Added two unit tests.

Shell (ok)
Factory (currently needs sotGainAdaptive to compile, will change to another entity soon)

CMakeLists.txt

@@ -105,6 +105,7 @@ INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/dynamic-graph.pc
 
 ADD_SUBDIRECTORY(src)
 ADD_SUBDIRECTORY(include)
+ADD_SUBDIRECTORY(unitTesting)
 #
 # Documentation produced by doxygen
 #

unitTesting/CMakeLists.txt

+# 
+#  Copyright 
+# 
+
+SET(EXECUTABLE_NAME test_shell)
+
+ADD_DEFINITIONS(-DDEBUG=2)
+
+ADD_EXECUTABLE(${EXECUTABLE_NAME}
+  test_shell.cpp)
+
+INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/include)
+
+link_directories(${LIBRARY_OUTPUT_PATH})
+TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME}
+  dynamicGraph
+  dl)
+
+
+#NOTE on test_factory:
+# test can only be compiled IF sotGainAdaptive has been compiled first
+SET(EXECUTABLE_NAME test_factory)
+
+ADD_DEFINITIONS(-DDEBUG=2)
+
+ADD_EXECUTABLE(${EXECUTABLE_NAME}
+  test_factory.cpp)
+
+INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/include)
+
+link_directories(${LIBRARY_OUTPUT_PATH})
+TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME}
+  dynamicGraph
+  dl)
\ No newline at end of file

unitTesting/test_factory.cpp

+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-JAPAN, Tsukuba, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File:      test_factory.cc
+ * Project:   SOT
+ * Author:    Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ *  $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+/* -------------------------------------------------------------------------- */
+/* --- INCLUDES ------------------------------------------------------------- */
+/* -------------------------------------------------------------------------- */
+
+
+#include <string>
+#include <iostream>
+#include <cstdlib>
+
+#include <dynamic-graph/factory.h>
+#include <dynamic-graph/entity.h>
+#include <dynamic-graph/debug.h>
+
+
+using namespace std;
+using namespace dynamicgraph;
+
+#ifdef WIN32
+#include <Windows.h>
+#else 
+#include <dlfcn.h> 
+#endif
+
+#ifdef WIN32
+	typedef HMODULE sotPluginKey;
+#else
+	typedef void* sotPluginKey;
+#endif
+
+int main()
+{
+  
+  dgDEBUG(0) << "# In {"<<endl;
+//   Entity test("");
+//   sotExceptionFeature t2(sotExceptionFeature::BAD_INIT);
+//   sotExceptionSignal t4(sotExceptionSignal::COPY_NOT_INITIALIZED);
+//   sotFlags t3;
+//   TestFeature t5;
+
+#ifndef WIN32
+  sotPluginKey dlib = dlopen("lib/plugin/sotFeatureVisualPoint.so", RTLD_NOW);
+#else
+  sotPluginKey dlib = LoadLibrary ( "lib/plugin/sotFeatureVisualPoint.lib"); 
+#endif
+if( NULL==dlib ) 
+    {
+      cerr << " Error dl"<<endl;
+#ifndef WIN32
+      cerr << dlerror() <<endl;
+#else
+    // Retrieve the system error message for the last-error code
+    LPTSTR pszMessage;
+    DWORD dwLastError = GetLastError(); 
+    FormatMessage(
+        FORMAT_MESSAGE_ALLOCATE_BUFFER | 
+        FORMAT_MESSAGE_FROM_SYSTEM |
+        FORMAT_MESSAGE_IGNORE_INSERTS,
+        NULL,
+        dwLastError,
+        MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT),
+        (LPTSTR)&pszMessage,
+        0, NULL );
+
+
+	  cerr << pszMessage <<endl;
+	  LocalFree(pszMessage);
+#endif
+
+      exit(0);
+    }
+
+
+#ifndef WIN32
+	dlib = dlopen("lib/plugin/sotGainAdaptative.so", RTLD_NOW);
+#else
+	dlib = LoadLibrary ("lib/plugin/sotGainAdaptative.lib"); 
+#endif
+  if( NULL==dlib ) 
+    {
+      cerr << " Error dl"<<endl;
+#ifndef WIN32
+      cerr << dlerror() <<endl;
+#else
+    // Retrieve the system error message for the last-error code
+    LPTSTR pszMessage;
+    DWORD dwLastError = GetLastError(); 
+    FormatMessage(
+        FORMAT_MESSAGE_ALLOCATE_BUFFER | 
+        FORMAT_MESSAGE_FROM_SYSTEM |
+        FORMAT_MESSAGE_IGNORE_INSERTS,
+        NULL,
+        dwLastError,
+        MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT),
+        (LPTSTR)&pszMessage,
+        0, NULL );
+
+
+	  cerr << pszMessage <<endl;
+	  LocalFree(pszMessage);
+#endif
+      exit(0);
+    }
+
+  Entity* gain = factory.newEntity("GainAdaptative","Gain");
+
+  
+  gain->display(cout); cout << endl;
+  cout <<gain->getClassName(); cout << endl;
+
+
+  dgDEBUG(0) << "# Out }"<<endl;
+}
+

unitTesting/test_shell.cpp

+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-JAPAN, Tsukuba, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File:      test_shell.cc
+ * Project:   SOT
+ * Author:    Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ *  $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+/* -------------------------------------------------------------------------- */
+/* --- INCLUDES ------------------------------------------------------------- */
+/* -------------------------------------------------------------------------- */
+
+#include <dynamic-graph/entity.h>
+#include <dynamic-graph/plugin-loader.h>
+#include <dynamic-graph/interpreter.h>
+#include <dynamic-graph/debug.h>
+
+#include <sstream>
+using namespace std;
+using namespace dynamicgraph;
+
+
+extern std::ofstream debugfile;
+
+int main( int argc,char** argv )
+{
+  dgDEBUGIN(15);
+  
+  dgDEBUG(5) << " Loading..." << endl;
+  PluginLoader pl;
+  Shell.referencePluginLoader( &pl );
+
+  int fileIdx;
+  try
+    {
+      for( fileIdx=1;fileIdx<argc;++fileIdx )
+	{
+	  std::istringstream script( argv[fileIdx] );
+	  cout << "Run "<< argv[fileIdx] << endl;
+	  Shell.cmd( "run",script,cout );
+	}
+    } 
+  catch( ExceptionAbstract& e )
+    {
+      cout << "!! In file <" << argv[fileIdx] << "> : "  << e <<endl;
+    }
+  catch ( const char* str ) {
+	  cout << "!! In file <" << argv[fileIdx] << "> : "
+	  	  << "Unknown exception " << str << endl;
+  }
+  catch( ... ){ dgDEBUG(5) << "!! Unknown! " <<endl ; }
+ 
+  while(1)
+    {
+      try
+	{
+	  dgDEBUG(5) << "Run shell." << endl;
+	  Shell.shell(cin,cout);
+	  dgDEBUG(5) << "Shell over." << endl;
+      if( cin.eof() ) break;
+	} 
+      catch( ExceptionAbstract& e )
+	{
+	  cout << "!!  "  << e <<endl;
+	}
+      catch( ... ){ dgDEBUG(5) << "!! Unknown! " <<endl ; }
+    }
+
+  dgDEBUGOUT(15);
+  return 0;
+}
+
+
+
+