Compare revisions

a6b50921 · 4f417977 · 56143281 · 4c343811 · 6d0b4a00 · 2892dc41
--- a/.git-blame-ignore-revs
+++ b/.git-blame-ignore-revs
+# 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
--- a/.gitignore
+++ b/.gitignore
+_build*
+.~
+compile_commands.json
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
+include: http://rainboard.laas.fr/project/dynamic-graph/.gitlab-ci.yml
--- a/.gitmodules
+++ b/.gitmodules
+[submodule "cmake"]
+	path = cmake
+	url = https://github.com/jrl-umi3218/jrl-cmakemodules.git
--- a/.mailmap
+++ b/.mailmap
+#
+# This list is used by git-shortlog to fix a few botched name translations
+# in the git archive, either because the author's full name was messed up
+# and/or not always written the same way, making contributions from the
+# same person appearing not to be so or badly displayed.
+Anthony Mallet <anthony.mallet@laas.fr>
+Olivier Stasse <grxuser@jrl005.a01.aist.go.jp>
+Olivier Stasse <olivier.stasse@aist.go.jp>
+Olivier Stasse <stasse@dhcpt1243.a02.aist.go.jp>
+Olivier Stasse <stasse@jrl005.a01.aist.go.jp>
+Olivier Stasse <olivier.stasse@aist.go.jp>
+Olivier Stasse <stasse@stasse-laptop.(none)>
+Olivier Stasse <olivier.stasse@aist.go.jp>
+Olivier Stasse <stasse@dhcpt1059.a02.aist.go.jp>
+Olivier Stasse <stasse@jrl005.a01.aist.go.jp>
+Olivier Stasse <stasse@jrl005.a02.aist.go.jp>
+Olivier Stasse <olivier.stasse@aist.go.jp>
+Olivier Stasse <stasse@jrl006.(none)>
+Olivier Stasse <stasse@stasse-laptop.(none)>
+Nicolas Mansard <nmansard@devgiri.(none)>
+Nicolas Mansard <nmansard@jorasse.(none)>
+Nicolas Mansard <nmansard@laas.fr>
+Florent Lamiraux <florent@big-laptop.(none)>
+Florent Lamiraux <florent@dhcpt1253.a02.aist.go.jp>
+Florent Lamiraux <florent@florent-laptop.laas.fr>
+Florent Lamiraux <florent@florent-laptop.(none)>
+Florent Lamiraux <florent@laas.fr>
+Florent Lamiraux <Florent Lamiraux florent@laas.fr>
+Florent Lamiraux <florent@florent-laptop.(none)>
+Florent Lamiraux <Florent Lamiraux florent@laas.fr>
+Florent Lamiraux <florent@localhost.localdomain>
+Florent Lamiraux <florent@poullenc.laas.fr>
+Florent Lamiraux <florent@poullenc.(none)>
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
+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
--- a/AUTHORS
+++ b/AUTHORS
-Authors: 
+This package was written by and with the assistance of
+* François Bleibel              fbleibel@gmail.com
+* François Keith                francois.keith@aist.go.jp
+* Nicolas Mansard               FIXME
+* Thomas Moulardd               thomas.moulard@gmail.com
+* Olivier Stasse                olivier.stasse@aist.go.jp
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
-#
+cmake_minimum_required(VERSION 3.1)
-#  Copyright
-#
+# Project properties
+set(PROJECT_ORG stack-of-tasks)
-CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+set(PROJECT_NAME dynamic-graph)
+set(PROJECT_DESCRIPTION "Dynamic graph library")
-SET(PROJECT_NAME dynamicGraph)
+set(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
-project(${PROJECT_NAME})
+# Project options
-# --- PROJECT VERSION -----------------------
+option(SUFFIX_SO_VERSION "Suffix library name with its version" ON)
-SET(${PROJECT_NAME}_VERSION_MAJOR "1")
-SET(${PROJECT_NAME}_VERSION_MINOR "0")
+# Project configuration
-SET(${PROJECT_NAME}_VERSION_PATCH "0")
+set(PROJECT_USE_CMAKE_EXPORT TRUE)
-SET(${PROJECT_NAME}_VERSION "${${PROJECT_NAME}_VERSION_MAJOR}.${${PROJECT_NAME}_VERSION_MINOR}.${${PROJECT_NAME}_VERSION_PATCH}")
+set(CUSTOM_HEADER_DIR ${PROJECT_NAME})
-SET(PROJECT_VERSION ${${PROJECT_NAME}_VERSION})
+set(CXX_DISABLE_WERROR TRUE)
-SET(CMAKE_VERBOSE_MAKEFILE true)
+# Doxygen setup
+set(DOXYGEN_USE_MATHJAX YES)
+set(DOXYGEN_USE_TEMPLATE_CSS YES)
-# Get the OS
-SET(OS ${CMAKE_SYSTEM_NAME})
+# JRL-cmakemodule setup
+include(cmake/base.cmake)
-#----------------------------------------------------
+include(cmake/boost.cmake)
-# --- GENERIC FLAGS ---------------------------------
-#----------------------------------------------------
+# Project definition
-# Specify the compile flags for the overall library.
