_CONFLICT
+ ,OBJECT_CONFLICT
+ ,SYNTAX_ERROR // j' aime bien FATAL_ERROR aussi faut que je la case qq part...
+ ,READ_FILE
+ };
+
+ static const std::string EXCEPTION_NAME;
+ virtual const std::string& getExceptionName( void )const{ return sotExceptionFactory::EXCEPTION_NAME; }
+
+ sotExceptionFactory ( const sotExceptionFactory::ErrorCodeEnum& errcode,
+ const std::string & msg = "" );
+ sotExceptionFactory ( const sotExceptionFactory::ErrorCodeEnum& errcode,
+ const std::string & msg,const char* format, ... );
+ virtual ~sotExceptionFactory( void ){}
+
+};
+
+
+
+
+
+#endif /* #ifndef __SOT_EXCEPTION_FACTORY_H */
+
+/*
+ * Local variables:
+ * c-basic-offset: 2
+ * End:
+ */
diff --git a/include/sot-core/exception-feature.h b/include/sot-core/exception-feature.h
new file mode 100644
index 0000000000000000000000000000000000000000..71e4c2c890f84b098a3484a52eff2df1bec02bb0
--- /dev/null
+++ b/include/sot-core/exception-feature.h
@@ -0,0 +1,73 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: exception-feature.h
+ * Project: SOT
+ * Author: Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ * $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+#ifndef __SOT_EXCEPTION_FEATURE_H
+#define __SOT_EXCEPTION_FEATURE_H
+
+/* --------------------------------------------------------------------- */
+/* --- INCLUDE --------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+
+#include <sot-core/exception-abstract.h>
+#include <sot-core/sot-core-api.h>
+/* --------------------------------------------------------------------- */
+/* --- CLASS ----------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+
+/* \class sotExceptionFeature
+ */
+class SOT_CORE_EXPORT sotExceptionFeature
+:public sotExceptionAbstract
+
+{
+public:
+
+ enum ErrorCodeEnum
+ {
+ GENERIC = sotExceptionAbstract::FEATURE
+ ,BAD_INIT
+ ,UNCOMPATIBLE_SIZE
+ };
+
+ static const std::string EXCEPTION_NAME;
+ virtual const std::string& getExceptionName( void ) const { return sotExceptionFeature::EXCEPTION_NAME; }
+
+ sotExceptionFeature ( const sotExceptionFeature::ErrorCodeEnum& errcode,
+ const std::string & msg = "" );
+
+ sotExceptionFeature ( const sotExceptionFeature::ErrorCodeEnum& errcode,
+ const std::string & msg,const char* format, ... );
+
+ virtual ~sotExceptionFeature( void ){}
+};
+
+
+
+
+
+#endif /* #ifndef __SOT_EXCEPTION_FEATURE_H */
+
+/*
+ * Local variables:
+ * c-basic-offset: 2
+ * End:
+ */
diff --git a/include/sot-core/exception-signal.h b/include/sot-core/exception-signal.h
new file mode 100644
index 0000000000000000000000000000000000000000..e091c39940aa492ff1d4c6156f760f1de790fda7
--- /dev/null
+++ b/include/sot-core/exception-signal.h
@@ -0,0 +1,79 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: exception-signal.h
+ * Project: SOT
+ * Author: Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ * $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+#ifndef __SOT_SIGNAL_EXCEPTION_H
+#define __SOT_SIGNAL_EXCEPTION_H
+
+/* --------------------------------------------------------------------- */
+/* --- INCLUDE --------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+
+#include <sot-core/exception-abstract.h>
+#include <sot-core/sot-core-api.h>
+/* --------------------------------------------------------------------- */
+/* --- CLASS ----------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+
+/* \class sotExceptionSignal
+ */
+class SOT_CORE_EXPORT sotExceptionSignal
+:public sotExceptionAbstract
+
+{
+ public:
+ enum ErrorCodeEnum
+ {
+ GENERIC = sotExceptionAbstract::SIGNAL
+
+ ,READWRITE_LOCK
+ ,COPY_NOT_INITIALIZED
+ ,NOT_INITIALIZED
+ ,PLUG_IMPOSSIBLE
+ ,SET_IMPOSSIBLE
+ ,BAD_CAST
+ };
+
+ static const std::string EXCEPTION_NAME;
+ virtual const std::string& getExceptionName( void ) const { return EXCEPTION_NAME; }
+
+public:
+
+ sotExceptionSignal ( const sotExceptionSignal::ErrorCodeEnum& errcode,
+ const std::string & msg = "" );
+ sotExceptionSignal( const sotExceptionSignal::ErrorCodeEnum& errcode,
+ const std::string & msg,const char* format, ... );
+ virtual ~sotExceptionSignal( void ){}
+
+
+};
+
+
+
+
+
+#endif /* #ifndef __SOT_SIGNAL_EXCEPTION_H */
+
+/*
+ * Local variables:
+ * c-basic-offset: 2
+ * End:
+ */
diff --git a/include/sot-core/exception-task.h b/include/sot-core/exception-task.h
new file mode 100644
index 0000000000000000000000000000000000000000..b5845ab2921295c3abd9de04dd002e3d043003da
--- /dev/null
+++ b/include/sot-core/exception-task.h
@@ -0,0 +1,75 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: exception-task.h
+ * Project: SOT
+ * Author: Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ * $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+#ifndef __SOT_EXCEPTION_TASK_H
+#define __SOT_EXCEPTION_TASK_H
+
+/* --------------------------------------------------------------------- */
+/* --- INCLUDE --------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+
+#include <sot-core/exception-abstract.h>
+#include <sot-core/sot-core-api.h>
+/* --------------------------------------------------------------------- */
+/* --- CLASS ----------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+
+/* \class sotExceptionTask
+ */
+class SOT_CORE_EXPORT sotExceptionTask
+:public sotExceptionAbstract
+
+{
+public:
+
+ enum ErrorCodeEnum
+ {
+ GENERIC = sotExceptionAbstract::TASK
+ ,EMPTY_LIST
+ ,NON_ADEQUATE_FEATURES
+ ,MATRIX_SIZE
+ ,BOUND_TYPE
+ ,PARSER_MULTI_BOUND
+ };
+
+ static const std::string EXCEPTION_NAME;
+ virtual const std::string& getExceptionName( void ) const { return EXCEPTION_NAME; }
+
+ sotExceptionTask ( const sotExceptionTask::ErrorCodeEnum& errcode,
+ const std::string & msg = "" );
+ sotExceptionTask( const sotExceptionTask::ErrorCodeEnum& errcode,
+ const std::string & msg,const char* format, ... );
+ virtual ~sotExceptionTask( void ){}
+
+};
+
+
+
+
+
+#endif /* #ifndef __SOT_EXCEPTION_TASK_H */
+
+/*
+ * Local variables:
+ * c-basic-offset: 2
+ * End:
+ */
diff --git a/include/sot-core/exception-tools.h b/include/sot-core/exception-tools.h
new file mode 100644
index 0000000000000000000000000000000000000000..9e1236d618dfb99a1b1f2ff6b337b58272635fbc
--- /dev/null
+++ b/include/sot-core/exception-tools.h
@@ -0,0 +1,75 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: exception-tools.h
+ * Project: SOT
+ * Author: Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ * $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+#ifndef __SOT_TOOLS_EXCEPTION_H
+#define __SOT_TOOLS_EXCEPTION_H
+
+/* --------------------------------------------------------------------- */
+/* --- INCLUDE --------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+
+#include <sot-core/exception-abstract.h>
+#include <sot-core/sot-core-api.h>
+/* --------------------------------------------------------------------- */
+/* --- CLASS ----------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+
+/* \class sotExceptionTools
+ */
+class SOT_CORE_EXPORT sotExceptionTools
+:public sotExceptionAbstract
+
+{
+ public:
+ enum ErrorCodeEnum
+ {
+ GENERIC = sotExceptionAbstract::TOOLS
+
+ ,CORBA
+ ,KALMAN_SIZE
+ };
+
+ static const std::string EXCEPTION_NAME;
+ virtual const std::string& getExceptionName( void ) const { return EXCEPTION_NAME; }
+
+public:
+
+ sotExceptionTools ( const sotExceptionTools::ErrorCodeEnum& errcode,
+ const std::string & msg = "" );
+ sotExceptionTools( const sotExceptionTools::ErrorCodeEnum& errcode,
+ const std::string & msg,const char* format, ... );
+ virtual ~sotExceptionTools( void ){}
+
+
+};
+
+
+
+
+
+#endif /* #ifndef __SOT_TOOLS_EXCEPTION_H */
+
+/*
+ * Local variables:
+ * c-basic-offset: 2
+ * End:
+ */
diff --git a/include/sot-core/exception-traces.h b/include/sot-core/exception-traces.h
new file mode 100644
index 0000000000000000000000000000000000000000..1ab6e84864e17e769668e971af230c12b8e002bc
--- /dev/null
+++ b/include/sot-core/exception-traces.h
@@ -0,0 +1,74 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: exception-traces.h
+ * Project: SOT
+ * Author: Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ * $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+#ifndef __SOT_TRACES_EXCEPTION_H
+#define __SOT_TRACES_EXCEPTION_H
+
+/* --------------------------------------------------------------------- */
+/* --- INCLUDE --------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+
+#include <sot-core/exception-abstract.h>
+#include <sot-core/sot-core-api.h>
+/* --------------------------------------------------------------------- */
+/* --- CLASS ----------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+
+/* \class sotExceptionTraces
+ */
+class SOT_CORE_EXPORT sotExceptionTraces
+:public sotExceptionAbstract
+
+{
+ public:
+ enum ErrorCodeEnum
+ {
+ GENERIC = sotExceptionAbstract::TRACES
+
+ ,NOT_OPEN
+ };
+
+ static const std::string EXCEPTION_NAME;
+ virtual const std::string& getExceptionName( void ) const { return EXCEPTION_NAME; }
+
+public:
+
+ sotExceptionTraces ( const sotExceptionTraces::ErrorCodeEnum& errcode,
+ const std::string & msg = "" );
+ sotExceptionTraces( const sotExceptionTraces::ErrorCodeEnum& errcode,
+ const std::string & msg,const char* format, ... );
+ virtual ~sotExceptionTraces( void ){}
+
+
+};
+
+
+
+
+
+#endif /* #ifndef __SOT_TRACES_EXCEPTION_H */
+
+/*
+ * Local variables:
+ * c-basic-offset: 2
+ * End:
+ */
diff --git a/include/sot-core/factory.h b/include/sot-core/factory.h
new file mode 100644
index 0000000000000000000000000000000000000000..e37fad4da588fbccd0844a0c06481857768fe07c
--- /dev/null
+++ b/include/sot-core/factory.h
@@ -0,0 +1,158 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: factory.h
+ * Project: SOT
+ * Author: Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ * $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+
+#ifndef __SOT_FACTORY_HH__
+#define __SOT_FACTORY_HH__
+
+/* --------------------------------------------------------------------- */
+/* --- INCLUDE --------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+/* --- STD --- */
+#include <map>
+#include <string>
+
+/* --- SOT --- */
+class sotFeatureAbstract;
+class sotTaskAbstract;
+#include <sot-core/exception-factory.h>
+#include <sot-core/sot-core-api.h>
+#include <dynamic-graph/factory.h>
+
+/* --------------------------------------------------------------------- */
+/* --- 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 sotTask.cpp for
+ an example.
