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  • cberge/dynamic-graph
  • ostasse/dynamic-graph
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  • stack-of-tasks/dynamic-graph
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.git-blame-ignore-revs 0 → 100644
View file @ 2e7a70d5
# pre-commit run -a (Guilhem Saurel, 2022-07-27)
e9a222fb0a1f236e534e21c66cb623fd8d25b8d6
# pre-commit: details (Guilhem Saurel, 2022-04-14)
1c0f3cc1048a8b2a8206510a51a237b2f1e68a34
# pre-commit run -a (Guilhem Saurel, 2022-03-30)
0c1e6fb50735d4d6cc93e15d3bef202392d47c5b
# clang format defaults + pre-commit (Guilhem Saurel, 2022-03-30)
b6fc5d81e645a84fa8f4d656371adfb27c2b2b23
# [value] Clang format. (Olivier Stasse, 2022-01-09)
b852eef0d56de04ae91a43b1ddbd837ec69ddbe6
# linters: fix clang-check-12 (Guilhem Saurel, 2021-09-14)
ca1b2fc51540b4fcb2cd0b4fccaa33b02738af41
# reformat for clang-format-12 (Guilhem Saurel, 2021-09-07)
ed5899076b7b11c16d9517295e3826dd9b9d80d2
# format (Guilhem Saurel, 2020-11-13)
c54add29f80f6bcd1d05ca741d472491cf74c180
# format (Guilhem Saurel, 2020-07-22)
f4def3bfeaf0f9c9a6d5c5eb01c3a3b2fbb04b2f
# clang format. (Olivier Stasse, 2020-02-03)
70864112c87365af645f0404f881edf36c1ec734
# [clang] Update format. (Olivier Stasse, 2019-08-26)
384b2078e4962d762db4293bf3396be17df4e5c7
# [clang-format] Comply to Google style. (Olivier Stasse, 2019-08-20)
df48199dd436ba8341ae93c7b1f87eb30d0f457a
.gitignore 0 → 100644
View file @ 2e7a70d5
_build*
.~
compile_commands.json
.gitlab-ci.yml 0 → 100644
View file @ 2e7a70d5
include: http://rainboard.laas.fr/project/dynamic-graph/.gitlab-ci.yml
.gitmodules
View file @ 2e7a70d5
[submodule "jrl-cmakemodules"]
path = jrl-cmakemodules
url = git://github.com/jrl-umi3218/jrl-cmakemodules.git
[submodule "cmake"]
path = cmake
url = git://github.com/jrl-umi3218/jrl-cmakemodules.git
[submodule ".travis"]
path = .travis
url = git://github.com/jrl-umi3218/jrl-travis.git
url = https://github.com/jrl-umi3218/jrl-cmakemodules.git
.pre-commit-config.yaml 0 → 100644
View file @ 2e7a70d5
ci:
autoupdate_branch: 'devel'
repos:
- repo: https://github.com/pre-commit/mirrors-clang-format
rev: v14.0.6
hooks:
- id: clang-format
args: [--style=Google]
- repo: https://github.com/pre-commit/pre-commit-hooks
rev: v4.3.0
hooks:
- id: check-added-large-files
- id: check-ast
- id: check-executables-have-shebangs
- id: check-json
- id: check-merge-conflict
- id: check-symlinks
