doc/additionalDoc/a-features.h

+/**
+   \defgroup Filters Filters
+ */

doc/additionalDoc/codeorg.h

+/** \page codeorganization Code organization
+
+    \section sec_organization Organization of the code
+
+The code is based on the <c>dynamic-graph</c> package, which provides the
+framework on which sot-core relies. Hence most of the code in <c>sot-core</c>
+consists of classes that derive from dynamic_graph::Entity.
+These entities are usually
+compiled and linked in their own dynamic library, as a python module
+
+Aside from the python modules, this package installs a core library libsot-core,
+that provides functions and code common to all modules. All python modules
+developed here link with libsot-core. For example, common mathematical
+entities, definitions and functions are in the core library.
+See \ref sot_core_base for a list of what's in this code base.
+
+This library implements
+\li A solver for the control law using tasks and features: the stack of tasks
+\li The framework of Tasks and Features, as defined in \cite Mansard2007, that
+\li Base classes for working with tasks and features, such as special matrices
+(rotation, twist) and vectors (quaternions, etc.)
+\li A basic C++ "machinery", the \ref factory, that "makes things work"
+
+*/

doc/additionalDoc/e-operators.h

+/**
+\page subp_operators Operators on signals
+
+\section subp_unitary_op Unitary Algebraic operators
+
+\subsection ssubp_unitary_op Vector selector
+
+This entity output a vector remapping an input vector
+\f${\bf v}_{in}=[v_0,v_1,\cdots,v_n]\f$.
+It is realized by specifying bounds such as \f$({[i,j],[k,l]})\f$,
+then the output vector will be the contanetion of the
+intervals extracted from the input vector:
+\f${\bf v}_{out}=[v_i,v_{i+1},\cdots,v_{j-1},v_{j},v_{k},
+v_{k+1},\cdots,v_{l-1},v_l]\f$
+For instance if we have an input vector
+such that:
+\code
+1
+2
+3
+4
+5
+6
+7
+9
+10
+\endcode
+then specifying the bounds \f$(3,5)\f$ and \f$( 7,10\f$) will gives
+the following output vector
+\code
+3
+4
+7
+8
+9
+\endcode
+
+ */

doc/additionalDoc/feature-doc.h

+/* Olivier Stasse
+ * CNRS, LAAS 2019
+ */
+/** \page page_featuredoc Features
+
+    The general definition of feature is provided by
+    dynamicgraph::sot::FeatureAbstract .
+
+    The list of features that are provided are:
+    <ul>
+    <li> Feature1D : \f$ L_2 \f$  norm of \f$ e(t)\f$
+    dynamicgraph::sot::Feature1D</li>
+    <li> FeatureGeneric : Externalisation of the Feature computation
+    dynamicgraph::sot::FeatureGeneric </li>
+    <li> FeatureJointLimits : Distance to the joint limits and its Jacobian
+    dynamicgraph::sot::FeatureJointLimits </li>
+    <li> FeatureLineDistance : Regulate the distance of a line through a body
+    to a reference point
+    dynamicgraph::sot::FeatureLineDistance </li>
+    <li> FeaturePoint6d : Regulate the distance from a pose on a body to
+    a point reference.
+    dynamicgraph::sot::FeaturePoint6d </li>
+    <li> FeaturePoint6dRelative : Regulate a relative distance between
+    two bodies.
+    dynamicgraph::sot::FeatuePoint6dRelative </li>
+    <li> FeaturePosture : Regulate the posture between the current one
+    and a reference.
+    dynamicgraph::sot::FeaturePosture </li>
+    <li> FeatureReferenceHelper : dynamicgraph::sot::FeatureReferenceHelper
+    </li>
+    <li> FeatureTask : dynamicgraph::sot::FeatureTask </li>
+    <li> FeatureVector3 : dynamicgraph::sot::FeatureVector3 </li>
+    <li> FeatureVisualPoint : : dynamicgraph::sot::FeatureVisualPoint </li>
+    </ul>
+ */

doc/additionalDoc/install-doc.h

+/** \page page_RequirementsInstallation Requirements and Installation
+
+\section sec_requirements Requirements
+This package should be compiled and installed with cmake.
+
+This library is based on several packages:
+ \li <c>dynamic-graph</c> (https://github.com/stack-of-tasks/dynamic-graph)
+ \li <c>eigen</c>
+ \li <c>boost</c>
+ \li <c>pthread</c>
+ \li <c>python</c>
+ \li <c>pinocchio</c> (https://github.com/stack-of-tasks/pinocchio)
+
+Their presence will be checked with the use of pkg-config.
+
+\section sec_installation Installation
+\subsection subsec_ins_binaries From binary package
+The recommended way to install sot-core is to use
+<a href="https://robotpkg.openrobots.org/install.html">robotpkg</a> and its
+<a href="https://robotpkg.openrobots.org/robotpkg-wip.html">wip
+extension</a>.
+
+A short and quick way to get it on 16.04 LTS is to do the following:
+\verbatim
+sudo tee /etc/apt/sources.list.d/robotpkg.list <<EOF
+deb [arch=amd64] http://robotpkg.openrobots.org/wip/packages/debian/pub kinetic
+robotpkg deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub
+kinetic robotpkg EOF \endverbatim This created a file to add robotpkg and
+robotpkg/wip as apt repositories. To identify the packages from this repository
+the server key must be added: \verbatim curl
+http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -
+\endverbatim
+The list of available packages is provided through:
+\verbatim
+sudo apt-get update
+\endverbatim
+Finally the package is installed with:
+\verbatim
+sudo apt-get install robotpkg-sot-core-v3
+\endverbatim
+
+
+\subsection subsec_ins_sourcefiles From source files
+Although not recommended you can install the repository
+after installing all the dependencies and type:
+\verbatim
+mkdir _build
+cd _build
+cmake .. -DCMAKE_BUILD_TYPE=RELEASE
+make -j 8
+\endverbatim
+
+To build the documentation
+\verbatim
+make doc
+\endverbatim
+
+To test the code
+\verbatim
+make test
+\endverbatim
+
+
+*/

