Merge pull request #24 from olivier-stasse/master

Making sot-dynamic-pinocchio appear as sot-dynamic-pinocchio

CMakeLists.txt

@@ -21,7 +21,7 @@ INCLUDE(cmake/eigen.cmake)
 INCLUDE(cmake/lapack.cmake)
 INCLUDE(cmake/cpack.cmake)
 
-SET(PROJECT_NAME sot-dynamic)
+SET(PROJECT_NAME sot-dynamic-pinocchio)
 
 SET(PROJECT_DESCRIPTION "pinocchio bindings for dynamic-graph.")
 SET(PROJECT_URL "https://github.com/proyan/sot-dynamic/tree/topic/sot-pinocchio")

cmake @ 54177e44

-Subproject commit 83d3fa76f5196bc667e516c590ae6fd297027050
+Subproject commit 54177e44a1440222184865f1449c40b708eeaaa4

include/CMakeLists.txt

@@ -14,7 +14,7 @@
 # sot-dynamic. If not, see <http://www.gnu.org/licenses/>.
 
 SET(${PROJECT_NAME}_HEADERS
-	dynamic.h
+	dynamic-pinocchio.h
 	integrator-force-exact.h
 	zmpreffromcom.h
 	integrator-force.h

include/sot-dynamic/dynamic.h → include/sot-dynamic-pinocchio/dynamic-pinocchio.h

@@ -18,8 +18,8 @@
  * with sot-dynamic.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#ifndef __SOT_DYNAMIC_H__
-#define __SOT_DYNAMIC_H__
+#ifndef __SOT_DYNAMIC_PINOCCHIO_H__
+#define __SOT_DYNAMIC_PINOCCHIO_H__
 
 /* --------------------------------------------------------------------- */
 /* --- INCLUDE --------------------------------------------------------- */
@@ -86,7 +86,7 @@ namespace dynamicgraph {
       by the dynamicsJRLJapan library to make it accessible in the stack of tasks.
       The robot is described by a VRML file.
     */
-class SOTDYNAMIC_EXPORT Dynamic
+class SOTDYNAMIC_EXPORT DynamicPinocchio
  :public dg::Entity {
   friend class sot::command::SetFile;
   friend class sot::command::CreateOpPoint;
@@ -167,8 +167,8 @@ class SOTDYNAMIC_EXPORT Dynamic
 
     public:
   /* --- CONSTRUCTOR --- */
-  Dynamic( const std::string& name);
-  virtual ~Dynamic( void );
+  DynamicPinocchio( const std::string& name);
+  virtual ~DynamicPinocchio( void );
 
 
   /* --- MODEL CREATION --- */
@@ -260,4 +260,4 @@ class SOTDYNAMIC_EXPORT Dynamic
 
 
 
-#endif // #ifndef __SOT_DYNAMIC_H__
+#endif // #ifndef __SOT_DYNAMIC_PINOCCHIO_H__

src/CMakeLists.txt

 # Copyright 2010, François Bleibel, Olivier Stasse, JRL, CNRS/AIST,
 #                 Florent Lamiraux (CNRS/LAAS)
 #
-# This file is part of sot-dynamic.
-# sot-dynamic is free software: you can redistribute it and/or
+# 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 is distributed in the hope that it will be useful, but
+# 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. If not, see <http://www.gnu.org/licenses/>.
+# sot-dynamic-pinocchio. If not, see <http://www.gnu.org/licenses/>.
 
 INCLUDE(../custom_cmake/python.cmake)
 INCLUDE(../cmake/python.cmake)
@@ -56,12 +56,12 @@ FOREACH(lib ${plugins})
 
   SOT_DYNAMIC_PYTHON_MODULE("sot/dynamics/${PYTHON_LIBRARY_NAME}"
     ${lib}
-    sot-dynamics-${PYTHON_LIBRARY_NAME}-wrap
+    sot-dynamic-pinocchio-${PYTHON_LIBRARY_NAME}-wrap
     )
 ENDFOREACH(lib)
 
 # Main Library
-ADD_LIBRARY(${LIBRARY_NAME} SHARED sot-dynamic.cpp)
+ADD_LIBRARY(${LIBRARY_NAME} SHARED sot-dynamic-pinocchio.cpp)
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME} pinocchio)
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME} sot-core)
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME} dynamic-graph)
@@ -75,9 +75,9 @@ TARGET_LINK_LIBRARIES(dynamic ${LIBRARY_NAME})
 