+*/
+class SOT_CORE_EXPORT sotFactoryStorage
+{
+ public:
+ typedef sotFeatureAbstract* (*FeatureConstructor_ptr)( const std::string& );
+ typedef sotTaskAbstract* (*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:
+
+ ~sotFactoryStorage( void );
+
+ void registerTask( const std::string& entname,TaskConstructor_ptr ent );
+ sotTaskAbstract* 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 );
+ sotFeatureAbstract* 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 sotFactoryStorage sotFactory;
+
+/* --- REGISTERER ----------------------------------------------------------- */
+/* --- REGISTERER ----------------------------------------------------------- */
+/* --- REGISTERER ----------------------------------------------------------- */
+
+/* -------------------------------------------------------------------------- */
+/* --- ENTITY REGISTERER ---------------------------------------------------- */
+/* -------------------------------------------------------------------------- */
+typedef dynamicgraph::EntityRegisterer sotEntityRegisterer;
+
+#define SOT_FACTORY_ENTITY_PLUGIN(sotClassType,className) \
+ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(sotClassType, className)
+
+/* -------------------------------------------------------------------------- */
+/* --- FEATURE REGISTERER --------------------------------------------------- */
+/* -------------------------------------------------------------------------- */
+
+class SOT_CORE_EXPORT sotFeatureRegisterer
+{
+ private:
+ sotFeatureRegisterer( void );
+
+ public:
+ sotFeatureRegisterer( const std::string& featureClassName,
+ sotFactoryStorage::FeatureConstructor_ptr maker);
+};
+
+#define SOT_FACTORY_FEATURE_PLUGIN(sotFeatureType,className) \
+ const std::string sotFeatureType::CLASS_NAME = className; \
+ extern "C" { \
+ sotFeatureAbstract *sotFeatureMaker##_##sotFeatureType( const std::string& objname )\
+ { \
+ return new sotFeatureType( objname ); \
+ } \
+ sotFeatureRegisterer reg##_##sotFeatureType( className, \
+ &sotFeatureMaker##_##sotFeatureType ); \
+ } \
+
+
+/* -------------------------------------------------------------------------- */
+/* --- TASK REGISTERER ------------------------------------------------------ */
+/* -------------------------------------------------------------------------- */
+
+class SOT_CORE_EXPORT sotTaskRegisterer
+{
+ private:
+ sotTaskRegisterer( void );
+
+ public:
+ sotTaskRegisterer( const std::string& taskClassName,
+ sotFactoryStorage::TaskConstructor_ptr maker);
+};
+
+
+#define SOT_FACTORY_TASK_PLUGIN(sotTaskType,className) \
+ const std::string sotTaskType::CLASS_NAME = className; \
+ extern "C" { \
+ sotTaskAbstract *sotTaskMaker##_##sotTaskType( const std::string& objname ) \
+ { \
+ return new sotTaskType( objname ); \
+ } \
+ sotTaskRegisterer reg##_##sotTaskType( className,&sotTaskMaker##_##sotTaskType ); \
+ } \
+
+
+
+#endif /* #ifndef __SOT_FACTORY_HH__ */
+
+
+
+
diff --git a/include/sot-core/sotFIRFilter.h b/include/sot-core/fir-filter.h
similarity index 99%
rename from include/sot-core/sotFIRFilter.h
rename to include/sot-core/fir-filter.h
index d365666386dfdfc5050569ad7bf51bc340316028..144abde7c5f3cd042e1145ee1a771a50c22f4170 100644
--- a/include/sot-core/sotFIRFilter.h
+++ b/include/sot-core/fir-filter.h
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2008
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotFIRFilter.h
+ * File: fir-filter.h
* Project: SOT
* Author: Paul Evrard
*
diff --git a/include/sot-core/sotIntegratorAbstract.h b/include/sot-core/integrator-abstract.h
similarity index 99%
rename from include/sot-core/sotIntegratorAbstract.h
rename to include/sot-core/integrator-abstract.h
index 4b77e8a9d1e30103d7381bc96dc21e95240b5380..de43b02c9227bd075c06675b591877cc68bbe265 100644
--- a/include/sot-core/sotIntegratorAbstract.h
+++ b/include/sot-core/integrator-abstract.h
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotIntegratorAbstract.h
+ * File: integrator-abstract.h
* Project: SOT
* Author: Paul Evrard and Nicolas Mansard
*
diff --git a/include/sot-core/sotIntegratorEuler.h b/include/sot-core/integrator-euler.h
similarity index 97%
rename from include/sot-core/sotIntegratorEuler.h
rename to include/sot-core/integrator-euler.h
index 74b3b79d4f1461f910073bee4365bb99e8e677f1..efbeda93b7eda54a498ed3a17e13155bb15ddae2 100644
--- a/include/sot-core/sotIntegratorEuler.h
+++ b/include/sot-core/integrator-euler.h
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotIntegratorEuler.h
+ * File: integrator-euler.h
* Project: SOT
* Author: Paul Evrard and Nicolas Mansard
*
@@ -27,7 +27,7 @@
/* --------------------------------------------------------------------- */
/* SOT */
-#include <sot-core/sotIntegratorAbstract.h>
+#include <sot-core/integrator-abstract.h>
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
diff --git a/include/sot-core/macros-signal.h b/include/sot-core/macros-signal.h
new file mode 100644
index 0000000000000000000000000000000000000000..6a8e4a8ab233a96117baae552dfa3e65a1739c3a
--- /dev/null
+++ b/include/sot-core/macros-signal.h
@@ -0,0 +1,161 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: macros-signal.h
+ * Project: SOT
+ * Author: Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ * $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+/* --- GENERIC MACROS ------------------------------------------------------- */
+/* --- GENERIC MACROS ------------------------------------------------------- */
+/* --- GENERIC MACROS ------------------------------------------------------- */
+
+#define SOT_CALL_SIG(sotName,sotType) \
+ boost::bind(&Signal<sotType,int>::access, \
+ &sotName,_2)
+
+/* --- STATIC MACROS -------------------------------------------------------- */
+/* --- STATIC MACROS -------------------------------------------------------- */
+/* --- STATIC MACROS -------------------------------------------------------- */
+
+#define SOT_INIT_SIGNAL_1(sotFunction, \
+ sotArg1,sotArg1Type) \
+boost::bind(&sotFunction, \
+ SOT_CALL_SIG(sotArg1,sotArg1Type),_1), \
+ sotArg1
+
+#define SOT_INIT_SIGNAL_2(sotFunction, \
+ sotArg1,sotArg1Type, \
+ sotArg2,sotArg2Type) \
+boost::bind(&sotFunction, \
+ SOT_CALL_SIG(sotArg1,sotArg1Type), \
+ SOT_CALL_SIG(sotArg2,sotArg2Type),_1), \
+ sotArg1<<sotArg2
+#define SOT_INIT_SIGNAL_3(sotFunction, \
+ sotArg1,sotArg1Type, \
+ sotArg2,sotArg2Type, \
+ sotArg3,sotArg3Type) \
+boost::bind(&sotFunction, \
+ SOT_CALL_SIG(sotArg1,sotArg1Type), \
+ SOT_CALL_SIG(sotArg2,sotArg2Type), \
+ SOT_CALL_SIG(sotArg3,sotArg3Type),_1), \
+ sotArg1<<sotArg2<<sotArg3
+
+#define SOT_INIT_SIGNAL_4(sotFunction, \
+ sotArg1,sotArg1Type, \
+ sotArg2,sotArg2Type, \
+ sotArg3,sotArg3Type, \
+ sotArg4,sotArg4Type) \
+boost::bind(&sotFunction, \
+ SOT_CALL_SIG(sotArg1,sotArg1Type), \
+ SOT_CALL_SIG(sotArg2,sotArg2Type), \
+ SOT_CALL_SIG(sotArg3,sotArg3Type), \
+ SOT_CALL_SIG(sotArg4,sotArg4Type),_1), \
+ sotArg1<<sotArg2<<sotArg3<<sotArg4
+
+#define SOT_INIT_SIGNAL_5(sotFunction, \
+ sotArg1,sotArg1Type, \
+ sotArg2,sotArg2Type, \
+ sotArg3,sotArg3Type, \
+ sotArg4,sotArg4Type, \
+ sotArg5,sotArg5Type) \
+boost::bind(&sotFunction, \
+ SOT_CALL_SIG(sotArg1,sotArg1Type), \
+ SOT_CALL_SIG(sotArg2,sotArg2Type), \
+ SOT_CALL_SIG(sotArg3,sotArg3Type), \
+ SOT_CALL_SIG(sotArg4,sotArg4Type), \
+ SOT_CALL_SIG(sotArg5,sotArg5Type),_1), \
+ sotArg1<<sotArg2<<sotArg3<<sotArg4<<sotArg5
+
+#define SOT_INIT_SIGNAL_6(sotFunction, \
+ sotArg1,sotArg1Type, \
+ sotArg2,sotArg2Type, \
+ sotArg3,sotArg3Type, \
+ sotArg4,sotArg4Type, \
+ sotArg5,sotArg5Type, \
+ sotArg6,sotArg6Type) \
+boost::bind(&sotFunction, \
+ SOT_CALL_SIG(sotArg1,sotArg1Type), \
+ SOT_CALL_SIG(sotArg2,sotArg2Type), \
+ SOT_CALL_SIG(sotArg3,sotArg3Type), \
+ SOT_CALL_SIG(sotArg4,sotArg4Type), \
+ SOT_CALL_SIG(sotArg5,sotArg5Type), \
+ SOT_CALL_SIG(sotArg6,sotArg6Type),_1), \
+ sotArg1<<sotArg2<<sotArg3<<sotArg4<<sotArg5<<sotArg6
+
+#define SOT_INIT_SIGNAL_7(sotFunction, \
+ sotArg1,sotArg1Type, \
+ sotArg2,sotArg2Type, \
+ sotArg3,sotArg3Type, \
+ sotArg4,sotArg4Type, \
+ sotArg5,sotArg5Type, \
+ sotArg6,sotArg6Type, \
+ sotArg7,sotArg7Type) \
+boost::bind(&sotFunction, \
+ SOT_CALL_SIG(sotArg1,sotArg1Type), \
+ SOT_CALL_SIG(sotArg2,sotArg2Type), \
+ SOT_CALL_SIG(sotArg3,sotArg3Type), \
+ SOT_CALL_SIG(sotArg4,sotArg4Type), \
+ SOT_CALL_SIG(sotArg5,sotArg5Type), \
+ SOT_CALL_SIG(sotArg6,sotArg6Type), \
+ SOT_CALL_SIG(sotArg7,sotArg7Type),_1), \
+ sotArg1<<sotArg2<<sotArg3<<sotArg4<<sotArg5<<sotArg6<<sotArg7
+
+/* --- MEMBERS MACROS ------------------------------------------------------- */
+/* --- MEMBERS MACROS ------------------------------------------------------- */
+/* --- MEMBERS MACROS ------------------------------------------------------- */
+
+
+#define SOT_MEMBER_SIGNAL_1(sotFunction, \
+ sotArg1,sotArg1Type) \
+boost::bind(&sotFunction,this, \
+ SOT_CALL_SIG(sotArg1,sotArg1Type),_1), \
+ sotArg1
+
+#define SOT_MEMBER_SIGNAL_2(sotFunction, \
+ sotArg1,sotArg1Type, \
+ sotArg2,sotArg2Type) \
+boost::bind(&sotFunction,this, \
+ SOT_CALL_SIG(sotArg1,sotArg1Type), \
+ SOT_CALL_SIG(sotArg2,sotArg2Type),_1), \
+ sotArg1<<sotArg2
+#define SOT_MEMBER_SIGNAL_5(sotFunction, \
+ sotArg1,sotArg1Type, \
+ sotArg2,sotArg2Type, \
+ sotArg3,sotArg3Type, \
+ sotArg4,sotArg4Type, \
+ sotArg5,sotArg5Type) \
+boost::bind(&sotFunction,this, \
+ SOT_CALL_SIG(sotArg1,sotArg1Type), \
+ SOT_CALL_SIG(sotArg2,sotArg2Type), \
+ SOT_CALL_SIG(sotArg3,sotArg3Type), \
+ SOT_CALL_SIG(sotArg4,sotArg4Type), \
+ SOT_CALL_SIG(sotArg5,sotArg5Type),_1), \
+ sotArg1<<sotArg2<<sotArg3<<sotArg4<<sotArg5
+
+#define SOT_MEMBER_SIGNAL_6(sotFunction, \
+ sotArg1,sotArg1Type, \
+ sotArg2,sotArg2Type, \
+ sotArg3,sotArg3Type, \
+ sotArg4,sotArg4Type, \
+ sotArg5,sotArg5Type, \
+ sotArg6,sotArg6Type) \
+boost::bind(&sotFunction,this, \
+ SOT_CALL_SIG(sotArg1,sotArg1Type), \
+ SOT_CALL_SIG(sotArg2,sotArg2Type), \
+ SOT_CALL_SIG(sotArg3,sotArg3Type), \
+ SOT_CALL_SIG(sotArg4,sotArg4Type), \
+ SOT_CALL_SIG(sotArg5,sotArg5Type), \
+ SOT_CALL_SIG(sotArg6,sotArg6Type),_1), \
+ sotArg1<<sotArg2<<sotArg3<<sotArg4<<sotArg5<<sotArg6
diff --git a/include/sot-core/sotMatrixConstant.h b/include/sot-core/matrix-constant.h
similarity index 97%
rename from include/sot-core/sotMatrixConstant.h
rename to include/sot-core/matrix-constant.h
index d1e1af9e9160ff23a574964d855a0798822b8d9b..ef0c264f30483a9d8f9fad796344a15a86673f65 100644
--- a/include/sot-core/sotMatrixConstant.h
+++ b/include/sot-core/matrix-constant.h
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotMatrixConstant.h
+ * File: matrix-constant.h
* Project: SOT
* Author: Nicolas Mansard
*
diff --git a/include/sot-core/sotMatrixForce.h b/include/sot-core/matrix-force.h
similarity index 98%
rename from include/sot-core/sotMatrixForce.h
rename to include/sot-core/matrix-force.h
index 3a09ce46096ee75673d96281d6160758d254d82e..ca89c9e9811a5a0a84b0fce39f26b032f250bb04 100644
--- a/include/sot-core/sotMatrixForce.h
+++ b/include/sot-core/matrix-force.h
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotMatrixForce.h
+ * File: matrix-force.h
* Project: SOT
* Author: Nicolas Mansard
*
diff --git a/include/sot-core/sotMatrixHomogeneous.h b/include/sot-core/matrix-homogeneous.h
similarity index 97%
rename from include/sot-core/sotMatrixHomogeneous.h
rename to include/sot-core/matrix-homogeneous.h
index f5087edb515ce2061b28eb8542470d937cdc2747..e46c062e1731b4ef7f2834c1e676d0ed501d685e 100644
--- a/include/sot-core/sotMatrixHomogeneous.h
+++ b/include/sot-core/matrix-homogeneous.h
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotMatrixHomogeneous.h
+ * File: matrix-homogeneous.h
* Project: SOT
* Author: Nicolas Mansard
*
diff --git a/include/sot-core/sotMatrixRotation.h b/include/sot-core/matrix-rotation.h
similarity index 97%
rename from include/sot-core/sotMatrixRotation.h
rename to include/sot-core/matrix-rotation.h
index 3ec591cafa1e7d1d2ab1761313db8bcaec39f21f..f558d40c2c86e6d8e6c813c5f1bc27d8c6ff6913 100644
--- a/include/sot-core/sotMatrixRotation.h
+++ b/include/sot-core/matrix-rotation.h
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotMatrixRotation.h
+ * File: matrix-rotation.h
* Project: SOT
* Author: Nicolas Mansard
*
diff --git a/include/sot-core/sotMatrixTwist.h b/include/sot-core/matrix-twist.h
similarity index 98%
rename from include/sot-core/sotMatrixTwist.h
rename to include/sot-core/matrix-twist.h
index 2c164f4aec0a4647cf27c11b2e9cc40805ad3e7e..9e6a1f530c651ff02b900e8abf5026e2fca6795c 100644
--- a/include/sot-core/sotMatrixTwist.h
+++ b/include/sot-core/matrix-twist.h
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotMatrixTwist.h
+ * File: matrix-twist.h
* Project: SOT
* Author: Nicolas Mansard
*
diff --git a/include/sot-core/sotOpPointModifior.h b/include/sot-core/op-point-modifier.h
similarity index 96%
rename from include/sot-core/sotOpPointModifior.h
rename to include/sot-core/op-point-modifier.h
index 6e852516f65b025c3888ca878b071c92a372a081..4b256d7c6f06e505e2ae10731999426029ed79da 100644
--- a/include/sot-core/sotOpPointModifior.h
+++ b/include/sot-core/op-point-modifier.h
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotOpPointModifior.h
+ * File: op-point-modifier.h
* Project: SOT
* Author: Nicolas Mansard
*
@@ -24,7 +24,7 @@
#include <dynamic-graph/all-signals.h>
#include <sot-core/sotDebug.h>
-#include <sot-core/sotMatrixHomogeneous.h>
+#include <sot-core/matrix-homogeneous.h>
/* Matrix */
#include <MatrixAbstractLayer/boost.h>
diff --git a/include/sot-core/pool.h b/include/sot-core/pool.h
new file mode 100644
index 0000000000000000000000000000000000000000..7f21be7a4161fb10a2f161a36a4724c84a3102cc
--- /dev/null
+++ b/include/sot-core/pool.h
@@ -0,0 +1,144 @@
+
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: pool.h
+ * Project: SOT
+ * Author: Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ * $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+
+#ifndef __SOT_POOL_HH__
+#define __SOT_POOL_HH__
+
+/* --------------------------------------------------------------------- */
+/* --- INCLUDE --------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+/* --- STD --- */
+#include <map>
+#include <string>
+#include <sstream>
+
+/* --- SOT --- */
+#include <sot-core/exception-factory.h>
+#include <dynamic-graph/signal-base.h>
+#include <sot-core/sot-core-api.h>
+#include <dynamic-graph/pool.h>
+
+class sotFeatureAbstract;
+class sotTaskAbstract;
+
+/* --------------------------------------------------------------------- */
+/* --- CLASS ----------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+/*! @ingroup factory
+ \brief This class keep tracks of all the objects in the stack of Tasks.
