Compare revisions

Guilhem Saurel · Julian Viereck · Joseph Mirabel · Guilhem Saurel · Guilhem Saurel · Guilhem Saurel
--- a/.clang-format
+++ b/.clang-format
---
-ColumnLimit:     80
-...
--- 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*
-*~
\ No newline at end of file
+.~
+compile_commands.json
--- a/.gitmodules
+++ b/.gitmodules
 [submodule "cmake"]
 	path = cmake
-	url = git://github.com/jrl-umi3218/jrl-cmakemodules.git
-[submodule ".travis"]
-	path = .travis
-	url = git://github.com/jrl-umi3218/jrl-travis.git
+	url = https://github.com/jrl-umi3218/jrl-cmakemodules.git
--- 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/.travis @ cbc92f81
+++ b/.travis @ cbc92f81
-Subproject commit cbc92f81bdd0dcfd7fc1eae56801d8111267937d
--- a/.travis.yml
+++ b/.travis.yml
-git:
-  depth: false
-language: cpp
-sudo: required
-compiler:
-  - gcc
-  - clang
-env:
-  global:
-  - DEBSIGN_KEYID=5AE5CD75
-  - secure: "lEJYxth3fNsmvNS7Ern9+kEpHk4X3Tjo51GBUQBNL6g+YyZJKm4xwBEfwK+sewlmhY3oLUds+5H/2zE27q517kIcpP2Tlp4sRfooJfnBS7YYyF+1boxbvOXrZ2aqev3rzkyvKKMBg0UJTvAiSf7JgVCkMv33GeAX3/I+djEh23U="
-  - secure: "QTw5QQDaeQWBz6APcUCyl9P9UPI/T3j1++9o9fPxygS9R/7bQYNCrSH++owcAVCJgUI5oY3RmnYk/PjVygOLM0vbFqB2mMySibAhO/U3pSLtZ/HyPjqI9fX0TV/Cf7ji7soeXKk8p6kI2InMILpODLBaLdfm/jgCdAfecr5sGQI="
-  - secure: "JEcGQsUgEND64cAGVEHSxg8j7SlwofuYtLamANszs/h8FGYZ82rEjmG7r2zqSfBj/i1WsnSbTSsh8WJuXzvV8fw8enkcLEuJG9scQJzuzY8hnLe81o1fhEkclML0SLkLQ2Fu6rIqlKKeYwmJFFhSIj69ESRIkDhkjA1OrV7szzc="
-  - APT_DEPENDENCIES="doxygen libboost-dev libboost-test-dev libboost-filesystem-dev libboost-system-dev libboost-thread-dev libboost-program-options-dev libeigen3-dev"
-  - PPA_URI="stack-of-tasks/snapshot"
-  - NSIQCPPSTYLE_FILEFILTERPATH=cmake/filefilter.txt
-notifications:
-  hipchat:
-    rooms:
-      - secure: "SP8KX6gPzBT0BCpcL3ybK4Cgx7a7rmK3Hv/fD2lIf/RUdTwtzLh/J/l9xSYuMZisLe1tM+12vfP7r6t1RNdXrB7pSpYvFRNIWmyfBC7KnUFVn5rwxUnDPhKY3D/XaJ1cycbBJqJdUjYjFKCGEm4x6cpRRN61Ii66RAUvm1h9aHQ="
-  email:
-  - hpp-source@laas.fr
-branches:
-  only:
-  - master
-  - devel
-script: ./travis_custom/build_custom
-after_success: ./.travis/run after_success
-after_failure: ./.travis/run after_failure
-before_install: ./travis_custom/custom_before_install
-matrix:
-  allow_failures:
-    - compiler: clang
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
-CMAKE_MINIMUM_REQUIRED(VERSION 3.1)
+cmake_minimum_required(VERSION 3.1)

 # Project properties
-SET(PROJECT_ORG stack-of-tasks)
-SET(PROJECT_NAME dynamic-graph)
-SET(PROJECT_DESCRIPTION "Dynamic graph library")
-SET(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
-SET(PROJECT_SUFFIX "-v3")
+set(PROJECT_ORG stack-of-tasks)
+set(PROJECT_NAME dynamic-graph)
+set(PROJECT_DESCRIPTION "Dynamic graph library")
+set(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")

