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doc/package.dox.cmake

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dynamic-graph.pc.cmake

-prefix=${CMAKE_INSTALL_PREFIX}
-exec_prefix=${install_pkg_prefix}
-libdir=${install_pkg_exec_prefix}/lib
-includedir=${install_pkg_prefix}/include
-datarootdir=${install_pkg_prefix}/share
-docdir=${install_pkg_datarootdir}/doc/${PROJECT_NAME}
-
-Name: ${PROJECT_NAME}
-Description: 
-Version: ${PROJECT_VERSION}
-Requires: ${PACKAGE_REQUIREMENTS}
-Libs: ${LIBDIR_KW}${install_pkg_libdir} ${${PROJECT_NAME}_LDFLAGS}
-Cflags: -I${install_pkg_include_dir} ${${PROJECT_NAME}_CXXFLAGS}

include/CMakeLists.txt

-SET(${PROJECT_NAME}_HEADERS
-contiifstream.h
-debug.h
-
-dynamic-graph-api.h
-
-entity.h
-factory.h
-interpreter.h
-interpreter-helper.h
-plugin-loader.h
-pool.h
-
-exception-abstract.h
-exception-factory.h
-exception-signal.h
-exception-traces.h
-
-functions.h
-shell-procedure.h
-
-signal.h
-signal-array.h
-signal-base.h
-signal-ptr.h
-signal-time-dependent.h
-signal-ptr.t.cpp
-signal.t.cpp
-time-dependency.h
-time-dependency.t.cpp
-signal-caster.h
-all-signals.h
-
-tracer.h
-tracer-real-time.h
-)
-
-# Recreate correct path for the headers
-#--------------------------------------
-
-SET(fullpath_${PROJECT_NAME}_HEADERS)
-FOREACH(lHeader ${${PROJECT_NAME}_HEADERS})
- SET(fullpath_${PROJECT_NAME}_HEADERS
-   ${fullpath_${PROJECT_NAME}_HEADERS}
-   ./${PROJECT_NAME}/${lHeader}
- )
-
-ENDFOREACH(lHeader)
-
-#----------------------------------------------------
-# Install procedure for the header files
-#----------------------------------------------------
-INSTALL(FILES ${fullpath_${PROJECT_NAME}_HEADERS}
-       DESTINATION include/${PROJECT_NAME}
-       PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
-)
\ No newline at end of file

include/dynamic-graph/all-commands.h

+// -*- mode: c++ -*-
+// Copyright 2010, François Bleibel, Olivier Stasse, JRL, CNRS/AIST
+//                 Thomas Moulard, Nicolas Mansard  LAAS-CNRS
+//
+
+#ifndef DYNAMIC_GRAPH_ALL_COMMANDS_H
+#define DYNAMIC_GRAPH_ALL_COMMANDS_H
+
+// Utility header files including all commands headers
+
+#include <dynamic-graph/command-bind.h>
+#include <dynamic-graph/command-direct-getter.h>
+#include <dynamic-graph/command-direct-setter.h>
+#include <dynamic-graph/command-getter.h>
+#include <dynamic-graph/command-setter.h>
+#include <dynamic-graph/command.h>
+
+#endif  //! DYNAMIC_GRAPH_ALL_COMMANDS_H

include/dynamic-graph/all-signals.h

-/*
- * Copyright 2010,
- * François Bleibel,
- * Olivier Stasse,
- *
- * 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 Lesser General 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/>.
- */
+// -*- mode: c++ -*-
+// Copyright 2010, François Bleibel, Thomas Moulard, Olivier Stasse,
+// JRL, CNRS/AIST.
+//
 
-#ifndef ALLSIGNALS_H_
-#define ALLSIGNALS_H_
+#ifndef DYNAMIC_GRAPH_ALL_SIGNALS_H
+#define DYNAMIC_GRAPH_ALL_SIGNALS_H
 
-/// Utility header files including all signal headers
+// Utility header files including all signal headers
 
-#include <dynamic-graph/signal.h>
 #include <dynamic-graph/signal-ptr.h>
 #include <dynamic-graph/signal-time-dependent.h>
+#include <dynamic-graph/signal.h>
 
-#endif /* ALLSIGNALS_H_ */
+#endif  //! DYNAMIC_GRAPH_ALL_SIGNALS_H

include/dynamic-graph/command-direct-getter.h

+//
+// Copyright 2010 CNRS
+//
+// Author: Nicolas Mansard
+//
+
+#ifndef __dg_command_direct_getter_h__
+#define __dg_command_direct_getter_h__
+
+/* Define a getter command directly on the attribute (no need to pass by
+ * an explicit function). A typical use is given here:
+ *     addCommand("getSize",
+ *                makeDirectGetter(*this,&_dimension,
+ *                                 docDirectGetter("dimension","int")));
+ *
+ */
+
+#include <boost/assign/list_of.hpp>
+
+#include "dynamic-graph/command.h"
+
+/* --- GETTER --------------------------------------------------------- */
+namespace dynamicgraph {
+namespace command {
+
+template <class E, typename T>
+class DirectGetter : public Command {
+ public:
+  /// Pointer to method that sets parameter of type T
+  typedef T (E::*GetterMethod)() const;
+
+  /// Constructor
+  DirectGetter(E &entity, T *ptr, const std::string &docString)
+      : Command(entity, std::vector<Value::Type>(), docString), T_ptr(ptr) {}
+
+ protected:
+  virtual Value doExecute() { return Value(*T_ptr); }
+
+ private:
+  T *T_ptr;
+};
+
+template <class E, typename T>
+DirectGetter<E, T> *makeDirectGetter(E &entity, T *ptr,
+                                     const std::string &docString) {
+  return new DirectGetter<E, T>(entity, ptr, docString);
+}
+
+inline std::string docDirectGetter(const std::string &name,
+                                   const std::string &type) {
+  return std::string("\nGet the ") + name + ".\n\nNo input.\nReturn an " +
+         type + ".\n\n";
+}
+
+}  // namespace command
+}  // namespace dynamicgraph
+
+#endif  // __dg_command_direct_getter_h__

