include/sot-core/sot-core-api.h

-/*
- *  Copyright
- */
-
-#ifndef SOT_CORE_API_HH
-#define SOT_CORE_API_HH
-
-#if defined (WIN32)
-#  ifdef SOT_CORE_EXPORTS
-#    define SOT_CORE_EXPORT __declspec(dllexport)
-#  else
-#    define SOT_CORE_EXPORT __declspec(dllimport)
-#  endif
-#else
-#  define SOT_CORE_EXPORT
-#endif
-
-#endif

include/sot-core/sot-h.h

-/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
- * Copyright Projet Gepetto, LAAS, 2009
- *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
- *
- * File:      sot-h.h
- * Project:   SOT
- * Author:    Nicolas Mansard
- *
- * Version control
- * ===============
- *
- *  $Id$
- *
- * Description
- * ============
- *
- *
- * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
-
-
-#ifndef __SOT_sotSOTH_H__
-#define __SOT_sotSOTH_H__
-
-
-/* --------------------------------------------------------------------- */
-/* --- INCLUDE --------------------------------------------------------- */
-/* --------------------------------------------------------------------- */
-
-/* Matrix */
-#include <sot-core/sot.h>
-#include <sot-core/solver-hierarchical-inequalities.h>
-
-/* --------------------------------------------------------------------- */
-/* --- API ------------------------------------------------------------- */
-/* --------------------------------------------------------------------- */
-
-#ifndef SOTSOTH_EXPORT 
-# if defined (WIN32)
-#  if defined (sotSOTH_EXPORTS)
-#    define SOTSOTH_EXPORT __declspec(dllexport)
-#  else
-#    define SOTSOTH_EXPORT __declspec(dllimport)
-#  endif
-# else
-#  define SOTSOTH_EXPORT
-# endif
-#endif
-
-/* --------------------------------------------------------------------- */
-/* --- CLASS ----------------------------------------------------------- */
-/* --------------------------------------------------------------------- */
-
-class SOTSOTH_EXPORT sotSOTH
-:public sotSOT
-{
- public:
-  /*! \brief Specify the name of the class entity. */
-  static const std::string CLASS_NAME;
-  /*! \brief Returns the name of this class. */
-  virtual const std::string& getClassName( void ) const { return CLASS_NAME; }
-
-  /* --- SPECIFIC MEM -------------------------------------------------- */
-  class sotMemoryTaskSOTH
-    : public sotTaskAbstract::sotMemoryTaskAbstract,public Entity
-    {
-    public:
-      const sotSOTH * referenceKey;
-      sotSolverHierarchicalInequalities solver;
-      ml::Matrix JK,Jff,Jact;
-    public:
-    sotMemoryTaskSOTH( const std::string & name,
-                       const sotSOTH * ref,
-                       unsigned int nJ,
-                       sotRotationComposedInExtenso& Qh,
-                       bubMatrix &Rh,
-                       sotSolverHierarchicalInequalities::ConstraintList &cH );
-
-    public: // Entity heritage
-      static const std::string CLASS_NAME;
-      virtual void display( std::ostream& os ) const;
-      virtual const std::string& getClassName( void ) const { return CLASS_NAME; }
-      Signal< ml::Matrix,int > jacobianConstrainedSINOUT;
-      Signal< ml::Vector,int > diffErrorSINOUT;
-      virtual void commandLine( const std::string& cmdLine,std::istringstream& cmdArgs,
-                                std::ostream& os );
-
-    };
-  /* --- \ SPECIFIC MEM ------------------------------------------------ */
-
-
- protected:
-  //typedef std::vector<sotSolverHierarchicalInequalities *> SolversList;
-  //SolversList solvers;
-  sotRotationComposedInExtenso Qh;
-  bubMatrix Rh;
-  sotSolverHierarchicalInequalities::ConstraintList constraintH;
-  sotSolverHierarchicalInequalities solverNorm;
-  sotSolverHierarchicalInequalities * solverPrec;
-  bool fillMemorySignal;
-
- public:
-
-  /*! \brief Default constructor */
-  sotSOTH( const std::string& name );
-  ~sotSOTH( void );
-
- public: /* --- CONTROL --- */
-
-  /*! \name Methods to compute the control law following the
-   recursive definition of the stack of tasks.
-   @{
-  */
-
-  /*! \brief Compute the control law. */
-  virtual ml::Vector& computeControlLaw( ml::Vector& control,const int& time );
-
-  /*! @} */
-
-
- public: /* --- DISPLAY --- */
-
- public: /* --- COMMANDS --- */
-  virtual void commandLine( const std::string& cmdLine,std::istringstream& cmdArgs,
-                            std::ostream& os );
-  virtual void defineNbDof( const unsigned int& nbDof );
-
-};
-
-
-
-
-
-#endif // #ifndef __SOT_sotSOTH_H__

include/sot/core/api.hh

+/*
+ * Copyright 2010,
+ * François Bleibel,
+ * Olivier Stasse,
+ *
+ * CNRS/AIST
+ *
+ */
+
+#ifndef SOT_CORE_API_HH
+#define SOT_CORE_API_HH
+
+#if defined(WIN32)
+#ifdef sot_core_EXPORTS
+#define SOT_CORE_EXPORT __declspec(dllexport)
+#else
+#define SOT_CORE_EXPORT __declspec(dllimport)
+#endif
+#else
+#define SOT_CORE_EXPORT
+#endif
+
+#endif