 # Project options
-OPTION(SUFFIX_SO_VERSION "Suffix library name with its version" ON)
+option(SUFFIX_SO_VERSION "Suffix library name with its version" ON)

 # Project configuration
-SET(PROJECT_USE_CMAKE_EXPORT TRUE)
-SET(CUSTOM_HEADER_DIR ${PROJECT_NAME})
-SET(CXX_DISABLE_WERROR TRUE)
+set(PROJECT_USE_CMAKE_EXPORT TRUE)
+set(CUSTOM_HEADER_DIR ${PROJECT_NAME})
+set(CXX_DISABLE_WERROR TRUE)

 # Doxygen setup
-SET(DOXYGEN_USE_MATHJAX YES)
-SET(DOXYGEN_USE_TEMPLATE_CSS YES)
+set(DOXYGEN_USE_MATHJAX YES)
+set(DOXYGEN_USE_TEMPLATE_CSS YES)

 # JRL-cmakemodule setup
-INCLUDE(cmake/base.cmake)
-INCLUDE(cmake/boost.cmake)
+include(cmake/base.cmake)
+include(cmake/boost.cmake)

 # Project definition
-COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
-PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
-CHECK_MINIMAL_CXX_STANDARD(11 ENFORCE)
+compute_project_args(PROJECT_ARGS LANGUAGES CXX)
+project(${PROJECT_NAME} ${PROJECT_ARGS})
+check_minimal_cxx_standard(14 ENFORCE)

-INCLUDE(cmake/pthread.cmake)  # needs to be included after the CXX definition
+include(cmake/pthread.cmake) # needs to be included after the CXX definition

 # Project dependencies
-FIND_PACKAGE(Boost REQUIRED COMPONENTS unit_test_framework)
-ADD_PROJECT_DEPENDENCY(Boost REQUIRED COMPONENTS serialization system thread)
-ADD_PROJECT_DEPENDENCY(Eigen3 REQUIRED PKG_CONFIG_REQUIRES eigen3)
-SEARCH_FOR_PTHREAD()
+if(BUILD_TESTING)
+  find_package(Boost REQUIRED COMPONENTS unit_test_framework)
+endif()
+add_project_dependency(Boost REQUIRED COMPONENTS serialization system thread)
+add_project_dependency(Eigen3 REQUIRED)
+search_for_pthread()
+
+if(Boost_VERSION GREATER 107299 OR Boost_VERSION_MACRO GREATER 107299)
+  # Silence a warning about a deprecated use of boost bind by boost >= 1.73
+  # without dropping support for boost < 1.73
+  add_definitions(-DBOOST_BIND_GLOBAL_PLACEHOLDERS)
+endif()

 # Add configuration headers for plug-ins.
-GENERATE_CONFIGURATION_HEADER(
-  ${HEADER_DIR} config-tracer.hh DG_TRACER tracer_EXPORTS)
-GENERATE_CONFIGURATION_HEADER(
-  ${HEADER_DIR}
-  config-tracer-real-time.hh DG_TRACERREALTIME tracer_real_time_EXPORTS)
+generate_configuration_header(${HEADER_DIR} config-tracer.hh DG_TRACER
+                              tracer_EXPORTS)
+generate_configuration_header(${HEADER_DIR} config-tracer-real-time.hh
+                              DG_TRACERREALTIME tracer_real_time_EXPORTS)

 # Verbosity level
-IF(NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
-  ADD_DEFINITIONS(-DVP_DEBUG_MODE=${CMAKE_VERBOSITY_LEVEL} -DVP_DEBUG)
-ENDIF(NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
+if(NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
+  add_definitions(-DVP_DEBUG_MODE=${CMAKE_VERBOSITY_LEVEL} -DVP_DEBUG)
+endif(NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))