+
+ Three kinds of objects are handled:
+ \li The controllers, i.e. the tasks which inherits from sotTaskAbstract.
+ \li The features, i.e. the information which inherits from sotFeatureAbstract.
+
+ \li Any object which need to be inside the SoT and which inherits from Entity.
+
+ This class provides the necessary operations to register, unregister each
+ instance of thoses classes.
+ As tasks and features derived from Entities, they should be registered
+ as such.
+
+ \note From the code it is not very clear why we should not unregister
+ from the tasks and the features...
+
+ The role of this class is also to look for the object supporting
+ a command, and to apply this command.
+
+ It also returns references to signals from their fully-qualified names.
+ */
+class SOT_CORE_EXPORT sotPoolStorage
+{
+ public:
+ /*! \name Define types to simplify the writing
+ @{
+ */
+ /*! \brief Sorted set of tasks with unique key (name). */
+ typedef std::map< std::string,sotTaskAbstract* > Tasks;
+
+ /*! \brief Sorted set of features with unique key (name). */
+ typedef std::map< std::string,sotFeatureAbstract* > Features;
+ /*! @} */
+
+ protected:
+ /*! \name Fields of the class to manage the three entities.
+ Also the name is singular, those are true sets.
+ @{
+ */
+
+ /*! \brief Set of controllers */
+ Tasks task;
+
+ /*! \brief Set of features */
+ Features feature;
+ /*! @} */
+
+ public:
+ /*! \brief Default destructor */
+ ~sotPoolStorage( void );
+
+ /*! \name Methods related to the handling of the features
+ @{
+ */
+ /*! \brief Registering a feature. */
+ void registerFeature( const std::string& entname,sotFeatureAbstract* ent );
+
+ /*! \brief Get a reference to a feature. */
+ sotFeatureAbstract& getFeature( const std::string& name );
+ /*! @} */
+
+ /*! \name Methods related to the handling of the tasks
+ @{
+ */
+ /*! \brief Registering a task. */
+ void registerTask( const std::string& entname,sotTaskAbstract* ent );
+ /*! \brief Get a reference to a task. */
+ sotTaskAbstract& getTask( const std::string& name );
+ /*! @} */
+
+ /*! \brief This method looks for the object named objectName,
+ and ask to provide the function functionName with the arguments cmdArg.
+ If the method of the object displays some information this will
+ be done on os.
+
+ The commands specific to the <b>pool<\b> object are:
+ \li <b>list</b> : List all the entities registered in the pool.
+ \li <b>listFeature</b> : List all the features registered in the pool.
+ \li <b>listTask</b> : List all the tasks registered in the pool.
+ */
+ void commandLine( const std::string& objectName,const std::string& functionName,
+ std::istringstream& cmdArg, std::ostream& os );
+
+ /*! \brief This method write a graph description on the file named FileName. */
+ void writeGraph(const std::string &aFileName);
+ void writeCompletionList(std::ostream& os);
+};
+
+
+SOT_CORE_EXPORT extern sotPoolStorage sotPool;
+
+#endif /* #ifndef __SOT_POOL_HH__ */
+
+
+
+
diff --git a/include/sot-core/signal-cast.h b/include/sot-core/signal-cast.h
new file mode 100644
index 0000000000000000000000000000000000000000..ad8b51b6d9696bb9d4d10ba0c3a03403ae798b9f
--- /dev/null
+++ b/include/sot-core/signal-cast.h
@@ -0,0 +1,201 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: SignalCast.h
+ * Project: SOT
+ * Author: Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ * $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+
+#ifndef __SOT_SIGNAL_CAST_HH__
+#define __SOT_SIGNAL_CAST_HH__
+
+
+#include <sot-core/sotFlags.h>
+#include <MatrixAbstractLayer/boost.h>
+#include <sot-core/matrix-homogeneous.h>
+#include <sot-core/matrix-twist.h>
+#include <sot-core/vector-utheta.h>
+#include <sot-core/vector-quaternion.h>
+#include <sot-core/vector-roll-pitch-yaw.h>
+#include <sot-core/matrix-force.h>
+#include <sot-core/sotMultiBound.h>
+#include <sot-core/sot-core-api.h>
+#ifdef WIN32
+#include <sot-core/sotUtilsWindows.h>
+#endif
+#include <dynamic-graph/signal-caster.h>
+
+/* -------------------------------------------------------------------------- */
+/* --- CLASS ---------------------------------------------------------------- */
+/* -------------------------------------------------------------------------- */
+class sotFeatureAbstract;
+
+
+/*!
+ * This class is only used to group together static functions who differ by
+ * a template parameter. It is never actually instanced (the private constructor
+ * makes sure of that).
+ */
+template< class T >
+class SignalCast
+{
+public:
+ SOT_CORE_EXPORT static T cast( std::istringstream& stringValue ) { throw 1;}
+ SOT_CORE_EXPORT static void disp( const T& t,std::ostream& os ) { throw 1; }
+ SOT_CORE_EXPORT static void trace( const T& t,std::ostream& os ) { disp(t,os); }
+public:
+ // adapter functions for SignalCast
+ static boost::any cast_( std::istringstream& stringValue ) {
+ return boost::any_cast<T>(cast(stringValue));
+ }
+ static void disp_( const boost::any& t,std::ostream& os ) {
+ disp(boost::any_cast<T>(t), os);
+ }
+ static void trace_( const boost::any& t,std::ostream& os ) {
+ trace(boost::any_cast<T>(t),os);
+ }
+private:
+ SignalCast() {}
+};
+
+
+/* -------------------------------------------------------------------------- */
+/* --- MACROS --------------------------------------------------------------- */
+/* -------------------------------------------------------------------------- */
+
+/* Declaration macro: one instance of each class needs to be present in
+ * order for casts to be registered.
+ */
+
+#define SOT_SIGNAL_CAST_DECLARATION(TYPE) \
+ 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 \
+ (typeid(TYPE), \
+ SignalCast<TYPE>::disp_, \
+ SignalCast<TYPE>::cast_, \
+ SignalCast<TYPE>::trace_);
+
+/* Standard definition macros: the three functions can be specified
+ * in the macros. To define then in the cpp, just put ';' in the args.
+ */
+#define SOT_SIGNAL_CAST_FULL_DEFINITION(TYPE,CAST,DISP,TRACE) \
+template<> \
+class SignalCast<TYPE> \
+{ \
+public: \
+ SOT_CORE_EXPORT static TYPE cast( std::istringstream& iss ) CAST \
+ SOT_CORE_EXPORT static void disp( const TYPE& t,std::ostream& os ) DISP \
+ SOT_CORE_EXPORT static void trace( const TYPE& t,std::ostream& os ) TRACE \
+public: \
+ static boost::any cast_( std::istringstream& stringValue ) { \
+ return boost::any_cast<TYPE>(cast(stringValue)); \
+ } \
+ static void disp_( const boost::any& t,std::ostream& os ) { \
+ disp(boost::any_cast<TYPE>(t), os); \
+ } \
+ static void trace_( const boost::any& t,std::ostream& os ) { \
+ trace(boost::any_cast<TYPE>(t),os); \
+ } \
+}
+
+/* Standard definition macros: the functions <cast> and <disp> have
+ * to be implemented in the cpp files. The function <trace> is
+ * implemented as a proxy on <disp>.
+ */
+#define SOT_SIGNAL_CAST_DEFINITION_HPP(TYPE) \
+ SOT_SIGNAL_CAST_FULL_DEFINITION(TYPE,;,;,{ disp(t,os); })
+
+/* Lazy definition: <cast> and <disp> are to proxys on the standard
+ * std input (>>) and output (<<). The function <trace> has to be
+ * implemented in the cpp.
+ */
+#define SOT_SIGNAL_CAST_DEFINITION_TRACE_HPP(TYPE,TRACE) \
+ SOT_SIGNAL_CAST_FULL_DEFINITION(TYPE, \
+ {TYPE res; iss >> res; return res; }, \
+ { os << t <<std::endl; }, \
+ TRACE )
+
+/* Lazy lazy definition: the three functions are implemented as
+ * proxys on std::io operation.
+ */
+#define SOT_SIGNAL_CAST_DEFINITION(TYPE) \
+ SOT_SIGNAL_CAST_FULL_DEFINITION(TYPE, \
+ {TYPE res; iss >> res; return res; }, \
+ { os << t <<std::endl; }, \
+ { disp(t,os); })
+
+/* Lazy definition of <cast> and <disp> with implementation of
+ * <trace> in the cpp.
+ */
+#define SOT_SIGNAL_CAST_DEFINITION_TRACE(TYPE) \
+ SOT_SIGNAL_CAST_FULL_DEFINITION(TYPE, \
+ {TYPE res; iss >> res; return res; }, \
+ { os << t <<std::endl; }, \
+ ;)
+
+/* -------------------------------------------------------------------------- */
+/* --- MACROS --------------------------------------------------------------- */
+/* -------------------------------------------------------------------------- */
+
+/* --- OTHER --- */
+SOT_SIGNAL_CAST_DEFINITION(sotFlags);
+SOT_SIGNAL_CAST_DEFINITION_TRACE(sotVectorMultiBound);
+
+typedef sotFeatureAbstract* SignalCast_sotFeatureAbstractPtr ;
+
+SOT_SIGNAL_CAST_DEFINITION_HPP( SignalCast_sotFeatureAbstractPtr );
+SOT_SIGNAL_CAST_DEFINITION_HPP( struct timeval );
+
+/* --- Matrices and Vectors --- */
+#define SOT_SIGNAL_CAST_DEFINITION_MATRIX(TYPE) \
+SOT_SIGNAL_CAST_FULL_DEFINITION(TYPE,{TYPE res; iss >> res; return res; }, \
+ { SignalCast<ml::Matrix>::disp(t,os); }, \
+ { SignalCast<ml::Matrix>::trace(t,os); })
+//SOT_SIGNAL_CAST_DEFINITION_TRACE_HPP(TYPE,{ SignalCast<ml::Matrix>::trace(t,os); })
+
+#define SOT_SIGNAL_CAST_DEFINITION_VECTOR(TYPE) \
+SOT_SIGNAL_CAST_FULL_DEFINITION(TYPE,{TYPE res; iss >> res; return res; }, \
+ { SignalCast<ml::Vector>::disp(t,os); }, \
+ { SignalCast<ml::Vector>::trace(t,os); })
+//SOT_SIGNAL_CAST_DEFINITION_TRACE_HPP(TYPE,{ SignalCast<ml::Vector>::trace(t,os); })
+
+SOT_SIGNAL_CAST_FULL_DEFINITION(maal::boost::Vector,; SOT_CORE_EXPORT static maal::boost::DisplayType displayType;,;,;);
+SOT_SIGNAL_CAST_FULL_DEFINITION(maal::boost::Matrix,;,;,;);
+
+/* All the followings are defined with proxys on the equivalent
+ * functions ml:: based.