- id: check-toml
- id: check-yaml
- id: debug-statements
- id: destroyed-symlinks
- id: detect-private-key
- id: end-of-file-fixer
- id: fix-byte-order-marker
- id: mixed-line-ending
- id: trailing-whitespace
- repo: https://github.com/cheshirekow/cmake-format-precommit
rev: v0.6.13
hooks:
- id: cmake-format
.travis @ 127d03a2
Compare 127d03a2...127d03a2
Subproject commit 127d03a2df0f7a3996bfd66a671eb504a9343e2d
.travis.yml deleted 100644 → 0
View file @ 198c54d6
language: cpp
sudo: required
compiler:
- gcc
- clang
env:
global:
- DEBSIGN_KEYID=5AE5CD75
- secure: "lEJYxth3fNsmvNS7Ern9+kEpHk4X3Tjo51GBUQBNL6g+YyZJKm4xwBEfwK+sewlmhY3oLUds+5H/2zE27q517kIcpP2Tlp4sRfooJfnBS7YYyF+1boxbvOXrZ2aqev3rzkyvKKMBg0UJTvAiSf7JgVCkMv33GeAX3/I+djEh23U="
- secure: "QTw5QQDaeQWBz6APcUCyl9P9UPI/T3j1++9o9fPxygS9R/7bQYNCrSH++owcAVCJgUI5oY3RmnYk/PjVygOLM0vbFqB2mMySibAhO/U3pSLtZ/HyPjqI9fX0TV/Cf7ji7soeXKk8p6kI2InMILpODLBaLdfm/jgCdAfecr5sGQI="
- secure: "JEcGQsUgEND64cAGVEHSxg8j7SlwofuYtLamANszs/h8FGYZ82rEjmG7r2zqSfBj/i1WsnSbTSsh8WJuXzvV8fw8enkcLEuJG9scQJzuzY8hnLe81o1fhEkclML0SLkLQ2Fu6rIqlKKeYwmJFFhSIj69ESRIkDhkjA1OrV7szzc="
- APT_DEPENDENCIES="doxygen libboost-dev libboost-test-dev libboost-filesystem-dev libboost-system-dev libboost-thread-dev libboost-program-options-dev liblapack-dev gfortran libeigen3-dev"
- GIT_DEPENDENCIES="jrl-umi3218/jrl-mathtools jrl-umi3218/jrl-mal"
- PPA_URI="stack-of-tasks/snapshot"
- NSIQCPPSTYLE_FILEFILTERPATH=cmake/filefilter.txt
notifications:
hipchat:
rooms:
- secure: "SP8KX6gPzBT0BCpcL3ybK4Cgx7a7rmK3Hv/fD2lIf/RUdTwtzLh/J/l9xSYuMZisLe1tM+12vfP7r6t1RNdXrB7pSpYvFRNIWmyfBC7KnUFVn5rwxUnDPhKY3D/XaJ1cycbBJqJdUjYjFKCGEm4x6cpRRN61Ii66RAUvm1h9aHQ="
email:
- hpp-source@laas.fr
branches:
only:
- master
- debian
script: ./.travis/run build
after_success: ./.travis/run after_success
after_failure: ./.travis/run after_failure
before_install: ./.travis/run before_install
matrix:
allow_failures:
- compiler: clang
CMakeLists.txt
View file @ 2e7a70d5
# Copyright 2010, Olivier Stasse, 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/>.
CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
INCLUDE(cmake/base.cmake)
INCLUDE(cmake/boost.cmake)
INCLUDE(cmake/eigen.cmake)
INCLUDE(cmake/pthread.cmake)
INCLUDE(cmake/cpack.cmake)
SET(PROJECT_NAME dynamic-graph)
SET(PROJECT_DESCRIPTION "Dynamic graph library")
SET(PROJECT_URL "http://github.com/jrl-umi3218/dynamic-graph")
SET(CUSTOM_HEADER_DIR "${PROJECT_NAME}")