 # Main Library
-SET(${PROJECT_NAME}_HEADERS
-  include/${CUSTOM_HEADER_DIR}/fwd.hh
-  include/${CUSTOM_HEADER_DIR}/debug.h
-  include/${CUSTOM_HEADER_DIR}/real-time-logger.h
-  include/${CUSTOM_HEADER_DIR}/real-time-logger-def.h
-
-  include/${CUSTOM_HEADER_DIR}/dynamic-graph-api.h
-
-  include/${CUSTOM_HEADER_DIR}/entity.h
-  include/${CUSTOM_HEADER_DIR}/factory.h
-  include/${CUSTOM_HEADER_DIR}/pool.h
-
-  include/${CUSTOM_HEADER_DIR}/exception-abstract.h
-  include/${CUSTOM_HEADER_DIR}/exception-factory.h
-  include/${CUSTOM_HEADER_DIR}/exception-signal.h
-  include/${CUSTOM_HEADER_DIR}/exception-traces.h
-
-  include/${CUSTOM_HEADER_DIR}/signal.h
-  include/${CUSTOM_HEADER_DIR}/signal-array.h
-  include/${CUSTOM_HEADER_DIR}/signal-base.h
-  include/${CUSTOM_HEADER_DIR}/signal-ptr.h
-  include/${CUSTOM_HEADER_DIR}/signal-time-dependent.h
-  include/${CUSTOM_HEADER_DIR}/signal-ptr.t.cpp
-  include/${CUSTOM_HEADER_DIR}/signal.t.cpp
-  include/${CUSTOM_HEADER_DIR}/time-dependency.h
-  include/${CUSTOM_HEADER_DIR}/time-dependency.t.cpp
-  # Kept for a brittle backward compatiblity.
-  include/${CUSTOM_HEADER_DIR}/signal-caster.h
-  include/${CUSTOM_HEADER_DIR}/signal-cast-helper.h
-  include/${CUSTOM_HEADER_DIR}/all-signals.h
-  include/${CUSTOM_HEADER_DIR}/signal-helper.h
-  include/${CUSTOM_HEADER_DIR}/entity-helper.h
-
-  include/${CUSTOM_HEADER_DIR}/tracer.h
-  include/${CUSTOM_HEADER_DIR}/tracer-real-time.h
-
-  include/${CUSTOM_HEADER_DIR}/command.h
-  include/${CUSTOM_HEADER_DIR}/eigen-io.h
-  include/${CUSTOM_HEADER_DIR}/linear-algebra.h
-  include/${CUSTOM_HEADER_DIR}/value.h
-
-  include/${CUSTOM_HEADER_DIR}/command-setter.h
-  include/${CUSTOM_HEADER_DIR}/command-setter.t.cpp
-  include/${CUSTOM_HEADER_DIR}/command-getter.h
-  include/${CUSTOM_HEADER_DIR}/command-getter.t.cpp
-  include/${CUSTOM_HEADER_DIR}/command-direct-getter.h
-  include/${CUSTOM_HEADER_DIR}/command-direct-setter.h
-  include/${CUSTOM_HEADER_DIR}/command-bind.h
-  include/${CUSTOM_HEADER_DIR}/all-commands.h
-
-  include/${CUSTOM_HEADER_DIR}/logger.h
-  )
-
-SET(${PROJECT_NAME}_SOURCES
-  src/debug/debug.cpp
-  src/debug/real-time-logger.cpp
-  src/debug/logger.cpp
-
-  src/dgraph/entity.cpp
-  src/dgraph/factory.cpp
-  src/dgraph/pool.cpp
-
-  src/exception/exception-abstract.cpp
-  src/exception/exception-factory.cpp
-  src/exception/exception-signal.cpp
-  src/exception/exception-traces.cpp
-
-  src/mt/process-list.cpp
-
-  src/signal/signal-array.cpp
-
-  src/command/value.cpp
-  src/command/command.cpp
-  )
-
-ADD_LIBRARY(${PROJECT_NAME} SHARED
-  ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})
-TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} SYSTEM PUBLIC ${EIGEN3_INCLUDE_DIR}
-  ${Boost_INCLUDE_DIRS})
-TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
-TARGET_LINK_LIBRARIES(${PROJECT_NAME} PUBLIC ${Boost_LIBRARIES})
-
-IF(UNIX)
-  TARGET_LINK_LIBRARIES(${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 ${TARGETS_EXPORT_NAME} DESTINATION lib)
-
-
-SET(DYNAMIC_GRAPH_PLUGINDIR "${CMAKE_INSTALL_PREFIX}/lib/${PROJECT_NAME}-plugins")
-SET(PACKAGE_EXTRA_MACROS "set(DYNAMIC_GRAPH_PLUGINDIR ${DYNAMIC_GRAPH_PLUGINDIR})")
-SET(PKG_CONFIG_EXTRA "plugindir=${DYNAMIC_GRAPH_PLUGINDIR}")