doc/additionalDoc/namespace-doc.h

+/* Olivier Stasse
+ * CNRS, LAAS 2019
+ */
+
+/** \namespace dynamicgraph::sot
+
+    This is the namespace for a subset of helperd classes related to the
+    implementation of the Stack-Of-Tasks.
+*/

doc/additionalDoc/package.h

+/** \mainpage
+\section sec_intro Introduction
+
+This library implements a modular architecture to test and experiment
+controllers in the Stack of Tasks Framework as defined in \cite Mansard2007.
+It is specifically targeted to retain real-time performance while
+having high level software capabilities, like plugins and python scripting.
+
+The package includes the following functionnalities:
+<ul>
+<li> A parameter server object to register and collect information on your
+robot (see \subpage page_parameter_server) </li>
+<li> From the internal SoT point of view a class called Device which is
+allowing a direct interaction with your robot.</li>
+<li> From the extern SoT point of view a class which makes the connection
+either with the hardware or with a simulator </li>
+<li> A full kinematic engine implemented in an incremental manner.</li>
+</ul>
+
+\subpage page_RequirementsInstallation
+
+\subpage page_featuredoc
+
+\subpage page_sot
+
+\subsection tasks Tasks
+
+Each task implements a specific controller which
+can be a free space task, visual servoing, a constraint,
+and so on ... a task is mainly defined by the feature it is
+handling and its gain.
+
+After being defined, tasks are pushed in the Stack of Tasks which then
+calculates a control law as explained in \cite Mansard2007.
+
+See documentation of class dynamicgraph::sot::TaskAbstract for more information.
+
+
+
+@defgroup sot_core_base Sot-core library (libsot-core.[dll|so])
+For developers, this is the core library that your project has to
+be linked with. It defines the related algorithms and entities
+using the dynamic-graph framework.
+
+\section presento What's in the box?
+
+All the C++ code is placed in the namespace "dynamic_graph::sot". In the core
+library, the following classes are present:
+
+\subsection subsec_sot Stack of Task solvers
+A hierarchical inequality solver, sot::SolverHierarchicalInequalities, is
+present. For the maths, see \cite Mansard2007.
+
+\subsection subsec_exceptions Exceptions
+The library defines the following classes of exceptions that derive from
+std::exception: \li sot::ExceptionAbstract (the base class for all exceptions in
+sot-core; use it to catch only sot-core exceptions) \li sot::ExceptionDynamic
+\li sot::ExceptionFactory (raised if issues in instancing tasks and features)
+\li sot::ExceptionFeature (raised by a feature - see \ref subsec_Features)
+\li sot::ExceptionSignal
+\li sot::ExceptionTask (raised by a task - see \ref subsec_Tasks)
+\li sot::ExceptionTools
+
+\subsection subsec_signalcast Signal cast helpers
+Using the dynamic-graph module's signal_disp<T>, signal_cast<T> or
+signal_trace<T> methods, involves a cast to or from a
+stringstream object (i.e. for all practical purposes, a string). For the
+objects defined in sot-core (T = sot::*), most of these casts are defined.
+Hence you can display sot::VectorQuaternion or sot::MatrixTwist objects as
+strings, or set them from the command line (using a script interpreter from
+the dynamic-graph package).
+
+
+\subsection subsec_Tasks Tasks
+
+Tasks are the hierarchical element of the stack of tasks.
+
+A task computes a value and a Jacobian as output signals.
+Once stacked into a solver, the solver will compute the control vector
+that makes the task value converge toward zero in the
+order defined by the priority levels. For more information see the documentation
+of class dynamicgraph::sot:TaskAbstract.
+
+\subsection subsec_tools Mathematical base
+The following classes encapsulate common mathematical objects, and
+are all defined in the core library; see each individual class documentation
+for reference.
+\li Vectors: (sot::VectorQuaternion, sot::VectorRollPitchYaw, sot::VectorUTheta)
+\li Matrices: (sot::MatrixForce, sot::MatrixHomogeneous, sot::MatrixRotation,
+sot::MatrixTwist) \li sot::MultiBound can be used to enforce bounds on numeric
+values
+
+\subsection subsec_others Others
+The core library also contains functions for adaptation and extension of
+the dynamic-graph shell; see additional-functions.cpp, factory.cpp and pool.cpp
+directly for these. In a nutshell, a typical user shouldn't need these.
+See \ref factory for additional information.
+
+
+
+\defgroup plugins_list List of python modules
+These python modules are linked with the core library.
+
+        sot/sot-qr
+        sot/weighted-sot
+        sot/sot-h
+        sot/sot
+
+        math/op-point-modifier
+
+        matrix/binary-op
+        matrix/derivator
+        matrix/fir-filter
+        matrix/integrator-abstract
+        matrix/integrator-euler
+        matrix/matrix-constant
+        matrix/unary-op
+        matrix/vector-constant
+        matrix/vector-to-rotation
+
+        task/gain-adaptive
+        task/task-pd
+        task/constraint
+        task/gain-hyperbolic
+        task/task
+        task/task-conti
+        task/task-unilateral
+
+        feature/feature-point6d
+        feature/feature-vector3
+        feature/feature-generic
+        feature/feature-joint-limits
+        feature/feature-1d
+        feature/feature-point6d-relative
+        feature/feature-visual-point
+        feature/feature-task
+        feature/feature-line-distance
+
+        traces/reader
+
+        tools/time-stamp
+        tools/timer
+        tools/seq-play
+        tools/sequencer
+        tools/robot-simu
+        tools/periodic-call-entity
+        tools/motion-period
+        tools/neck-limitation
+        tools/mailbox-vector
+        tools/kalman
+        tools/joint-limitator
+        tools/gripper-control
+        tools/com-freezer
+        tools/clamp-workspace
+        tools/binary-int-to-uint
+
+        control/control-gr
+        control/control-pd
+
+@defgroup factory Factory
+
+This code implements the factory design pattern, making creation of features,
+tasks and other objects available.
+
+Objects, which are derived from Entities, Tasks, or Features, can be
+ declared within the code and compiled to C++ python modules.  These
+ modules can be imported at run-time and register their class names to
+ the Factory (see the sotFactory documentation to learn how).
+
+The Factory can then create instances of these objects and subsequently
+register them in the Pool, where they can be listed, accessed, and acted upon
+(see sot::PoolStorage documentation). Basic commands defined by entities include
+signal connection graph file generation, help and name print, and signals.
+
+The public static objects (singletons) made available by including the
+corresponding headers in this module are:
+\li sot::PoolStorage, accessed by method getInstance.
+
+\image html schema_plugin.png
+
+
+@defgroup codesourceexamples Code source examples
+Various examples to use the different parts of the Stack of Tasks.
+They are all located in the tests directory.
+
+
+*/