# Defines paths.
SET(LIBRARY_OUTPUT_PATH ${PROJECT_BINARY_DIR}/lib)
SETUP_PROJECT()
cmake_minimum_required(VERSION 3.1)
# Project properties
set(PROJECT_ORG stack-of-tasks)
set(PROJECT_NAME dynamic-graph)
set(PROJECT_DESCRIPTION "Dynamic graph library")
set(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
# Project options
option(SUFFIX_SO_VERSION "Suffix library name with its version" ON)
# Project configuration
set(PROJECT_USE_CMAKE_EXPORT TRUE)
set(CUSTOM_HEADER_DIR ${PROJECT_NAME})
set(CXX_DISABLE_WERROR TRUE)
# Doxygen setup
set(DOXYGEN_USE_MATHJAX YES)
set(DOXYGEN_USE_TEMPLATE_CSS YES)
# JRL-cmakemodule setup
include(cmake/base.cmake)
include(cmake/boost.cmake)
# Project definition
compute_project_args(PROJECT_ARGS LANGUAGES CXX)
project(${PROJECT_NAME} ${PROJECT_ARGS})
check_minimal_cxx_standard(14 ENFORCE)
include(cmake/pthread.cmake) # needs to be included after the CXX definition
# Project dependencies
if(BUILD_TESTING)
find_package(Boost REQUIRED COMPONENTS unit_test_framework)
endif()
add_project_dependency(Boost REQUIRED COMPONENTS serialization system thread)
add_project_dependency(Eigen3 REQUIRED)
search_for_pthread()
if(Boost_VERSION GREATER 107299 OR Boost_VERSION_MACRO GREATER 107299)
# Silence a warning about a deprecated use of boost bind by boost >= 1.73
# without dropping support for boost < 1.73
add_definitions(-DBOOST_BIND_GLOBAL_PLACEHOLDERS)
endif()
# Add configuration headers for plug-ins.
GENERATE_CONFIGURATION_HEADER(
${HEADER_DIR} config-tracer.hh DG_TRACER tracer_EXPORTS)
GENERATE_CONFIGURATION_HEADER(
${HEADER_DIR}
config-tracer-real-time.hh DG_TRACERREALTIME tracer_real_time_EXPORTS)
GENERATE_CONFIGURATION_HEADER(
${HEADER_DIR}
config-shell-procedure.hh DG_SHELLPROCEDURE shell_procedure_EXPORTS)
GENERATE_CONFIGURATION_HEADER(
${HEADER_DIR}
config-contiifstream.hh DG_CONTIIFSTREAM contiifstream_EXPORTS)
# FIXME: to be changed into lib/dynamic-graph
# to avoid name collision when installing dynamic-graph in /usr.
SET(PLUGINDIR "${CMAKE_INSTALL_FULL_LIBDIR}/plugin")
# Add extra keys to pkg-config file to export the location of the
# plug-in directory in a robust manner.
SET(PKG_CONFIG_EXTRA "plugindir=${PLUGINDIR}")
# Add dependency toward dynamic graph library in pkg-config file.
PKG_CONFIG_APPEND_LIBS("dynamic-graph")
# Search for Boost.
SEARCH_FOR_BOOST()
SEARCH_FOR_PTHREAD()
# Search for Boost.
SEARCH_FOR_EIGEN()
ADD_SUBDIRECTORY(src)
ADD_SUBDIRECTORY(include)
ADD_SUBDIRECTORY(doc)
ADD_SUBDIRECTORY(tests)
ADD_SUBDIRECTORY(share)
SETUP_PROJECT_FINALIZE()
SETUP_PROJECT_CPACK()
generate_configuration_header(${HEADER_DIR} config-tracer.hh DG_TRACER
tracer_EXPORTS)
generate_configuration_header(${HEADER_DIR} config-tracer-real-time.hh
DG_TRACERREALTIME tracer_real_time_EXPORTS)
# Verbosity level
if(NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
add_definitions(-DVP_DEBUG_MODE=${CMAKE_VERBOSITY_LEVEL} -DVP_DEBUG)
