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include/dynamic-graph/command-direct-setter.h
View file @ 2e7a70d5
......@@ -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_setter_h__
#define __dg_command_direct_setter_h__
......@@ -26,50 +15,47 @@
*
*/
#include "dynamic-graph/command.h"
#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__
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
View file @ 2e7a70d5
......@@ -3,17 +3,6 @@
//
// Author: Florent Lamiraux
//
// 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 DYNAMIC_GRAPH_COMMAND_GETTER_H
#define DYNAMIC_GRAPH_COMMAND_GETTER_H
......@@ -21,55 +10,53 @@
#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
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
#endif // DYNAMIC_GRAPH_COMMAND_GETTER_H
include/dynamic-graph/command-getter.t.cpp
View file @ 2e7a70d5
......@@ -3,43 +3,31 @@
//
// Author: Florent Lamiraux
//
// 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 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 {
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>
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
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
#endif // DYNAMIC_GRAPH_COMMAND_GETTER_T_CPP
include/dynamic-graph/command-setter.h
View file @ 2e7a70d5
......@@ -3,17 +3,6 @@
//
// Author: Florent Lamiraux
//
// 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 DYNAMIC_GRAPH_COMMAND_SETTER_H
#define DYNAMIC_GRAPH_COMMAND_SETTER_H
......@@ -21,55 +10,53 @@
#include "dynamic-graph/command.h"
namespace dynamicgraph {
namespace command {
///
/// Command that calls a parameter setter 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 setter function for this member:
/// \code
/// class E : public Entity
/// {
/// public:
/// E (const std::string& inName) : Entity(inName) {}
/// void setParameter(const T& parameter) {parameter_ = parameter;}
/// private:
/// T parameter_;
/// };
/// \endcode
/// Then the command defined by:
/// \code
/// E entity("MyEntity");
/// Setter<E,T> command(entity, &E::getParameter)
/// \endcode
/// sets the value of <c>entity.parameter_</c> upon invocation.
///
/// \note
/// \li T should be a type supported by class Value,
/// \li prototype of E::setParameter should be exactly as specified in this
/// example.
template <class E, typename T>
class Setter : public Command {
public:
/// Pointer to method that sets parameter of type T
typedef void (E::*SetterMethod) (const T&);
/// Constructor
Setter(E& entity, SetterMethod setterMethod,
const std::string& docString);
protected:
virtual Value doExecute();
private:
SetterMethod setterMethod_;
};
} // namespace command
} // namespace dynamicgraph
namespace command {
///
/// Command that calls a parameter setter 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 setter function for this member:
/// \code
/// class E : public Entity
/// {
/// public:
/// E (const std::string& inName) : Entity(inName) {}
/// void setParameter(const T& parameter) {parameter_ = parameter;}
/// private:
/// T parameter_;
/// };
/// \endcode
/// Then the command defined by:
/// \code
/// E entity("MyEntity");
/// Setter<E,T> command(entity, &E::getParameter)
/// \endcode
/// sets the value of <c>entity.parameter_</c> upon invocation.
///
/// \note
/// \li T should be a type supported by class Value,
/// \li prototype of E::setParameter should be exactly as specified in this
/// example.
template <class E, typename T>
class Setter : public Command {
public:
/// Pointer to method that sets parameter of type T
typedef void (E::*SetterMethod)(const T &);
/// Constructor
Setter(E &entity, SetterMethod setterMethod, const std::string &docString);
protected:
virtual Value doExecute();
private:
SetterMethod setterMethod_;
};
} // namespace command
} // namespace dynamicgraph
#include "dynamic-graph/command-setter.t.cpp"
#endif //DYNAMIC_GRAPH_COMMAND_SETTER_H
#endif // DYNAMIC_GRAPH_COMMAND_SETTER_H
include/dynamic-graph/command.h
View file @ 2e7a70d5
......@@ -3,77 +3,71 @@
//
// Author: Florent Lamiraux
//
// 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 DYNAMIC_GRAPH_COMMAND_H
#define DYNAMIC_GRAPH_COMMAND_H
#include <vector>
#include "dynamic-graph/value.h"
#include "dynamic-graph/dynamic-graph-api.h"
#include "dynamic-graph/value.h"
namespace dynamicgraph {
class Entity;
namespace command {
/// Abstract class for entity commands
///
/// This class provide a mean to control entities from external python script.
///
/// A command
/// \li is owned by an entity,
/// \li takes parameters of type Value,
/// \li return an instance of Value when calling Command::execute()
///
/// At construction, the prototype of the command is defined by providing
/// a vector of Value::Type.
///
/// Parameters are set by calling Command::setParameterValues with a
/// vector of Values the types of which should fit the vector specified
/// at construction.
class DYNAMIC_GRAPH_DLLAPI Command
{
public:
virtual ~Command();
/// Store the owner entity and a vector of value types
/// \param entity reference to Entity owning this command.