doc/additionalDoc/parameter-server-doc.h

+/** \page page_parameter_server Parameter Server
+
+    In order to register and recover information on your robot it is possible
+    to register information using the class dynamicgraph::sot::RobotUtil.
+
+
+ */

doc/additionalDoc/sot-doc.h

+/** \page page_sot Stack-of-Tasks
+
+    As explained in class dynamicgraph::sot::FeatureAbstract,
+    \f[
+    {\bf E}(t) = {\bf e}({\bf q}(t), t)= {\bf s}({\bf q}(t)) - {\bf s}^*(t)
+    \f]
+    thus:
+    \f[
+    \dot{\bf E}= \frac{\partial{\bf e}}{\partial{\bf q}} \dot{\bf q}
+    + \frac{\partial{\bf e}}{\partial t} \\
+    \f]
+
+    The features are responsible for computing:
+    \li \f$ {\bf E}(t) \f$
+    \li \f$ \frac{\partial{\bf e}}{\partial t} \f$
+    \li \f$ \frac{\partial{\bf e}}{\partial{\bf q}} \f$
+
+
+    The class dynamicgraph::sot::Task takes some features outputs as inputs.
+    It imposes an exponential decrease, i.e.
+    \f$ \dot{\bf E} = -\lambda {\bf E} \f$.
+    It gives:
+    \f[
+    -\lambda {\bf e} =
+    \frac{\partial{\bf e}}{\partial{\bf q}} \dot{\bf q}
+    + \frac{\partial{\bf e}}{\partial t}
+    \f]
+    and computes solutions as:
+    \f[
+    \dot{\bf q} = \frac{\partial{\bf e}}{\partial{\bf q}}^{\dagger} \left(
+        - \lambda {\bf e} - \frac{\partial{\bf e}}{\partial t}
+    \right) + K v
+    \f]
+
+    where:
+    \li \f$\frac{\partial{\bf e}}{\partial{\bf q}}^{\dagger}\f$ is the
+        pseudo-inverse of \f$\frac{\partial{\bf e}}{\partial{\bf q}}\f$,
+    \li \f$\dot{\bf q} \in \mathbb{R}^n\f$,
+    \li \f$K \in \mathcal{M}_{n,m}(\mathbb{R})\f$ is a base of the kernel of
+        \f$\frac{\partial{\bf e}}{\partial{\bf q}}\f$, of dimension \f$m\f$,
+    \li and \f$v\f$ spans \f$\mathbb{R}^m\f$ so that \f$K v\f$ spans
+        the kernel of
+        \f$\frac{\partial{\bf e}}{\partial{\bf q}}\f$.
+
+    \f$v\f$ is a free parameters left to tasks of lower priority.
+*/

doc/footer.html

- <br><br>
- <hr>
- <center>
- <img src="./pictures/footer.jpg" Height=100>
- <br>sot-core library documentation</br>
- </center>
- <hr>
- </center>
- </body>
- </head>
-

doc/header.html

-<HTML>
-    <HEAD>
-      <TITLE>sot-core library documentation</TITLE>
-      <LINK HREF="package.css" REL="stylesheet" TYPE="text/css">
-    </HEAD>
-    <BODY>
-