+compute_project_args(PROJECT_ARGS LANGUAGES CXX)
-IF(WIN32)
+project(${PROJECT_NAME} ${PROJECT_ARGS})
-  SET(LIBDIR_KW "/LIBPATH:")
+check_minimal_cxx_standard(14 ENFORCE)
-  SET(LIBINCL_KW "")
-  SET(LIB_EXT ".lib")
+include(cmake/pthread.cmake) # needs to be included after the CXX definition
-ENDIF(WIN32)
+# Project dependencies
-IF(UNIX)
+if(BUILD_TESTING)
-  SET(LIBDIR_KW "-L")
+  find_package(Boost REQUIRED COMPONENTS unit_test_framework)
-  SET(LIBINCL_KW "-l")
+endif()
-  SET(LIB_EXT "")
+add_project_dependency(Boost REQUIRED COMPONENTS serialization system thread)
-ENDIF(UNIX)
+add_project_dependency(Eigen3 REQUIRED)
+search_for_pthread()
-# Link flags
-SET(${PROJECT_NAME}_LINK_SRC_FLAGS "")
+if(Boost_VERSION GREATER 107299 OR Boost_VERSION_MACRO GREATER 107299)
-SET(${PROJECT_NAME}_LINK_FLAGS "${LIBDIR_KW}${${PROJECT_NAME}_BINARY_DIR}/lib ")
+  # Silence a warning about a deprecated use of boost bind by boost >= 1.73
-SET(${PROJECT_NAME}_LINK_FLAGS "${${PROJECT_NAME}_LINK_FLAGS} ${LIBINCLUSION_KW}${${PROJECT_NAME}_INTERN_LIBS}${LIBINCLUSION_EXT}")
+  # without dropping support for boost < 1.73
-IF(UNIX)
+  add_definitions(-DBOOST_BIND_GLOBAL_PLACEHOLDERS)
-  SET(${PROJECT_NAME}_LINK_SRC_FLAGS "${${PROJECT_NAME}_LINK_SRC_FLAGS} -ldl")
+endif()
-  SET(${PROJECT_NAME}_LINK_FLAGS "${${PROJECT_NAME}_LINK_FLAGS} -ldl")
-ENDIF(UNIX)
+# Add configuration headers for plug-ins.
+generate_configuration_header(${HEADER_DIR} config-tracer.hh DG_TRACER
-# Release flags
+                              tracer_EXPORTS)
-IF(\"${CMAKE_BUILD_TYPE}\" STREQUAL \"\" )
+generate_configuration_header(${HEADER_DIR} config-tracer-real-time.hh
-ELSE(\"${CMAKE_BUILD_TYPE}\" STREQUAL \"\" )
+                              DG_TRACERREALTIME tracer_real_time_EXPORTS)
-  IF(${CMAKE_BUILD_TYPE} STREQUAL DEBUG)
-    SET(${PROJECT_NAME}_CXXFLAGS ${CMAKE_CXX_FLAGS_DEBUG}) # Useless since CXX_FLAGS, not CXXFLAGS.
+# Verbosity level
-  ENDIF(${CMAKE_BUILD_TYPE} STREQUAL DEBUG)
+if(NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
-  IF(${CMAKE_BUILD_TYPE} STREQUAL RELEASE)
+  add_definitions(-DVP_DEBUG_MODE=${CMAKE_VERBOSITY_LEVEL} -DVP_DEBUG)
-    SET(${PROJECT_NAME}_CXXFLAGS ${CMAKE_CXX_FLAGS_RELEASE}) # Same here.
+endif(NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
-  ENDIF(${CMAKE_BUILD_TYPE} STREQUAL RELEASE)
-ENDIF (\"${CMAKE_BUILD_TYPE}\" STREQUAL \"\")
+# Main Library
+set(${PROJECT_NAME}_HEADERS
-# --- Default options -------------------------------------------------
+    include/${CUSTOM_HEADER_DIR}/fwd.hh
-OPTION(BUILD_SHARED_LIBS "Build ${PROJECT_NAME} with shared libraries." ON)
+    include/${CUSTOM_HEADER_DIR}/debug.h
-OPTION(GENERATE_DOC "Generate html documentation" OFF)
+    include/${CUSTOM_HEADER_DIR}/real-time-logger.h
+    include/${CUSTOM_HEADER_DIR}/real-time-logger-def.h
-OPTION(USE_BOOST "Compile with boost." ON)
+    include/${CUSTOM_HEADER_DIR}/dynamic-graph-api.h
-OPTION(USE_DYNAMICS_JRL_JAPAN "Compile with dynamicsJRLJapan" ON)
+    include/${CUSTOM_HEADER_DIR}/entity.h
+    include/${CUSTOM_HEADER_DIR}/factory.h
-# Release/Debug
+    include/${CUSTOM_HEADER_DIR}/pool.h
-#SET(CMAKE_BUILD_TYPE RELEASE)
+    include/${CUSTOM_HEADER_DIR}/exception-abstract.h
-#SET(CMAKE_BUILD_TYPE DEBUG)
+    include/${CUSTOM_HEADER_DIR}/exception-factory.h
+    include/${CUSTOM_HEADER_DIR}/exception-signal.h
-#
+    include/${CUSTOM_HEADER_DIR}/exception-traces.h
-# Look for dependencies
+    include/${CUSTOM_HEADER_DIR}/signal.h
-#
+    include/${CUSTOM_HEADER_DIR}/signal-array.h
+    include/${CUSTOM_HEADER_DIR}/signal-base.h
-# Load Pkgconfig macros
+    include/${CUSTOM_HEADER_DIR}/signal-ptr.h
-INCLUDE(FindPkgConfig)
+    include/${CUSTOM_HEADER_DIR}/signal-time-dependent.h
-SET(PACKAGE_REQUIREMENTS "")
+    include/${CUSTOM_HEADER_DIR}/signal-ptr.t.cpp
+    include/${CUSTOM_HEADER_DIR}/signal.t.cpp
-#
+    include/${CUSTOM_HEADER_DIR}/time-dependency.h
-# pkg-config file
+    include/${CUSTOM_HEADER_DIR}/time-dependency.t.cpp
-#
+    # Kept for a brittle backward compatiblity.
