doc/additionalDoc/graph.h

@@ -6,14 +6,18 @@ In this package, the graph considered are directed graphs.
 
 In dynamic-graph a graph is build with:
 - computational nodes which are entities \subpage subpage_entities.
-- directed edges which are created by connecting input and output signals \subpage subp_signals.
-- managing the nodes is done through a factory \subpage subp_factory providing classes and a way to create instances
-from this list of classes.
+- directed edges which are created by connecting input and output signals
+\subpage subp_signals.
+- commands which are expanding the capabilities of the entity
+\subpage subpage_command
+- managing the nodes is done through a factory \subpage subp_factory providing
+classes and a way to create instances from this list of classes.
 - the instances of node are handled through a pool \subpage subp_pool
 
 We strongly recommend to use a scripting language such as Python to
 manage the graph.
-See <c>dynamic-graph-python</c> for more information on binding dynamic-graph with Python.
+See <c>dynamic-graph-python</c> for more information on binding dynamic-graph
+with Python.
 
 It is possible to display the graph of entities \subpage writegraphdoc
 

doc/additionalDoc/installation.h

@@ -13,10 +13,11 @@ dynamic-graph depends on:
 \section sec_inst_get_src Getting the source
 
 The sources are available through github at the following URL:
-<a href="https://github.com/stack-of-tasks/dynamic-graph">https://github.com/stack-of-tasks/dynamic-graph</a>
+<a
+href="https://github.com/stack-of-tasks/dynamic-graph">https://github.com/stack-of-tasks/dynamic-graph</a>
 
 To clone:
-\code
+\code{.sh}
 git clone https://github.com/stack-of-tasks/dynamic-graph.git
 \endcode
 

doc/additionalDoc/introduction.h

@@ -3,63 +3,65 @@
 \section intro_dynamicGraph Introduction
 
 The dynamic-graph package is used to connect computation nodes, "entities"
-together using a graph system, akin to what Simulink does. Entities are connected
-through input and output signals.
-With the building blocks this package provides, you can easily create a full computation graph
-for a given problem. It is the basis for the stack of tasks operation.
+together using a graph system, akin to what Simulink does. Entities are
+connected through input and output signals. With the building blocks this
+package provides, you can easily create a full computation graph for a given
+problem. It is the basis for the stack of tasks operation.
 
 
 \subsection controlgraph Exemple: Real-time control
 
-<p>To give a more concrete example, the real-time control used by the Gepetto group for the humanoid robot HRP-2
-is detailled.</p>
-<p>
-Real-time control system are usually driven by a cyclic computational node which
-needs to send a control reference value to each motors of a robot. To compute this
-control reference values, sensor values need to be provided.
-In the Stack-Of-Tasks special entities called Device are used to
-provide an abstract interface to the hardware.</p>
-A scheme of the real-time control graph used for the humanoid robot HRP-2 is depicted in the following figure:
+<p>To give a more concrete example, the real-time control used by the Gepetto
+group for the humanoid robot HRP-2 is detailled.</p> <p> Real-time control
+system are usually driven by a cyclic computational node which needs to send a
+control reference value to each motors of a robot. To compute this control
+reference values, sensor values need to be provided. In the Stack-Of-Tasks
+special entities called Device are used to provide an abstract interface to the
+hardware.</p> A scheme of the real-time control graph used for the humanoid
+robot HRP-2 is depicted in the following figure:
 
 \image html Concept-Software-Fig.png
 
-You can find an example of a real example of control graph at \ref writegraphdoc.
+You can find an example of a real example of control graph at \ref
+writegraphdoc.
 
-<p>The device therefore has a specific input which should contain the control vector.
-This control vector is the result of a computation solving a control problem.
-The entity in charge of solving this control problem is called "Solver" in the previous
-figure.
-In the SoT framework it is often cast as an optimization problem.
-This optimization problem is build using a control "Task" (not to be confused with the
-general word task). A control "Task" regulates the difference with a "Feature" computed
-on the current robot state and a "Desired Feature". For instance when walking, the regulated
-feature is the robot's Center-Of-Mass (CoM) position. The "Feature" is computed using a
-library using the robot model and the sensor value. The entity making this computation is "Dyn".
-A walking pattern generator using foot-steps position given in advance generates the desired
-value for the CoM.
-Note that the "Dyn" entity uses the sensor provided by the entity "Robot". </p>
+<p>The device therefore has a specific input which should contain the control
+vector. This control vector is the result of a computation solving a control
+problem. The entity in charge of solving this control problem is called "Solver"
+in the previous figure. In the SoT framework it is often cast as an optimization
+problem. This optimization problem is build using a control "Task" (not to be
+confused with the general word task). A control "Task" regulates the difference
+with a "Feature" computed on the current robot state and a "Desired Feature".
+For instance when walking, the regulated feature is the robot's Center-Of-Mass
+(CoM) position. The "Feature" is computed using a library using the robot model
+and the sensor value. The entity making this computation is "Dyn". A walking
+pattern generator using foot-steps position given in advance generates the
+desired value for the CoM. Note that the "Dyn" entity uses the sensor provided
+by the entity "Robot". </p>
 