endif(NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
# Main Library
set(${PROJECT_NAME}_HEADERS
include/${CUSTOM_HEADER_DIR}/fwd.hh
include/${CUSTOM_HEADER_DIR}/debug.h
include/${CUSTOM_HEADER_DIR}/real-time-logger.h
include/${CUSTOM_HEADER_DIR}/real-time-logger-def.h
include/${CUSTOM_HEADER_DIR}/dynamic-graph-api.h
include/${CUSTOM_HEADER_DIR}/entity.h
include/${CUSTOM_HEADER_DIR}/factory.h
include/${CUSTOM_HEADER_DIR}/pool.h
include/${CUSTOM_HEADER_DIR}/exception-abstract.h
include/${CUSTOM_HEADER_DIR}/exception-factory.h
include/${CUSTOM_HEADER_DIR}/exception-signal.h
include/${CUSTOM_HEADER_DIR}/exception-traces.h
include/${CUSTOM_HEADER_DIR}/signal.h
include/${CUSTOM_HEADER_DIR}/signal-array.h
include/${CUSTOM_HEADER_DIR}/signal-base.h
include/${CUSTOM_HEADER_DIR}/signal-ptr.h
include/${CUSTOM_HEADER_DIR}/signal-time-dependent.h
include/${CUSTOM_HEADER_DIR}/signal-ptr.t.cpp
include/${CUSTOM_HEADER_DIR}/signal.t.cpp
include/${CUSTOM_HEADER_DIR}/time-dependency.h
include/${CUSTOM_HEADER_DIR}/time-dependency.t.cpp
# Kept for a brittle backward compatiblity.
include/${CUSTOM_HEADER_DIR}/signal-caster.h
include/${CUSTOM_HEADER_DIR}/signal-cast-helper.h
include/${CUSTOM_HEADER_DIR}/all-signals.h
include/${CUSTOM_HEADER_DIR}/signal-helper.h
include/${CUSTOM_HEADER_DIR}/entity-helper.h
include/${CUSTOM_HEADER_DIR}/tracer.h
include/${CUSTOM_HEADER_DIR}/tracer-real-time.h
include/${CUSTOM_HEADER_DIR}/command.h
include/${CUSTOM_HEADER_DIR}/eigen-io.h
include/${CUSTOM_HEADER_DIR}/linear-algebra.h
include/${CUSTOM_HEADER_DIR}/value.h
include/${CUSTOM_HEADER_DIR}/command-setter.h
include/${CUSTOM_HEADER_DIR}/command-setter.t.cpp
include/${CUSTOM_HEADER_DIR}/command-getter.h
include/${CUSTOM_HEADER_DIR}/command-getter.t.cpp
include/${CUSTOM_HEADER_DIR}/command-direct-getter.h
include/${CUSTOM_HEADER_DIR}/command-direct-setter.h
include/${CUSTOM_HEADER_DIR}/command-bind.h
include/${CUSTOM_HEADER_DIR}/all-commands.h
include/${CUSTOM_HEADER_DIR}/logger.h)
set(${PROJECT_NAME}_SOURCES
src/debug/debug.cpp
src/debug/real-time-logger.cpp
src/debug/logger.cpp
src/dgraph/entity.cpp
src/dgraph/factory.cpp
src/dgraph/pool.cpp
src/exception/exception-abstract.cpp
src/exception/exception-factory.cpp
src/exception/exception-signal.cpp
src/exception/exception-traces.cpp
src/mt/process-list.cpp
src/signal/signal-array.cpp
src/command/value.cpp
src/command/command.cpp)
add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES}
${${PROJECT_NAME}_HEADERS})
modernize_target_link_libraries(
${PROJECT_NAME}
SCOPE
PUBLIC
TARGETS
Eigen3::Eigen
INCLUDE_DIRS
${EIGEN3_INCLUDE_DIR})
target_include_directories(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
target_link_libraries(${PROJECT_NAME} PUBLIC Boost::serialization Boost::system
Boost::thread)
if(UNIX)
target_link_libraries(${PROJECT_NAME} PUBLIC ${CMAKE_DL_LIBS} pthread)
endif(UNIX)
if(SUFFIX_SO_VERSION)
set_target_properties(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
endif(SUFFIX_SO_VERSION)
install(
TARGETS ${PROJECT_NAME}
EXPORT ${TARGETS_EXPORT_NAME}
DESTINATION lib)
set(DYNAMIC_GRAPH_PLUGINDIR "lib/${PROJECT_NAME}-plugins")
set(PACKAGE_EXTRA_MACROS
"set(DYNAMIC_GRAPH_PLUGINDIR ${DYNAMIC_GRAPH_PLUGINDIR})")
set(PKG_CONFIG_EXTRA "plugindir=${DYNAMIC_GRAPH_PLUGINDIR}")
add_subdirectory(src)
if(BUILD_TESTING)
add_subdirectory(tests)
endif(BUILD_TESTING)
pkg_config_append_libs(${PROJECT_NAME})
install(FILES package.xml DESTINATION share/${PROJECT_NAME})
COPYING.LESSER deleted 100644 → 0
View file @ 198c54d6
GNU LESSER GENERAL PUBLIC LICENSE
Version 3, 29 June 2007
Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
This version of the GNU Lesser General Public License incorporates
the terms and conditions of version 3 of the GNU General Public
License, supplemented by the additional permissions listed below.