+ */
+SOT_SIGNAL_CAST_DEFINITION_VECTOR(sotVectorUTheta);
+SOT_SIGNAL_CAST_DEFINITION_VECTOR(sotVectorQuaternion);
+SOT_SIGNAL_CAST_DEFINITION_VECTOR(sotVectorRollPitchYaw);
+SOT_SIGNAL_CAST_DEFINITION_MATRIX(sotMatrixRotation);
+SOT_SIGNAL_CAST_DEFINITION_MATRIX(sotMatrixHomogeneous);
+SOT_SIGNAL_CAST_DEFINITION_MATRIX(sotMatrixTwist);
+SOT_SIGNAL_CAST_DEFINITION_MATRIX(sotMatrixForce);
+
+
+
+
+#endif // #ifndef __SOT_SIGNAL_CAST_HH__
+
+
+
diff --git a/include/sot-core/sotFeatureLineDistance.h b/include/sot-core/sotFeatureLineDistance.h
index 3651fd24cf9874898b6cc7be5b7104e3277c32ec..f2d03acca89941459f5650795a873743cd659eb9 100644
--- a/include/sot-core/sotFeatureLineDistance.h
+++ b/include/sot-core/sotFeatureLineDistance.h
@@ -28,7 +28,7 @@
/* SOT */
#include <sot-core/sotFeatureAbstract.h>
#include <sot-core/exception-task.h>
-#include <sot-core/sotMatrixHomogeneous.h>
+#include <sot-core/matrix-homogeneous.h>
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
diff --git a/include/sot-core/sotFeaturePoint6d.h b/include/sot-core/sotFeaturePoint6d.h
index 8c017f1626dc215b55ad9b1eef4677e13d654717..887c4e4914c66cec14515807d522de7e77149362 100644
--- a/include/sot-core/sotFeaturePoint6d.h
+++ b/include/sot-core/sotFeaturePoint6d.h
@@ -28,7 +28,7 @@
/* SOT */
#include <sot-core/sotFeatureAbstract.h>
#include <sot-core/exception-task.h>
-#include <sot-core/sotMatrixHomogeneous.h>
+#include <sot-core/matrix-homogeneous.h>
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
diff --git a/include/sot-core/sotFeaturePoint6dRelative.h b/include/sot-core/sotFeaturePoint6dRelative.h
index 1ed3deacd5e14292bb67b7db9d58b327e4b97697..cdb9b5113a2c7c1f51471fd7fdd84261499f6b11 100644
--- a/include/sot-core/sotFeaturePoint6dRelative.h
+++ b/include/sot-core/sotFeaturePoint6dRelative.h
@@ -29,7 +29,7 @@
#include <sot-core/sotFeatureAbstract.h>
#include <sot-core/sotFeaturePoint6d.h>
#include <sot-core/exception-task.h>
-#include <sot-core/sotVectorUTheta.h>
+#include <sot-core/vector-utheta.h>
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
diff --git a/include/sot-core/sotFeatureVector3.h b/include/sot-core/sotFeatureVector3.h
index de61b19b01c03179e423f9e77df60a651244e404..da3bd622320af5d9140995d4f60479ef8a5b6c98 100644
--- a/include/sot-core/sotFeatureVector3.h
+++ b/include/sot-core/sotFeatureVector3.h
@@ -28,7 +28,7 @@
/* SOT */
#include <sot-core/sotFeatureAbstract.h>
#include <sot-core/exception-task.h>
-#include <sot-core/sotMatrixHomogeneous.h>
+#include <sot-core/matrix-homogeneous.h>
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
diff --git a/include/sot-core/sotUnaryOp.h b/include/sot-core/unary-op.h
similarity index 98%
rename from include/sot-core/sotUnaryOp.h
rename to include/sot-core/unary-op.h
index 358051eb036fb2ddf8d949b6358a265fdda6f2bb..c21280f52f8f7201a4705d22b99c789027fa1a69 100644
--- a/include/sot-core/sotUnaryOp.h
+++ b/include/sot-core/unary-op.h
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotUnaryOp.h
+ * File: unary-op.h
* Project: SOT
* Author: Nicolas Mansard
*
diff --git a/include/sot-core/sotVectorConstant.h b/include/sot-core/vector-constant.h
similarity index 97%
rename from include/sot-core/sotVectorConstant.h
rename to include/sot-core/vector-constant.h
index 41badbdd460dbf0a3c3682f89f7186c977234c28..b39ec1016eb527a90b7ef78b1920f6befa3a917e 100644
--- a/include/sot-core/sotVectorConstant.h
+++ b/include/sot-core/vector-constant.h
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotVectorConstant.h
+ * File: vector-constant.h
* Project: SOT
* Author: Nicolas Mansard
*
diff --git a/include/sot-core/sotVectorQuaternion.h b/include/sot-core/vector-quaternion.h
similarity index 94%
rename from include/sot-core/sotVectorQuaternion.h
rename to include/sot-core/vector-quaternion.h
index 8c3dd604e2da50a2c31fed6c3b0817e1dcf02cde..8d4771acd861896b06b15c374960aaf547c2534b 100644
--- a/include/sot-core/sotVectorQuaternion.h
+++ b/include/sot-core/vector-quaternion.h
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotVectorQuaternion.h
+ * File: vector-quaternion.h
* Project: SOT
* Author: Nicolas Mansard
*
@@ -21,7 +21,7 @@
#define __SOT_VECTOR_QUATERNION_H__
/* --- SOT --- */
-#include <sot-core/sotVectorRotation.h>
+#include <sot-core/vector-rotation.h>
#include <sot-core/sot-core-api.h>
/* --------------------------------------------------------------------- */
diff --git a/include/sot-core/sotVectorRollPitchYaw.h b/include/sot-core/vector-roll-pitch-yaw.h
similarity index 93%
rename from include/sot-core/sotVectorRollPitchYaw.h
rename to include/sot-core/vector-roll-pitch-yaw.h
index 54f2ce363241fa1f3039fec47230c7c5680c3440..5fecfa041940e6b851f8a6c332b3c4cf30e58b4c 100644
--- a/include/sot-core/sotVectorRollPitchYaw.h
+++ b/include/sot-core/vector-roll-pitch-yaw.h
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotVectorRollPitchYaw.h
+ * File: vector-roll-pitch-yaw.h
* Project: SOT
* Author: Nicolas Mansard
*
@@ -21,7 +21,7 @@
#define __SOT_VECTOR_ROLLPITCHYAW_H__
/* --- SOT --- */
-#include <sot-core/sotVectorRotation.h>
+#include <sot-core/vector-rotation.h>
#include <sot-core/sot-core-api.h>
/* --------------------------------------------------------------------- */
diff --git a/include/sot-core/sotVectorRotation.h b/include/sot-core/vector-rotation.h
similarity index 94%
rename from include/sot-core/sotVectorRotation.h
rename to include/sot-core/vector-rotation.h
index 964a33ee6b84b47ceced30b5336babe2ff06d8f4..9da8469e2e59f7afaa99e78584cd314da76ae33e 100644
--- a/include/sot-core/sotVectorRotation.h
+++ b/include/sot-core/vector-rotation.h
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotVectorRotation.h
+ * File: vector-rotation.h
* Project: SOT
* Author: Nicolas Mansard
*
@@ -25,7 +25,7 @@
namespace ml = maal::boost;
/* --- SOT --- */
-#include <sot-core/sotMatrixRotation.h>
+#include <sot-core/matrix-rotation.h>
#include <sot-core/sot-core-api.h>
/* --------------------------------------------------------------------- */
diff --git a/include/sot-core/sotVectorToRotation.h b/include/sot-core/vector-to-rotation.h
similarity index 95%
rename from include/sot-core/sotVectorToRotation.h
rename to include/sot-core/vector-to-rotation.h
index d9302d87b872bb2417c6d195274e8040527c0720..20a4e9ae30ca02feb7d951d0f3d8b5c45c216f67 100644
--- a/include/sot-core/sotVectorToRotation.h
+++ b/include/sot-core/vector-to-rotation.h
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotVectorToRotation.h
+ * File: vector-to-rotation.h
* Project: SOT
* Author: Nicolas Mansard
*
@@ -23,7 +23,7 @@
#include <dynamic-graph/entity.h>
#include <dynamic-graph/all-signals.h>
#include <dynamic-graph/all-signals.h>
-#include <sot-core/sotMatrixRotation.h>
+#include <sot-core/matrix-rotation.h>
/* Matrix */
#include <MatrixAbstractLayer/boost.h>
diff --git a/include/sot-core/sotVectorUTheta.h b/include/sot-core/vector-utheta.h
similarity index 93%
rename from include/sot-core/sotVectorUTheta.h
rename to include/sot-core/vector-utheta.h
index 9779cf3cfd0bdc93adb17e0100f93500b808bc72..983d89c03dab3b9b8f2c397fdf700d1eba110d2d 100644
--- a/include/sot-core/sotVectorUTheta.h
+++ b/include/sot-core/vector-utheta.h
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotVectorUTheta.h
+ * File: vector-utheta.h
* Project: SOT
* Author: Nicolas Mansard
*
@@ -21,7 +21,7 @@
#define __SOT_VECTOR_UTHETA_H__
/* --- SOT --- */
-#include <sot-core/sotVectorRotation.h>
+#include <sot-core/vector-rotation.h>
#include <sot-core/sot-core-api.h>
/* --------------------------------------------------------------------- */
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 2befc6a5b16a261ee5d050c8d092ac435dcc98e8..c757a6bbb44b0f38347966705eb21bd971e65076 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -19,28 +19,28 @@ SET(${LIBRARY_NAME}_SOURCES
signal/signal-cast.cpp
- matrix/sotBinaryOp.cpp
- matrix/sotDerivator.cpp
- matrix/sotFIRFilter.cpp
- matrix/sotIntegratorAbstract.cpp
- matrix/sotIntegratorEuler.cpp
- matrix/sotMatrixConstant.cpp
- matrix/sotUnaryOp.cpp
- matrix/sotVectorConstant.cpp
- matrix/sotVectorToRotation.cpp
+ matrix/binary-op.cpp
+ matrix/derivator.cpp
+ matrix/fir-filter.cpp
+ matrix/integrator-abstract.cpp
+ matrix/integrator-euler.cpp
+ matrix/matrix-constant.cpp
+ matrix/unary-op.cpp
+ matrix/vector-constant.cpp
+ matrix/vector-to-rotation.cpp
factory/additional-functions.cpp
factory/factory.cpp
factory/pool.cpp
- math/sotMatrixForce.cpp
- math/sotMatrixHomogeneous.cpp
- math/sotMatrixRotation.cpp
- math/sotMatrixTwist.cpp
- math/sotOpPointModifior.cpp
- math/sotVectorQuaternion.cpp
- math/sotVectorRollPitchYaw.cpp
- math/sotVectorUTheta.cpp
+ math/matrix-force.cpp
+ math/matrix-homogeneous.cpp
+ math/matrix-rotation.cpp
+ math/matrix-twist.cpp
+ math/op-point-modifior.cpp
+ math/vector-quaternion.cpp
+ math/vector-roll-pitch-yaw.cpp
+ math/vector-utheta.cpp
feature/sotFeaturePoint6d.cpp
feature/sotFeatureVector3.cpp
diff --git a/src/debug/contiifstream.cpp b/src/debug/contiifstream.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..43c78d49fd6a3e0bcba28a7c4bfa57a0c99622e0
--- /dev/null
+++ b/src/debug/contiifstream.cpp
@@ -0,0 +1,77 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: sotContiifstream.cpp
+ * Project: SOT
+ * Author: Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ * $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+#include <sot-core/sotContiifstream.h>
+#include <sot-core/sotDebug.h>
+
+sotContiifstream::
+sotContiifstream( const std::string& n )
+ :filename(n),cursor(0),first(true) {}
+
+
+sotContiifstream::
+~sotContiifstream( void )
+{
+ sotDEBUGINOUT(5);
+}
+
+
+bool sotContiifstream::
+loop( void )
+{
+ sotDEBUGIN(25);
+ bool res=false;
+
+ std::fstream file( filename.c_str() );
+
+ file.seekg(cursor);
+ file.sync();
+
+ while(1)
+ {
+ file.get(buffer,BUFFER_SIZE);
+ if( file.gcount() )
+ {
+ res=true;
+ std::string line(buffer);
+ if(! first) reader.push_back(line);
+ cursor=file.tellg(); cursor++;
+ file.get(*buffer); // get the last char ( = '\n')
+ sotDEBUG(15) << "line: "<< line<<std::endl;
+ }
+ else { break; }
+ }
+
+ first=false;
+ sotDEBUGOUT(25);
+ return res;
+}
+
+std::string
+sotContiifstream::next( void )
+{
+ std::string res = *reader.begin();
+ reader.pop_front();
+ return res;
+}
+
+
+
+
+
diff --git a/src/debug/debug.cpp b/src/debug/debug.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..b6a7517980f17d2248616b5c33c7e02d3aba79fb
--- /dev/null
+++ b/src/debug/debug.cpp
@@ -0,0 +1,86 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet Lagadic, 2005
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: sotDebug.h
+ * Project: STack of Tasks
+ * Author: Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ * $Id$
+ *
+ * Description
+ * ============
+ *
+ * Macro de trace et de debugage
+ *
+ * - TRACAGE: TRACE et ERROR_TRACE fonctionnent comme des printf
+ * avec retour chariot en fin de fonction.
+ * CERROR et CTRACE fonctionnent comme les flux de sortie
+ * C++ cout et cerr.
+ * - DEBUGAGE: DEBUG_TRACE(niv, et DERROR_TRACE(niv, fonctionnent
+ * comme des printf, n'imprimant que si le niveau de trace 'niv' est
+ * superieur au mode de debugage VP_DEBUG_MODE.
+ * CDEBUG(niv) fonctionne comme le flux de sortie C++ cout.
+ * DEBUG_ENABLE(niv) vaut 1 ssi le niveau de tracage 'niv'
+ * est superieur au mode de debugage DEBUG_MODE. Il vaut 0 sinon.
+ * - PROG DEFENSIVE: DEFENSIF(a) vaut a ssi le mode defensif est active,
+ * et vaut 0 sinon.