 <p>
-From a pure computer science viewpoint we wish to avoid recomputing data such as articular Jacobians
-when this is unnecessary. Therefore the data generated by an entity through signals may have two types of
-dependencies: one dependency related to time and dependencies on other signals. Internally an entity
-does not recompute the data if no new information is available, it is simply providing the same information
-computed before. Please note that this package provides only the computational framework to realize
-the data dependency and the entities. Solvers, libraries to compute mechanical quantities are provided
-in different packages.
+From a pure computer science viewpoint we wish to avoid recomputing data such as
+articular Jacobians when this is unnecessary. Therefore the data generated by an
+entity through signals may have two types of dependencies: one dependency
+related to time and dependencies on other signals. Internally an entity does not
+recompute the data if no new information is available, it is simply providing
+the same information computed before. Please note that this package provides
+only the computational framework to realize the data dependency and the
+entities. Solvers, libraries to compute mechanical quantities are provided in
+different packages.
 </p>
 
 <p>
-Finally in order to dynamically create a graph, it is possible \b on-line to load classes of entities  and
-create instances of entities.</p>
+Finally in order to dynamically create a graph, it is possible \b on-line to
+load classes of entities  and create instances of entities.</p>
 
 \subsection Functionnalities
 
 \li Support for extensions and modules using dynamic link libraries
 \li Template-based signal definition, independent
 \li Type-safe connection of input and output signals
-\li On-demand signal computation as well as a caching system for signal values allow fast
-computation of signal values, which is a critical point for real-time systems\n
-See \ref scriptingabout
+\li On-demand signal computation as well as a caching system for signal values
+allow fast computation of signal values, which is a critical point for real-time
+systems\n
 
 */

doc/additionalDoc/package.h

@@ -22,16 +22,19 @@ The software graph structure is detailled in \subpage p_graph
 
 For debugging your entities detailed instructions are given in \subpage debug
 
-For citing the software in your research work please refer to \subpage subp_references
+For citing the software in your research work please refer to
+\subpage subp_references
 
-\namespace dynamicgraph This is the namespace where every object and class of this library is located.
+\namespace dynamicgraph This is the namespace where every object and class of
+this library is located.
 
 \defgroup debug Debugging
 
 \defgroup dgraph Core classes and objects
 @{
 
-Classes, entities and binaries that make up the core of the dynamic-graph library are listed here.
+Classes, entities and binaries that make up the core of the dynamic-graph
+library are listed here.
 @}
 
 \defgroup signals Signals
@@ -40,11 +43,13 @@ This part provides the mechanism to transfer information
 from one entity to another. There are three main types of signals,
 all deriving from the common class dynamicgraph::SignalBase :
 \li dynamicgraph::Signal : a "normal" signal, passing data around \b by \b value
-\li dynamicgraph::SignalPtr : a signal used for efficient passing of large data, by reference (or rather, C pointers)*
-\li dynamicgraph::SignalTimeDependent : a signal that enforces a time dependency between other signals,
-making sure its inputs are up to date on access, using a incrementing time tick as reference.
+\li dynamicgraph::SignalPtr : a signal used for efficient passing of large data,
+by reference (or rather, C pointers)* \li dynamicgraph::SignalTimeDependent : a
+signal that enforces a time dependency between other signals, making sure its
+inputs are up to date on access, using a incrementing time tick as reference.
 
-\n* Note: this may cause a problem if this package is used in a multithreaded program.
+\n* Note: this may cause a problem if this package is used in a multithreaded
+program.
 
 Signals can be grouped together using dynamicgraph::SignalArray.
 
@@ -54,8 +59,8 @@ For more information, please see the individual signal pages.
 
 \b Samples
 
-\li The following code ensures the jacobian output signal uses up-to-date values for its
-computations, when accessed.
+\li The following code ensures the jacobian output signal uses up-to-date values
+for its computations, when accessed.
 