-SET(CMAKE_INSTALL_RPATH "${DYNAMIC_GRAPH_PLUGINDIR}")
-
-ADD_SUBDIRECTORY(src)
-ADD_SUBDIRECTORY(tests)
-
-PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
-INSTALL(FILES package.xml DESTINATION share/${PROJECT_NAME})
+set(${PROJECT_NAME}_HEADERS
+    include/${CUSTOM_HEADER_DIR}/fwd.hh
+    include/${CUSTOM_HEADER_DIR}/debug.h
+    include/${CUSTOM_HEADER_DIR}/real-time-logger.h
+    include/${CUSTOM_HEADER_DIR}/real-time-logger-def.h
+    include/${CUSTOM_HEADER_DIR}/dynamic-graph-api.h
+    include/${CUSTOM_HEADER_DIR}/entity.h
+    include/${CUSTOM_HEADER_DIR}/factory.h
+    include/${CUSTOM_HEADER_DIR}/pool.h
+    include/${CUSTOM_HEADER_DIR}/exception-abstract.h
+    include/${CUSTOM_HEADER_DIR}/exception-factory.h
+    include/${CUSTOM_HEADER_DIR}/exception-signal.h
+    include/${CUSTOM_HEADER_DIR}/exception-traces.h
+    include/${CUSTOM_HEADER_DIR}/signal.h
+    include/${CUSTOM_HEADER_DIR}/signal-array.h
+    include/${CUSTOM_HEADER_DIR}/signal-base.h
+    include/${CUSTOM_HEADER_DIR}/signal-ptr.h
+    include/${CUSTOM_HEADER_DIR}/signal-time-dependent.h
+    include/${CUSTOM_HEADER_DIR}/signal-ptr.t.cpp
+    include/${CUSTOM_HEADER_DIR}/signal.t.cpp
+    include/${CUSTOM_HEADER_DIR}/time-dependency.h
+    include/${CUSTOM_HEADER_DIR}/time-dependency.t.cpp
+    # Kept for a brittle backward compatiblity.
+    include/${CUSTOM_HEADER_DIR}/signal-caster.h
+    include/${CUSTOM_HEADER_DIR}/signal-cast-helper.h
+    include/${CUSTOM_HEADER_DIR}/all-signals.h
+    include/${CUSTOM_HEADER_DIR}/signal-helper.h
+    include/${CUSTOM_HEADER_DIR}/entity-helper.h
+    include/${CUSTOM_HEADER_DIR}/tracer.h
+    include/${CUSTOM_HEADER_DIR}/tracer-real-time.h
+    include/${CUSTOM_HEADER_DIR}/command.h
+    include/${CUSTOM_HEADER_DIR}/eigen-io.h
+    include/${CUSTOM_HEADER_DIR}/linear-algebra.h
+    include/${CUSTOM_HEADER_DIR}/value.h
+    include/${CUSTOM_HEADER_DIR}/command-setter.h
+    include/${CUSTOM_HEADER_DIR}/command-setter.t.cpp
+    include/${CUSTOM_HEADER_DIR}/command-getter.h
+    include/${CUSTOM_HEADER_DIR}/command-getter.t.cpp
+    include/${CUSTOM_HEADER_DIR}/command-direct-getter.h
+    include/${CUSTOM_HEADER_DIR}/command-direct-setter.h
+    include/${CUSTOM_HEADER_DIR}/command-bind.h
+    include/${CUSTOM_HEADER_DIR}/all-commands.h
+    include/${CUSTOM_HEADER_DIR}/logger.h)
+
+set(${PROJECT_NAME}_SOURCES
+    src/debug/debug.cpp
+    src/debug/real-time-logger.cpp
+    src/debug/logger.cpp
+    src/dgraph/entity.cpp
+    src/dgraph/factory.cpp
+    src/dgraph/pool.cpp
+    src/exception/exception-abstract.cpp
+    src/exception/exception-factory.cpp
+    src/exception/exception-signal.cpp
+    src/exception/exception-traces.cpp
+    src/mt/process-list.cpp
+    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/NEWS
+++ b/NEWS
@@ -129,4 +129,3 @@ 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.md
+++ b/README.md
@@ -4,6 +4,7 @@ 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/cmake @ 47c0cbf0
+++ b/cmake @ 47c0cbf0
-Subproject commit c6e4768fc40c1da1bdee04354538151b9c898acf
+Subproject commit 47c0cbf0b29433060682377dcb28266e8dc38995
--- a/doc/Doxyfile.extra.in
+++ b/doc/Doxyfile.extra.in
@@ -293,7 +293,7 @@ WARN_LOGFILE           = @CMAKE_BINARY_DIR@/doc/doxygen.log