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+#include <sot-core/sotDebug.h>
+#include <fstream>
+#include <ios>
+
+#ifdef WIN32
+const char * sotDebugTrace::DEBUG_FILENAME_DEFAULT = "c:/tmp/traces.txt";
+#else /*WIN32*/
+const char * sotDebugTrace::DEBUG_FILENAME_DEFAULT = "/tmp/traces.txt";
+#endif /*WIN32*/
+
+
+
+#ifdef VP_DEBUG
+ #ifdef WIN32
+ std::ofstream debugfile( "C:/tmp/traces.txt", std::ios::trunc&std::ios::out );
+ #else /*WIN32*/
+ std::ofstream debugfile( "/tmp/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 __sotDebug_initialisator;
+
+#endif
+
+sotDebugTrace sotDEBUGFLOW(debugfile);
+sotDebugTrace sotERRORFLOW(debugfile);
+
+
+void sotDebugTrace::openFile( const char * filename )
+{
+ if( debugfile.good()&&debugfile.is_open() ) debugfile.close();
+ debugfile.clear();
+ debugfile.open( filename, std::ios::trunc&std::ios::out );
+ //std::cout << filename << debugfile.good() << debugfile.is_open() << std::endl;
+}
+
+void sotDebugTrace::closeFile( const char * filename )
+{
+ if( debugfile.good()&&debugfile.is_open() ) { debugfile.close(); }
+ debugfile.setstate( std::ios::failbit ) ;
+}
+
+
+//sotDebugTrace sotDEBUGFLOW(std::cout);
+//sotDebugTrace sotERRORFLOW(std::cerr);
+
diff --git a/src/exception/exception-abstract.cpp b/src/exception/exception-abstract.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..85e705dc0a04b23e255f6b58e5c2baaf78ae8842
--- /dev/null
+++ b/src/exception/exception-abstract.cpp
@@ -0,0 +1,128 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: sotExceptionAbstract.cpp
+ * Project: SOT
+ * Author: Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ * $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+
+#include <sot-core/exception-abstract.h>
+#include <sot-core/sotDebug.h>
+
+using namespace std;
+
+/* ------------------------------------------------------------------------- */
+/* --- CONSTRUCTORS -------------------------------------------------------- */
+/* ------------------------------------------------------------------------- */
+
+const std::string sotExceptionAbstract::EXCEPTION_NAME = "Abstract";
+
+
+sotExceptionAbstract::
+sotExceptionAbstract (const int& _code,
+ const string & _msg)
+ :
+ code (_code),
+ message (_msg)
+
+{
+ return ;
+
+}
+
+/* ------------------------------------------------------------------------ */
+/* --- ACCESSORS ---------------------------------------------------------- */
+/* ------------------------------------------------------------------------ */
+
+const char *sotExceptionAbstract::
+getMessage (void)
+{
+ return (this->message) .c_str();
+}
+
+const string &sotExceptionAbstract::
+getStringMessage (void)
+{
+ return this->message;
+}
+
+int sotExceptionAbstract::
+getCode (void)
+{
+ return this->code;
+}
+
+
+/* ------------------------------------------------------------------------- */
+/* --- MODIFIORS ----------------------------------------------------------- */
+/* ------------------------------------------------------------------------- */
+#ifdef SOT_EXCEPTION_PASSING_PARAM
+
+
+sotExceptionAbstract::Param& sotExceptionAbstract::Param::
+initCopy( const Param& p )
+{
+ sotDEBUGIN(25);
+ if( p.pointersSet )
+ {
+ strncpy( function,p.functionPTR,BUFFER_SIZE);
+ strncpy( file,p.filePTR,BUFFER_SIZE);
+ line = p.line;
+ pointersSet=false;
+ set=true;
+ } else set=false;
+ sotDEBUGOUT(25);
+ return *this;
+}
+sotExceptionAbstract::Param::
+Param( const int& _line, const char * _function, const char * _file )
+ : functionPTR(_function),line(_line),filePTR(_file),pointersSet(true)
+{
+ sotDEBUGINOUT(25);
+}
+#endif //#ifdef SOT_EXCEPTION_PASSING_PARAM
+
+/* ------------------------------------------------------------------------- */
+/* --- OP << --------------------------------------------------------------- */
+/* ------------------------------------------------------------------------- */
+
+ostream &
+operator << (ostream & os,
+ const sotExceptionAbstract & error)
+{
+ os << error.getExceptionName()<<"Error [#" << error.code << "]: " << error.message << endl;
+
+#ifdef SOT_EXCEPTION_PASSING_PARAM
+ if( error.p.set )
+ os << "Thrown from "<<error.p.file << ": "<<error.p.function
+ <<" (#"<<error.p.line << ")"<<endl;
+#endif //#ifdef SOT_EXCEPTION_PASSING_PARAM
+
+ return os;
+}
+
+
+
+
+
+/** \file $Source$
+ */
+
+/*
+ * Local variables:
+ * c-basic-offset: 4
+ * End:
+ */
diff --git a/src/exception/exception-dynamic.cpp b/src/exception/exception-dynamic.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..5aa538c39cab1d38fcc0516be422e674eccf964a
--- /dev/null
+++ b/src/exception/exception-dynamic.cpp
@@ -0,0 +1,60 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: sotExceptionDynamic.cpp
+ * Project: SOT
+ * Author: Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ * $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+#include <sot-core/exception-dynamic.h>
+#include <stdarg.h>
+#include <cstdio>
+
+/* --------------------------------------------------------------------- */
+/* --- CLASS ----------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+const std::string sotExceptionDynamic::EXCEPTION_NAME = "Dynamic";
+
+sotExceptionDynamic::
+sotExceptionDynamic ( const sotExceptionDynamic::ErrorCodeEnum& errcode,
+ const std::string & msg )
+ :sotExceptionAbstract(errcode,msg)
+{
+}
+
+sotExceptionDynamic::
+sotExceptionDynamic ( const sotExceptionDynamic::ErrorCodeEnum& errcode,
+ const std::string & msg,const char* format, ... )
+ :sotExceptionAbstract(errcode,msg)
+{
+ va_list args;
+ va_start(args,format);
+
+ const unsigned int SIZE = 256;
+ char buffer[SIZE];
+ vsnprintf(buffer,SIZE,format,args);
+
+ message += buffer;
+
+ va_end(args);
+}
+
+
+
+/*
+ * Local variables:
+ * c-basic-offset: 2
+ * End:
+ */
diff --git a/src/exception/exception-factory.cpp b/src/exception/exception-factory.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..6e27c461ae88271cc9a5f50e047de92597f30cd4
--- /dev/null
+++ b/src/exception/exception-factory.cpp
@@ -0,0 +1,69 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: sotExceptionFactory.cpp
+ * Project: SOT
+ * Author: Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ * $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+#include <sot-core/exception-factory.h>
+#include <sot-core/sotDebug.h>
+#include <stdarg.h>
+#include <cstdio>
+
+/* --------------------------------------------------------------------- */
+/* --- CLASS ----------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+const std::string sotExceptionFactory::EXCEPTION_NAME = "Factory";
+
+sotExceptionFactory::
+sotExceptionFactory ( const sotExceptionFactory::ErrorCodeEnum& errcode,
+ const std::string & msg )
+ :sotExceptionAbstract(errcode,msg)
+{
+ sotDEBUGF( 15,"Created with message <%s>.",msg.c_str());
+ sotDEBUG( 1) <<"Created with message <%s>."<<msg<<std::endl;
+}
+
+sotExceptionFactory::
+sotExceptionFactory ( const sotExceptionFactory::ErrorCodeEnum& errcode,
+ const std::string & msg,const char* format, ... )
+ :sotExceptionAbstract(errcode,msg)
+{
+ va_list args;
+ va_start(args,format);
+
+ const unsigned int SIZE = 256;
+ char buffer[SIZE];
+ vsnprintf(buffer,SIZE,format,args);
+
+ sotDEBUG(15) <<"Created "<<" with message <"
+ <<msg<<"> and buffer <"<<buffer<<">. "<<std::endl;
+
+ message += buffer;
+
+ va_end(args);
+
+ sotDEBUG(1) << "Throw exception " << EXCEPTION_NAME << "[#" << errcode<<"]: "
+ <<"<"<< message << ">."<<std::endl;
+
+}
+
+
+/*
+ * Local variables:
+ * c-basic-offset: 2
+ * End:
+ */
diff --git a/src/exception/exception-feature.cpp b/src/exception/exception-feature.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..bf45cbb2150ef2e4c9b35ae858ca9e3b72675976
--- /dev/null
+++ b/src/exception/exception-feature.cpp
@@ -0,0 +1,60 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: sotExceptionFeature.cpp
+ * Project: SOT
+ * Author: Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ * $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+#include <sot-core/exception-feature.h>
+#include <stdarg.h>
+#include <cstdio>
+
+
+/* --------------------------------------------------------------------- */
+/* --- CLASS ----------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+const std::string sotExceptionFeature::EXCEPTION_NAME = "Feature";
+
+sotExceptionFeature::
+sotExceptionFeature ( const sotExceptionFeature::ErrorCodeEnum& errcode,
+ const std::string & msg )
+ :sotExceptionAbstract(errcode,msg)
+{
+}
+
+sotExceptionFeature::
+sotExceptionFeature ( const sotExceptionFeature::ErrorCodeEnum& errcode,
+ const std::string & msg,const char* format, ... )
+ :sotExceptionAbstract(errcode,msg)
+{
+ va_list args;
+ va_start(args,format);
+
+ const unsigned int SIZE = 256;
+ char buffer[SIZE];
+ vsnprintf(buffer,SIZE,format,args);
+
+ message = buffer;
+
+ va_end(args);
+}
+
+
+/*
+ * Local variables:
+ * c-basic-offset: 2
+ * End:
+ */
diff --git a/src/exception/exception-signal.cpp b/src/exception/exception-signal.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..890c95b712d6b62c7c347c4183c3662153f2a58b
--- /dev/null
+++ b/src/exception/exception-signal.cpp
@@ -0,0 +1,60 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: sotExceptionSignal.cpp
+ * Project: SOT
+ * Author: Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ * $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+#include <sot-core/exception-signal.h>
+#include <stdarg.h>
+#include <cstdio>
+
+/* --------------------------------------------------------------------- */
+/* --- CLASS ----------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+const std::string sotExceptionSignal::EXCEPTION_NAME = "Signal";
+
+sotExceptionSignal::
+sotExceptionSignal ( const sotExceptionSignal::ErrorCodeEnum& errcode,
+ const std::string & msg )
+ :sotExceptionAbstract(errcode,msg)
+{
+}
+
+sotExceptionSignal::
+sotExceptionSignal ( const sotExceptionSignal::ErrorCodeEnum& errcode,
+ const std::string & msg,const char* format, ... )
+ :sotExceptionAbstract(errcode,msg)
+{
+ va_list args;
+ va_start(args,format);
+
+ const unsigned int SIZE = 256;
+ char buffer[SIZE];
+ vsnprintf(buffer,SIZE,format,args);
+
+ message += buffer;
+
+ va_end(args);
+}
+
+
+
+/*
+ * Local variables:
+ * c-basic-offset: 2
+ * End:
+ */
diff --git a/src/exception/exception-task.cpp b/src/exception/exception-task.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..99c0df6e83549d5c7cdef4975e4a0f085d28e787
--- /dev/null
+++ b/src/exception/exception-task.cpp
@@ -0,0 +1,60 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: sotExceptionTask.cpp
+ * Project: SOT
+ * Author: Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ * $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+#include <sot-core/exception-task.h>
+#include <stdarg.h>
+#include <cstdio>
+
+
+/* --------------------------------------------------------------------- */
+/* --- CLASS ----------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+const std::string sotExceptionTask::EXCEPTION_NAME = "Task";
+
+sotExceptionTask::
+sotExceptionTask ( const sotExceptionTask::ErrorCodeEnum& errcode,
+ const std::string & msg )
+ :sotExceptionAbstract(errcode,msg)
+{
+}
+
+sotExceptionTask::
+sotExceptionTask ( const sotExceptionTask::ErrorCodeEnum& errcode,
+ const std::string & msg,const char* format, ... )
+ :sotExceptionAbstract(errcode,msg)
+{
+ va_list args;
+ va_start(args,format);
+
+ const unsigned int SIZE = 256;
+ char buffer[SIZE];
+ vsnprintf(buffer,SIZE,format,args);
+
+ message = buffer;
+
+ va_end(args);
+}
+
+
+/*
+ * Local variables:
+ * c-basic-offset: 2
+ * End:
+ */
diff --git a/src/exception/exception-tools.cpp b/src/exception/exception-tools.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..2b77b6ddda2c2c98b808eda12df63babf220f45a
--- /dev/null
+++ b/src/exception/exception-tools.cpp
@@ -0,0 +1,60 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: sotExceptionTools.cpp
+ * Project: SOT
+ * Author: Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ * $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+#include <sot-core/exception-tools.h>
+#include <stdarg.h>
+#include <cstdio>
+
+/* --------------------------------------------------------------------- */
+/* --- CLASS ----------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+const std::string sotExceptionTools::EXCEPTION_NAME = "Tools";
+
+sotExceptionTools::
+sotExceptionTools ( const sotExceptionTools::ErrorCodeEnum& errcode,
+ const std::string & msg )
+ :sotExceptionAbstract(errcode,msg)
+{
+}
+
+sotExceptionTools::
+sotExceptionTools ( const sotExceptionTools::ErrorCodeEnum& errcode,
+ const std::string & msg,const char* format, ... )
+ :sotExceptionAbstract(errcode,msg)
+{
+ va_list args;
+ va_start(args,format);
+
+ const unsigned int SIZE = 256;
+ char buffer[SIZE];
+ vsnprintf(buffer,SIZE,format,args);
+
+ message += buffer;
+
+ va_end(args);
+}
+
+
+
+/*
+ * Local variables:
+ * c-basic-offset: 2
+ * End:
+ */
diff --git a/src/exception/exception-traces.cpp b/src/exception/exception-traces.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..38c46fc83ab08f4d0b781c4aed71bbcb5d116a85
--- /dev/null
+++ b/src/exception/exception-traces.cpp
@@ -0,0 +1,60 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: sotExceptionTraces.cpp
+ * Project: SOT
+ * Author: Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ * $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+#include <sot-core/exception-traces.h>
+#include <stdarg.h>
+#include <cstdio>
+
+/* --------------------------------------------------------------------- */
+/* --- CLASS ----------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+const std::string sotExceptionTraces::EXCEPTION_NAME = "Traces";
+
+sotExceptionTraces::
+sotExceptionTraces ( const sotExceptionTraces::ErrorCodeEnum& errcode,
+ const std::string & msg )
+ :sotExceptionAbstract(errcode,msg)
+{
+}
+
+sotExceptionTraces::
+sotExceptionTraces ( const sotExceptionTraces::ErrorCodeEnum& errcode,
