Commit 3bf32001 authored by Guilhem Saurel's avatar Guilhem Saurel

Merge tag 'v3.3.0'

Release of version 3.3.0.
parents 6f50ef2a ecbb1600
Pipeline #5370 passed with stage
in 9 minutes and 1 second
# Copyright 2010, François Bleibel, Olivier Stasse, JRL, CNRS/AIST
#
# This file is part of sot-dynamic-pinocchio.
# sot-dynamic-pinocchio is free software: you can redistribute it and/or
# modify it under the terms of the GNU Lesser General Public License
# as published by the Free Software Foundation, either version 3 of
# the License, or (at your option) any later version.
#
# sot-dynamic-pinocchio is distributed in the hope that it will be useful, but
# WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
# General Lesser Public License for more details. You should have
# received a copy of the GNU Lesser General Public License along with
# sot-dynamic-pinocchio. If not, see <http://www.gnu.org/licenses/>.
CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
INCLUDE(cmake/base.cmake)
INCLUDE(cmake/boost.cmake)
INCLUDE(cmake/eigen.cmake)
INCLUDE(cmake/lapack.cmake)
INCLUDE(cmake/cpack.cmake)
INCLUDE(cmake/python.cmake)
SET(PROJECT_NAMESPACE stack-of-tasks)
SET(PROJECT_NAME sot-dynamic-pinocchio)
SET(PROJECT_DESCRIPTION "pinocchio bindings for dynamic-graph.")
SET(PROJECT_URL "https://github.com/stack-of-tasks/sot-dynamic-pinocchio/")
SET(PROJECT_URL "https://github.com/${PROJECT_NAMESPACE}/${PROJECT_NAME}")
SET(PROJECT_SUFFIX "-v3")
SET(CUSTOM_HEADER_DIR "${PROJECT_NAME}")
......@@ -42,9 +27,9 @@ SET(PKG_CONFIG_ADDITIONAL_VARIABLES
SETUP_PROJECT()
# Search for dependencies.
ADD_REQUIRED_DEPENDENCY("pinocchio >= 1.3.0")
ADD_REQUIRED_DEPENDENCY("pinocchio >= 2.0.0")
ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 3.0.0")
ADD_REQUIRED_DEPENDENCY("sot-core >= 3.0.0")
ADD_REQUIRED_DEPENDENCY("sot-core >= 4.1.0")
ADD_REQUIRED_DEPENDENCY("sot-tools >= 2.0.0")
SET(BOOST_COMPONENTS filesystem system unit_test_framework)
......@@ -89,4 +74,3 @@ ADD_SUBDIRECTORY(python)
ADD_SUBDIRECTORY(unitTesting)
SETUP_PROJECT_FINALIZE()
SETUP_PROJECT_CPACK()
GNU LESSER GENERAL PUBLIC LICENSE
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This version of the GNU Lesser General Public License incorporates
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License, supplemented by the additional permissions listed below.
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As used herein, "this License" refers to version 3 of the GNU Lesser
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A "Combined Work" is a work produced by combining or linking an
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The "Minimal Corresponding Source" for a Combined Work means the
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The "Corresponding Application Code" for a Combined Work means the
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The object code form of an Application may incorporate material from
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5. Combined Libraries.
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Each version is given a distinguishing version number. If the
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File mode changed from 100755 to 100644
sot-dynamic (1.0.0.99-1) lucid; urgency=low
* Initial work.