 \code
   // This signal returns the Jacobian of the current value

doc/additionalDoc/pool.h

 /**
 \page subp_pool Pool
 \section pool Pool
-The class \ref dynamicgraph::PoolStorage keeps track of the entities instanciated with the factory.
-The entities are the graph nodes. Signals are constructed during the class instanciation, they do not live
-independently from the entities. Signals are the directed edges of the graph. The pool can write a file representing
-the graph of entities.
+The class \ref dynamicgraph::PoolStorage keeps track of the entities
+instanciated with the factory. The entities are the graph nodes. Signals are
+constructed during the class instanciation, they do not live independently from
+the entities. Signals are the directed edges of the graph. The pool can write a
+file representing the graph of entities.
 */

doc/additionalDoc/references.h

@@ -7,8 +7,8 @@ Please when referencing the Stack-Of-Tasks use the following reference:
 \anchor Mansard2009
 
 <b> <a href="https://hal-lirmm.ccsd.cnrs.fr/lirmm-00796736/document">
-"A versatile Generalized Inverted Kinematics implementation for collaborative working humanoid robots: The Stack Of
-Tasks"</a>
+"A versatile Generalized Inverted Kinematics implementation for collaborative
+working humanoid robots: The Stack Of Tasks"</a>
 </b>,
 <em>N. Mansard, O. Stasse, P. Evrard, A. Kheddar,</em>
 Int. Conf. on Autonomous Robots, ICAR, 2009

doc/additionalDoc/signal.h

@@ -2,11 +2,10 @@
 \page subp_signals Signals
 \section sec_sigintro Signals
 
-Entities can output different types of signals. To guarante real-time perforamces, signals are implemented
-using C++ and mecanism which have a low time foot-print.
-All signals are templated by a Time
-tick type parameter (which is used in the caching of signals) - usually \c int. Signals
-are also templated after the type of data they accept or provide. For example:
-(example)
-For a more detailed programmer-oriented description of signals, please see \ref signals
+Entities can output different types of signals. To guarante real-time
+perforamces, signals are implemented using C++ and mecanism which have a low
+time foot-print. All signals are templated by a Time tick type parameter (which
+is used in the caching of signals) - usually \c int. Signals are also templated
+after the type of data they accept or provide. For example: (example) For a more
+detailed programmer-oriented description of signals, please see \ref signals
 */

doc/additionalDoc/tracer-real-timedoc.h

@@ -2,16 +2,16 @@
 \page tracerrealtimedoc TracerRealTime
 
 \section tracerrealtimedoc_description Description
-The \b TracerRealTime entity monitors a set of signals with real-time constraints; its
-function is very similar to the Tracer, except that all traces are recorded to a
-memory buffer, which can be emptied at any time.
+The \b TracerRealTime entity monitors a set of signals with real-time
+constraints; its function is very similar to the Tracer, except that all traces
+are recorded to a memory buffer, which can be emptied at any time.
 
 \section tracerrealtimedoc_commands Commands
 The \b commands that this entity exposes are:
 \code
 empty (discards all buffers)
-buffersize (sets buffer size for recording)
-trace (writes traces to files)
+getBufferSize (gets buffer size for recording)
+setBufferSize (sets buffer size for recording)
 \endcode
 Plus all the commands exposed by \ref tracerdoc
 \n

doc/additionalDoc/tracerdoc.h

 /**
 \page tracerdoc Tracer
 \section tracerdoc_description Description
-The \b Tracer entity monitors a set of signals. With an input change on the entity's [trigger] signal,
-the tracked signal values are recorded and traced to a file. The behavior of the trace-to-file
-function can be changed, from printing to a file immediately after recording, to printing out
-only when asked explicitly.
+The \b Tracer entity monitors a set of signals. With an input change on the
+entity's [trigger] signal, the tracked signal values are recorded and traced to
+a file. The behavior of the trace-to-file function can be changed, from printing
+to a file immediately after recording, to printing out only when asked
+explicitly.
 
 \section tracerdoc_commands Commands
 The \b commands that this entity exposes are:
@@ -22,22 +23,15 @@ code documentation of the dynamicgraph::Tracer class.
 \n\n
 
 \section tracerdoc_sample Sample usage
-The following code creates a TracerRealTime entity, then sets the tracing buffer
-size to 10MB. It then tells the tracer to create files with names of the form:
-jl_XXX.dat where XXX is the signal name, and adds a few signals after
-clearing the traces;
+The following code creates a TracerRealTime entity and sets the tracing buffer
+size to 80MB. It then tells the tracer to create files with names of the form:
+/tmp/dg_XXX.dat where XXX is the signal name, and call the signal
+after the device has evaluated the control law:
 \code
-new TracerRealTime tr
-tr.bufferSize 10485760
-
-tr.open  ${TRACE_REPOSITORY} jl_ .dat
-OpenHRP.periodicCall addSignal tr.triger
-(...)
-# --- TRACE ---
-tr.clear
-tr.add OpenHRP.forceRARM
-tr.add dyn.0
-tr.add jgain.gain
+robot.tracer = TracerRealTime("com_tracer")
+robot.tracer.setBufferSize(80*(2**20))
+robot.tracer.open('/tmp','dg_','.dat')
+robot.device.after.addSignal('{0}.triger'.format(robot.tracer.name))
 \endcode
 
 \section tracerdoc_addi Additional information

doc/additionalDoc/writeGraph.h

@@ -21,6 +21,7 @@ It provides the following output:
 
 \section fromdottojs Viewing in a browser
 To view the dot file you can simply use the view_sot_dg.html file.
-Click on the "Choose File" to specify the filem and click on "Rendering" to display the graph.
+Click on the "Choose File" to specify the filem and click on "Rendering" to
+display the graph.
 