+ const std::string & msg,const char* format, ... )
+ :sotExceptionAbstract(errcode,msg)
+{
+ va_list args;
+ va_start(args,format);
+
+ const unsigned int SIZE = 256;
+ char buffer[SIZE];
+ vsnprintf(buffer,SIZE,format,args);
+
+ message += buffer;
+
+ va_end(args);
+}
+
+
+
+/*
+ * Local variables:
+ * c-basic-offset: 2
+ * End:
+ */
diff --git a/src/factory/additional-functions.cpp b/src/factory/additional-functions.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..d7f296e9f274528bb0afe587be4a7e40b99c9d87
--- /dev/null
+++ b/src/factory/additional-functions.cpp
@@ -0,0 +1,155 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: sotAdditionalFunctions.cpp
+ * Project: SOT
+ * Author: François Bleibel
+ *
+ * Version control
+ * ===============
+ *
+ * $Id$
+ *
+ * Description
+ * ============
+ * SOT-specific functions for the shell
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+
+#include <dynamic-graph/interpreter.h>
+#include <sot-core/sotDebug.h>
+#include <sot-core/factory.h>
+#include <sot-core/additional-functions.h>
+#include <sot-core/signal-cast.h>
+#include <dynamic-graph/all-signals.h>
+#include <sot-core/sotFlags.h>
+using namespace std;
+
+/* \brief Constructor. At creation, overloads (deregisters-then registers
+ * again) the 'new' function in the shell
+ */
+sotAdditionalFunctions::sotAdditionalFunctions() {
+ // overload 'new'
+ Shell.deregisterFunction("new");
+ Shell.registerFunction("new", &sotAdditionalFunctions::cmdNew);
+}
+
+sotAdditionalFunctions::~sotAdditionalFunctions() {
+ Shell.deregisterFunction("new");
+}
+
+void sotAdditionalFunctions::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( factory.existEntity( className ) )
+ {
+ sotDEBUG(15) << "New entity<"<<className<<"> " <<objName<<std::endl;
+ 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 sotAdditionalFunctions::
+cmdMatrixDisplay( const std::string& cmdLine, std::istringstream& cmdArg, std::ostream& os )
+{
+ if( cmdLine == "help" )
+ {
+ os << " - dispmat {simple|complet|matlab}"
+ << "\t\tChange the display of matrix." <<endl;
+ return;
+ }
+
+ std::string arg;
+ cmdArg >> arg;
+// dgDEBUG(15) << "Display matrix: arg = \""<< arg
+// <<"\" old="<<0+maal::boost::getDisplayType()<<endl;
+// maal::boost::Vector trojan(3);
+
+// if( ("simple"==arg)||(arg[0]=='s') )
+// { trojan.setDisplayType( maal::boost::SIMPLE ); }
+// else if( ("matlab"==arg)||(arg[0]=='m') )
+// {
+// trojan.setDisplayType( maal::boost::MATLAB );
+// dgDEBUG(15) << "Display matrix: curr = \""
+// <<0+maal::boost::MATLAB<<endl;
+// }
+// else if( "cpp"==arg ) { trojan.setDisplayType( maal::boost::CPP ); }
+// else if( ("complet"==arg)||(arg[0]=='c') )
+// { trojan.setDisplayType( maal::boost::COMPLET ); }
+// else { os << "Arg <" << arg << "> is not a valid option."<<endl; }
+
+// dgDEBUG(15) << "Display matrix: curr = \""
+// <<0+maal::boost::getDisplayType()<<endl;
+// dgDEBUGF(15,"Ptr fun: %p.", maal::boost::getDisplayType);
+ // dgDEBUG(15) << trojan<<std::endl;
+
+ if( ("simple"==arg)||(arg[0]=='s') )
+ SignalCast<ml::Vector>::displayType = maal::boost::SIMPLE;
+ else if( ("matlab"==arg)||(arg[0]=='m') )
+ SignalCast<ml::Vector>::displayType = maal::boost::MATLAB;
+ else if( "cpp"==arg )
+ SignalCast<ml::Vector>::displayType = maal::boost::CPP;
+ else if( ("complet"==arg)||(arg[0]=='c') )
+ SignalCast<ml::Vector>::displayType = maal::boost::COMPLET;
+ else { os << "Arg <" << arg << "> is not a valid option."<<endl; }
+
+}
+
+void sotAdditionalFunctions::
+cmdFlagSet( const std::string& cmdLine, istringstream& cmdArg, std::ostream& os )
+{
+ if( cmdLine == "help" )
+ {
+ os << " - set <obj1.sig1(flag type)> {#&|}START:END"
+ << "\t\tSet or reset the flag value." <<endl;
+ return;
+ }
+
+ try {
+ Signal<sotFlags,int> &sig1
+ = dynamic_cast< Signal<sotFlags,int>& >( pool.getSignal(cmdArg) );
+
+ dgDEBUG(25) << "set..."<<endl;
+ sotFlags fl; try { fl = sig1.accessCopy(); } catch(...) {}
+ cmdArg >> std::ws >> fl;
+ dgDEBUG(15) << "Fl=" << fl <<std::endl;
+ sig1 = fl;
+
+ } catch( ExceptionAbstract & err ) { throw; }
+ catch( ... ) {
+ DG_THROW ExceptionFactory( ExceptionFactory::SYNTAX_ERROR,
+ "setflag: sig should be of flag type. ",
+ "(while calling setflag).");
+ }
+
+}
+
+namespace {
+ sotAdditionalFunctions functions;
+ ShellFunctionRegisterer regFun18
+ ( "setflag",boost::bind(sotAdditionalFunctions::cmdFlagSet,_1,_2,_3) );
+ ShellFunctionRegisterer regFun6
+ ( "dispmat",boost::bind(sotAdditionalFunctions::cmdMatrixDisplay,_1,_2,_3) );
+}
diff --git a/src/factory/factory.cpp b/src/factory/factory.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..ef04956da515358da53379403b73be71aaeebe94
--- /dev/null
+++ b/src/factory/factory.cpp
@@ -0,0 +1,207 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: sotFactory.cpp
+ * Project: SOT
+ * Author: Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ * $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+/* --------------------------------------------------------------------- */
+/* --- INCLUDE --------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+/* --- SOT --- */
+#include <sot-core/sotDebug.h>
+#include <sot-core/factory.h>
+
+using namespace std;
+
+/* --------------------------------------------------------------------- */
+/* --- CLASS ----------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+
+sotFactoryStorage::
+~sotFactoryStorage( void )
+{
+ sotDEBUGINOUT(25);
+}
+
+/* --------------------------------------------------------------------- */
+void sotFactoryStorage::
+registerTask( const std::string& entname,TaskConstructor_ptr ent )
+{
+ TaskMap::iterator entkey;
+ if( existTask(entname,entkey) ) // key does exist
+ {
+// SOT_THROW sotExceptionFactory( sotExceptionFactory::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;
+ }
+}
+
+sotTaskAbstract* sotFactoryStorage::
+newTask( const std::string& classname,const std::string& objname )
+{
+ TaskMap::iterator entPtr;
+ if(! existTask(classname,entPtr) ) // key does not exist
+ {
+ SOT_THROW sotExceptionFactory( sotExceptionFactory::UNREFERED_OBJECT,
+ "Unknown task."," (while calling new_task <%s>)",
+ classname.c_str() );
+ }
+ return entPtr->second(objname);
+}
+bool sotFactoryStorage::
+existTask( const std::string& name, TaskMap::iterator& entPtr )
+{
+ entPtr = taskMap .find( name );
+ return ( entPtr != taskMap.end() );
+}
+bool sotFactoryStorage::
+existTask( const std::string& name )
+{
+ TaskMap::iterator entPtr;return existTask( name,entPtr );
+}
+
+
+/* --------------------------------------------------------------------- */
+void sotFactoryStorage::
+registerFeature( const std::string& entname,FeatureConstructor_ptr ent )
+{
+ FeatureMap::iterator entkey;
+ if( existFeature(entname,entkey) ) // key does exist
+ {
+// SOT_THROW sotExceptionFactory( sotExceptionFactory::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;
+ }
+}
+
+sotFeatureAbstract* sotFactoryStorage::
+newFeature( const std::string& classname,const std::string& objname )
+{
+ FeatureMap::iterator entPtr;
+ if(! existFeature(classname,entPtr) ) // key does not exist
+ {
+ SOT_THROW sotExceptionFactory( sotExceptionFactory::UNREFERED_OBJECT,
+ "Unknown feature."," (while calling new_feature <%s>)",
+ classname.c_str() );
+ }
+ return entPtr->second(objname);
+}
+bool sotFactoryStorage::
+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 sotFactoryStorage::
+existFeature( const std::string& name )
+{
+ FeatureMap::iterator entPtr;return existFeature( name,entPtr );
+}
+
+
+
+/* --------------------------------------------------------------------- */
+/* --- REGISTERERS ----------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+sotFeatureRegisterer::
+sotFeatureRegisterer( const std::string& featureClassName,
+ sotFactoryStorage::FeatureConstructor_ptr maker)
+{
+ //sotDEBUG(3) << "Register feature class: "<< featureClassName << std::endl;
+ sotFactory.registerFeature(featureClassName,maker);
+}
+
+sotTaskRegisterer::
+sotTaskRegisterer( const std::string& taskClassName,
+ sotFactoryStorage::TaskConstructor_ptr maker)
+{
+ //sotDEBUG(3) << "Register task class: "<< taskClassName << std::endl;
+ sotFactory.registerTask(taskClassName,maker);
+}
+
+
+/* --------------------------------------------------------------------- */
+/* --- COMMAND LINE ---------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+void sotFactoryStorage::
+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;
+}
+
+
+
+
+sotFactoryStorage sotFactory;
+
diff --git a/src/factory/pool.cpp b/src/factory/pool.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..a45cf5657a4b14d4a0a78f2acf42b29b8bdd3f4a
--- /dev/null
+++ b/src/factory/pool.cpp
@@ -0,0 +1,249 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: sotPool.cpp
+ * Project: SOT
+ * Author: Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ * $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+/* --------------------------------------------------------------------- */
+/* --- INCLUDE --------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+/* --- SOT --- */
+#include <sot-core/pool.h>
+#include <sot-core/sotDebug.h>
+#include <dynamic-graph/entity.h>
+#include <list>
+
+/* --------------------------------------------------------------------- */
+/* --- CLASS ----------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+sotPoolStorage::
+~sotPoolStorage( void )
+{
+ sotDEBUGIN(15);
+
+
+ sotDEBUGOUT(15);
+ return;
+}
+
+
+/* --------------------------------------------------------------------- */
+void sotPoolStorage::
+registerTask( const std::string& entname,sotTaskAbstract* ent )
+{
+ Tasks::iterator entkey = task.find(entname);
+ if( entkey != task.end() ) // key does exist
+ {
+ throw sotExceptionFactory( sotExceptionFactory::OBJECT_CONFLICT,
+ "Another task already defined with the same name. ",
+ "Task name is <%s>.",entname.c_str() );
+ }
+ else
+ {
+ sotDEBUG(10) << "Register task <"<< entname
+ << "> in the pool." <<std::endl;
+ task[entname] = ent;
+ }
+}
+
+sotTaskAbstract& sotPoolStorage::
+getTask( const std::string& name )
+{
+ Tasks::iterator entPtr = task .find( name );
+ if( entPtr == task.end() )
+ {
+ SOT_THROW sotExceptionFactory( sotExceptionFactory::UNREFERED_OBJECT,
+ "Unknown task."," (while calling <%s>)",
+ name.c_str() );
+ }
+ return *entPtr->second;
+}
+
+
+
+/* --------------------------------------------------------------------- */
+void sotPoolStorage::
+registerFeature( const std::string& entname,sotFeatureAbstract* ent )
+{
+ Features::iterator entkey = feature.find(entname);
+ if( entkey != feature.end() ) // key does exist
+ {
+ throw sotExceptionFactory( sotExceptionFactory::OBJECT_CONFLICT,
+ "Another feature already defined with the same name. ",
+ "Feature name is <%s>.",entname.c_str() );
+ }
+ else
+ {
+ sotDEBUG(10) << "Register feature <"<< entname
+ << "> in the pool." <<std::endl;
+ feature[entname] = ent;
+ }
+}
+
+sotFeatureAbstract& sotPoolStorage::
+getFeature( const std::string& name )
+{
+ Features::iterator entPtr = feature .find( name );
+ if( entPtr == feature.end() )
+ {
+ SOT_THROW sotExceptionFactory( sotExceptionFactory::UNREFERED_OBJECT,
+ "Unknown feature."," (while calling <%s>)",
+ name.c_str() );
+ }
+ return *entPtr->second;
+}
+
+
+
+
+/* --------------------------------------------------------------------- */
+
+#include <dynamic-graph/entity.h>
+#include <sot-core/sotTaskAbstract.h>
+#include <sot-core/sotFeatureAbstract.h>
+
+#ifdef WIN32
+#include <time.h>
+#endif /*WIN32*/
+
+void sotPoolStorage::
+writeGraph(const std::string &aFileName)
+{
+ size_t IdxPointFound = aFileName.rfind(".");
+ std::string tmp1 = aFileName.substr(0,IdxPointFound);
+ size_t IdxSeparatorFound = aFileName.rfind("/");
+ std::string GenericName;
+ if (IdxSeparatorFound!=std::string::npos)
+ GenericName = tmp1.substr(IdxSeparatorFound,tmp1.length());
+ else
+ GenericName = tmp1;
+
+ /* Reading local time */
+ time_t ltime;
+ ltime = time(NULL);
+ struct tm ltimeformatted;
+#ifdef WIN32
+ localtime_s(<imeformatted,<ime);
+#else
+ localtime_r(<ime,<imeformatted);
+#endif /*WIN32*/
+
+ /* Opening the file and writing the first comment. */
+ std::ofstream GraphFile;
+ GraphFile.open((char *)aFileName.c_str(),std::ofstream::out);
+ GraphFile << "/* This graph has been automatically generated. " << std::endl;
+ GraphFile << " " << 1900+ltimeformatted.tm_year
+ << " Month: " << 1+ltimeformatted.tm_mon
+ << " Day: " << ltimeformatted.tm_mday
+ << " Time: " << ltimeformatted.tm_hour
+ << ":" << ltimeformatted.tm_min;
+ GraphFile << " */" << std::endl;
+ GraphFile << "digraph " << GenericName << " { ";
+ GraphFile << "\t graph [ label=\"" << GenericName << "\" bgcolor = white rankdir=LR ]" << std::endl
+ << "\t node [ fontcolor = black, color = black, fillcolor = gold1, style=filled, shape=box ] ; " << std::endl;
+ GraphFile << "\tsubgraph cluster_Tasks { " << std::endl;
+ GraphFile << "\t\t color=blue; label=\"Tasks\";" << std::endl;
+
+ for( Tasks::iterator iter=task.begin();
+ iter!=task.end();iter++ )
+ {
+ sotTaskAbstract* ent = iter->second;
+ GraphFile << "\t\t" << ent->getName()
+ <<" [ label = \"" << ent->getName() << "\" ," << std::endl
+ <<"\t\t fontcolor = black, color = black, fillcolor = magenta, style=filled, shape=box ]" << std::endl;
+
+ }
+
+
+ GraphFile << "}"<< std::endl;
+
+ GraphFile.close();
+}
+
+void sotPoolStorage::
+writeCompletionList(std::ostream& os)
+{
+
+
+}
+
+
+void sotPoolStorage::
+commandLine( const std::string& objectName,const std::string& functionName,
+ std::istringstream& cmdArg, std::ostream& os )
+{
+ sotDEBUG(15) << "Object <" << objectName<< "> function <"
+ <<functionName<<">"<<std::endl;
+
+ if( objectName=="pool" )
+ {
+ if( functionName=="help" )
+ {
+ os <<"Pool: " << std::endl
+ <<" - list" << std::endl
+ <<" - listFeature" << std::endl
+ <<" - listTask" << std::endl
+ << " - writegraph FileName" << std::endl;
+ }
+ else if( functionName=="list" )
+ {
+ //FIXME: list entities from dg::pool ?
