Dissociates dynamic lib and dynamic plugin

CMakeLists.txt

@@ -60,7 +60,7 @@ SET(libs
   zmp-from-forces
   )
 
-LIST(APPEND libs dynamic)
+LIST(APPEND libs dynamic_plugin)
 
 
 LIST(APPEND LOGGING_WATCHED_TARGETS ${libs})

src/CMakeLists.txt

@@ -60,6 +60,18 @@ FOREACH(lib ${libs})
     )
 ENDFOREACH(lib)
 
+# Main Library
+ADD_LIBRARY(dynamic SHARED dynamic.cpp)
+TARGET_LINK_LIBRARIES(dynamic jrl-dynamics)
+TARGET_LINK_LIBRARIES(dynamic sot-core)
+TARGET_LINK_LIBRARIES(dynamic dynamic-graph)
+PKG_CONFIG_USE_DEPENDENCY(dynamic jrl-dynamics)
+PKG_CONFIG_USE_DEPENDENCY(dynamic sot-core)
+PKG_CONFIG_USE_DEPENDENCY(dynamic dynamic-graph)
+
+INSTALL(TARGETS dynamic DESTINATION ${CMAKE_INSTALL_LIBDIR})
+
+
 # Install empty __init__.py files in intermediate directories.
 INSTALL(FILES
   ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics/__init__.py

src/dynamic.cpp

@@ -29,7 +29,6 @@
 #include <abstract-robot-dynamics/humanoid-dynamic-robot.hh>
 #include <abstract-robot-dynamics/robot-dynamics-object-constructor.hh>
 
-#include <dynamic-graph/factory.h>
 #include <dynamic-graph/all-commands.h>
 
 #include "../src/dynamic-command.h"
@@ -38,7 +37,7 @@
 using namespace dynamicgraph::sot;
 using namespace dynamicgraph;
 
-DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(Dynamic,"Dynamic");
+const std::string dynamicgraph::sot::Dynamic::CLASS_NAME = "Dynamic";
 
 using namespace std;
 

src/dynamic_plugin.cpp

+/*
+ * Copyright 2010,
+ * François Bleibel,
+ * Olivier Stasse,
+ *
+ * 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/>.
+ */
+
+#include <sot-dynamic/dynamic.h>
+#include <dynamic-graph/factory.h>
+
+using namespace dynamicgraph::sot;
+using namespace dynamicgraph;
+
+DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(Dynamic,"Dynamic");