doc/package.css

-body {
-    font-family: 'Lucida Grande','Lucida Sans Unicode',Verdana,Sans-Serif;
-    color: #5D5D5D;
-}
-
-dl {
-    border: 1.5px #82b6d7 solid;
-    width: 97%;
-    padding: 5px;
-    color: #330077;
-}
-
-code {
-    color: #3C9A35;
-}
-
-td.md {
-    color: #0066CC;
-}
-
-h1 {
-    padding-top: 50px;
-    padding: 0px;
-    font-family: 'Lucida Grande','Lucida Sans Unicode',Verdana,Sans-Serif;
-    font-variant: small-caps;
-    color:#0066CC;
-    text-align: center;
-}
-
-h2,h3,hr {
-    magin-top: 15px;
-    padding: 0px;
-    font-family: 'Lucida Grande','Lucida Sans Unicode',Verdana,Sans-Serif;
-    font-variant: small-caps;
-    color:#0066CC;
-}
-
-h4 {
-    color: #3C9A35;
-}
-
-a:link {
-    font-weight: bold;
-    text-decoration: none;
-    color:#0066CC
-}
-
-a:hover, a:active { 
-	text-decoration: underline; 
-	color: #3C9A35;
-}
-
-a:visited {
-    font-weight: bold;
-    color: #3C9A35;
-    text-decoration: none;
-}
-
-DIV.memitem
-{ 
-  spacing: 10px;
-  width:100%;
-  background:#FFFFFF;
-  font-size:100%;
-  line-height:normal;
-  border-width: 1px;
-  border-style: solid;
-  border-color: #808080;
-  -moz-border-radius: 8px 8px 8px 8px;
-}
-
-DIV.memproto
-{ 
-  width:100%;
-  background:#F0F0F0;
-  font-size:100%;
-  line-height:normal;
-  border-width: 1px;
-  border-style: solid;
-  border-color: #808080;
-  -moz-border-radius: 8px 8px 8px 8px;
-}
-
-DIV.memdoc
-{ 
-  padding: 10px;
-  width:100%;
-  font-size:100%;
-  line-height:normal;
-}
-
-DIV.tabs
-{
-   float            : left;
-   width            : 100%;
-   background       : url("tab_b.gif") repeat-x bottom;
-   margin-bottom    : 4px;
-}
-
-DIV.tabs UL
-{
-   margin           : 0px;
-   padding-left     : 10px;
-   list-style       : none;
-}
-
-DIV.tabs LI, DIV.tabs FORM
-{
-   display          : inline;
-   margin           : 0px;
-   padding          : 0px;
-}
-
-DIV.tabs FORM
-{
-   float            : right;
-}
-
-DIV.tabs A
-{
-   float            : left;
-   background       : url("tab_r.gif") no-repeat right top;
-   border-bottom    : 1px solid #84B0C7;
-   font-size        : x-small;
-   font-weight      : bold;
-   text-decoration  : none;
-}
-
-DIV.tabs A:hover
-{
-   background-position: 100% -150px;
-}
-
-DIV.tabs A:link, DIV.tabs A:visited,
-DIV.tabs A:active, DIV.tabs A:hover
-{
-       color: #1A419D;
-}
-
-DIV.tabs SPAN
-{
-   float            : left;
-   display          : block;
-   background       : url("tab_l.gif") no-repeat left top;
-   padding          : 5px 9px;
-   white-space      : nowrap;
-}
-
-DIV.tabs INPUT
-{
-   float            : right;
-   display          : inline;
-   font-size        : 1em;
-}
-
-DIV.tabs TD
-{
-   font-size        : x-small;
-   font-weight      : bold;
-   text-decoration  : none;
-}
-
-
-
-DIV.tabs SPAN {float : none;}
-
-DIV.tabs A:hover SPAN
-{
-   background-position: 0% -150px;
-}
-
-DIV.tabs LI#current A
-{
-   background-position: 100% -150px;
-   border-width     : 0px;
-}
-
-DIV.tabs LI#current SPAN
-{
-   background-position: 0% -150px;
-   padding-bottom   : 6px;
-}
-
-DIV.nav
-{
-   background       : none;
-   border           : none;
-   border-bottom    : 1px solid #84B0C7;
-}
-
-DIV.groupHeader
-{ 
-  padding-top: 30px;
-  padding-bottom: 20px;
-  background       : none;
-  border           : none;
-  border-bottom    : 1px solid #84B0C7;
-  font-family: 'Lucida Grande','Lucida Sans Unicode',Verdana,Sans-Serif;
-  font-variant: small-caps;
-  font-size: 14pt;
-  color:#0066CC;
-}
-
-.directory p 
-{ 
-    margin: 0px; 
-    white-space: nowrap; 
-    font-family: 'Lucida Grande','Lucida Sans Unicode',Verdana,Sans-Serif;
-    font-size: 10pt;
-    font-weight: normal;
-}
-
-
-.directory h3 
-{ 
-    font-family: 'Lucida Grande','Lucida Sans Unicode',Verdana,Sans-Serif;
-    margin: 0px; 
-    margin-top: 1em; 
-    padding-bottom: 20px;
-    font-size: 12pt; 
-    font-variant: small-caps;
-    text-align: center;
-}
-
-.directory a:visited {
-    font-weight: bold;
-    text-decoration: none;
-    color:#0066CC
-}
-