+
+ }
+ else if( functionName=="listTask" )
+ {
+ for( Tasks::iterator iter=task.begin();
+ iter!=task.end();iter++ )
+ {
+ sotTaskAbstract* ent = iter->second;
+ os << ent->getName()
+ <<" (" << ent->getClassName() << ")" << std::endl;
+ }
+
+ }
+ else if( functionName=="listFeature" )
+ {
+ for( Features::iterator iter=feature.begin();
+ iter!=feature.end();iter++ )
+ {
+ sotFeatureAbstract* ent = iter->second;
+ os << ent->getName()
+ <<" (" << ent->getClassName() << ")" << std::endl;
+ }
+
+ }
+ else if (functionName=="writegraph")
+ {
+ std::string aFileName;
+ cmdArg >> aFileName;
+ writeGraph(aFileName);
+ }
+
+ }
+ else
+ {
+ //DISABLED
+ //Entity& ent = getEntity(objectName);
+ //ent.commandLine(functionName,cmdArg,os);
+ }
+}
+
+
+sotPoolStorage sotPool;
+
diff --git a/src/feature/sotFeatureLineDistance.cpp b/src/feature/sotFeatureLineDistance.cpp
index 1508fe8c9f6226d361abb32367d60c564781208f..397212bef25e5b30a41e8223ad6a56f6ff18eaf3 100644
--- a/src/feature/sotFeatureLineDistance.cpp
+++ b/src/feature/sotFeatureLineDistance.cpp
@@ -27,9 +27,9 @@
#include <sot-core/sotFeatureLineDistance.h>
#include <sot-core/exception-feature.h>
-#include <sot-core/sotMatrixHomogeneous.h>
-#include <sot-core/sotMatrixRotation.h>
-#include <sot-core/sotVectorUTheta.h>
+#include <sot-core/matrix-homogeneous.h>
+#include <sot-core/matrix-rotation.h>
+#include <sot-core/vector-utheta.h>
using namespace std;
diff --git a/src/feature/sotFeaturePoint6d.cpp b/src/feature/sotFeaturePoint6d.cpp
index d9d15959e995e1dc90199cc1fbcfcf4e948c287c..6480eb2df32eb61f74e222b736e6758d043e7818 100644
--- a/src/feature/sotFeaturePoint6d.cpp
+++ b/src/feature/sotFeaturePoint6d.cpp
@@ -29,9 +29,9 @@
#include <sot-core/sotFeaturePoint6d.h>
#include <sot-core/exception-feature.h>
-#include <sot-core/sotMatrixHomogeneous.h>
-#include <sot-core/sotMatrixRotation.h>
-#include <sot-core/sotVectorUTheta.h>
+#include <sot-core/matrix-homogeneous.h>
+#include <sot-core/matrix-rotation.h>
+#include <sot-core/vector-utheta.h>
using namespace std;
diff --git a/src/feature/sotFeaturePoint6dRelative.cpp b/src/feature/sotFeaturePoint6dRelative.cpp
index 79b52ff59ab1d6000fe0eb9f31552ba4ccc09aad..5a2a648a2f19802de3b6a2f046c142725ee2375e 100644
--- a/src/feature/sotFeaturePoint6dRelative.cpp
+++ b/src/feature/sotFeaturePoint6dRelative.cpp
@@ -27,9 +27,9 @@
#include <sot-core/sotFeaturePoint6dRelative.h>
#include <sot-core/exception-feature.h>
-#include <sot-core/sotMatrixHomogeneous.h>
-#include <sot-core/sotMatrixRotation.h>
-#include <sot-core/sotMatrixTwist.h>
+#include <sot-core/matrix-homogeneous.h>
+#include <sot-core/matrix-rotation.h>
+#include <sot-core/matrix-twist.h>
#include <dynamic-graph/pool.h>
using namespace std;
diff --git a/src/feature/sotFeatureVector3.cpp b/src/feature/sotFeatureVector3.cpp
index cdbe89eedd66b048ccfcda2368e1e45cf2246dc9..f811f7e5ee7bb4cc6107db6b7cd436c2e0ae7cd1 100644
--- a/src/feature/sotFeatureVector3.cpp
+++ b/src/feature/sotFeatureVector3.cpp
@@ -29,9 +29,9 @@
#include <sot-core/sotFeatureVector3.h>
#include <sot-core/exception-feature.h>
-#include <sot-core/sotMatrixHomogeneous.h>
-#include <sot-core/sotMatrixRotation.h>
-#include <sot-core/sotVectorUTheta.h>
+#include <sot-core/matrix-homogeneous.h>
+#include <sot-core/matrix-rotation.h>
+#include <sot-core/vector-utheta.h>
using namespace std;
diff --git a/src/math/sotMatrixForce.cpp b/src/math/matrix-force.cpp
similarity index 92%
rename from src/math/sotMatrixForce.cpp
rename to src/math/matrix-force.cpp
index a953bd469bf4ad3f9ef66b70595eb4ab05b50796..20f8fbc7b5e9d8c46ea6c2377997a1f297b4ab88 100644
--- a/src/math/sotMatrixForce.cpp
+++ b/src/math/matrix-force.cpp
@@ -17,10 +17,10 @@
*
* ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
-#include <sot-core/sotMatrixForce.h>
-#include <sot-core/sotMatrixHomogeneous.h>
-#include <sot-core/sotMatrixRotation.h>
-#include <sot-core/sotMatrixTwist.h>
+#include <sot-core/matrix-force.h>
+#include <sot-core/matrix-homogeneous.h>
+#include <sot-core/matrix-rotation.h>
+#include <sot-core/matrix-twist.h>
#include <sot-core/sotDebug.h>
sotMatrixForce& sotMatrixForce::
diff --git a/src/math/sotMatrixHomogeneous.cpp b/src/math/matrix-homogeneous.cpp
similarity index 96%
rename from src/math/sotMatrixHomogeneous.cpp
rename to src/math/matrix-homogeneous.cpp
index f5b2e94a7ed98dfe2112457ef35bb955c9d54f09..f4cb4cbf8d507ddea527ff033009da31e5778e63 100644
--- a/src/math/sotMatrixHomogeneous.cpp
+++ b/src/math/matrix-homogeneous.cpp
@@ -17,8 +17,8 @@
*
* ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
-#include <sot-core/sotMatrixHomogeneous.h>
-#include <sot-core/sotMatrixRotation.h>
+#include <sot-core/matrix-homogeneous.h>
+#include <sot-core/matrix-rotation.h>
#include <sot-core/sotDebug.h>
sotMatrixHomogeneous& sotMatrixHomogeneous::
diff --git a/src/math/sotMatrixRotation.cpp b/src/math/matrix-rotation.cpp
similarity index 87%
rename from src/math/sotMatrixRotation.cpp
rename to src/math/matrix-rotation.cpp
index 8f302c769395fe4cfa14bfeddf5006c82a4b895a..1ec358b123d750302b655558fc66014f53c05d1c 100644
--- a/src/math/sotMatrixRotation.cpp
+++ b/src/math/matrix-rotation.cpp
@@ -17,8 +17,8 @@
*
* ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
-#include <sot-core/sotMatrixRotation.h>
-#include <sot-core/sotVectorUTheta.h>
+#include <sot-core/matrix-rotation.h>
+#include <sot-core/vector-utheta.h>
using namespace std;
diff --git a/src/math/sotMatrixTwist.cpp b/src/math/matrix-twist.cpp
similarity index 92%
rename from src/math/sotMatrixTwist.cpp
rename to src/math/matrix-twist.cpp
index e201804fb8e6702b7074188e12daf283929f866d..46fa848702e4b7f7df8c07d70ed0e768522e34b0 100644
--- a/src/math/sotMatrixTwist.cpp
+++ b/src/math/matrix-twist.cpp
@@ -17,10 +17,10 @@
*
* ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
-#include <sot-core/sotMatrixTwist.h>
-#include <sot-core/sotMatrixHomogeneous.h>
-#include <sot-core/sotMatrixRotation.h>
-#include <sot-core/sotMatrixForce.h>
+#include <sot-core/matrix-twist.h>
+#include <sot-core/matrix-homogeneous.h>
+#include <sot-core/matrix-rotation.h>
+#include <sot-core/matrix-force.h>
#include <sot-core/sotDebug.h>
sotMatrixTwist& sotMatrixTwist::
diff --git a/src/math/sotOpPointModifior.cpp b/src/math/op-point-modifior.cpp
similarity index 97%
rename from src/math/sotOpPointModifior.cpp
rename to src/math/op-point-modifior.cpp
index c1f5457fcdfcaa9d069bad46f1bd5c7c312303db..ae5b7ced4c1c5237199b93a2c07d2facccea8b87 100644
--- a/src/math/sotOpPointModifior.cpp
+++ b/src/math/op-point-modifior.cpp
@@ -19,8 +19,8 @@
#include <dynamic-graph/all-signals.h>
-#include <sot-core/sotOpPointModifior.h>
-#include <sot-core/sotMatrixTwist.h>
+#include <sot-core/op-point-modifier.h>
+#include <sot-core/matrix-twist.h>
#include <dynamic-graph/pool.h>
#include <sot-core/factory.h>
diff --git a/src/math/sotVectorQuaternion.cpp b/src/math/vector-quaternion.cpp
similarity index 98%
rename from src/math/sotVectorQuaternion.cpp
rename to src/math/vector-quaternion.cpp
index 81fe41b2a1aaddbd9733bc98c7708ef6f942883c..27a3001ccb586024ef2133ff87beb49d5e9651a8 100644
--- a/src/math/sotVectorQuaternion.cpp
+++ b/src/math/vector-quaternion.cpp
@@ -17,7 +17,7 @@
*
* ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
-#include <sot-core/sotVectorQuaternion.h>
+#include <sot-core/vector-quaternion.h>
#include <sot-core/sotDebug.h>
using namespace std;
@@ -121,7 +121,7 @@ fromMatrix( const sotMatrixRotation& rot )
}
-#include <sot-core/sotVectorUTheta.h>
+#include <sot-core/vector-utheta.h>
sotVectorRotation& sotVectorQuaternion::
fromVector( const sotVectorUTheta& ut )
diff --git a/src/math/sotVectorRollPitchYaw.cpp b/src/math/vector-roll-pitch-yaw.cpp
similarity index 97%
rename from src/math/sotVectorRollPitchYaw.cpp
rename to src/math/vector-roll-pitch-yaw.cpp
index eb031ee0a8b6d38f112a480df897e6ac32bfef34..66339502e84dbb6d487a33a705d9bdd83363d0c8 100644
--- a/src/math/sotVectorRollPitchYaw.cpp
+++ b/src/math/vector-roll-pitch-yaw.cpp
@@ -17,7 +17,7 @@
*
* ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
-#include <sot-core/sotVectorRollPitchYaw.h>
+#include <sot-core/vector-roll-pitch-yaw.h>
#include <sot-core/sotDebug.h>
using namespace std;
diff --git a/src/math/sotVectorUTheta.cpp b/src/math/vector-utheta.cpp
similarity index 98%
rename from src/math/sotVectorUTheta.cpp
rename to src/math/vector-utheta.cpp
index 5ac6937d69500878f32b36f05a3fd7fa3b1959e1..5d7f31154dc8814bdb4d7f6f9db9e01fa05b8a01 100644
--- a/src/math/sotVectorUTheta.cpp
+++ b/src/math/vector-utheta.cpp
@@ -17,7 +17,7 @@
*
* ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
-#include <sot-core/sotVectorUTheta.h>
+#include <sot-core/vector-utheta.h>
#include <sot-core/sotDebug.h>
using namespace std;
diff --git a/src/matrix/sotBinaryOp.cpp b/src/matrix/binary-op.cpp
similarity index 98%
rename from src/matrix/sotBinaryOp.cpp
rename to src/matrix/binary-op.cpp
index 3ce2c2d9e54288d7778a343ad2fda2f642b32691..03d8ad6cc7babd81ea3d85483620a1235807ca60 100644
--- a/src/matrix/sotBinaryOp.cpp
+++ b/src/matrix/binary-op.cpp
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotBinaryOp.h
+ * File: binary-op.h
* Project: SOT
* Author: Nicolas Mansard
*
@@ -17,13 +17,13 @@
*
* ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
-#include <sot-core/sotBinaryOp.h>
+#include <sot-core/binary-op.h>
#include <sot-core/factory.h>
-#include <sot-core/sotMatrixHomogeneous.h>
-#include <sot-core/sotVectorRollPitchYaw.h>
-#include <sot-core/sotMatrixRotation.h>
-#include <sot-core/sotMatrixTwist.h>
+#include <sot-core/matrix-homogeneous.h>
+#include <sot-core/vector-roll-pitch-yaw.h>
+#include <sot-core/matrix-rotation.h>
+#include <sot-core/matrix-twist.h>
#include <sot-core/sotDebug.h>
diff --git a/src/matrix/sotDerivator.cpp b/src/matrix/derivator.cpp
similarity index 98%
rename from src/matrix/sotDerivator.cpp
rename to src/matrix/derivator.cpp
index eda463eba949c49b289b5487f6e95b4b8a940b28..54209ab325bc8734f85e38ac156a9e6ea18b8155 100644
--- a/src/matrix/sotDerivator.cpp
