Add the prologue for romeo and rename the main file into robot.py

In the sake of standardization.

src/CMakeLists.txt

@@ -17,7 +17,7 @@ INCLUDE(../cmake/python.cmake)
 FINDPYTHON()
 INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_PATH})
 
-CONFIG_FILES(dynamic_graph/sot/romeo/romeo.py)
+CONFIG_FILES(dynamic_graph/sot/romeo/robot.py)
 
 # Install Python files.
 SET(PYTHON_MODULE_DIR
@@ -27,8 +27,7 @@ SET(PYTHON_MODULE_BUILD_DIR
 
 SET(PYTHON_MODULE dynamic_graph/sot/romeo)
 PYTHON_INSTALL_ON_SITE("${PYTHON_MODULE}" "__init__.py" )
-PYTHON_INSTALL_BUILD("${PYTHON_MODULE}" "romeo.py" "${PYTHON_SITELIB}")
-SET(FILES __init__.py romeo.py)
-
+PYTHON_INSTALL_ON_SITE("${PYTHON_MODULE}" "prologue.py" )
+PYTHON_INSTALL_BUILD("${PYTHON_MODULE}" "robot.py" "${PYTHON_SITELIB}")
 
 

src/dynamic_graph/sot/romeo/__init__.py

-# -*- coding: utf-8 -*-
-# Copyright 2011, Florent Lamiraux, Thomas Moulard, JRL, CNRS/AIST
-#
-# This file is part of dynamic-graph.
-# dynamic-graph 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.
-#
-# dynamic-graph 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
-# dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
-
-from __future__ import print_function
-from dynamic_graph.sot.romeo.romeo import Robot

src/dynamic_graph/sot/romeo/prologue.py

+# -*- coding: utf-8 -*-
+# Copyright 2013, Florent Lamiraux, Thomas Moulard, JRL, CNRS/AIST
+#
+# This file is part of dynamic-graph.
+# dynamic-graph 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.
+#
+# dynamic-graph 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
+# dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
+print("Prologue ROMEO")
+
+from dynamic_graph.entity import PyEntityFactoryClass
+from dynamic_graph.sot.romeo.robot import Robot
+
+# Create the device.
+# This entity behaves exactly like robotsimu except:
+# 1. it does not provide the increment command
+# 2. it forwards the robot control to the sot-abstract
+#    controller.
+Device = PyEntityFactoryClass('Device')
+
+# Create the robot using the device.
+robot = Robot(name = 'robot', device = Device('ROMEO'))
+
+robot.dynamic.com.recompute (0)
+_com = robot.dynamic.com.value
+robot.device.zmp.value = (_com[0], _com[1], 0.)
+
+__all__ = ["robot"]
+
+####################################
+#        --- IMPORTANT ---         #
+#                                  #
+# THIS FILE MUST NEVER BE CHANGED. #
+# TO RUN YOUR EXPERIMENT, PLEASE   #
+# WRITE A SEPARATE PYTHON MODULE   #
+# AND LAUNCH IT USING dg-remote!   #
+####################################