+    include/${CUSTOM_HEADER_DIR}/signal-caster.h
-SET(install_pkg_prefix "\${prefix}")
+    include/${CUSTOM_HEADER_DIR}/signal-cast-helper.h
-SET(install_pkg_exec_prefix "\${exec_prefix}")
+    include/${CUSTOM_HEADER_DIR}/all-signals.h
-SET(install_pkg_libdir "\${libdir}")
+    include/${CUSTOM_HEADER_DIR}/signal-helper.h
-SET(install_pkg_datarootdir "\${datarootdir}")
+    include/${CUSTOM_HEADER_DIR}/entity-helper.h
-SET(install_pkg_include_dir "\${includedir}")
+    include/${CUSTOM_HEADER_DIR}/tracer.h
+    include/${CUSTOM_HEADER_DIR}/tracer-real-time.h
-IF(UNIX)
+    include/${CUSTOM_HEADER_DIR}/command.h
-  SET (${PROJECT_NAME}_LDFLAGS "-Wl,-R${install_pkg_libdir} ${LIBINCL_KW}${PROJECT_NAME}${LIB_EXT} ${${PROJECT_NAME}_LDFLAGS}")
+    include/${CUSTOM_HEADER_DIR}/eigen-io.h
-ENDIF(UNIX)
+    include/${CUSTOM_HEADER_DIR}/linear-algebra.h
+    include/${CUSTOM_HEADER_DIR}/value.h
-IF(WIN32)
+    include/${CUSTOM_HEADER_DIR}/command-setter.h
-  SET (${PROJECT_NAME}_LDFLAGS "${LIBINCL_KW}${PROJECT_NAME}${LIB_EXT} ${${PROJECT_NAME}_LDFLAGS}")
+    include/${CUSTOM_HEADER_DIR}/command-setter.t.cpp
-ENDIF(WIN32)
+    include/${CUSTOM_HEADER_DIR}/command-getter.h
+    include/${CUSTOM_HEADER_DIR}/command-getter.t.cpp
-# Install the file in the appropriate place.
+    include/${CUSTOM_HEADER_DIR}/command-direct-getter.h
-SET(install_libdir_pkgconfig ${CMAKE_INSTALL_PREFIX}/lib/pkgconfig)
+    include/${CUSTOM_HEADER_DIR}/command-direct-setter.h
+    include/${CUSTOM_HEADER_DIR}/command-bind.h
-CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/dynamic-graph.pc.cmake
+    include/${CUSTOM_HEADER_DIR}/all-commands.h
-  ${CMAKE_CURRENT_BINARY_DIR}/dynamic-graph.pc)
+    include/${CUSTOM_HEADER_DIR}/logger.h)
-INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/dynamic-graph.pc
+set(${PROJECT_NAME}_SOURCES
-  DESTINATION ${install_libdir_pkgconfig}	
+    src/debug/debug.cpp
-  PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
+    src/debug/real-time-logger.cpp
+    src/debug/logger.cpp
-ADD_SUBDIRECTORY(src)
+    src/dgraph/entity.cpp
-ADD_SUBDIRECTORY(include)
+    src/dgraph/factory.cpp
-#
+    src/dgraph/pool.cpp
-# Documentation produced by doxygen
+    src/exception/exception-abstract.cpp
-#
+    src/exception/exception-factory.cpp
-INCLUDE(FindDoxygen)
+    src/exception/exception-signal.cpp
-IF(DOXYGEN_FOUND)
+    src/exception/exception-traces.cpp
-  add_subdirectory(doc)
+    src/mt/process-list.cpp
-ENDIF(DOXYGEN_FOUND)
+    src/signal/signal-array.cpp
+    src/command/value.cpp
+    src/command/command.cpp)
+add_library(${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})
--- a/COPYING
+++ b/COPYING
-#
-# Copyright (c) 
-#
-# Permission to use, copy, modify, and distribute this software for any
-# purpose with or without fee is hereby granted, provided that the above
-# copyright notice and this permission notice appear in all copies.
-#
-# THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
-# WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
-# MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
-# ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
-# WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
-# ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
-# OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
--- a/ChangeLog
+++ b/ChangeLog
-Write in this file the modifications you commit.
+CHANGELOG
+----------------------
+[Current]
+* remove shell
+[v3.0.0]
+ * Replace jrl-mal with eigen
+ * Add ostream and isteram operators for Eigen Classes
+[v2.5.5]
+ * Improve Travis support
+[v2.5.4]
+ * Update lib installation path (multiarch portability).
+ * Allow to access class name of a signal.
+ * Add Travis and coveralls.io support.
+[v2.5.3]
+ * Synchronize.
+ * Synchronize.
+ * Fix -Wcast-qual pulled by -Werror of gcc-4.7
+[v2.5.2]
+ * Update ChangeLog.
+ * Synchronization
+ * IVIGIT, added signal-helper (macros to ease the declaration of signals) and entity helper (macros to make the macros of signal-helper possible).
+ * IVIGIT, added signal-helper (macros to ease the declaration of signals) and entity helper (macros to make the macros of signal-helper possible).
+ * Fix bug in method PoolStorage::writeGraph.
+ * Synchronize.
+ * MacOSX compatibility: avoid dangerous TARGET_LINK_LIBRARIES
+ * Fix portability issues with Ubuntu 12.04 (64 bits).
+ * Do not try to delete void*, behavior is undefined.