 INPUT                 = @CMAKE_SOURCE_DIR@/include \
                        @CMAKE_SOURCE_DIR@/doc/additionalDoc
-                        
+

 # The RECURSIVE tag can be used to turn specify whether or not subdirectories
 # should be searched for input files as well. Possible values are YES and NO.
@@ -672,4 +672,4 @@ MATHJAX_FORMAT         = SVG

 ALIASES += "cheatsheet=\xrefitem cheatsheet \"Remarkable identity\" \"Cheat sheet\""

-CITE_BIB_FILES += @CMAKE_SOURCE_DIR@/doc/sot.bib
\ No newline at end of file
+CITE_BIB_FILES += @CMAKE_SOURCE_DIR@/doc/sot.bib
--- a/doc/pictures/entity.svg
+++ b/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"

--- a/include/dynamic-graph/all-commands.h
+++ b/include/dynamic-graph/all-commands.h
@@ -15,4 +15,4 @@
 #include <dynamic-graph/command-setter.h>
 #include <dynamic-graph/command.h>

-#endif //! DYNAMIC_GRAPH_ALL_COMMANDS_H
+#endif  //! DYNAMIC_GRAPH_ALL_COMMANDS_H
--- a/include/dynamic-graph/all-signals.h
+++ b/include/dynamic-graph/all-signals.h
@@ -12,4 +12,4 @@
 #include <dynamic-graph/signal-time-dependent.h>
 #include <dynamic-graph/signal.h>

-#endif //! DYNAMIC_GRAPH_ALL_SIGNALS_H
+#endif  //! DYNAMIC_GRAPH_ALL_SIGNALS_H
--- a/include/dynamic-graph/command-bind.h
+++ b/include/dynamic-graph/command-bind.h
@@ -20,28 +20,30 @@
 *
 */

-#include "dynamic-graph/command.h"
 #include <boost/assign/list_of.hpp>
 #include <boost/bind.hpp>
 #include <boost/function.hpp>

+#include "dynamic-graph/command.h"
+
 /* --- FUNCTION 0 ARGS ----------------------------------------------------- */
 namespace dynamicgraph {
 namespace command {

-template <class E> struct CommandVoid0 : public Command {
+template <class E>
+struct CommandVoid0 : public Command {
  CommandVoid0(E &entity, boost::function<void(void)> function,
               const std::string &docString)
      : Command(entity, EMPTY_ARG, docString), fptr(function) {}

-protected:
+ protected:
  virtual Value doExecute() {
    assert(getParameterValues().size() == 0);
    fptr();
-    return Value(); // void
+    return Value();  // void
  }

-private:
+ private:
  boost::function<void(void)> fptr;
 };