 */

doc/customdoxygen.css

+/* Customizing Doxygen output */
+
+/* Needed to allow line breaks in tables*/
+.memberdecls {
+  table-layout: fixed;
+  width: 100%;
+}
+
+/* Needed to break long template names*/
+.memTemplItemLeft {
+  white-space: normal !important;
+  word-wrap: break-word;
+}
+
+/* Needed to break long template names*/
+.memItemLeft {
+  white-space: normal !important;
+  word-wrap: break-word;
+}

doc/header.html

+<!-- HTML header for doxygen 1.8.11-->
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen $doxygenversion"/>
+<!--BEGIN PROJECT_NAME--><title>$projectname: $title</title><!--END PROJECT_NAME-->
+<!--BEGIN !PROJECT_NAME--><title>$title</title><!--END !PROJECT_NAME-->
+<link href="$relpath^tabs.css" rel="stylesheet" type="text/css"/>
+<link href="$relpath^sot.ico" rel="icon" type="image/x-icon">
+<script type="text/javascript" src="$relpath^jquery.js"></script>
+<script type="text/javascript" src="$relpath^dynsections.js"></script>
+$treeview
+$search
+$mathjax
+<link href="$relpath^$stylesheet" rel="stylesheet" type="text/css" />
+$extrastylesheet
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+
+<!--BEGIN TITLEAREA-->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <!--BEGIN PROJECT_LOGO-->
+  <td id="projectlogo"><img alt="Logo" src="$relpath^$projectlogo"/></td>
+  <!--END PROJECT_LOGO-->
+  <!--BEGIN PROJECT_NAME-->
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">$projectname
+   <!--BEGIN PROJECT_NUMBER-->&#160;<span id="projectnumber">$projectnumber</span><!--END PROJECT_NUMBER-->
+   </div>
+   <!--BEGIN PROJECT_BRIEF--><div id="projectbrief">$projectbrief</div><!--END PROJECT_BRIEF-->
+  </td>
+  <!--END PROJECT_NAME-->
+  <!--BEGIN !PROJECT_NAME-->
+   <!--BEGIN PROJECT_BRIEF-->
+    <td style="padding-left: 0.5em;">
+    <div id="projectbrief">$projectbrief</div>
+    </td>
+   <!--END PROJECT_BRIEF-->
+  <!--END !PROJECT_NAME-->
+  <!--BEGIN DISABLE_INDEX-->
+   <!--BEGIN SEARCHENGINE-->
+   <td>$searchbox</td>
+   <!--END SEARCHENGINE-->
+  <!--END DISABLE_INDEX-->
+ </tr>
+ </tbody>
+</table>
+</div>
+<!--END TITLEAREA-->
+<!-- end header part -->

doc/figures/entity.svg → doc/pictures/entity.svg

@@ -9,7 +9,7 @@
    xmlns="http://www.w3.org/2000/svg"
    xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
    xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
- 
+
    id="svg2"
    version="1.1"
    inkscape:version="0.47 r22583"

include/dynamic-graph/CMakeLists.txt

-SET(${PROJECT_NAME}_HEADERS
-  fwd.hh
-  null-ptr.hh
-  debug.h
-  real-time-logger.h
-
-  dynamic-graph-api.h
-
-  entity.h
-  factory.h
-  pool.h
-
-  exception-abstract.h
-  exception-factory.h
-  exception-signal.h
-  exception-traces.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
-  signal-cast-helper.h
-  all-signals.h
-  signal-helper.h
-  entity-helper.h
-
-  tracer.h
-  tracer-real-time.h
-
-  command.h
-  eigen-io.h
-  linear-algebra.h
-  value.h
-
-  command-setter.h
-  command-setter.t.cpp
-  command-getter.h
-  command-getter.t.cpp
-  command-direct-getter.h
-  command-direct-setter.h
-  command-bind.h
-  all-commands.h
-
-  logger.h
-    )
-
-INSTALL(FILES ${${PROJECT_NAME}_HEADERS}
-  DESTINATION include/${PROJECT_NAME}
-  )

include/dynamic-graph/all-commands.h

@@ -12,7 +12,7 @@
 #include <dynamic-graph/command-direct-getter.h>
 #include <dynamic-graph/command-direct-setter.h>
 #include <dynamic-graph/command-getter.h>
-#include <dynamic-graph/command.h>
 #include <dynamic-graph/command-setter.h>
+#include <dynamic-graph/command.h>
 
 #endif  //! DYNAMIC_GRAPH_ALL_COMMANDS_H