0. Additional Definitions.
As used herein, "this License" refers to version 3 of the GNU Lesser
General Public License, and the "GNU GPL" refers to version 3 of the GNU
General Public License.
"The Library" refers to a covered work governed by this License,
other than an Application or a Combined Work as defined below.
An "Application" is any work that makes use of an interface provided
by the Library, but which is not otherwise based on the Library.
Defining a subclass of a class defined by the Library is deemed a mode
of using an interface provided by the Library.
A "Combined Work" is a work produced by combining or linking an
Application with the Library. The particular version of the Library
with which the Combined Work was made is also called the "Linked
Version".
The "Minimal Corresponding Source" for a Combined Work means the
Corresponding Source for the Combined Work, excluding any source code
for portions of the Combined Work that, considered in isolation, are
based on the Application, and not on the Linked Version.
The "Corresponding Application Code" for a Combined Work means the
object code and/or source code for the Application, including any data
and utility programs needed for reproducing the Combined Work from the
Application, but excluding the System Libraries of the Combined Work.
1. Exception to Section 3 of the GNU GPL.
You may convey a covered work under sections 3 and 4 of this License
without being bound by section 3 of the GNU GPL.
2. Conveying Modified Versions.
If you modify a copy of the Library, and, in your modifications, a
facility refers to a function or data to be supplied by an Application
that uses the facility (other than as an argument passed when the
facility is invoked), then you may convey a copy of the modified
version:
a) under this License, provided that you make a good faith effort to
ensure that, in the event an Application does not supply the
function or data, the facility still operates, and performs
whatever part of its purpose remains meaningful, or
b) under the GNU GPL, with none of the additional permissions of
this License applicable to that copy.
3. Object Code Incorporating Material from Library Header Files.
The object code form of an Application may incorporate material from
a header file that is part of the Library. You may convey such object
code under terms of your choice, provided that, if the incorporated
material is not limited to numerical parameters, data structure
layouts and accessors, or small macros, inline functions and templates
(ten or fewer lines in length), you do both of the following:
a) Give prominent notice with each copy of the object code that the
Library is used in it and that the Library and its use are
covered by this License.
b) Accompany the object code with a copy of the GNU GPL and this license
document.
4. Combined Works.
You may convey a Combined Work under terms of your choice that,
taken together, effectively do not restrict modification of the
portions of the Library contained in the Combined Work and reverse
engineering for debugging such modifications, if you also do each of
the following:
a) Give prominent notice with each copy of the Combined Work that
the Library is used in it and that the Library and its use are
covered by this License.
b) Accompany the Combined Work with a copy of the GNU GPL and this license
document.
c) For a Combined Work that displays copyright notices during
execution, include the copyright notice for the Library among
these notices, as well as a reference directing the user to the
copies of the GNU GPL and this license document.
d) Do one of the following:
0) Convey the Minimal Corresponding Source under the terms of this
License, and the Corresponding Application Code in a form
suitable for, and under terms that permit, the user to
recombine or relink the Application with a modified version of
the Linked Version to produce a modified Combined Work, in the
manner specified by section 6 of the GNU GPL for conveying
Corresponding Source.