@@ -69,14 +71,15 @@ inline std::string docCommandVoid0(const std::string &doc) {
  return std::string("\n") + doc + "\n\nNo input.\nVoid return.\n\n";
 }

-} // namespace command
-} // namespace dynamicgraph
+}  // namespace command
+}  // namespace dynamicgraph

 /* --- FUNCTION 1 ARGS ------------------------------------------------------ */
 namespace dynamicgraph {
 namespace command {

-template <class E, typename T> struct CommandVoid1 : public Command {
+template <class E, typename T>
+struct CommandVoid1 : public Command {
  typedef boost::function<void(const T &)> function_t;

  CommandVoid1(E &entity, function_t function, const std::string &docString)
@@ -84,33 +87,33 @@ template <class E, typename T> struct CommandVoid1 : public Command {
                docString),
        fptr(function) {}

-protected:
+ protected:
  virtual Value doExecute() {
    assert(getParameterValues().size() == 1);
    T val = getParameterValues()[0].value();
    fptr(val);
-    return Value(); // void
+    return Value();  // void
  }

-private:
+ private:
  function_t fptr;
 };

 template <class E, typename T>
-CommandVoid1<E, T> *
-makeCommandVoid1(E &entity, boost::function<void(const T &)> function,
-                 // typename CommandVoid1<E,T>::function_t function ,
-                 const std::string &docString) {
+CommandVoid1<E, T> *makeCommandVoid1(
+    E &entity, boost::function<void(const T &)> function,
+    // typename CommandVoid1<E,T>::function_t function ,
+    const std::string &docString) {
  return new CommandVoid1<E, T>(entity, function, docString);
 }

 template <class E, typename T>
-CommandVoid1<E, T> *
-makeCommandVoid1(E &entity,
-                 // The following syntaxt don't compile when not specializing
-                 // the template arg... why ???
-                 boost::function<void(E *, const T &)> function,
-                 const std::string &docString) {
+CommandVoid1<E, T> *makeCommandVoid1(
+    E &entity,
+    // The following syntaxt don't compile when not specializing
+    // the template arg... why ???
+    boost::function<void(E *, const T &)> function,
+    const std::string &docString) {
  return new CommandVoid1<E, T>(entity, boost::bind(function, &entity, _1),
                                docString);
 }
@@ -129,8 +132,8 @@ inline std::string docCommandVoid1(const std::string &doc,
         ".\nVoid return.\n\n";
 }

-} // namespace command
-} // namespace dynamicgraph
+}  // namespace command
+}  // namespace dynamicgraph

 /* --- FUNCTION 2 ARGS ------------------------------------------------------ */
 namespace dynamicgraph {
@@ -147,42 +150,42 @@ struct CommandVoid2 : public Command {
                docString),
        fptr(function) {}

-protected:
+ protected:
  virtual Value doExecute() {
    assert(getParameterValues().size() == 2);
    T1 val1 = getParameterValues()[0].value();
    T2 val2 = getParameterValues()[1].value();
    fptr(val1, val2);
-    return Value(); // void
+    return Value();  // void
  }

-private:
+ private:
  function_t fptr;
 };

 template <class E, typename T1, typename T2>
-CommandVoid2<E, T1, T2> *
-makeCommandVoid2(E &entity,
-                 boost::function<void(const T1 &, const T2 &)> function,
-                 const std::string &docString) {
+CommandVoid2<E, T1, T2> *makeCommandVoid2(
+    E &entity, boost::function<void(const T1 &, const T2 &)> function,
+    const std::string &docString) {
  return new CommandVoid2<E, T1, T2>(entity, function, docString);
 }

 template <class E, typename T1, typename T2>
-CommandVoid2<E, T1, T2> *
-makeCommandVoid2(E &entity,
-                 // The following syntaxt don't compile when not specializing
-                 // the template arg... why ???
-                 boost::function<void(E *, const T1 &, const T2 &)> function,
-                 const std::string &docString) {
+CommandVoid2<E, T1, T2> *makeCommandVoid2(
+    E &entity,
+    // The following syntaxt don't compile when not specializing
+    // the template arg... why ???
+    boost::function<void(E *, const T1 &, const T2 &)> function,
+    const std::string &docString) {
  return new CommandVoid2<E, T1, T2>(
      entity, boost::bind(function, &entity, _1, _2), docString);
 }

