IVIGIT (should have been added much earlier, cannot work without).

include/sot-dyninv/entity-helper.h

+/*
+ * Copyright 2011, Nicolas Mansard, LAAS-CNRS
+ *
+ * This file is part of sot-dyninv.
+ * sot-dyninv 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-dyninv 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-dyninv.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __sot_dyninv_entity_helper_H__
+#define __sot_dyninv_entity_helper_H__
+
+
+namespace dynamicgraph
+{
+
+  template< typename Ent >
+    struct EntityHelper
+    {
+      typedef Ent EntityClassName;
+      //static const std::string CLASS_NAME; TO BE ADDED IN DG DIRECTLY
+    };
+
+} // namespace dynamicgraph
+
+#endif // __sot_dyninv_entity_helper_H__

include/sot-dyninv/mal-to-eigen.h

+/*
+ * Copyright 2011, Nicolas Mansard, LAAS-CNRS
+ *
+ * This file is part of sot-dyninv.
+ * sot-dyninv 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-dyninv 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-dyninv.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __sot_dyninv_mal_to_eigen_H__
+#define __sot_dyninv_mal_to_eigen_H__
+
+#include <Eigen/LU>
+#include <soth/Algebra.hpp>
+
+namespace Eigen
+{
+  typedef Matrix<double,Dynamic,Dynamic,RowMajor> MatrixRXd;
+}
+
+#define EIGEN_MATRIX_FROM_SIGNAL(name,signal)	         \
+  Eigen::Map<Eigen::MatrixRXd> name			 \
+  (							 \
+   const_cast<double*>(signal.accessToMotherLib().data().begin()),	\
+   signal.nbRows(),					 \
+   signal.nbCols()					 \
+							 )
+#define EIGEN_VECTOR_FROM_SIGNAL(name,signal)	         \
+  Eigen::Map<Eigen::VectorXd> name			 \
+  (							 \
+   signal.accessToMotherLib().data().begin(),		 \
+   signal.size()					 \
+							 )
+
+template< typename D >
+inline void EIGEN_VECTOR_TO_VECTOR( const Eigen::MatrixBase<D>& in, ml::Vector & out )
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY( Eigen::MatrixBase<D> );
+  out.resize(in.size());
+  memcpy( out.accessToMotherLib().data().begin(),in.derived().data(),
+	  in.size()*sizeof(double));
+}
+
+template< typename MB >
+inline void EIGEN_ROWMAJOR_MATRIX_TO_MATRIX( const Eigen::MatrixBase<MB>& in,
+					     ml::Matrix & out )
+{
+  out.resize( in.rows(),in.cols() );
+  memcpy( out.accessToMotherLib().data().begin(),in.derived().data(),
+	  in.cols()*in.rows()*sizeof(double));
+}
+
+template< typename MB >
+inline void EIGEN_COLMAJOR_MATRIX_TO_MATRIX( const Eigen::MatrixBase<MB>& in,
+					     ml::Matrix & out )
+{
+  // TODO: find a better way for that!
+  out.resize( in.rows(),in.cols() );
+  for( int i=0;i<in.rows();++i )
+    for( int j=0;j<in.cols();++j )
+      out(i,j)=in(i,j);
+}
+
+
+
+#define EIGEN_MATRIX_FROM_MATRIX(eigName,mlName,r,c)	         \
+  mlName.resize(r,c);						 \
+  EIGEN_MATRIX_FROM_SIGNAL(eigName,mlName)
+
+#define EIGEN_VECTOR_FROM_VECTOR(eigName,mlName,r)	         \
+  mlName.resize(r);						 \
+  EIGEN_VECTOR_FROM_SIGNAL(eigName,mlName)
+
+
+
+#endif // __sot_dyninv_mal_to_eigen_H__

include/sot-dyninv/signal-helper.h

+/*
+ * Copyright 2011, Nicolas Mansard, LAAS-CNRS
+ *
+ * This file is part of sot-dyninv.
+ * sot-dyninv 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-dyninv 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-dyninv.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __sot_dyninv_signal_helper_H__
+#define __sot_dyninv_signal_helper_H__
+
+/* --- COMMON INCLUDE -------------------------------------------------- */
+
+/* dg signals */
+#include <dynamic-graph/entity.h>
+#include <dynamic-graph/signal-ptr.h>
+#include <dynamic-graph/signal-time-dependent.h>
+/* Matrix */
+#include <jrl/mal/boost.hh>
+namespace ml = maal::boost;
+
+/* --- MACROS ---------------------------------------------------------- */
+
+#define DECLARE_SIGNAL( name,IO,type )    ::dynamicgraph::Signal<type,int> name##S##IO
+#define CONSTRUCT_SIGNAL( name,IO,type )  name##S##IO( getClassName()+"("+getName()+")::"+#IO+"put("+#type+")::"+#name )
+
+#define DECLARE_SIGNAL_IN( name,type )    ::dynamicgraph::SignalPtr<type,int> name##SIN
+#define CONSTRUCT_SIGNAL_IN( name,type )  name##SIN( NULL,getClassName()+"("+getName()+")::input("+#type+")::"+#name )
+
+#define SIGNAL_OUT_FUNCTION( name )  name##SOUT_function
+#define DECLARE_SIGNAL_OUT( name,type )                         \
+  public:                                                       \
+    ::dynamicgraph::SignalTimeDependent<type,int> name##SOUT;	\
+  protected:                                                    \
+  type& SIGNAL_OUT_FUNCTION(name)( type&,int )
+#define CONSTRUCT_SIGNAL_OUT( name,type,dep )		\
+  name##SOUT( boost::bind(&  EntityClassName::name##SOUT_function,this,_1,_2), \
+	      dep,getClassName()+"("+getName()+")::output("+#type+")::"+#name )
+
+
+
+
+#endif // __sot_dyninv_signal_helper_H__