1) Use a suitable shared library mechanism for linking with the
Library. A suitable mechanism is one that (a) uses at run time
a copy of the Library already present on the user's computer
system, and (b) will operate properly with a modified version
of the Library that is interface-compatible with the Linked
Version.
e) Provide Installation Information, but only if you would otherwise
be required to provide such information under section 6 of the
GNU GPL, and only to the extent that such information is
necessary to install and execute a modified version of the
Combined Work produced by recombining or relinking the
Application with a modified version of the Linked Version. (If
you use option 4d0, the Installation Information must accompany
the Minimal Corresponding Source and Corresponding Application
Code. If you use option 4d1, you must provide the Installation
Information in the manner specified by section 6 of the GNU GPL
for conveying Corresponding Source.)
5. Combined Libraries.
You may place library facilities that are a work based on the
Library side by side in a single library together with other library
facilities that are not Applications and are not covered by this
License, and convey such a combined library under terms of your
choice, if you do both of the following:
a) Accompany the combined library with a copy of the same work based
on the Library, uncombined with any other library facilities,
conveyed under the terms of this License.
b) Give prominent notice with the combined library that part of it
is a work based on the Library, and explaining where to find the
accompanying uncombined form of the same work.
6. Revised Versions of the GNU Lesser General Public License.
The Free Software Foundation may publish revised and/or new versions
of the GNU Lesser General Public License from time to time. Such new
versions will be similar in spirit to the present version, but may
differ in detail to address new problems or concerns.
Each version is given a distinguishing version number. If the
Library as you received it specifies that a certain numbered version
of the GNU Lesser General Public License "or any later version"
applies to it, you have the option of following the terms and
conditions either of that published version or of any later version
published by the Free Software Foundation. If the Library as you
received it does not specify a version number of the GNU Lesser
General Public License, you may choose any version of the GNU Lesser
General Public License ever published by the Free Software Foundation.
If the Library as you received it specifies that a proxy can decide
whether future versions of the GNU Lesser General Public License shall
apply, that proxy's public statement of acceptance of any version is
permanent authorization for you to choose that version for the
Library.
ChangeLog
View file @ 2e7a70d5
......@@ -3,6 +3,8 @@ CHANGELOG
[Current]
* remove shell
[v3.0.0]
* Replace jrl-mal with eigen
* Add ostream and isteram operators for Eigen Classes
......
LICENSE 0 → 100644
View file @ 2e7a70d5
BSD 2-Clause License
Copyright (c) 2019, CNRS
Author: Stack of Tasks Development Team
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
NEWS
View file @ 2e7a70d5
......@@ -129,4 +129,3 @@ stasse (3):
Reinforce the dependant->dependent policy. Merge the florent branch. Makes the test_depend.cpp test works.
Reinforce the dependant->dependent policy.
Adding documentation to cmdPlug.
README.md
View file @ 2e7a70d5
dynamic-graph
=============
[![Build Status](https://travis-ci.org/stack-of-tasks/dynamic-graph.png)](https://travis-ci.org/stack-of-tasks/dynamic-graph)
[![Coverage Status](https://coveralls.io/repos/stack-of-tasks/dynamic-graph/badge.png?branch=master)](https://coveralls.io/r/stack-of-tasks/dynamic-graph?branch=master)
![LGPL-3](https://www.gnu.org/graphics/lgplv3-88x31.png)
[![Building status](https://gitlab.laas.fr/stack-of-tasks/dynamic-graph/badges/master/pipeline.svg)](https://gitlab.laas.fr/stack-of-tasks/dynamic-graph/commits/master)
[![Coverage report](https://gitlab.laas.fr/stack-of-tasks/dynamic-graph/badges/master/coverage.svg?job=doc-coverage)](http://projects.laas.fr/stack-of-tasks/doc/stack-of-tasks/dynamic-graph/master/coverage/)
[![License](https://img.shields.io/badge/License-BSD%202--Clause-green.svg)](https://opensource.org/licenses/BSD-2-Clause)
[![pre-commit.ci status](https://results.pre-commit.ci/badge/github/stack-of-tasks/dynamic-graph/master.svg)](https://results.pre-commit.ci/latest/github/stack-of-tasks/dynamic-graph)
This software provides an efficient way to modelize a C++ data-flow.