-- Thomas Moulard <thomas.moulard@gmail.com> Thu, 30 Sep 2010 10:11:00 +0200
Source: sot-dynamic
Priority: extra
Maintainer: Thomas Moulard <thomas.moulard@gmail.com>
Build-Depends: debhelper (>= 7.0.50~), cmake (>= 2.6),
doxygen (>= 1.6.3),
pkg-config (>= 0.22),
libjrl-dynamics-dev (>= 1.19.1),
libdynamic-graph-dev (>= 1.0.0.99),
libsot-core-dev (>= 1.0.0.99),
libjrl-dynamics-dev (>= 1.19.1.99),
libhrp2-dynamics-dev (>= 1.5.1.99),
libhrp2-10-optimized1.0.0.99 (>= 1.0.0.99),
hrp2-10-data (>= 1.0.0.99),
hrp2-14-data (>= 1.7.5),
hrp2-14-small-data (>= 1.0.0.99),
#FIXME: missing hrp2-10-optimized
Standards-Version: 3.8.4
#Vcs-Git:
#Vcs-browser:
Section: libs
#Homepage:
Package: libsot-dynamic-dev
Section: libdevel
Architecture: any
Depends: libjrl-mal-dev (>= 1.9.0.99), libdynamic-graph-dev (>= 1.0.0.99), libsot-core-dev (>= 1.0.0.99), libjrl-dynamics-dev (>= 1.19.1.99), libhrp2-dynamics-dev (>= 1.5.1.99), hrp2-10-data (>= 1.0.0.99), hrp2-14-data (>= 1.7.5), hrp2-14-small-data (>= 1.0.0.99),libhrp2-10-optimized1.0.0.99 (>= 1.0.0.99), libsot-dynamic1.0.0.99 (= ${binary:Version}), ${misc:Depends}
Suggests: libsot-dynamic-doc
Description: dynamic computation plug-in for dynamic graph
This package provides dynamic computation plug-in for dynamic-graph.
It provides support for jrl-dynamics and abstract-robot-dynamics algorithms
into the dynamic-graph data-flow.
.
This package contains development files (headers and pkg-config file).
Package: libsot-dynamic1.0.0.99
Architecture: any
Depends: ${shlibs:Depends}, ${misc:Depends}
Description: dynamic computation plug-in for dynamic graph
This package provides dynamic computation plug-in for dynamic-graph.
It provides support for jrl-dynamics and abstract-robot-dynamics algorithms
into the dynamic-graph data-flow.
.
This package contains the dynamic graph plug-ins and versioned shared
libraries.
Package: libsot-dynamic-doc
Section: doc
Architecture: all
Depends: ${misc:Depends}
Suggests: libdynamic-graph-doc
Description: documentation for the dynamic computation plug-in for dynamic graph
This package provides dynamic computation plug-in for dynamic-graph.
It provides support for jrl-dynamics and abstract-robot-dynamics algorithms
into the dynamic-graph data-flow.
.
This package contains the Doxygen documentation.
This work was packaged for Debian by:
Thomas Moulard <thomas.moulard@gmail.com> on Thu, 30 Sep 2010 10:16:00 +0200
It was downloaded from <not yet available>
Upstream Author(s):
Thomas Moulard <thomas.moulard@gmail.com>
Copyright:
Copyright (C) 2010 François Bleibel, Olivier Stasse, JRL, CNRS/AIST.
License:
See `/usr/share/common-licenses/LGPL-3'.
The Debian packaging is:
Copyright (C) 2010 Thomas Moulard <thomas.moulard@gmail.com>
and is licensed under the GPL version 3,
see `/usr/share/common-licenses/GPL-3'.
AUTHORS
NEWS
README.md
usr/include/*
usr/lib/plugin/*.so
usr/lib/pkgconfig/*
Document: sot-dynamic
Title: Debian sot-dynamic Manual
Author: Thomas Moulard <thomas.moulard@gmail.com>
Abstract: Doxygen documentation of sot-dynamic.
Section: Programming
Format: HTML
Index: /usr/share/doc/sot-dynamic/html/index.html
Files: /usr/share/doc/sot-dynamic/html/*.html
#!/usr/bin/make -f
# -*- makefile -*-
# Sample debian/rules that uses debhelper.
# This file was originally written by Joey Hess and Craig Small.
# As a special exception, when this file is copied by dh-make into a
# dh-make output file, you may use that output file without restriction.
# This special exception was added by Craig Small in version 0.37 of dh-make.
# Uncomment this to turn on verbose mode.
export DH_VERBOSE=1
# FIXME: test suite fails for now.
export DEB_BUILD_OPTIONS=nocheck
override_dh_auto_configure:
dh_auto_configure -- -DGENERATE_DOC=ON
# Remove useless ldconfig call.
override_dh_makeshlibs:
dh_makeshlibs --
rm debian/libsot-dynamic1.0.0.99.postinst.debhelper
rm debian/libsot-dynamic1.0.0.99.postrm.debhelper
# FIXME: this is only necessary because some binaries are linked against
# plug-ins.
# Teach dh_shlibdeps where the plug-in are located.
override_dh_shlibdeps:
export LD_LIBRARY_PATH=\
debian/libsot-dynamic1.0.0.99/usr/lib/plugin:$(LD_LIBRARY_PATH) \
&& dh_shlibdeps --
%:
dh $@
# Watch control file for uscan
# Rename this file to "watch" and then you can run the "uscan" command
# to check for upstream updates and more.
# See uscan(1) for format
version=3
#http://github.com/laas/hpp-util/downloads /laas/hpp-util/tarball/v(.*)
......@@ -5,17 +5,6 @@
*
* CNRS/AIST
*
* This file is part of sot-dynamic.
* sot-dynamic is free software: you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public License
* as published by the Free Software Foundation, either version 3 of
* the License, or (at your option) any later version.
* sot-dynamic is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty
* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details. You should
* have received a copy of the GNU Lesser General Public License along
* with sot-dynamic. If not, see <http://www.gnu.org/licenses/>.
*/
/** \mainpage
......
# Copyright 2010, François Bleibel, Olivier Stasse, JRL, CNRS/AIST
#
# This file is part of sot-dynamic-pinocchio.
# sot-dynamic-pinocchio is free software: you can redistribute it and/or
# modify it under the terms of the GNU Lesser General Public License
# as published by the Free Software Foundation, either version 3 of
# the License, or (at your option) any later version.
#
# sot-dynamic-pinocchio is distributed in the hope that it will be useful, but
# WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
# General Lesser Public License for more details. You should have
# received a copy of the GNU Lesser General Public License along with
# sot-dynamic-pinocchio. If not, see <http://www.gnu.org/licenses/>.
SET(${PROJECT_NAME}_HEADERS
dynamic-pinocchio.h
......
......@@ -5,17 +5,6 @@
*
* CNRS/AIST
*
* This file is part of sot-dynamic-pinocchio.
* sot-dynamic-pinocchio is free software: you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public License
* as published by the Free Software Foundation, either version 3 of
* the License, or (at your option) any later version.
* sot-dynamic-pinocchio is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty
* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details. You should
* have received a copy of the GNU Lesser General Public License along
* with sot-dynamic-pinocchio. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __SOT_ANGLE_ESTIMATOR_H__
......@@ -125,4 +114,3 @@ class SOTANGLEESTIMATOR_EXPORT AngleEstimator
#endif // #ifndef __SOT_ANGLE_ESTIMATOR_H__
......@@ -5,17 +5,6 @@
*
* CNRS/AIST
*
* This file is part of sot-dynamic-pinocchio.
* sot-dynamic-pinocchio is free software: you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public License
* as published by the Free Software Foundation, either version 3 of
* the License, or (at your option) any later version.
* sot-dynamic-pinocchio is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty
* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details. You should
* have received a copy of the GNU Lesser General Public License along
* with sot-dynamic-pinocchio. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __SOT_DYNAMIC_PINOCCHIO_H__
......@@ -44,7 +33,6 @@
/* PINOCCHIO */
#include <pinocchio/macros.hpp>
#include <pinocchio/multibody/model.hpp>
#include <pinocchio/multibody/joint/joint-variant.hpp>
#include <pinocchio/algorithm/rnea.hpp>
#include <pinocchio/algorithm/jacobian.hpp>
#include <pinocchio/algorithm/frames.hpp>
......@@ -95,8 +83,8 @@ class SOTDYNAMIC_EXPORT DynamicPinocchio
DYNAMIC_GRAPH_ENTITY_DECL();
/* --- MODEL ATRIBUTES --- */
se3::Model* m_model;
se3::Data* m_data;
pinocchio::Model* m_model;
pinocchio::Data* m_data;
/* --- MODEL ATRIBUTES --- */
......@@ -185,9 +173,9 @@ class SOTDYNAMIC_EXPORT DynamicPinocchio
void displayModel() const
{ assert(m_model); std::cout<<(*m_model)<<std::endl; };
void setModel(se3::Model*);
void setModel(pinocchio::Model*);
void setData(se3::Data*);
void setData(pinocchio::Data*);
/* --- GETTERS --- */
......