+++ b/src/matrix/derivator.cpp
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotDerivator.h
+ * File: derivator.h
* Project: SOT
* Author: Nicolas Mansard
*
@@ -17,7 +17,7 @@
*
* ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
-#include <sot-core/sotDerivator.h>
+#include <sot-core/derivator.h>
#include <sot-core/factory.h>
diff --git a/src/matrix/sotFIRFilter.cpp b/src/matrix/fir-filter.cpp
similarity index 98%
rename from src/matrix/sotFIRFilter.cpp
rename to src/matrix/fir-filter.cpp
index c107b7547e1243d93268d194245363f3060d5118..ebafaa3b0cb34e0f356c905376c6186d2b6a0a30 100644
--- a/src/matrix/sotFIRFilter.cpp
+++ b/src/matrix/fir-filter.cpp
@@ -17,7 +17,7 @@
*
* ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
-#include <sot-core/sotFIRFilter.h>
+#include <sot-core/fir-filter.h>
#include <sot-core/factory.h>
diff --git a/src/matrix/sotIntegratorAbstract.cpp b/src/matrix/integrator-abstract.cpp
similarity index 97%
rename from src/matrix/sotIntegratorAbstract.cpp
rename to src/matrix/integrator-abstract.cpp
index d1b1734f2f4dbc366fa16eda9cc9445a87f51a90..8a82926b2f835e2703ace4860dd3ea104429a2b6 100644
--- a/src/matrix/sotIntegratorAbstract.cpp
+++ b/src/matrix/integrator-abstract.cpp
@@ -17,7 +17,7 @@
*
* ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
-#include <sot-core/sotIntegratorAbstract.h>
+#include <sot-core/integrator-abstract.h>
#include <sot-core/factory.h>
diff --git a/src/matrix/sotIntegratorEuler.cpp b/src/matrix/integrator-euler.cpp
similarity index 98%
rename from src/matrix/sotIntegratorEuler.cpp
rename to src/matrix/integrator-euler.cpp
index 168677ecb8e1dd56498a448a7985b01defb5affe..2e64db888df7880a8cdc5c469ade930e8694bd57 100644
--- a/src/matrix/sotIntegratorEuler.cpp
+++ b/src/matrix/integrator-euler.cpp
@@ -17,7 +17,7 @@
*
* ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
-#include <sot-core/sotIntegratorEuler.h>
+#include <sot-core/integrator-euler.h>
#include <sot-core/factory.h>
diff --git a/src/matrix/sotMatrixConstant.cpp b/src/matrix/matrix-constant.cpp
similarity index 98%
rename from src/matrix/sotMatrixConstant.cpp
rename to src/matrix/matrix-constant.cpp
index 10a540bbb9631f3230b780f4802bc7a5f12c1200..198475ae7bb07cb2e8a18840819efd7aebb95884 100644
--- a/src/matrix/sotMatrixConstant.cpp
+++ b/src/matrix/matrix-constant.cpp
@@ -17,7 +17,7 @@
*
* ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
-#include <sot-core/sotMatrixConstant.h>
+#include <sot-core/matrix-constant.h>
#include <sot-core/factory.h>
SOT_FACTORY_ENTITY_PLUGIN(sotMatrixConstant,"MatrixConstant");
diff --git a/src/matrix/sotUnaryOp.cpp b/src/matrix/unary-op.cpp
similarity index 98%
rename from src/matrix/sotUnaryOp.cpp
rename to src/matrix/unary-op.cpp
index 0fa7b63ac6eeb52e2a0470b8372e8b2beae157af..af85041498ea0f57d606f47c4381622eda5f58a0 100644
--- a/src/matrix/sotUnaryOp.cpp
+++ b/src/matrix/unary-op.cpp
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotUnaryOp.h
+ * File: unary-op.h
* Project: SOT
* Author: Nicolas Mansard
*
@@ -17,15 +17,15 @@
*
* ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
-#include <sot-core/sotUnaryOp.h>
+#include <sot-core/unary-op.h>
#include <sot-core/factory.h>
-#include <sot-core/sotMatrixHomogeneous.h>
-#include <sot-core/sotMatrixTwist.h>
-#include <sot-core/sotVectorUTheta.h>
-#include <sot-core/sotVectorRollPitchYaw.h>
-#include <sot-core/sotVectorQuaternion.h>
+#include <sot-core/matrix-homogeneous.h>
+#include <sot-core/matrix-twist.h>
+#include <sot-core/vector-utheta.h>
+#include <sot-core/vector-roll-pitch-yaw.h>
+#include <sot-core/vector-quaternion.h>
diff --git a/src/matrix/sotVectorConstant.cpp b/src/matrix/vector-constant.cpp
similarity index 98%
rename from src/matrix/sotVectorConstant.cpp
rename to src/matrix/vector-constant.cpp
index fb40bda3d3419a0db17f37b4514f1ff6fdcb1508..49e7c9f195b2e7a23e67a12a586b12406130e492 100644
--- a/src/matrix/sotVectorConstant.cpp
+++ b/src/matrix/vector-constant.cpp
@@ -17,7 +17,7 @@
*
* ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
-#include <sot-core/sotVectorConstant.h>
+#include <sot-core/vector-constant.h>
#include <sot-core/factory.h>
SOT_FACTORY_ENTITY_PLUGIN(sotVectorConstant,"VectorConstant");
diff --git a/src/matrix/sotVectorToRotation.cpp b/src/matrix/vector-to-rotation.cpp
similarity index 98%
rename from src/matrix/sotVectorToRotation.cpp
rename to src/matrix/vector-to-rotation.cpp
index 5934e44013a6d3f82031b5972c29c3656b415889..770a43bd18499722f9e2d0c5c8a2fa3c50fb067b 100644
--- a/src/matrix/sotVectorToRotation.cpp
+++ b/src/matrix/vector-to-rotation.cpp
@@ -17,7 +17,7 @@
*
* ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
-#include <sot-core/sotVectorToRotation.h>
+#include <sot-core/vector-to-rotation.h>
#include <sot-core/factory.h>
#include <sot-core/macros-signal.h>
diff --git a/src/signal/signal-cast.cpp b/src/signal/signal-cast.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e9dd28f9e7ca723635fe7311eb6567168497dd2b
--- /dev/null
+++ b/src/signal/signal-cast.cpp
@@ -0,0 +1,204 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: SignalCast.cpp
+ * Project: SOT
+ * Author: Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ * $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+#include <sot-core/pool.h>
+#include <sot-core/signal-cast.h>
+#include <iomanip>
+#include <sot-core/sotFeatureAbstract.h>
+
+using namespace std;
+
+#ifdef WIN32
+#include < Windows.h >
+#endif
+
+SignalCast_sotFeatureAbstractPtr SignalCast<SignalCast_sotFeatureAbstractPtr>::
+cast( std::istringstream& iss )
+{
+ SignalCast_sotFeatureAbstractPtr ref;
+ std::string name; iss >> name;
+ if( name.length())
+ {
+ ref = &sotPool.getFeature(name);
+ }
+ else { ref = NULL; }
+ return ref;
+}
+
+void SignalCast<SignalCast_sotFeatureAbstractPtr>::
+disp( const SignalCast_sotFeatureAbstractPtr & t,std::ostream& os )
+{
+ if( t ) { t->display(os); os<<std::endl; }
+ else { os << "NULL" << std::endl; }
+}
+
+
+
+struct timeval SignalCast<struct timeval>::
+cast( std::istringstream& iss )
+{
+ int u,s; iss >> s >> u;
+ struct timeval t; t.tv_sec = s; t.tv_usec = u;
+ return t;
+}
+void SignalCast<struct timeval>::
+disp( const struct timeval& t,std::ostream& os )
+{
+ os << t.tv_sec << "s "<< t.tv_usec << "ms";
+}
+
+void SignalCast<sotVectorMultiBound>::
+trace( const sotVectorMultiBound& t,std::ostream& os )
+{
+ for( sotVectorMultiBound::const_iterator iter=t.begin();t.end()!=iter;++iter )
+ {
+ switch( iter->mode )
+ {
+ case sotMultiBound::MODE_SINGLE:
+ os << iter->getSingleBound() << "\t";
+ break;
+ case sotMultiBound::MODE_DOUBLE:
+ if( iter->getDoubleBoundSetup(sotMultiBound::BOUND_INF) )
+ os << iter->getDoubleBound(sotMultiBound::BOUND_INF)<<"\t";
+ else os <<"-inf\t";
+ if( iter->getDoubleBoundSetup(sotMultiBound::BOUND_SUP) )
+ os << iter->getDoubleBound(sotMultiBound::BOUND_SUP)<<"\t";
+ else os <<"+inf\t";
+ break;
+ }
+ }
+}
+
+/* --- VECTOR ---------------------------------------------------------- */
+/* --- VECTOR ---------------------------------------------------------- */
+/* --- VECTOR ---------------------------------------------------------- */
+
+maal::boost::DisplayType SignalCast<ml::Vector>::displayType = maal::boost::MATLAB;
+
+ml::Vector SignalCast<ml::Vector>::
+cast( std::istringstream& iss )
+{
+ ml::Vector res;
+ iss >> res;
+ return res;
+}
+void SignalCast<ml::Vector>::
+disp( const ml::Vector& v1,std::ostream& os )
+{
+ switch( displayType )
+ {
+ case maal::boost::COMPLET:
+ for( unsigned int i=0;i<v1.size();++i )
+ { if(fabs(v1(i))>1e-6) os << v1(i) << "\t"; else os<<0.00<<"\t"; }
+ break;
+ case maal::boost::MATLAB:
+ os << "[ ";
+ for( unsigned int i=0;i<v1.size();++i )
+ {
+ os << v1(i);
+ if( v1.size()!=i+1 ) { os << ", "; }
+ }
+ os << "]" << std::endl;
+ break;
+ case maal::boost::SIMPLE:
+ default:
+ os<<v1.accessToMotherLib() << std::endl;
+ break;
+ }
+}
+
+void SignalCast<ml::Vector>::
+trace( const ml::Vector& t,std::ostream& os )
+
+{
+ for( unsigned int i=0;i<t.size();++i )
+ { os << std::setprecision(9)<<t(i) << "\t"; }
+}
+
+
+
+
+/* --- MATRIX --------------------------------------------------- */
+/* --- MATRIX --------------------------------------------------- */
+/* --- MATRIX --------------------------------------------------- */
+
+ml::Matrix SignalCast<ml::Matrix>::
+cast( std::istringstream& iss )
+{
+ ml::Matrix res;
+ iss >> res;
+ return res;
+}
+
+void SignalCast<ml::Matrix>::
+disp( const ml::Matrix& m1,std::ostream& os )
+{
+ switch( SignalCast<ml::Vector>::displayType)
+ {
+ case ml::COMPLET:
+ for( unsigned int i=0;i<m1.nbRows();++i )
+ {
+ for( unsigned int j=0;j<m1.nbCols();++j )
+ { if(fabs(m1(i,j))>1e-6) os << m1(i,j) << "\t"; else os<<0.00<<"\t"; }
+ os<<std::endl;
+ }
+ break;
+ case ml::MATLAB:
+ os << "[ ";
+ for( unsigned int i=0;i<m1.nbRows();++i )
+ {
+ for( unsigned int j=0;j<m1.nbCols();++j )
+ {
+ os << m1(i,j) << ", ";
+ }
+ if( m1.nbRows()!=i+1 ) { os << ";" << std::endl; }
+ else { os << "]" << std::endl; }
+ }
+ break;
+ case ml::SIMPLE:
+ default:
+ os<<m1.matrix<<std::endl;
+ break;
+ }
+}
+
+void SignalCast<ml::Matrix>::
+trace( const ml::Matrix& t,std::ostream& os )
+{
+ for( unsigned int i=0;i<t.nbRows();++i )
+ for( unsigned int j=0;j<t.nbCols();++j )
+ { if(fabs(t(i,j))>1e-6) os << t(i,j) << "\t"; else os<<0.00<<"\t"; }
+}
+
+namespace {
+ SOT_SIGNAL_CAST_DECLARATION(SignalCast_sotFeatureAbstractPtr);
+ SOT_SIGNAL_CAST_DECLARATION(sotFlags);
+ SOT_SIGNAL_CAST_DECLARATION(sotVectorMultiBound);
+ SOT_SIGNAL_CAST_DECLARATION(timeval );
+ SOT_SIGNAL_CAST_DECLARATION_NAMED(maal::boost::Vector, maal_boost_Vector);
+ SOT_SIGNAL_CAST_DECLARATION_NAMED(maal::boost::Matrix, maal_boost_Matrix);
+ SOT_SIGNAL_CAST_DECLARATION(sotVectorUTheta);
+ SOT_SIGNAL_CAST_DECLARATION(sotVectorQuaternion);
+ SOT_SIGNAL_CAST_DECLARATION(sotVectorRollPitchYaw);
+ SOT_SIGNAL_CAST_DECLARATION(sotMatrixRotation);
+ SOT_SIGNAL_CAST_DECLARATION(sotMatrixHomogeneous);
+ SOT_SIGNAL_CAST_DECLARATION(sotMatrixTwist);
+ SOT_SIGNAL_CAST_DECLARATION(sotMatrixForce);
+
+}