doc/package.dox.cmake

-# Doxyfile 1.4.2
-
-
-#---------------------------------------------------------------------------
-# Project related configuration options
-#---------------------------------------------------------------------------
-OUTPUT_DIRECTORY       = .
-CREATE_SUBDIRS         = NO
-OUTPUT_LANGUAGE        = English
-BRIEF_MEMBER_DESC      = YES
-REPEAT_BRIEF           = YES
-ABBREVIATE_BRIEF       = "The $name class" \
-                         "The $name widget" \
-                         "The $name file" \
-                         is \
-                         provides \
-                         specifies \
-                         contains \
-                         represents \
-                         a \
-                         an \
-                         the
-ALWAYS_DETAILED_SEC    = YES
-INLINE_INHERITED_MEMB  = NO
-FULL_PATH_NAMES        = NO
-STRIP_FROM_PATH        = 
-STRIP_FROM_INC_PATH    = 
-SHORT_NAMES            = NO
-JAVADOC_AUTOBRIEF      = YES
-MULTILINE_CPP_IS_BRIEF = NO
-DETAILS_AT_TOP         = YES
-INHERIT_DOCS           = YES
-DISTRIBUTE_GROUP_DOC   = NO
-SEPARATE_MEMBER_PAGES  = NO
-TAB_SIZE               = 2
-OPTIMIZE_OUTPUT_FOR_C  = NO
-OPTIMIZE_OUTPUT_JAVA   = NO
-SUBGROUPING            = YES
-
-#---------------------------------------------------------------------------
-# Build related configuration options
-#---------------------------------------------------------------------------
-EXTRACT_LOCAL_CLASSES  = YES
-EXTRACT_LOCAL_METHODS  = NO
-CASE_SENSE_NAMES       = NO
-HIDE_SCOPE_NAMES       = NO
-SHOW_INCLUDE_FILES     = NO
-INLINE_INFO            = YES
-SORT_MEMBER_DOCS       = YES
-SORT_BRIEF_DOCS        = NO
-SORT_BY_SCOPE_NAME     = NO
-MAX_INITIALIZER_LINES  = 30
-FILE_VERSION_FILTER    = 
-#---------------------------------------------------------------------------
-# configuration options related to warning and progress messages
-#---------------------------------------------------------------------------
-QUIET                  = NO
-WARNINGS               = YES
-WARN_IF_UNDOCUMENTED   = YES
-WARN_IF_DOC_ERROR      = YES
-WARN_NO_PARAMDOC       = NO
-WARN_FORMAT            = "$file:$line: $text"
-WARN_LOGFILE           = 
-#---------------------------------------------------------------------------
-# configuration options related to the input files
-#---------------------------------------------------------------------------
-RECURSIVE              = YES
-EXCLUDE                = 
-EXCLUDE_SYMLINKS       = NO
-EXAMPLE_PATH           = 
-EXAMPLE_PATTERNS       = *
-EXAMPLE_RECURSIVE      = NO
-INPUT_FILTER           = 
-FILTER_PATTERNS        = 
-FILTER_SOURCE_FILES    = NO
-#---------------------------------------------------------------------------
-# configuration options related to source browsing
-#---------------------------------------------------------------------------
-#---------------------------------------------------------------------------
-# configuration options related to the alphabetical class index
-#---------------------------------------------------------------------------
-ALPHABETICAL_INDEX     = NO
-COLS_IN_ALPHA_INDEX    = 5
-IGNORE_PREFIX          = 
-#---------------------------------------------------------------------------
-# configuration options related to the HTML output
-#---------------------------------------------------------------------------
-GENERATE_HTML          = YES
-HTML_FILE_EXTENSION    = .html
-HTML_ALIGN_MEMBERS     = YES
-GENERATE_HTMLHELP      = NO
-CHM_FILE               = 
-HHC_LOCATION           = 
-GENERATE_CHI           = NO
-BINARY_TOC             = NO
-TOC_EXPAND             = YES
-DISABLE_INDEX          = NO
-ENUM_VALUES_PER_LINE   = 1
-GENERATE_TREEVIEW      = YES
-TREEVIEW_WIDTH         = 250
-#---------------------------------------------------------------------------
-# configuration options related to the LaTeX output
-#---------------------------------------------------------------------------
-LATEX_OUTPUT           = latex
-LATEX_CMD_NAME         = latex
-MAKEINDEX_CMD_NAME     = makeindex
-COMPACT_LATEX          = NO
-PAPER_TYPE             = a4wide
-EXTRA_PACKAGES         = 
-LATEX_HEADER           = 
-PDF_HYPERLINKS         = NO
-USE_PDFLATEX           = NO
-LATEX_BATCHMODE        = NO
-LATEX_HIDE_INDICES     = NO
-#---------------------------------------------------------------------------
-# configuration options related to the RTF output
-#---------------------------------------------------------------------------
-RTF_OUTPUT             = rtf
-COMPACT_RTF            = NO
-RTF_HYPERLINKS         = NO
-RTF_STYLESHEET_FILE    = 
-RTF_EXTENSIONS_FILE    = 
-#---------------------------------------------------------------------------
-# configuration options related to the man page output
-#---------------------------------------------------------------------------
-MAN_OUTPUT             = man
-MAN_EXTENSION          = .3
-MAN_LINKS              = NO
-#---------------------------------------------------------------------------
-# configuration options related to the XML output
-#---------------------------------------------------------------------------
-XML_OUTPUT             = xml
-XML_SCHEMA             = 
-XML_DTD                = 
-XML_PROGRAMLISTING     = YES
-#---------------------------------------------------------------------------
-# configuration options for the AutoGen Definitions output
-#---------------------------------------------------------------------------
-GENERATE_AUTOGEN_DEF   = NO
-#---------------------------------------------------------------------------
-# configuration options related to the Perl module output
-#---------------------------------------------------------------------------
-PERLMOD_LATEX          = NO
-PERLMOD_PRETTY         = YES
-PERLMOD_MAKEVAR_PREFIX = 
-#---------------------------------------------------------------------------
-# Configuration options related to the preprocessor   
-#---------------------------------------------------------------------------
-ENABLE_PREPROCESSING   = YES
-MACRO_EXPANSION        = YES
-EXPAND_ONLY_PREDEF     = YES
-SEARCH_INCLUDES        = YES
-INCLUDE_PATH           = 
-INCLUDE_FILE_PATTERNS  = 
-EXPAND_AS_DEFINED      = 
-SKIP_FUNCTION_MACROS   = YES
-#---------------------------------------------------------------------------
-# Configuration::additions related to external references   
-#---------------------------------------------------------------------------
-TAGFILES               = \
-	${MATRIXABSTRACTLAYER_DOCDIR}/html/MatrixAbstractLayer.doxytag=${MATRIXABSTRACTLAYER_DOCDIR}/html \