+ * Avoid memory loss when calling Value::operator =
+ * Passing and returning elmt by const reference.
+ * Add boost::posix_time::ptime as a basic type for signals.
+ * Add missing include.
+ * Provide const access to entity map in the pool.
+ * Add method Entity::getDocString.
+ * Synchronize.
+ * Fix build for binutils > 2.22
+ * Synchronize cmake submodule.
+ * Added a caster for signal<bool>.
+ * Added the cmake to compile signal-ptr test.
+ * Modify the policy for plugin a sigptr in input.
+ * ivigit.
+[v2.5.1]
+ * Update NEWS.
+ * Do not hardcode dl, use ${CMAKE_DL_LIBS}.
+ * Make destructor of TimeDependency virtual.
+ * Disable a test for mac.
+ * Revert "Move the definition of some ValueHelper<...>::TypeId to avoid link issues"
+ * Move the definition of some ValueHelper<...>::TypeId to avoid link issues
+ * Add missing header inclusion
+ * Win32: Correct a wrong macro
+ * Win32: Correct the importation/exportation of symbols
+ * For compatibility, added a static function to bind the singleton.
+[v2.5]
+ * Entity has no more CLASS_NAME static member.
+ * Account for the Entity::getClassName becoming pure virtual.
+ * Pass the getclassName to pure virtual.
+ * Make package pass tests successfully.
+ * Cosmetic change.
+ * SignalCaster class is now a singleton.
+ * FactoryStorage and PoolStorage are now singletons.
+ * Add helper macro for entity declaration. Use it when possible.
+ * Rewrite an error message.
+ * Win32: Correct a link issue
+ * A cleaner way to define the suffix of the dynamic libraries according to each OS
+ * Add missing link directory command (f-kiss).
+ * Make getClassName method const
+ * Correct a bug in previous commit.
+ * Added command 4.
+ * Problem of automatic typing with templates.
+ * Add nullptr class.
+ * Corrected function to inline to avoid multiple symbole definition.
+ * Added a function to test for the existence of a named entity.
+ * Code cleaning after rewriting (marginal) of sig-cast. Introduction of a specific tracer behaviour for matrix and vector.
+ * Corrected a segfault problem in the test pool. The problem at the global level remains. At least, the test passes now.
+ * Modify the g_caster object with a singleton design.
+ * Reforge the caster for signals.
+ * Remove a duplicated command.
+ * IVIGIT: transfert some code and automatic-code-generation macros from sot-core to dg.
+ * Added new-style command for the two entities.
+ * Put back the dirty removal of Florent.
+ * Revert "Set version number as 1.99."
+ * Value::operator== does nothing when a = a.
+ * Do not deregister entity in entity destructor. It is deregistered by the pool.
+ * Use getClassName() instead of CLASS_NAME in Entity constructor.
+ * Set version number as 1.99.
+ * Modify deallocation of poolStorage object in order to fix a memory bug.
+ * Rename poolStorage::entity -> poolStorage::entityMap.
+ * Added command 3 params.
+ * Remove unnecessary virtual keyword.
+ * Added a function to access directly a given command, with protection.
+ * Added the command 2 args (what a funny code to write).
+ * Put back mistakenly removed method pool::getSignal.
+ * Added all-commnds in the cmake list.
+ * IVIGIT.
+ * Clean up: remove interpreter.
+ * Revert "Add method to interprete a string as a python command in class Interpreter."
+ * Revert "Link libdynamicgraph.so with libpython"
+ * Added a bind for commands on std::ostream.
+ * Added missing include.
+ * Added an alias for EMPTY_ARG for readibility.
+ * IVIGIT.
+ * Add read access to Entity::signalMap.
+ * IVIGIT.
+ * Added an helper to get the Value::TypeID directly from the type.
+ * Link libdynamicgraph.so with libpython
+ * Corrected a warning uninitialized value.
+ * Add method to interprete a string as a python command in class Interpreter.
+ * Add a method returning the list of type names registered for signals.
+ * Cosmetic changes.
+ * Make exception messages more explicit.
+ * When registering a type, store pointer to type_info in a map
+ * Add cast registerer for maal matrix and vector types
+ * Make error message more explicit.
+ * Synchronize cmake submodule
+ * Add a test to check Value assignment operator.
+ * Fix Value::operator=.
+ * Add dependency to jrl-mal
+ * Command constructor takes a documentation string as input.
+ * Remove debug output
+ * Fix double free error
+ * Remove debug output
+ * Add support for vector and matrix
+ * Synchronize
+ * Fix compilation error messages after rebase
+ * Re-introduce files in CMakeLists.txt that were lost in rebase
+ * Fix bug in copy constructor of Value class
+ * Support more type for command parameters
+ * Add some documentation
+ * Make function return values instead of reference to values.
+ * Fix memory issue and changed class name AnyType -> EitherType.
+ * Add template getter command
+ * Fix implementation of command-setter.
+ * Re-implement value getter in a nicer way.
+ * Fix several memory errors
+ * Implement command
+[v1.2.1]
+ * Add install files for building debian package.
+ * Modify changelog.
+ * [debian] First round of fixes for binary package generation.
+ * Win32: Correct a link issue
+ * A cleaner way to define the suffix of the dynamic libraries according to each OS
+ * Correct library name for mac and windows in the test for interpreter
+ * Add missing link_directories command
+ * Synchronize.
+ * Add tracer test.
+ * Fix method documentation in factory.h.
+ * Comment classes.
+ * Complete forward declarations list in fwd.hh.
+ * Remove obsolete documentation.
+ * Fix warnings detected by clang.
