From 92f284933d573504500c791ec064a246b97d9f79 Mon Sep 17 00:00:00 2001
From: Francois Bleibel <fbleibel@gmail.com>
Date: Tue, 22 Jun 2010 14:30:28 +0900
Subject: [PATCH] More refactoring. Removed undertermination between sot::Pool
and dynamicgraph::Pool in pool.cpp. Added cmake configure for
import-default-paths.
---
include/CMakeLists.txt | 4 ++--
include/sot-core/memory-task-sot.h | 4 ++--
include/sot-core/pool.h | 3 +--
include/sot-core/sot-h.h | 6 +++---
include/sot-core/task-abstract.h | 10 +++++-----
src/factory/pool.cpp | 25 ++++++++-----------------
src/sot/sot-h.cpp | 20 ++++++++++----------
7 files changed, 31 insertions(+), 41 deletions(-)
diff --git a/include/CMakeLists.txt b/include/CMakeLists.txt
index 1a149b3d..013ccbdb 100644
--- a/include/CMakeLists.txt
+++ b/include/CMakeLists.txt
@@ -4,8 +4,8 @@
# Generate header with default script directory.
SET(SOT_IMPORT_DEFAULT_PATHS \"${CMAKE_INSTALL_PREFIX}/script\")
-CONFIGURE_FILE(sot-core/import-default-paths.h.cmake
- sot-core/import-default-paths.h)
+CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/sot-core/import-default-paths.h.cmake
+ ${CMAKE_CURRENT_SOURCE_DIR}/sot-core/import-default-paths.h)
SET(${PROJECT_NAME}_HEADERS
sot-core-api.h
diff --git a/include/sot-core/memory-task-sot.h b/include/sot-core/memory-task-sot.h
index 4897f793..26855d0b 100644
--- a/include/sot-core/memory-task-sot.h
+++ b/include/sot-core/memory-task-sot.h
@@ -47,7 +47,7 @@
namespace sot {
class SOTSOT_CORE_EXPORT MemoryTaskSOT
-: public TaskAbstract::sotMemoryTaskAbstract, public Entity
+: public TaskAbstract::MemoryTaskAbstract, public Entity
{
public:// protected:
/* Internal memory to reduce the dynamic allocation at task resolution. */
@@ -65,7 +65,7 @@ class SOTSOT_CORE_EXPORT MemoryTaskSOT
public:
/* mJ is the number of actuated joints, nJ the number of feature in the task,
* and ffsize the number of unactuated DOF. */
- sotMemoryTaskSOT( const std::string & name,const unsigned int nJ=0,
+ MemoryTaskSOT( const std::string & name,const unsigned int nJ=0,
const unsigned int mJ=0,const unsigned int ffsize =0 );
virtual void initMemory( const unsigned int nJ,
diff --git a/include/sot-core/pool.h b/include/sot-core/pool.h
index 7e67cf20..50a48bb2 100644
--- a/include/sot-core/pool.h
+++ b/include/sot-core/pool.h
@@ -138,8 +138,7 @@ class SOT_CORE_EXPORT PoolStorage
void writeCompletionList(std::ostream& os);
};
-
-SOT_CORE_EXPORT extern PoolStorage sotPool;
+SOT_CORE_EXPORT extern sot::PoolStorage sotPool;
} // namespace sot
diff --git a/include/sot-core/sot-h.h b/include/sot-core/sot-h.h
index 359e1eaa..65ea9ff4 100644
--- a/include/sot-core/sot-h.h
+++ b/include/sot-core/sot-h.h
@@ -62,15 +62,15 @@ class SOTSOTH_EXPORT SotH
virtual const std::string& getClassName( void ) const { return CLASS_NAME; }
/* --- SPECIFIC MEM -------------------------------------------------- */
- class sotMemoryTaskSOTH
- : public TaskAbstract::sotMemoryTaskAbstract,public Entity
+ class MemoryTaskSOTH
+ : public TaskAbstract::MemoryTaskAbstract,public Entity
{
public:
const SotH * referenceKey;
SolverHierarchicalInequalities solver;
ml::Matrix JK,Jff,Jact;
public:
- sotMemoryTaskSOTH( const std::string & name,
+ MemoryTaskSOTH( const std::string & name,
const SotH * ref,
unsigned int nJ,
sotRotationComposedInExtenso& Qh,
diff --git a/include/sot-core/task-abstract.h b/include/sot-core/task-abstract.h
index 445f88b5..95b1173c 100644
--- a/include/sot-core/task-abstract.h
+++ b/include/sot-core/task-abstract.h
@@ -53,25 +53,25 @@ class SOT_CORE_EXPORT TaskAbstract
public:
/* Use a derivative of this class to store computational memory. */
- class sotMemoryTaskAbstract
+ class MemoryTaskAbstract
{
public:
int timeLastChange;
public:
- sotMemoryTaskAbstract( void ) : timeLastChange(0) {};
- virtual ~sotMemoryTaskAbstract( void ) {};
+ MemoryTaskAbstract( void ) : timeLastChange(0) {};
+ virtual ~MemoryTaskAbstract( void ) {};
public:
virtual void commandLine( const std::string& cmdLine
,std::istringstream& cmdArgs
,std::ostream& os ) = 0;