/// \param valueTypes vector specifying the number and types of parameters
/// \param docstring documentation of the command
Command(Entity& entity, const std::vector<Value::Type>& valueTypes,
const std::string& docstring);
/// Return the value type of all parameters
const std::vector<Value::Type>& valueTypes() const;
/// Set parameter values
void setParameterValues(const std::vector<Value>& values);
/// Get parameter values
const std::vector<Value>& getParameterValues() const;
/// Execute the command after checking parameters
Value execute();
/// Get a reference to the Entity owning this command
Entity& owner();
/// Get documentation string
std::string getDocstring() const;
protected:
/// Specific action performed by the command
virtual Value doExecute() = 0;
private:
Entity& owner_;
std::vector<Value::Type> valueTypeVector_;
std::vector<Value> valueVector_;
std::string docstring_;
public:
static const std::vector<Value::Type> EMPTY_ARG;
};
} // namespace command
} // namespace dynamicgraph
class Entity;
namespace command {
/// \ingroup dgraph
/// Abstract class for entity commands
///
/// This class provide a mean to control entities from external
/// python script.
///
/// A command
/// \li is owned by an entity,
/// \li takes parameters of type Value,
/// \li return an instance of Value when calling Command::execute()
///
/// At construction, the prototype of the command is defined by providing
/// a vector of Value::Type.
///
/// Parameters are set by calling Command::setParameterValues with a
/// vector of Values the types of which should fit the vector specified
/// at construction.
class DYNAMIC_GRAPH_DLLAPI Command {
public:
virtual ~Command();
/// Store the owner entity and a vector of value types
/// \param entity reference to Entity owning this command.
/// \param valueTypes vector specifying the number and types of parameters
/// \param docstring documentation of the command
Command(Entity &entity, const std::vector<Value::Type> &valueTypes,
const std::string &docstring);
/// Return the value type of all parameters
const std::vector<Value::Type> &valueTypes() const;
/// Set parameter values
void setParameterValues(const std::vector<Value> &values);
/// Get parameter values
const std::vector<Value> &getParameterValues() const;
/// Execute the command after checking parameters
Value execute();
/// Get a reference to the Entity owning this command
Entity &owner();
/// Get documentation string
std::string getDocstring() const;
protected:
/// Specific action performed by the command
virtual Value doExecute() = 0;
private:
Entity &owner_;
std::vector<Value::Type> valueTypeVector_;
std::vector<Value> valueVector_;
std::string docstring_;
public:
static const std::vector<Value::Type> EMPTY_ARG;
};
} // namespace command
} // namespace dynamicgraph
#endif //DYNAMIC_GRAPH_COMMAND_H
#endif // DYNAMIC_GRAPH_COMMAND_H
include/dynamic-graph/contiifstream.h deleted 100644 → 0
View file @ b5606951
// -*- mode: c++ -*-
// 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_CONTIIFSTREAM_H
# define DYNAMIC_GRAPH_CONTIIFSTREAM_H
# include <fstream>
# include <list>
# include <sstream>
# ifndef WIN32
# include <unistd.h>
# include <pthread.h>
# endif //! WIN32
# include <dynamic-graph/fwd.hh>
# include <dynamic-graph/interpreter.h>
# include <dynamic-graph/config-contiifstream.hh>
namespace dynamicgraph
{
/// \ingroup debug
///
/// \brief TODO
///
class DG_CONTIIFSTREAM_DLLAPI Contiifstream
{
public:
explicit Contiifstream (const std::string& n = "");
~Contiifstream ();
inline void open (const std::string& n)
{
filename = n;
cursor = 0;
}
bool loop ();
inline bool ready ()
{
return 0 < reader.size ();
}
std::string next ();
protected:
std::string filename;
std::streamoff cursor;
static const unsigned int BUFFER_SIZE = 256;
char buffer[BUFFER_SIZE];
std::list< std::string > reader;
bool first;
};
} // end of namespace dynamicgraph.
#endif //! DYNAMIC_GRAPH_CONTIIFSTREAM_H
include/dynamic-graph/debug.h
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include/dynamic-graph/dynamic-graph-api.h
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......@@ -2,20 +2,8 @@
// 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_API_H
# define DYNAMIC_GRAPH_API_H
# include <dynamic-graph/config.hh>
#endif //! DYNAMIC_GRAPH_API_H
#define DYNAMIC_GRAPH_API_H
#include <dynamic-graph/config.hh>
#endif //! DYNAMIC_GRAPH_API_H
include/dynamic-graph/eigen-io.h
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include/dynamic-graph/entity-helper.h
View file @ 2e7a70d5
/*
* Copyright 2011, Nicolas Mansard, LAAS-CNRS
*
* This file is part of sot-core.
* sot-core 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.
* sot-core 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 sot-core. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __sot_core_entity_helper_H__
#define __sot_core_entity_helper_H__
namespace dynamicgraph {
namespace dynamicgraph
{
template <typename Ent>
struct EntityHelper {
typedef Ent EntityClassName;
// static const std::string CLASS_NAME; TO BE ADDED IN DG DIRECTLY
};
template< typename Ent >
struct EntityHelper
{
typedef Ent EntityClassName;
//static const std::string CLASS_NAME; TO BE ADDED IN DG DIRECTLY
};
} // namespace dynamicgraph
} // namespace dynamicgraph
#endif // __sot_core_entity_helper_H__
#endif // __sot_core_entity_helper_H__
include/dynamic-graph/entity.h
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include/dynamic-graph/exception-signal.h
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include/dynamic-graph/exception-traces.h
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include/dynamic-graph/factory.h
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include/dynamic-graph/fwd.hh
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include/dynamic-graph/import-default-paths.h.cmake deleted 100644 → 0
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include/dynamic-graph/linear-algebra.h
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