 template <class E, typename T1, typename T2>
-CommandVoid2<E, T1, T2> *
-makeCommandVoid2(E &entity, void (E::*function)(const T1 &, const T2 &),
-                 const std::string &docString) {
+CommandVoid2<E, T1, T2> *makeCommandVoid2(E &entity,
+                                          void (E::*function)(const T1 &,
+                                                              const T2 &),
+                                          const std::string &docString) {
  return new CommandVoid2<E, T1, T2>(
      entity, boost::bind(function, &entity, _1, _2), docString);
  return NULL;
@@ -195,8 +198,8 @@ inline std::string docCommandVoid2(const std::string &doc,
          "Input:\n - A " + type2 + ".\n" + "Void return.\n\n");
 }

-} // namespace command
-} // namespace dynamicgraph
+}  // namespace command
+}  // namespace dynamicgraph

 /* --- FUNCTION 3 ARGS ------------------------------------------------------ */
 namespace dynamicgraph {
@@ -213,25 +216,24 @@ struct CommandVoid3 : public Command {
                docString),
        fptr(function) {}

-protected:
+ protected:
  virtual Value doExecute() {
    assert(getParameterValues().size() == 3);
    T1 val1 = getParameterValues()[0].value();
    T2 val2 = getParameterValues()[1].value();
    T3 val3 = getParameterValues()[2].value();
    fptr(val1, val2, val3);
-    return Value(); // void
+    return Value();  // void
  }

-private:
+ private:
  function_t fptr;
 };

 template <class E, typename T1, typename T2, typename T3>
-CommandVoid3<E, T1, T2, T3> *
-makeCommandVoid3(E &entity,
-                 typename CommandVoid3<E, T1, T2, T3>::function_t function,
-                 const std::string &docString) {
+CommandVoid3<E, T1, T2, T3> *makeCommandVoid3(
+    E &entity, typename CommandVoid3<E, T1, T2, T3>::function_t function,
+    const std::string &docString) {
  return new CommandVoid3<E, T1, T2, T3>(entity, function, docString);
 }

@@ -247,10 +249,9 @@ CommandVoid3<E, T1, T2, T3> *makeCommandVoid3(
 }

 template <class E, typename T1, typename T2, typename T3>
-CommandVoid3<E, T1, T2, T3> *
-makeCommandVoid3(E &entity,
-                 void (E::*function)(const T1 &, const T2 &, const T3 &),
-                 const std::string &docString) {
+CommandVoid3<E, T1, T2, T3> *makeCommandVoid3(
+    E &entity, void (E::*function)(const T1 &, const T2 &, const T3 &),
+    const std::string &docString) {
  return new CommandVoid3<E, T1, T2, T3>(
      entity, boost::bind(function, &entity, _1, _2, _3), docString);
  return NULL;
@@ -265,8 +266,8 @@ inline std::string docCommandVoid3(const std::string &doc,
          "Void return.\n\n");
 }

-} // namespace command
-} // namespace dynamicgraph
+}  // namespace command
+}  // namespace dynamicgraph

 /* --- FUNCTION 4 ARGS ------------------------------------------------------ */
 namespace dynamicgraph {
@@ -287,7 +288,7 @@ struct CommandVoid4 : public Command {
                docString),
        fptr(function) {}

-protected:
+ protected:
  virtual Value doExecute() {
    assert(getParameterValues().size() == 4);
    T1 val1 = getParameterValues()[0].value();
@@ -295,18 +296,17 @@ protected:
    T3 val3 = getParameterValues()[2].value();
    T4 val4 = getParameterValues()[3].value();
    fptr(val1, val2, val3, val4);
-    return Value(); // void
+    return Value();  // void
  }