......@@ -18,7 +18,7 @@ transmission.
An efficient caching mechanism avoid useless data recomputation and a
simple built-in language can be used to control the graph actions.
It is released under the [LGPL-3](COPYING.LESSER) license.
It is released under the [BSD-clause 2](COPYING.LESSER) license.
**Warning:** this repository contains [Git
......@@ -43,10 +43,7 @@ located in the `$prefix/share/doc/dynamic-graph` directoy where
Getting Help
------------
Support is provided through:
* the HPP mailing-list: hpp@laas.fr
* the following HipChat room: http://www.hipchat.com/gh4wQrZeV
Support is provided through issues on the github interface.
How can I install dynamic-graph?
--------------------------------
......@@ -58,13 +55,9 @@ have to be available on your machine.
- Libraries:
- [Boost][] (>= 1.40)
Its detection is controled by the `BOOST_ROOT` variable, see next section
for more information.
- [Lapack][] library
Use the generic purpose `CMAKE_CXX_FLAGS` and `CMAKE_EXE_LINKER_FLAGS`
to insert the flags required for the compiler to find your Lapack library
if it is installed in a non-standard directory.
- [jrl-mal][] library
- Doxygen
- Eigen3
- pthread
- System tools:
- [CMake][] (>=2.6)
- [pkg-config][]
......@@ -144,15 +137,12 @@ This package authors are credited in the [AUTHORS](AUTHORS) file.
Available Packages
------------------
* RobotPkg (Release 2.5.3r1):
* RobotPkg :
http://robotpkg.openrobots.org/robotpkg/motion/dynamic-graph/index.html
[doxygen-documentation]: http://stack-of-tasks.github.io/dynamic-graph/doxygen/HEAD/
[jrl-mathtools]: https://github.com/jrl-umi3218/jrl-mathtools
[jrl-mal]: https://github.com/jrl-umi3218/jrl-mal
[git-submodules]: http://git-scm.com/book/en/Git-Tools-Submodules
[Boost]: http://www.boost.org/
......@@ -160,7 +150,6 @@ Available Packages
[Doxygen]: http://www.stack.nl/~dimitri/doxygen/
[Eigen]: http://eigen.tuxfamily.org/
[Git]: http://git-scm.com/
[Lapack]: http://www.netlib.org/lapack/
[Libtool]: https://www.gnu.org/software/libtool/
[RobotPkg]: http://robotpkg.openrobots.org/
[log4cxx]: https://logging.apache.org/log4cxx/
......
cmake @ 47c0cbf0
Subproject commit 9965dbcd2a37edbc98707573c05512d838e64c10
Subproject commit 47c0cbf0b29433060682377dcb28266e8dc38995
doc/CMakeLists.txt deleted 100644 → 0
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# Copyright 2010, Olivier Stasse, 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/>.
INCLUDE(../cmake/man.cmake)
IF(UNIX)
# Add `man' target.
ADD_CUSTOM_TARGET(man DEPENDS dg-shell.1.gz dg-shell-plugin.1.gz)
# Man page generation.
MANPAGE(dg-shell)
MANPAGE(dg-shell-plugin)
ENDIF(UNIX)
doc/Doxyfile.extra.in
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/**
\page debug Debugging
They are several ways to perform debugging in dynamic-graph depending on your
needs or situation:
- Programmatically inside the entity in C++, a logger will
write inside a buffer in a
different thread and output in a stream (either std::cout or a file). It is
detailed in \subpage subp_debug_rt_logger.
It provides 4 levels of messags :(DEBUG,INFO,
WARNING, ERROR). It is described in details here: \subpage subp_logger
- Programmatically in C++ to avoid overhead with macros and handling level as an
int: \subpage subp_dbg_trace .