+ * Update man pages.
+ * Update dg-shell-plugin to match new dg-shell usage.
+ * Remove warnings found by Clang.
+ * Install dynamic-graph scripts.
+ * Add dynamic-graph scripts.
+ * Enhance dg-shell.
+ * Use modern C++ comment style for headers.
+ * Improve error management in import.
+ * Enhance import to avoid importing a module twice.
+ * Enhance import to support plug-in, use Boost.Filesytem.
+ * Clean code.
+ * Add tests for plug-in loading/unloading.
+ * Fix bad exception rethrow.
+ * Enhance run command error message.
+ * Clean interpreter test.
+ * Add tests for interpreter.
+ * Fix cppcheck errors.
+ * Make cast registerer more robust.
+ * Clean signal-caster.h.
+ * Convert test_signalcast into unit test.
+ * Convert test_depend example into depend unit test.
+ * Fix factory test.
+ * Convert test_pool.cpp example in pool.cpp unit test.
+ * Test FactoryStorage.
+ * Make tests more robust.
+ * Clean and document factoryStorage.
+ * Make ExceptionAbstract::getCode() const.
+ * Clean DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN macro.
+ * Add custom entity test.
+ * Make DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN more robust.
+ * Remove wrong comment.
+ * Enhance Entity test case.
+ * Add unit test for Entity class.
+ * Clean unit tests compilation.
+[v1.2.0]
+ * Remove unwanted debug call.
+ * Synchronize.
+ * Synchronize
+ * Synchronize
+ * Synchronize
+ * Synchronize
+ * Synchronize.
+ * Synchronize
+ * Add missing SETUP_PROJECT_CPACK.
+ * Include cpack to geneate 8.04 Ubuntu package.
+ * Synchronize.
+ * Synchronize
+ * Synchronize
+ * Remove the macro BUILDING_'PKG' and use the one defined by header.cmake instead
+ * Add missing Boost flags for the projects in tools
+ * Correct dependencies between projects
+ * Lighten CMakelists by removing win32 flags (now in cmake)
+ * Declare boost include directories for proper boost detection. Sometimes, the boost install path is *different* from the default include paths!
+ * Fix relative path in link_directories.
+ * Fix warnings.
+ * Enable -Werror.
+ * Synchronize.
+ * Synchronize.
+ * Small documentation update.
+ * Synchronize.
+ * Synchronize.
+ * Synchronize.
+ * Fix pedantic, -Wextra warnings.
+ * Fix GCC warnings.
+ * Fix visibility management for all plug-ins.
+ * Synchronize.
+ * Switch to generic pthread detection macro.
+ * Synchronize.
+ * Switch to new Boost detection macro.
+ * Convert figure to png.
+ * Convert figure to png.
+ * Synchronize.
+ * * Moved entity.png to doc/figures so that it can be found by doxygen (cannot use the svg version because it breaks the layout in my browser - Chrome). * Corrected some doxygen errors.
+ * Add extra image path for Doxygen documentation.
+ * Synchronize.
+ * Synchronize.
+ * Use generated config.hh header file for symbol visibility management.
+ * Set CUSTOM_HEADER_DIR in CMakeLists.txt.
+ * Synchronize.
+ * Corrected doxygen errors. Complemented documentation on signals.
+ * Simplify CMakeLists.txt in unitTesting and add copyright header.
+ * Switch completely to submodule.
+ * Add doc as root CMake subdirectory, do not always generate the man page.
+ * Remove unwanted file.
+ * Switch documentation to submodule.
+ * Get rid of generated Makefile.
+ * Get rid of generated documentation.
+ * More documentation.
+ * Updated documentation
+ * Update HEAD Doxygen documentation. Source commit id: 241e52083f7159ba66f2866c931d51efefd5cfba
+ * Additional doc.
+ * Update HEAD Doxygen documentation. Source commit id: 241e52083f7159ba66f2866c931d51efefd5cfba
+ * Update HEAD Doxygen documentation. Source commit id: 241e52083f7159ba66f2866c931d51efefd5cfba
+ * Force generation of man pages.
+ * Modified documentation output dir.
+ * Added cmake submodule.
+ * Add a method that return the list of entity types registered in factory
+ * Fix debian/watch file.
+ * Add Doxygen documentation for HEAD.
+ * github generated gh-pages branch
+ * Fixed bad rethrow.
+ * Fix import directive (default include path was wrong).
+ * Expanded documentation.
+ * Work on documentation.
+ * Remove trailing whitespaces.
+ * More documentation stubs.
+ * Added documentation for most classes in dynamicgraph. Updated css.
+ * [doc] Files generated from templates are located in BUILD_DIR.
+ * Separated Tracer entity documentation.
+ * Updated doxygen configuration file; added documentation for entity Tracer.
+ * Added import functions for scripts to dynamic-graph (from Thomas Moulard)
+ * Added preliminary documentation on entities exposed by the package.
+[v1.1]
+[release.1.1]
+ * Corrected authors file.
+ * Release 1.1
+ * Fix man page list in CMakeLists.txt
+ * Add mailmap file.
+ * Add man pages to Debian pacakge.
+ * Add man pages.
+ * Rename tools dg- instead of sot-.
+[release-1-1]
+ * Add plug-ins to package.
+ * Increment build number for the Debian package.
+ * Add missing build requirement in Debian package.
+ * Remove .sh extension to installed shell scripts.
+ * Use mktemp to create temporary file in sot-shell-plugin.sh.
+ * Install binaries in bin directory.
+ * Fix shell.sh.cmake.
+ * Add newline at end of file.
+ * Fix Debian package (main binary pacakge was missing).