virtual void display( std::ostream& os ) const = 0;
friend std::ostream&
- operator<<( std::ostream& os,const sotMemoryTaskAbstract& tcm )
+ operator<<( std::ostream& os,const MemoryTaskAbstract& tcm )
{tcm.display(os); return os;}
};
public:
- sotMemoryTaskAbstract * memoryInternal;
+ MemoryTaskAbstract * memoryInternal;
protected:
void taskRegistration( void );
diff --git a/src/factory/pool.cpp b/src/factory/pool.cpp
index 0bc25dab..5d5e375b 100644
--- a/src/factory/pool.cpp
+++ b/src/factory/pool.cpp
@@ -21,16 +21,20 @@
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
+#include <list>
+#ifdef WIN32
+#include <time.h>
+#endif /*WIN32*/
/* --- SOT --- */
#include <sot-core/pool.h>
#include <sot-core/debug.h>
#include <dynamic-graph/entity.h>
-#include <list>
+#include <sot-core/task-abstract.h>
+#include <sot-core/feature-abstract.h>
using namespace sot;
-
-
+namespace sot {
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
@@ -112,19 +116,6 @@ getFeature( const std::string& name )
return *entPtr->second;
}
-
-
-
-/* --------------------------------------------------------------------- */
-
-#include <dynamic-graph/entity.h>
-#include <sot-core/task-abstract.h>
-#include <sot-core/feature-abstract.h>
-
-#ifdef WIN32
-#include <time.h>
-#endif /*WIN32*/
-
void PoolStorage::
writeGraph(const std::string &aFileName)
{
@@ -248,6 +239,6 @@ commandLine( const std::string& objectName,const std::string& functionName,
}
/// The global sotPool object
-namespace sot {
+
PoolStorage sotPool;
}
diff --git a/src/sot/sot-h.cpp b/src/sot/sot-h.cpp
index 98525d96..cf53f0ab 100644
--- a/src/sot/sot-h.cpp
+++ b/src/sot/sot-h.cpp
@@ -76,8 +76,8 @@ defineNbDof( const unsigned int& nbDof )
Sot::defineNbDof(nbDof);
for(StackType::iterator iter=stack.begin();stack.end()!=iter;++iter )
{
- sotMemoryTaskSOTH * mem
- = dynamic_cast<sotMemoryTaskSOTH *>( (*iter)->memoryInternal );
+ MemoryTaskSOTH * mem
+ = dynamic_cast<MemoryTaskSOTH *>( (*iter)->memoryInternal );
if(NULL!=mem) mem->solver.setNbDof(nbDof);
}
solverNorm.setNbDof(nbDof-(ffJointIdLast-ffJointIdFirst));
@@ -270,11 +270,11 @@ computeControlLaw( ml::Vector& control,const int& iterTime )
unsigned int ntask=err.size();
sotDEBUG(25) << "/* Init memory. */" << std::endl;
- sotMemoryTaskSOTH * mem = dynamic_cast<sotMemoryTaskSOTH *>( task.memoryInternal );
+ MemoryTaskSOTH * mem = dynamic_cast<MemoryTaskSOTH *>( task.memoryInternal );
if( (NULL==mem)||(mem->referenceKey!=this) )
{
if( NULL!=task.memoryInternal ) delete task.memoryInternal;
- mem = new sotMemoryTaskSOTH(task.getName()+"_memSOTH",
+ mem = new MemoryTaskSOTH(task.getName()+"_memSOTH",
this,nJ,Qh,Rh,constraintH);
task.memoryInternal = mem;
}
@@ -373,7 +373,7 @@ computeControlLaw( ml::Vector& control,const int& iterTime )
for( StackType::iterator iter = stack.begin(); iter!=stack.end();++iter,++iterTask )
{
TaskAbstract & task = **iter;
- sotMemoryTaskSOTH * mem = dynamic_cast<sotMemoryTaskSOTH *>( task.memoryInternal );
+ MemoryTaskSOTH * mem = dynamic_cast<MemoryTaskSOTH *>( task.memoryInternal );
if( mem == NULL ) continue;
sotVectorMultiBound taskVector = task.taskSOUT(iterTime);
const ml::Matrix JK = mem->jacobianConstrainedSINOUT.accessCopy();
@@ -408,21 +408,21 @@ computeControlLaw( ml::Vector& control,const int& iterTime )
/* --------------------------------------------------------------------- */
-const std::string SotH::sotMemoryTaskSOTH::CLASS_NAME = "MemoryTaskSOTH";
+const std::string SotH::MemoryTaskSOTH::CLASS_NAME = "MemoryTaskSOTH";
-void SotH::sotMemoryTaskSOTH::
+void SotH::MemoryTaskSOTH::
commandLine( const std::string& cmdLine,std::istringstream& cmdArgs,
std::ostream& os )
{
Entity::commandLine( cmdLine,cmdArgs,os );
}
-void SotH::sotMemoryTaskSOTH::
+void SotH::MemoryTaskSOTH::
display( std::ostream& os ) const {} //TODO
-SotH::sotMemoryTaskSOTH::
-sotMemoryTaskSOTH( const std::string & name,
+SotH::MemoryTaskSOTH::
+MemoryTaskSOTH( const std::string & name,
const SotH * ref,
unsigned int nJ,
sotRotationComposedInExtenso& Qh,
--
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