-	${DYNAMICSJRLJAPAN_DOCDIR}/html/dynamicsJRLJapan.doxytag=${DYNAMICSJRLJAPAN_DOCDIR}/html \
-	${HRP2DYNAMICS_DOCDIR}/html/hrp2Dynamics.doxytag=${HRP2DYNAMICS_DOCDIR}/html \
-	${WALKGENJRL_DOCDIR}/html/walkGenJrl.doxytag=${WALKGENJRL_DOCDIR}/html \
-	${DYNAMIC_GRAPH_DOCDIR}/html/dynamic-graph.doxytag=${DYNAMIC_GRAPH_DOCDIR}/html
-GENERATE_TAGFILE       = sot-core.doxytag
-ALLEXTERNALS           = NO
-EXTERNAL_GROUPS        = YES
-PERL_PATH              = /usr/bin/perl
-#---------------------------------------------------------------------------
-# Configuration options related to the dot tool   
-#---------------------------------------------------------------------------
-#---------------------------------------------------------------------------
-# Configuration::additions related to the search engine   
-#---------------------------------------------------------------------------
-SEARCHENGINE           = NO
-
-
-
-
-#---------------------------------------------------------------------------
-# Project related configuration options
-#---------------------------------------------------------------------------
-PROJECT_NAME           = "${PROJECT_NAME} library documentation"
-PROJECT_NUMBER         = ${PROJECT_VERSION}
-
-#---------------------------------------------------------------------------
-# Build related configuration options
-#---------------------------------------------------------------------------
-EXTRACT_ALL            = YES
-EXTRACT_PRIVATE        = YES
-EXTRACT_STATIC         = NO
-HIDE_UNDOC_MEMBERS     = YES
-HIDE_UNDOC_CLASSES     = YES
-HIDE_FRIEND_COMPOUNDS  = YES
-HIDE_IN_BODY_DOCS      = NO
-INTERNAL_DOCS          = NO
-SHOW_INCLUDE_FILES     = NO
-GENERATE_TODOLIST      = YES
-GENERATE_TESTLIST      = NO
-GENERATE_BUGLIST       = NO
-GENERATE_DEPRECATEDLIST= YES
-ENABLED_SECTIONS       = 
-SHOW_USED_FILES        = NO
-SHOW_DIRECTORIES       = NO
-#---------------------------------------------------------------------------
-# configuration options related to warning and progress messages
-#---------------------------------------------------------------------------
-#---------------------------------------------------------------------------
-# configuration options related to the input files
-#---------------------------------------------------------------------------
-FILE_PATTERNS          = *.hh *.idl
-EXCLUDE_PATTERNS       = 
-INPUT                  = ${${PROJECT_NAME}_SOURCE_DIR}/include \
-                         ${CMAKE_CURRENT_SOURCE_DIR}/additionalDoc
-
-#---------------------------------------------------------------------------
-# configuration options related to inserting images
-#---------------------------------------------------------------------------
-IMAGE_PATH = ${${PROJECT_NAME}_SOURCE_DIR}/doc/figures
-#---------------------------------------------------------------------------
-# configuration options related to source browsing
-#---------------------------------------------------------------------------
-SOURCE_BROWSER         = NO
-INLINE_SOURCES         = NO
-STRIP_CODE_COMMENTS    = YES
-REFERENCED_BY_RELATION = NO
-REFERENCES_RELATION    = NO
-VERBATIM_HEADERS       = NO
-#---------------------------------------------------------------------------
-# configuration options related to the alphabetical class index
-#---------------------------------------------------------------------------
-#---------------------------------------------------------------------------
-# configuration options related to the HTML output
-#---------------------------------------------------------------------------
-HTML_OUTPUT            = html
-HTML_STYLESHEET        = ${CMAKE_CURRENT_SOURCE_DIR}/package.css
-HTML_HEADER            = ${CMAKE_CURRENT_SOURCE_DIR}/header.html
-HTML_FOOTER            = ${CMAKE_CURRENT_SOURCE_DIR}/footer.html
-
-#---------------------------------------------------------------------------
-# configuration options related to the LaTeX output
-#---------------------------------------------------------------------------
-GENERATE_LATEX         = NO
-USE_PDFLATEX           = YES
-#---------------------------------------------------------------------------
-# configuration options related to the RTF output
-#---------------------------------------------------------------------------
-GENERATE_RTF           = NO
-#---------------------------------------------------------------------------
-# configuration options related to the man page output
-#---------------------------------------------------------------------------
-GENERATE_MAN           = NO
-#---------------------------------------------------------------------------
-# configuration options related to the XML output
-#---------------------------------------------------------------------------
-GENERATE_XML           = NO
-#---------------------------------------------------------------------------
-# configuration options for the AutoGen Definitions output
-#---------------------------------------------------------------------------
-GENERATE_AUTOGEN_DEF   = NO
-#---------------------------------------------------------------------------
-# configuration options related to the Perl module output
-#---------------------------------------------------------------------------
-GENERATE_PERLMOD       = NO
-#---------------------------------------------------------------------------
-# Configuration options related to the preprocessor   
-#---------------------------------------------------------------------------
-#---------------------------------------------------------------------------
-# Configuration::additions related to external references   
-#---------------------------------------------------------------------------
-#---------------------------------------------------------------------------
-# Configuration options related to the dot tool   
-#---------------------------------------------------------------------------
-CLASS_DIAGRAMS         = YES
-HIDE_UNDOC_RELATIONS   = YES
-HAVE_DOT               = YES
-CLASS_GRAPH            = NO
-COLLABORATION_GRAPH    = YES
-GROUP_GRAPHS           = YES
-UML_LOOK               = NO
-TEMPLATE_RELATIONS     = NO
-INCLUDE_GRAPH          = YES
-INCLUDED_BY_GRAPH      = YES
-CALL_GRAPH             = NO
-GRAPHICAL_HIERARCHY    = YES
-DIRECTORY_GRAPH        = YES
-DOT_IMAGE_FORMAT       = png
-DOT_PATH               = 
-DOTFILE_DIRS           = 
-MAX_DOT_GRAPH_DEPTH    = 1000
-DOT_TRANSPARENT        = NO
-DOT_MULTI_TARGETS      = YES
-GENERATE_LEGEND        = YES
-DOT_CLEANUP            = YES