+ * Update project version to 1.0.0.99
+ * Debianize package.
+ * Add license header.
+ * Add LGPL-3 license.
+ * Rewrite AUTHORS file.
+ * Rewrite NEWS file.
+ * Rewrite README using Markdown syntax.
+ * Remove INSTALL file.
+ * Rename README into README.md.
+ * Getting rid of obsolete autogen.sh file.
+ * Revert "Added libraries rpath."
+ * Added libraries rpath.
+ * Removed automatic definition of VP_DEBUG.
+ * Added more exception catch codes in interpreter. Should now link correctly with boost libraries. Small debug output changes.
+ * Correct the exception raised by signalTime
+ * Changed name of the traces file.
+ * Changed parts of documentation.
+ * Removed CMAKE_INSTALL_PREFIX in INSTALL directives.
+ * Re-added shell-functions plugin (exports functions defined in dynamic-graph to the shell).
+ * Added support for TOOLS exceptions
+ * Port Olivier's changes in SOT commit eacfd9544ca
+ * Enabled thread support (was disabled before because HAVE_LIBBOOST_THREAD was not defined)
+ * Added SignalCaster tests with shared libraries.
+ * Add message in exception when a signal type is already registered.
+ * Adding documentation to cmdPlug.
+ * Make exception message more explicit
+ * Do not rethrow exception, since boost exceptions derive from std::exception
+ * Make ExceptionAbstract derive from std::exception.
+ * Use stringstream to pass values in set/get test.
+ * Add message in exception
+ * Make ExceptionAbstract::getStringMessage const
+ * Added an example of caster construction for type vector (dummy cast, similar to the default one, just for the tuto).
+ * Made DefaultSignalCaster public (exported). Added boost::ublas::vector example to test_signalcast.
+ * Use the correct macro for import/export in functions.h
+ * Put shell functions firmly into dynamicgraph. Removed plugin. Corrected headers inclusion.
+ * Removed the EXTRA_LIBRARIES.
+ * Fix compilation of tests
+ * Win32: Add some definitions to avoid some verbose warnings
+ * Win32: Correct API name for contiifstream
+ * Add the missing "int" in "int main (void)"
+ * The dependency in dl is unix-specific
+ * Win32: Correct exportation of g_caster
+ * Win32: Add the exportation of SignalCast
+ * Add a missing dependency between tracer-RT and tracer
+ * Win32: typo in the API
+ * Win32: Correct typo in the macro name for the API
+ * Add uninstall target to dynamic-graph.
+ * Changed linking of exceptions and traces.
+ * Removed default definition of VP_DEBUG_MODE in cmake (already in header).
+ * Added tracer plugin to source.
+ * Reinforce the dependant->dependent policy.
+ * Reinforce the dependant->dependent policy. Merge the florent branch. Makes the test_depend.cpp test works.
+ * Reintroduce file that mysteriously disappeared in commit 41e11cc3776c29c91ef
+ * Cosmetic changes
+ * Move class Contiifstream into namespace dynamicgraph.
+ * First version for the interpreter-helper.
+ * Add -DVP_DEBUG in debug mode.
+ * Corrected typo 'dependant' -> 'dependent'
+ * Added auto-generated script to start shell with default plugins loaded.
+ * Migrate code of plugin shell-functions to main library
+ * Remove trailing white spaces
+ * Activate debug tracing by configuration option CMAKE_VERBOSITY_LEVEL 	 * src/CMakeLists.txt.
+ * Fix documentation generation
+ * Added UNIX guard for inclusion of dynamic load library in CMakeFiles.
+ * Add detection of boost.
+ * Removed all using namespace directives from headers. Some minor resulting bugfixes.
+ * Separated unit tests and tools. Added ADD_TEST cmake command.
+ * Added README information. Read me! Removed the test test_factory (need to design a new one)
+ * Re-added shell functions and procedures.
+ * Removed all 'sot' references.
+ * Cosmetic change in CMakeLists.txt
+ * Now only generated documentation if GENERATE_DOC is ON.
+ * Added forgotten file all-signals.h
+ * Added forgotten test file test_signalcast.cpp
+ * Used signal exceptions for the exceptions thrown by SignalCast.
+ * Forgot to include some code in the last commit.
+ * Cast: Unit testing
+ * Bug fixes following the reintroduction of casts in dynamicgraph.
+ * Implemented dynamic casting facility from signals to std::streams
+ * Added two unit tests.
+ * Added a new test (test_pool).
+ * Changed CMakeLists to cope for the new headers location. Renamed dynamic-graph-API.h to dynamic-graph-api.h in every header file.
+ * Rename file according to standard
+ * Added forgotten header dynamic-graph-API.h
+ * The package name is now dynamic-graph (this still needs to be changed in the git repository). Updated source files to reflect that change. Clarified CMakeLists, explicited cpp source files for libraries.
+ * Added two unit tests.
+ * Added documentation, renamed header paths, corrected CMakeLists accordingly.
+ * Renamed pkg-config definition file to adhere standards.
+ * Removed dependencies on all other packages.
+ * Removed debug hack left in the last commit.
+ * Type in symbol dgDEBUGFLOW resulted in not being able to load shared libraries. Fixed. Preliminary documentation changes. Re-added INSTALL file.
+ * dynamicGraph now compiles shared libraries.
+ * Removed SOT reference (<sot/*.h> --> <dynamicGraph/*.h>)
+ * Changed version number to 1.0.0
+ * Wrong file added to git repository (corrected).
+ * Added forgotten files.