 # Install empty __init__.py files in intermediate directories.
 INSTALL(FILES
-  ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics/__init__.py
-  ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics/humanoid_robot.py
-  ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics/tools.py
-  ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics/parser.py
-  DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/dynamics
+  ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics_pinocchio/__init__.py
+  ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics_pinocchio/humanoid_robot.py
+  ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics_pinocchio/tools.py
+  ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics_pinocchio/parser.py
+  DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio
   )
\ No newline at end of file

src/angle-estimator.cpp

@@ -5,20 +5,20 @@
  *
  * CNRS/AIST
  *
- * This file is part of sot-dynamic.
- * sot-dynamic is free software: you can redistribute it and/or
+ * 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 is distributed in the hope that it will be
+ * 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.  If not, see <http://www.gnu.org/licenses/>.
+ * with sot-dynamic-pinocchio.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <sot-dynamic/angle-estimator.h>
+#include <sot-dynamic-pinocchio/angle-estimator.h>
 #include <sot/core/debug.hh>
 #include <dynamic-graph/factory.h>
 #include <dynamic-graph/command.h>

src/dynamic-command.h

@@ -41,14 +41,14 @@ namespace dynamicgraph { namespace sot {
       /// Create command and store it in Entity
       /// \param entity instance of Entity owning this command
       /// \param docstring documentation of the command
-      DisplayModel(Dynamic& entity, const std::string& docstring) :
+      DisplayModel(DynamicPinocchio& entity, const std::string& docstring) :
 	Command(entity, std::vector<Value::Type>(),
 		docstring)
       {
       }
       virtual Value doExecute()
       {
-	Dynamic& robot = static_cast<Dynamic&>(owner());
+	DynamicPinocchio& robot = static_cast<DynamicPinocchio&>(owner());
 	robot.displayModel();
 	return Value();
       }
@@ -64,14 +64,14 @@ namespace dynamicgraph { namespace sot {
       /// Create command and store it in Entity
       /// \param entity instance of Entity owning this command
       /// \param docstring documentation of the command
-      GetDimension(Dynamic& entity, const std::string& docstring) :
+      GetDimension(DynamicPinocchio& entity, const std::string& docstring) :
 	Command(entity, std::vector<Value::Type>(),
 		docstring)
       {
       }
       virtual Value doExecute()
       {
-	Dynamic& robot = static_cast<Dynamic&>(owner());
+	DynamicPinocchio& robot = static_cast<DynamicPinocchio&>(owner());
 	unsigned int dimension = robot.m_model->nv;
 	return Value(dimension);
       }

src/dynamic.cpp

@@ -5,20 +5,20 @@
  *
  * CNRS/AIST
  *
- * This file is part of sot-dynamic.
- * sot-dynamic is free software: you can redistribute it and/or
+ * 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 is distributed in the hope that it will be
+ * 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.  If not, see <http://www.gnu.org/licenses/>.
+ * with sot-dynamic-pinocchio.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <sot-dynamic/dynamic.h>
+#include <sot-dynamic-pinocchio/dynamic-pinocchio.h>
 #include <dynamic-graph/factory.h>
 
 using namespace dynamicgraph;
@@ -26,12 +26,12 @@ using namespace dynamicgraph::sot;
 
 extern "C" {
   ::dynamicgraph::Entity*						
-  EntityMaker_Dynamic(const std::string& objname)			
+  EntityMaker_DynamicPinocchio(const std::string& objname)			
   {									
-    return new Dynamic (objname);					
+    return new DynamicPinocchio (objname);					
   }									
   ::dynamicgraph::EntityRegisterer					
-  reg_Dynamic ("Dynamic",						
-	       &EntityMaker_Dynamic);				
+  reg_Dynamic ("DynamicPinocchio",						
+	       &EntityMaker_DynamicPinocchio);				
 }
 //DYNAMICGRAPH_FACTORY_DYNAMIC_PLUGIN(Dynamic,"Dynamic");

src/dynamic_graph/sot/dynamics/humanoid_robot.py → src/dynamic_graph/sot/dynamics_pinocchio/humanoid_robot.py

@@ -22,8 +22,8 @@ from dynamic_graph.sot.core import OpPointModifier
 from dynamic_graph.sot.core.derivator import Derivator_of_Vector
 from dynamic_graph.sot.core import RobotSimu
 
-from dynamic_graph.sot.dynamics.parser import Parser
-from dynamic_graph.sot.dynamics import AngleEstimator
+from dynamic_graph.sot.dynamics_pinocchio.parser import Parser
+from dynamic_graph.sot.dynamics_pinocchio import AngleEstimator
 
 from dynamic_graph import plug
 
@@ -156,7 +156,7 @@ class AbstractHumanoidRobot (object):
         """
         Load a model from a kxml file and return the parsed model.
         This uses the Python parser class implement in
-        dynamic_graph.sot.dynamics.parser.
+        dynamic_graph.sot.dynamics_pinocchio.parser.
 
         kxml is an extensible file format used by KineoWorks to store
         both the robot mesh and its kinematic chain.

src/dynamic_graph/sot/dynamics/parser.py → src/dynamic_graph/sot/dynamics_pinocchio/parser.py

@@ -7,7 +7,7 @@
 #
 
 import xml.dom.minidom as dom
-from dynamic_graph.sot.dynamics.dynamic import Dynamic
+from dynamic_graph.sot.dynamics_pinocchio.dynamic import Dynamic
 from dynamic_graph.sot.tools.se3 import SE3, R3, SO3
 
 class Parser (object):