......@@ -5,17 +5,6 @@
*
* CNRS/AIST
*
* This file is part of sot-dynamic-pinocchio.
* sot-dynamic-pinocchio is free software: you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public License
* as published by the Free Software Foundation, either version 3 of
* the License, or (at your option) any later version.
* sot-dynamic-pinocchio is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty
* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details. You should
* have received a copy of the GNU Lesser General Public License along
* with sot-dynamic-pinocchio. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __SOT_SOTFORCECOMPENSATION_H__
......
......@@ -5,17 +5,6 @@
*
* CNRS/AIST
*
* This file is part of sot-dynamic-pinocchio.
* sot-dynamic-pinocchio is free software: you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public License
* as published by the Free Software Foundation, either version 3 of
* the License, or (at your option) any later version.
* sot-dynamic-pinocchio is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty
* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details. You should
* have received a copy of the GNU Lesser General Public License along
* with sot-dynamic-pinocchio. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __SOT_SOTINTEGRATORFORCEEXACT_H__
......@@ -90,4 +79,3 @@ class SOTINTEGRATORFORCEEXACT_EXPORT IntegratorForceExact
#endif // #ifndef __SOT_SOTINTEGRATORFORCEEXACT_H__
......@@ -5,17 +5,6 @@
*
* CNRS/AIST
*
* This file is part of sot-dynamic-pinocchio.
* sot-dynamic-pinocchio is free software: you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public License
* as published by the Free Software Foundation, either version 3 of
* the License, or (at your option) any later version.
* sot-dynamic-pinocchio is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty
* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details. You should
* have received a copy of the GNU Lesser General Public License along
* with sot-dynamic-pinocchio. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __SOT_SOTINTEGRATORFORCERK4_H__
......@@ -91,4 +80,3 @@ class SOTINTEGRATORFORCERK4_EXPORT IntegratorForceRK4
#endif // #ifndef __SOT_SOTINTEGRATORFORCERK4_H__
......@@ -5,17 +5,6 @@
*
* CNRS/AIST
*
* This file is part of sot-dynamic-pinocchio.
* sot-dynamic-pinocchio is free software: you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public License
* as published by the Free Software Foundation, either version 3 of
* the License, or (at your option) any later version.
* sot-dynamic-pinocchio is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty
* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details. You should
* have received a copy of the GNU Lesser General Public License along
* with sot-dynamic-pinocchio. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __SOT_SOTINTEGRATORFORCE_H__
......@@ -110,4 +99,3 @@ class SOTINTEGRATORFORCE_EXPORT IntegratorForce
#endif // #ifndef __SOT_WAISTATTITUDEFROMSENSOR_H__
......@@ -5,17 +5,6 @@
*
* CNRS/AIST
*
* This file is part of sot-dynamic-pinocchio.
* sot-dynamic-pinocchio is free software: you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public License
* as published by the Free Software Foundation, either version 3 of
* the License, or (at your option) any later version.