+ * Configured dynamicGraph package and cmake files. Last-minute adjustment to code for SOT separation (SOT Break)
--- a/INSTALL
+++ b/INSTALL
-#
-#  Copyright
-#
-Installation instructions for library dynamicGraph
----------------------------------------------
-It is recommended to create a specific directory to install this package.
-mkdir build
-cd build
-cmake [Options] ..
-make 
-make install
-Options:
-DCMAKE_INSTALL_PREFIX=...
-  specifies the directory where to install the package.
-DCMAKE_BUILD_TYPE=[none|debug|release|relwithdebinfo|MinSizeRel]
-  specifies to type of compilation (release, debug, ...)
--- a/LICENSE
+++ b/LICENSE
+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.
--- a/NEWS
+++ b/NEWS
-Write in this file the news related to package dynamicGraph.
+New in version 2.5.1 - 2011-12-07
+      Make destructor of TimeDependency virtual.
+      Do not hardcode dl, use ${CMAKE_DL_LIBS}.
+      Win32: Correct the importation/exportation of symbols
+      Win32: Correct a wrong macro
+      Add missing header inclusion
+      Disable a test for mac.
+      For compatibility, added a static function to bind the singleton.
+New in version 2.5 - 2011-06-21
+New in version 1.1 - 2010-09-30
+      Configured dynamicGraph package and cmake files. Last-minute adjustment to code for SOT separation (SOT Break)
+      Added forgotten files.
+      Wrong file added to git repository (corrected).
+New in version 1.0.0
+      Changed version number to 1.0.0
+      Removed SOT reference (<sot/*.h> --> <dynamicGraph/*.h>)
+      dynamicGraph now compiles shared libraries.
+      Type in symbol dgDEBUGFLOW resulted in not being able to load shared libraries. Fixed. Preliminary documentation changes. Re-added INSTALL file.
+      Removed debug hack left in the last commit.
+      Removed dependencies on all other packages.
+      Renamed pkg-config definition file to adhere standards.
+      Added documentation, renamed header paths, corrected CMakeLists accordingly.
+      Added two unit tests.
+      The package name is now dynamic-graph (this still needs to be changed in the git repository). Updated source files to reflect that change. Clarified CMakeLists, explicited cpp source files for libraries.
+      Added forgotten header dynamic-graph-API.h
+      Changed CMakeLists to cope for the new headers location.     Renamed dynamic-graph-API.h to dynamic-graph-api.h in every header file.
+      Added a new test (test_pool).
+      Added two unit tests.
+      Implemented dynamic casting facility from signals to std::streams
+      Bug fixes following the reintroduction of casts in dynamicgraph.
+      Cast: Unit testing
+      Forgot to include some code in the last commit.
+      Used signal exceptions for the exceptions thrown by SignalCast.
+      Added forgotten test file test_signalcast.cpp
+      Added forgotten file all-signals.h
+      Now only generated documentation if GENERATE_DOC is ON.
+      Cosmetic change in CMakeLists.txt
+      Removed all 'sot' references.
+      Re-added shell functions and procedures.
+      Added README information. Read me! Removed the test test_factory (need to design a new one)
+      Separated unit tests and tools. Added ADD_TEST cmake command.
+      Removed all using namespace directives from headers. Some minor resulting bugfixes.
+      Added UNIX guard for inclusion of dynamic load library in CMakeFiles.
+      Added auto-generated script to start shell with default plugins loaded.
+      Corrected typo 'dependant' -> 'dependent'
+      Added tracer plugin to source.
+      Removed default definition of VP_DEBUG_MODE in cmake (already in header).
+      Changed linking of exceptions and traces.
+      Removed the EXTRA_LIBRARIES.
+      Put shell functions firmly into dynamicgraph. Removed plugin. Corrected headers inclusion.
+      Made DefaultSignalCaster public (exported).     Added boost::ublas::vector example to test_signalcast.
+      Added SignalCaster tests with shared libraries.
+      Enabled thread support (was disabled before because HAVE_LIBBOOST_THREAD was not defined)
+      Port Olivier's changes in SOT commit eacfd9544ca
+      Added support for TOOLS exceptions
+      Re-added shell-functions plugin (exports functions defined in dynamic-graph to the shell).
+      Removed CMAKE_INSTALL_PREFIX in INSTALL directives.
+      Changed parts of documentation.
+      Changed name of the traces file.
+      Added more exception catch codes in interpreter. Should now link correctly with boost libraries. Small debug output changes.
+      Merge branch 'master' of git+ssh://softs.laas.fr/git/jrl/frameworks/dynamicGraph
+      Removed automatic definition of VP_DEBUG.
+      Added libraries rpath.
+      Revert "Added libraries rpath."
+Francois Keith (11):
+      Win32: Correct typo in the macro name for the API
+      Win32: typo in the API
+      Add a missing dependency between tracer-RT and tracer
+      Win32: Add the exportation of SignalCast
+      Win32: Correct exportation of g_caster
+      The dependency in dl is unix-specific
+      Add the missing "int" in "int main (void)"
+      Win32: Correct API name for contiifstream
+      Win32: Add some definitions to avoid some verbose warnings
+      Use the correct macro for import/export in functions.h
+      Correct the exception raised by signalTime
+Mansard (1):
+      Added an example of caster construction for type vector (dummy cast, similar to the default one, just for the tuto).
+Olivier Stasse (4):
+      Add detection of boost.
+      Fix boost detection
+      First version for the interpreter-helper.
+      Add uninstall target to dynamic-graph.
+Thomas Moulard (19):
+      Getting rid of obsolete autogen.sh file.
+      Rename README into README.md.
