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.
+*/

doc/additionalDoc/references.h

+/**
+\page subp_references References
+
+\section sec_refer References
+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>
+</b>,
+<em>N. Mansard, O. Stasse, P. Evrard, A. Kheddar,</em>
+Int. Conf. on Autonomous Robots, ICAR, 2009
+
+\anchor Mansard2007
+
+<b>"Task sequencing for sensor-based control"</b>,
+<em>N. Mansard, F. Chaumette,</em>
+IEEE Trans. on Robotics, 23(1):60-72, February 2007
+
+*/

doc/additionalDoc/signal.h

+/**
+\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
+*/

doc/additionalDoc/tracer-real-timedoc.h

 /**
 \page tracerrealtimedoc TracerRealTime
-\section 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.
-\section commands Commands
+
+\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.
+
+\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
 For more information on the signals exposed by this entity, please check the
 code documentation of the dynamicgraph::Tracer class.
 
-\section sample Sample usage
+\section tracerrealtimedoc_sample Sample usage
 See \ref tracerdoc for a code sample of using TracerRealTime.
 
-\section addi Additional information
+\section tracerrealtimedoc_addi Additional information
 See doxygen documentation for the class dynamicgraph::TracerRealTime
 
-\section generates Generated plugin file
+\section tracerrealtimedoc_generates Generated plugin file
 tracer-real-time.dll or tracer-real-time.so.
-
-**/
+*/

doc/additionalDoc/tracerdoc.h

 /**
 \page tracerdoc Tracer
-\section 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.
-\section commands Commands
+\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.
+
+\section tracerdoc_commands Commands
 The \b commands that this entity exposes are:
 \code
 open, close (a file);
@@ -19,29 +21,22 @@ start, stop (traces)
 For more information on the signals exposed by this entity, please check the
 code documentation of the dynamicgraph::Tracer class.
 \n\n
-\section 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;
-\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
+\section tracerdoc_sample Sample usage
+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
+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 addi Additional information
+\section tracerdoc_addi Additional information
 See doxygen documentation for the class dynamicgraph::Tracer
 
-\section generates Generated plugin file
+\section tracerdoc_generates Generated plugin file
 tracer.dll or tracer.so.
-
-**/
+*/

doc/additionalDoc/writeGraph.h

+/**
+\page writegraphdoc Displaying the graph of entities
+\section description Description
+It is possible to view the graph of entities currently instanciated.
+The format used by dynamic-graph is dot.
+Using the python interpreter the following command
+\code
+from dynamic_graph import *
+writeGraph('/tmp/my_dynamic_graph.dot')
+\endcode
+is writing the <b>my_dynamic_graph.dot</b> in the <b>/tmp</b> directory
+
+\section fromdottopdf Viewing as a PDF file
+To view the dot file you can simply use:
+\code
+dot -Tpdf /tmp/my_dynamic_graph.dot > /tmp/my_dynamic_graph.pdf
+\endcode
+
+It provides the following output:
+\image html my_dynamic_graph.png
+
+\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.
+
+*/

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/CMakeLists.txt

-# 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/>.
-
-CONFIGURE_FILE(
-	${PROJECT_NAME}/import-default-paths.h.cmake
-	${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}/import-default-paths.h)
-INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}/import-default-paths.h
-       DESTINATION include/${PROJECT_NAME}
-       PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
-)
-
-
-# Headers list.
-SET(${PROJECT_NAME}_HEADERS
-fwd.hh
-null-ptr.hh
-contiifstream.h
-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
-)
-
-# 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
-)

include/dynamic-graph/all-commands.h

@@ -2,21 +2,9 @@
 // Copyright 2010, François Bleibel, Olivier Stasse, JRL, CNRS/AIST
 //                 Thomas Moulard, Nicolas Mansard  LAAS-CNRS
 //
-// 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/>.
 
 #ifndef DYNAMIC_GRAPH_ALL_COMMANDS_H
-# define DYNAMIC_GRAPH_ALL_COMMANDS_H
+#define DYNAMIC_GRAPH_ALL_COMMANDS_H
 
 // Utility header files including all commands headers
 
@@ -24,7 +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
+#endif  //! DYNAMIC_GRAPH_ALL_COMMANDS_H

include/dynamic-graph/all-signals.h

@@ -2,26 +2,14 @@
 // Copyright 2010, François Bleibel, Thomas Moulard, 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/>.
 
 #ifndef DYNAMIC_GRAPH_ALL_SIGNALS_H
-# define DYNAMIC_GRAPH_ALL_SIGNALS_H
+#define DYNAMIC_GRAPH_ALL_SIGNALS_H
 
 // 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-ptr.h>
+#include <dynamic-graph/signal-time-dependent.h>
+#include <dynamic-graph/signal.h>
 
-#endif //! DYNAMIC_GRAPH_ALL_SIGNALS_H
+#endif  //! DYNAMIC_GRAPH_ALL_SIGNALS_H

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

@@ -3,17 +3,6 @@
 //
 // Author: Nicolas Mansard
 //
-// 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/>.
 
 #ifndef __dg_command_direct_getter_h__
 #define __dg_command_direct_getter_h__
@@ -26,47 +15,44 @@
  *
  */
 
-#include "dynamic-graph/command.h"
 #include <boost/assign/list_of.hpp>
 
+#include "dynamic-graph/command.h"
+
 /* --- GETTER --------------------------------------------------------- */
 namespace dynamicgraph {
-  namespace command {
+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;
+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) {}
+  /// 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;
-    };
+ protected:
+  virtual Value doExecute() { return Value(*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); }
+ private:
+  T *T_ptr;
+};
 
-    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";
-      }
+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);
+}
 
-  } // namespace command
-} // namespace dynamicgraph
+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__
+#endif  // __dg_command_direct_getter_h__