doc/pictures/feature.fig

+#FIG 3.2  Produced by xfig version 3.2.5b
+Landscape
+Center
+Metric
+A4
+100.00
+Single
+-2
+1200 2
+6 6120 6030 12690 8145
+2 2 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 5
+	 8930 6070 12665 6070 12665 8145 8930 8145 8930 6070
+2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 1 0 2
+	1 1 1.00 110.67 221.33
+	 7470 6485 8930 6485
+2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 1 0 2
+	1 1 1.00 110.67 221.33
+	 6357 7149 8930 7149
+2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 1 0 2
+	1 1 1.00 110.67 221.33
+	 6357 7896 8930 7896
+4 2 0 50 -1 0 22 0.0000 4 255 2520 8681 6983 articularJacobian\001
+4 2 0 50 -1 0 22 0.0000 4 330 1230 8681 7730 jacobian\001
+4 2 0 50 -1 0 22 0.0000 4 330 1170 8681 6319 position\001
+4 1 0 50 -1 2 26 0.0000 4 300 2940 10756 6651 FeaturePoint6d\001
+-6
+6 8910 3735 10485 4275
+6 9000 3735 10215 4050
+4 2 0 50 -1 0 22 0.0000 4 255 1170 10193 4013 errordot\001
+-6
+2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 1 0 2
+	1 1 1.00 110.67 221.33
+	 8948 4179 10442 4179
+-6
+6 3600 3285 5175 3825
+6 3690 3285 4905 3600
+4 2 0 50 -1 0 22 0.0000 4 255 1170 4883 3563 errordot\001
+-6
+2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 1 0 2
+	1 1 1.00 110.67 221.33
+	 3638 3729 5132 3729
+-6
+6 540 6300 2115 6795
+2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 1 0 2
+	1 1 1.00 110.67 221.33
+	 578 6726 2072 6726
+4 2 0 50 -1 0 22 0.0000 4 330 1230 1823 6560 jacobian\001
+-6
+6 540 5175 2115 5625
+2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 1 0 2
+	1 1 1.00 110.67 221.33
+	 578 5540 2072 5540
+4 2 0 50 -1 0 22 0.0000 4 180 705 1823 5374 error\001
+-6
+6 945 495 1800 765
+2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 1 0 2
+	1 1 1.00 59.15 118.32
+	 999 721 1797 721
+4 2 0 50 -1 0 11 0.0000 4 135 690 1664 630 selection\001
+-6
+2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 1 0 3
+	0 0 1.00 110.67 221.33
+	 3234 1522 3234 1935 5226 1935
+2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 1 0 2
+	0 0 1.00 110.67 221.33
+	 3825 4950 6471 4344
+2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 1 0 2
+	0 0 1.00 110.67 221.33
+	 10710 6075 7965 4344
+2 2 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 5
+	 2072 4945 5807 4945 5807 7020 2072 7020 2072 4945
+2 2 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 5
+	 5175 1665 8961 1665 8961 4344 5175 4344 5175 1665
+2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 1 0 2
+	1 1 1.00 110.67 221.33
+	 3732 2700 5226 2700
+2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 1 0 2
+	1 1 1.00 110.67 221.33
+	 8961 3510 10455 3510
+2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 1 0 2
+	1 1 1.00 110.67 221.33
+	 8961 2846 10455 2846
+2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 1 0 2
+	1 1 1.00 110.67 221.33
+	 8961 2182 10455 2182
+2 2 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 5
+	 1797 413 3797 413 3797 1522 1797 1522 1797 413
+2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 1 0 2
+	1 1 1.00 59.15 118.32
+	 3797 1389 4595 1389
+2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 1 0 2
+	1 1 1.00 59.15 118.32
+	 3797 1035 4595 1035
+2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 1 0 2
+	1 1 1.00 59.15 118.32
+	 3797 679 4595 679
+2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 1 0 2
+	1 1 1.00 59.15 118.32
+	 999 1306 1797 1306
+4 1 0 50 -1 2 26 0.0000 4 300 2955 3898 5481 FeatureGeneric\001
+4 0 0 50 -1 0 18 0.0000 4 195 1335 2487 5951 errSOUT =\001
+4 0 0 50 -1 0 18 0.0000 4 195 2685 2487 6320 errorSIN - ref.errorSIN\001
+4 0 0 50 -1 0 18 0.0000 4 255 2205 2487 6726 jacSOUT = jacSIN\001
+4 1 0 50 -1 2 26 0.0000 4 300 3105 7052 2340 FeatureAbstract\001
+4 2 0 50 -1 0 22 0.0000 4 255 1365 4977 1845 reference\001
+4 2 0 50 -1 0 22 0.0000 4 255 1305 4977 2475 selection\001
+4 0 0 50 -1 0 22 0.0000 4 255 1545 9127 3344 dimension\001
+4 0 0 50 -1 0 22 0.0000 4 330 1230 9127 2680 jacobian\001
+4 0 0 50 -1 0 22 0.0000 4 180 705 9127 2016 error\001
+4 1 0 50 -1 2 13 0.0000 4 150 1470 2775 1035 FeatureAbstract\001
+4 0 0 50 -1 0 11 0.0000 4 135 765 3885 1301 dimension\001
+4 0 0 50 -1 0 11 0.0000 4 180 630 3885 945 jacobian\001
+4 0 0 50 -1 0 11 0.0000 4 90 360 3885 591 error\001
+4 2 0 50 -1 0 11 0.0000 4 135 600 1664 1215 errordot\001