- If you just need to collect informations from signals (like rosbag). You can
use an entity called Tracer inside the graph:\subpage tracerdoc . <br> A real
time version exists to write directly inside a memory buffer
\subpage tracerrealtimedoc
**/
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/**
\page subp_logger Loggers
\section sec_init_rt_logger Initialization of the logger
\subsection subsec_init_rt_logger_hcpp Header and preprocessor variable
In order to activate the logger you need to add the following lines:
\code
#define ENABLE_RT_LOG
#include <dynamic-graph/logger.h>
#include <dynamic-graph/real-time-logger.h>
\endcode
\subsection subsec_logger_ Initialize the output stream
It is possible to set the output stream of the messages inside a file:
\code
dynamicgraph::RealTimeLogger::instance();
of.open("/tmp/dg-LOGS.txt",std::ofstream::out|std::ofstream::app);
dgADD_OSTREAM_TO_RTLOG (of);
dynamicgraph::RealTimeLogger::destroy();
\endcode
\section sec_use_rt_logger Using the rt_logger
\code
// Somewhere in your library
dgRTLOG() << "your message. Prefer to use \n than std::endl."
\endcode
Here the output file is "/tmp/dg-LOGS.txt".
Specifying the file with __FILE__ and the line inside the file by __LINE__ are
necessary for the STREAM messages. Indeed they are indexed using the two values.
The default values "" and 0 for the counting are not well understood.
*/
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/**
\page subp_dbg_trace Debugging with macros and level
\section subp_dbg_trace_intro Introduction
The idea of this class and collection of MACROS is to specify
a level for a message, and record the message in a stream according to this
level. In addition there are mechanisms allowing that no time is wasted in
condition test. You can therefore let the debugging messages inside the code
without impact on performances.
\section subp_dbg_trace_set_on_macros Setting up dgDEBUG macros
To allow message display the entity must be compiled with the macro
\code
#define VP_DEBUG 1
\endcode
Commenting or removing this macro disable all the messages specified
by the following macros.
The level up to which the messages are accepted for display is
specified by:
\code
#define VP_DEBUG_MODE 50
\endcode
In the constructor of the entity, the file where all the messages
are written is specified by:
\code
dynamicgraph::dgDEBUGFLOW.openFile("/tmp/dynamic-graph-traces.txt");
\endcode
\section subp_dbg_trace_using_macros Using dgDEBUG macros
To print that the beginning of a method is being executed use the following
macros: \code dgDEBUGIN(5); \endcode 5 here specifies the minimum level that you
be specified by VP_DEBUG_MODE for this message to be displayed.
It will generate the following output:
\code
/path_to/dynamic-graph/tests/debug-trace.cpp: testDebugTrace(#46) :# In {
\endcode
The output displays the name of the source file, the name of the method,
the line where is the macro, and the message itself.
When going out of the method:
\code
dgDEBUGOUT(5);
\endcode
This generates the following output:
\code
/path_to/dynamic-graph/tests/debug-trace.cpp: testDebugTrace(#54) :# Out }
\endcode
A message inside the code is written through:
\code
dgDEBUG(5) << "Here is a test" << std::endl;
\endcode
This generates the following output:
\code
/path_to/dynamic-graph/tests/debug-trace.cpp: testDebugTrace(#52) :Here is a
test \endcode
\section subp_dbg_trace_wrk_exp Working example
A full working example is given here:
\include tests/debug-trace.cpp
*/
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/**
\page dgshell_doc dg-shell executable
The dynamic-graph shell program "dg-shell" allows access to the dynamic-graph library's
Interpreter class, which can execute commands and scripts from the command line.
It can be found in the installation prefix's bin/ directory.
There is also a linux shell script available, dg-shell-plugin, that creates a
and loads a default script whose goal is to load useful plugins at startup
(shell-functions and shell-procedure).
For an example of shell commands and scripts, see \ref scriptingabout.
**/