* sot-dynamic-pinocchio is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty
* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details. You should
* have received a copy of the GNU Lesser General Public License along
* with sot-dynamic-pinocchio. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __SOT_SOTMASSAPPARENT_H__
......@@ -43,12 +32,12 @@
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
#if defined (WIN32)
#if defined (WIN32)
# if defined (mass_apparent_EXPORTS)
# define SOTMASSAPPARENT_EXPORT __declspec(dllexport)
# else
# else
# define SOTMASSAPPARENT_EXPORT __declspec(dllimport)
# endif
# endif
#else
# define SOTMASSAPPARENT_EXPORT
#endif
......@@ -74,13 +63,13 @@ namespace dynamicgraph { namespace sot {
public: /* --- SIGNAL --- */
dg::SignalPtr<dynamicgraph::Matrix,int> jacobianSIN;
dg::SignalPtr<dynamicgraph::Matrix,int> inertiaInverseSIN;
dg::SignalTimeDependent<dynamicgraph::Matrix,int> massInverseSOUT;
dg::SignalTimeDependent<dynamicgraph::Matrix,int> massSOUT;
dg::SignalPtr<dynamicgraph::Matrix,int> jacobianSIN;
dg::SignalPtr<dynamicgraph::Matrix,int> inertiaInverseSIN;
dg::SignalTimeDependent<dynamicgraph::Matrix,int> massInverseSOUT;
dg::SignalTimeDependent<dynamicgraph::Matrix,int> massSOUT;
dg::SignalPtr<dynamicgraph::Matrix,int> inertiaSIN;
dg::SignalTimeDependent<dynamicgraph::Matrix,int> inertiaInverseSOUT;
dg::SignalPtr<dynamicgraph::Matrix,int> inertiaSIN;
dg::SignalTimeDependent<dynamicgraph::Matrix,int> inertiaInverseSOUT;
public: /* --- FUNCTIONS --- */
dynamicgraph::Matrix& computeMassInverse( dynamicgraph::Matrix& res,const int& time );
......@@ -93,4 +82,3 @@ namespace dynamicgraph { namespace sot {
} // namespace dynamicgraph
#endif // #ifndef __SOT_SOTMASSAPPARENT_H__
......@@ -5,17 +5,6 @@
*
* CNRS/AIST
*
* This file is part of sot-dynamic-pinocchio.
* sot-dynamic-pinocchio is free software: you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public License
* as published by the Free Software Foundation, either version 3 of
* the License, or (at your option) any later version.
* sot-dynamic-pinocchio is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty
* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details. You should
* have received a copy of the GNU Lesser General Public License along
* with sot-dynamic-pinocchio. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __SOT_SOTMATRIXINERTIA_H__
......@@ -34,12 +23,12 @@
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
#if defined (WIN32)
#if defined (WIN32)
# if defined (matrix_inertia_EXPORTS)
# define SOTMATRIXINERTIA_EXPORT __declspec(dllexport)
# else
# else
# define SOTMATRIXINERTIA_EXPORT __declspec(dllimport)
# endif
# endif
#else
# define SOTMATRIXINERTIA_EXPORT
#endif
......@@ -80,7 +69,7 @@ private:
dynamicsJRLJapan::HumanoidDynamicMultiBody* aHDMB_;
std::vector<CjrlJoint*> joints_;
std::vector<int> parentIndex_;
std::vector< dynamicgraph::Matrix > Ic;
std::vector< dynamicgraph::Vector > phi;
std::vector< MatrixTwist > iVpi;
......
......@@ -5,17 +5,6 @@
*
* CNRS/AIST
*
* This file is part of sot-dynamic-pinocchio.
* sot-dynamic-pinocchio is free software: you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public License
* as published by the Free Software Foundation, either version 3 of
* the License, or (at your option) any later version.
* sot-dynamic-pinocchio is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty
* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details. You should
* have received a copy of the GNU Lesser General Public License along
* with sot-dynamic-pinocchio. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __SOT_WAISTATTITUDEFROMSENSOR_H__
......@@ -120,4 +109,3 @@ class SOTWAISTATTITUDEFROMSENSOR_EXPORT WaistPoseFromSensorAndContact
#endif // #ifndef __SOT_WAISTATTITUDEFROMSENSOR_H__
......@@ -5,17 +5,6 @@
*
* CNRS/AIST
*
* This file is part of sot-dynamic-pinocchio.
* sot-dynamic-pinocchio is free software: you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public License
* as published by the Free Software Foundation, either version 3 of
* the License, or (at your option) any later version.
* sot-dynamic-pinocchio is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty
* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details. You should
* have received a copy of the GNU Lesser General Public License along
* with sot-dynamic-pinocchio. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __SOT_ZMPREFFROMCOM_H__
......@@ -93,4 +82,3 @@ class SOTZMPREFFROMCOM_EXPORT ZmprefFromCom
#endif // #ifndef __SOT_ZMPREFFROMCOM_H__
# -*- coding: utf-8 -*-
# Copyright 2011, Florent Lamiraux, Thomas Moulard, JRL, CNRS/AIST