include/dynamic-graph/command-direct-setter.h

+//
+// Copyright 2010 CNRS
+//
+// Author: Nicolas Mansard
+//
+
+#ifndef __dg_command_direct_setter_h__
+#define __dg_command_direct_setter_h__
+
+/* Define a setter command directly on the attribute (no need to pass by
+ * an explicit function). A typical use is given here:
+ *     addCommand("setSize",
+ *                makeDirectSetter(*this,&_dimension,
+ *                                 docDirectSetter("dimension","int")));
+ *
+ */
+
+#include <boost/assign/list_of.hpp>
+
+#include "dynamic-graph/command.h"
+
+/* --- SETTER --------------------------------------------------------- */
+namespace dynamicgraph {
+namespace command {
+
+template <class E, typename T>
+class DirectSetter : public Command {
+ public:
+  DirectSetter(E &entity, T *ptr, const std::string &docString)
+      : Command(entity, boost::assign::list_of(ValueHelper<T>::TypeID),
+                docString),
+        T_ptr(ptr) {}
+
+ protected:
+  virtual Value doExecute() {
+    const std::vector<Value> &values = getParameterValues();
+    T val = values[0].value();
+    (*T_ptr) = val;
+    return Value();  // void
+  }
+
+ private:
+  T *T_ptr;
+};
+
+template <class E, typename T>
+DirectSetter<E, T> *makeDirectSetter(E &entity, T *ptr,
+                                     const std::string &docString) {
+  return new DirectSetter<E, T>(entity, ptr, docString);
+}
+
+inline std::string docDirectSetter(const std::string &name,
+                                   const std::string &type) {
+  return std::string("\nSet the ") + name + ".\n\nInput:\n - a " + type +
+         ".\nVoid return.\n\n";
+}
+
+}  // namespace command
+}  // namespace dynamicgraph
+
+#endif  // __dg_command_direct_setter_h__

include/dynamic-graph/command-getter.h

+//
+// Copyright 2010 CNRS
+//
+// Author: Florent Lamiraux
+//
+
+#ifndef DYNAMIC_GRAPH_COMMAND_GETTER_H
+#define DYNAMIC_GRAPH_COMMAND_GETTER_H
+
+#include "dynamic-graph/command.h"
+
+namespace dynamicgraph {
+namespace command {
+
+///
+/// Command that calls a parameter getter function
+///
+/// This class is templated by a type E deriving from entity and
+/// a type T of data.
+///
+/// Let us assume that class E has a private member of type T and a
+/// public getter function for this member:
+/// \code
+/// class E : public Entity
+/// {
+/// public:
+///   E (const std::string& inName) : Entity(inName) {}
+///   T getParameter() const {return parameter_;}
+/// private:
+///   T parameter_;
+/// };
+/// \endcode
+/// Then the command defined by:
+/// \code
+/// E entity("MyEntity");
+/// Getter<E,T> command(entity, &E::getParameter)
+/// \endcode
+/// returns the value of <c>entity.parameter_</c> upon invocation.
+///
+/// \note
+/// \li T should be a type supported by class Value,
+/// \li prototype of E::getParameter should be exactly as specified in this
+/// example.
+template <class E, typename T>
+class Getter : public Command {
+ public:
+  /// Pointer to method that sets parameter of type T
+  typedef T (E::*GetterMethod)() const;
+  /// Constructor
+  Getter(E &entity, GetterMethod getterMethod, const std::string &docString);
+
+ protected:
+  virtual Value doExecute();
+
+ private:
+  GetterMethod getterMethod_;
+};
+}  // namespace command
+}  // namespace dynamicgraph
+
+#include "dynamic-graph/command-getter.t.cpp"
+#endif  // DYNAMIC_GRAPH_COMMAND_GETTER_H

include/dynamic-graph/command-getter.t.cpp

+//
+// Copyright 2010 CNRS
+//
+// Author: Florent Lamiraux
+//
+
+#ifndef DYNAMIC_GRAPH_COMMAND_GETTER_T_CPP
+#define DYNAMIC_GRAPH_COMMAND_GETTER_T_CPP
+
+#include "dynamic-graph/command-getter.h"
+
+#include <sstream>
+
+namespace dynamicgraph {
+class Entity;
+namespace command {
+
+template <class E, typename T>
+Getter<E, T>::Getter(E &entity, GetterMethod getterMethod,
+                     const std::string &docstring)
+    : Command(entity, std::vector<Value::Type>(), docstring),
+      getterMethod_(getterMethod) {}
+
+template <class E, typename T>
+Value Getter<E, T>::doExecute() {
+  E &entity = static_cast<E &>(owner());
+  T value = (entity.*getterMethod_)();
+  return Value(value);
+}
+}  // namespace command
+}  // namespace dynamicgraph
+
+#endif  // DYNAMIC_GRAPH_COMMAND_GETTER_T_CPP