+      Remove INSTALL file.
+      Rewrite README using Markdown syntax.
+      Rewrite NEWS file.
+      Rewrite AUTHORS file.
+      Add LGPL-3 license.
+      Add license header.
+      Debianize package.
+      Update project version to 1.0.0.99
+      Fix Debian package (main binary pacakge was missing).
+      Add newline at end of file.
+      Fix shell.sh.cmake.
+      Install binaries in bin directory.
+      Use mktemp to create temporary file in sot-shell-plugin.sh.
+      Remove .sh extension to installed shell scripts.
+      Add missing build requirement in Debian package.
+      Increment build number for the Debian package.
+      Add plug-ins to package.
+florent (17):
+      Rename file according to standard
+      Fix documentation generation
+      Activate debug tracing by configuration option CMAKE_VERBOSITY_LEVEL     	 * src/CMakeLists.txt.
+      Remove trailing white spaces
+      Migrate code of plugin shell-functions to main library
+      Add -DVP_DEBUG in debug mode.
+      Move class Contiifstream into namespace dynamicgraph.
+      Cosmetic changes
+      Reintroduce file that mysteriously disappeared in commit 41e11cc3776c29c91ef
+      Fix compilation of tests
+      Make ExceptionAbstract::getStringMessage const
+      Add message in exception
+      Use stringstream to pass values in set/get test.
+      Make ExceptionAbstract derive from std::exception.
+      Do not rethrow exception, since boost exceptions derive from std::exception
+      Make exception message more explicit
+      Add message in exception when a signal type is already registered.
+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.
--- a/README
+++ b/README
-See INSTALL for installation instruction.
--- a/README.md
+++ b/README.md
+dynamic-graph
+=============
+[![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.
+A dynamic graph data-flow is composed of:
+ * entities (graph nodes)
+ * signals (input/output of a graph action)
+Output signals can then be plugged into input signals to data
+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 [BSD-clause 2](COPYING.LESSER) license.
+**Warning:** this repository contains [Git
+submodules][git-submodules]. Please clone this repository using the
+`git clone --recursive` command. If you already have cloned the
+repository, you can run `git submodule init && git submodule update`
+to retrieve the submodules.
+Documentation
+-------------
+To get started with this library, please read the [online Doxygen
+documentation][doxygen-documentation].
+It can also be generated locally by running the `make doc`
+command. After the package is installed, the documentation will be
+located in the `$prefix/share/doc/dynamic-graph` directoy where
+`$prefix` is your installation prefix (`/usr/local` by default).
+Getting Help
+------------
+Support is provided through issues on the github interface.
+How can I install dynamic-graph?
+--------------------------------
+### Installing dependencies
+The matrix abstract layer depends on several packages which
+have to be available on your machine.
+ - Libraries:
+   - [Boost][] (>= 1.40)
+   - Doxygen
+   - Eigen3
+   - pthread
+ - System tools:
+   - [CMake][] (>=2.6)
+   - [pkg-config][]
+   - usual compilation tools (GCC/G++, make, etc.)
+     If you are using Ubuntu, these tools are gathered in the `build-essential` package.
+### Compiling and installing the package
+The manual compilation requires two steps:
+ 1. configuration of the build and generation of the build files
+ 2. compilation of the sources and installation of the package
+dynamic-graph uses [CMake][] to generate build files. It is
+recommended to create a separate build directory:
+```sh
+mkdir _build         # (1) Create a build directory
+cd _build            # (2) Go to the newly created build directory
+cmake [options] ..   # (3) Generate the build files
+```
+Options which can be passed to CMake are detailed in the next section.
+```sh
+make                 # (4) Compile the package
+make test            # (5) Execute the package tests
+make install         # (6) Install the package into the prefix (see step 3)
+```
+### Options
+Additional options can be set on the command line through the
+following command: `-D<option>=<value>`.
+For instance: `cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo ..` will set
+the `CMAKE_BUILD_TYPE` option to the value `RelWithDebInfo`.
+Available options are:
+- `CMAKE_BUILD_TYPE` set the build profile that should be used (debug,
+  release, etc.). We recommend `RelWithDebInfo` as it will provide
+  performances while keeping debugging symbols enabled.
+- `CMAKE_INSTALL_PREFIX` set the installation prefix (the directory
+  where the software will be copied to after it has been compiled).
+### Running the test suite
+The test suite can be run from your build directory by running:
+```sh
+   make test
+```
+Please open a ticket if some tests are failing on your computer, it
+should not be the case.
+Contributing
+------------
+If you want to contribute, please refer to the
+[CONTRIBUTING.md](CONTRIBUTING.md) file
+Credits
+-------
+This package authors are credited in the [AUTHORS](AUTHORS) file.
+Available Packages
+------------------
+ * RobotPkg :
+   http://robotpkg.openrobots.org/robotpkg/motion/dynamic-graph/index.html
+[doxygen-documentation]: http://stack-of-tasks.github.io/dynamic-graph/doxygen/HEAD/
+[git-submodules]: http://git-scm.com/book/en/Git-Tools-Submodules
+[Boost]: http://www.boost.org/
+[CMake]: htttp://www.cmake.org/
+[Doxygen]: http://www.stack.nl/~dimitri/doxygen/
+[Eigen]: http://eigen.tuxfamily.org/
+[Git]: http://git-scm.com/
+[Libtool]: https://www.gnu.org/software/libtool/
+[RobotPkg]: http://robotpkg.openrobots.org/
+[log4cxx]: https://logging.apache.org/log4cxx/
+[pkg-config]: http://www.freedesktop.org/wiki/Software/pkg-config/
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