doc/pictures/task.fig

+#FIG 3.2  Produced by xfig version 3.2.5b
+Landscape
+Center
+Metric
+A4
+100.00
+Single
+-2
+1200 2
+6 3555 360 8820 2475
+6 7290 810 8820 1980
+2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 1 0 2
+	1 1 1.00 110.67 221.33
+	 7296 1901 8790 1901
+2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 1 0 2
+	1 1 1.00 110.67 221.33
+	 7296 1237 8790 1237
+4 0 0 50 -1 0 22 0.0000 4 330 1230 7462 1735 jacobian\001
+4 0 0 50 -1 0 22 0.0000 4 255 600 7462 1071 task\001
+-6
+2 2 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 5
+	 3561 379 7296 379 7296 2454 3561 2454 3561 379
+4 1 0 50 -1 2 26 0.0000 4 300 2550 5387 1541 TaskAbstract\001
+-6
+6 1575 3285 11250 5895
+6 4725 4095 7425 5715
+6 4725 5175 7425 5715
+2 2 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 5
+	 4725 5175 7425 5175 7425 5715 4725 5715 4725 5175
+4 0 0 50 -1 0 18 0.0000 4 195 1020 4950 5535 feature 1\001
+-6
+2 2 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 5
+	 4725 4095 7425 4095 7425 4635 4725 4635 4725 4095
+2 2 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 5
+	 4725 4635 7425 4635 7425 5175 4725 5175 4725 4635
+4 0 0 50 -1 0 18 0.0000 4 195 1020 4950 4995 feature 2\001
+4 0 0 50 -1 0 18 0.0000 4 30 180 4950 4455 ...\001
+-6
+2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 1 0 2
+	1 1 1.00 110.67 221.33
+	 2738 3740 4232 3740
+2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 1 0 2
+	1 1 1.00 110.67 221.33
+	 2738 4404 4232 4404
+2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 1 0 2
+	1 1 1.00 110.67 221.33
+	 2738 5151 4232 5151
+2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 1 0 2
+	1 1 1.00 110.67 221.33
+	 7958 3740 9452 3740
+2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 1 0 2
+	1 1 1.00 110.67 221.33
+	 7958 4404 9452 4404
+2 2 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 5
+	 4230 3325 7967 3325 7967 5895 4230 5895 4230 3325
+4 1 0 50 -1 2 26 0.0000 4 300 915 6058 3906 Task\001
+4 2 0 50 -1 0 22 0.0000 4 255 1755 3983 3574 controlGain\001
+4 2 0 50 -1 0 22 0.0000 4 330 2010 3983 4238 dampingGain\001
+4 2 0 50 -1 0 22 0.0000 4 255 2385 3983 4985 controlSelection\001
+4 0 0 50 -1 0 22 0.0000 4 180 705 8235 3574 error\001
+4 0 0 50 -1 0 22 0.0000 4 255 2985 8235 4230 errorTimeDerivative\001
+-6
+2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 1 0 2
+	0 0 1.00 110.67 221.33
+	 5850 3330 5580 2475
+2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 1 0 2
+	0 0 1.00 111.00 222.00
+	 6030 6833 6030 5850
+2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 1 0 2
+	1 1 1.00 110.67 221.33
+	 2738 7250 4232 7250
+2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 1 0 2
+	1 1 1.00 110.67 221.33
+	 7958 7250 9452 7250
+2 2 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 5
+	 4230 6835 7965 6835 7965 8325 4230 8325 4230 6835
+4 1 0 50 -1 2 26 0.0000 4 300 1500 6058 7416 TaskPD\001
+4 2 0 50 -1 0 22 0.0000 4 255 1245 3983 7084 errorDot\001
+4 0 0 50 -1 0 22 0.0000 4 255 1245 8235 7084 errorDot\001

doc/references.bib

+@ARTICLE { Mansard2007,
+    AUTHOR = { Mansard, N. and Chaumette, F. },
+    TITLE = { Task sequencing for sensor-based control },
+    JOURNAL = { IEEE Transaction on Robotics },
+    VOLUME = { 23 },
+    NUMBER = { 1 },
+    PAGES = { 60 - 72 },
+    MONTH = { February },
+    YEAR = { 2007 },
+    PDF = { 2007-mansard-itro.pdf },
+}