-private:
+ private:
  function_t fptr;
 };

 template <class E, typename T1, typename T2, typename T3, typename T4>
-CommandVoid4<E, T1, T2, T3, T4> *
-makeCommandVoid4(E &entity,
-                 typename CommandVoid4<E, T1, T2, T3, T4>::function_t function,
-                 const std::string &docString) {
+CommandVoid4<E, T1, T2, T3, T4> *makeCommandVoid4(
+    E &entity, typename CommandVoid4<E, T1, T2, T3, T4>::function_t function,
+    const std::string &docString) {
  return new CommandVoid4<E, T1, T2, T3, T4>(entity, function, docString);
 }

@@ -340,8 +340,368 @@ inline std::string docCommandVoid4(const std::string &doc,
          "Input:\n - A " + type4 + ".\n" + "Void return.\n\n");
 }

-} // namespace command
-} // namespace dynamicgraph
+}  // namespace command
+}  // namespace dynamicgraph
+
+/* --- FUNCTION 5 ARGS ------------------------------------------------------ */
+namespace dynamicgraph {
+namespace command {
+
+template <class E, typename T1, typename T2, typename T3, typename T4,
+          typename T5>
+struct CommandVoid5 : public Command {
+  typedef boost::function<void(const T1 &, const T2 &, const T3 &, const T4 &,
+                               const T5 &)>
+      function_t;
+  typedef void (E::*memberFunction_ptr_t)(const T1 &, const T2 &, const T3 &,
+                                          const T4 &, const T5 &);
+
+  CommandVoid5(E &entity, function_t function, const std::string &docString)
+      : Command(entity,
+                boost::assign::list_of(ValueHelper<T1>::TypeID)(
+                    ValueHelper<T2>::TypeID)(ValueHelper<T3>::TypeID)(
+                    ValueHelper<T4>::TypeID)(ValueHelper<T5>::TypeID),
+                docString),
+        fptr(function) {}
+
+ protected:
+  virtual Value doExecute() {
+    assert(getParameterValues().size() == 5);
+    T1 val1 = getParameterValues()[0].value();
+    T2 val2 = getParameterValues()[1].value();
+    T3 val3 = getParameterValues()[2].value();
+    T4 val4 = getParameterValues()[3].value();
+    T5 val5 = getParameterValues()[4].value();
+    fptr(val1, val2, val3, val4, val5);
+    return Value();  // void
+  }
+
+ private:
+  function_t fptr;
+};
+
+template <class E, typename T1, typename T2, typename T3, typename T4,
+          typename T5>
+CommandVoid5<E, T1, T2, T3, T4, T5> *makeCommandVoid5(
+    E &entity,
+    typename CommandVoid5<E, T1, T2, T3, T4, T5>::function_t function,
+    const std::string &docString) {
+  return new CommandVoid5<E, T1, T2, T3, T4, T5>(entity, function, docString);
+}
+
+template <class E, typename T1, typename T2, typename T3, typename T4,
+          typename T5>
+CommandVoid5<E, T1, T2, T3, T4, T5> *makeCommandVoid5(
+    E &entity,
+    boost::function<void(E *, const T1 &, const T2 &, const T3 &, const T4 &,
+                         const T5 &)>
+        function,
+    const std::string &docString) {
+  return new CommandVoid5<E, T1, T2, T3, T4, T5>(
+      entity, boost::bind(function, &entity, _1, _2, _3, _4, _5), docString);
+}
+
+template <class E, typename T1, typename T2, typename T3, typename T4,
+          typename T5>
+CommandVoid5<E, T1, T2, T3, T4, T5> *makeCommandVoid5(
+    E &entity,
+    void (E::*function)(const T1 &, const T2 &, const T3 &, const T4 &,
+                        const T5 &),
+    const std::string &docString) {
+  return new CommandVoid5<E, T1, T2, T3, T4, T5>(
+      entity, boost::bind(function, &entity, _1, _2, _3, _4, _5), docString);
+  return NULL;
+}
+
+inline std::string docCommandVoid5(const std::string &doc,
+                                   const std::string &type1,
+                                   const std::string &type2,
+                                   const std::string &type3,
+                                   const std::string &type4,
+                                   const std::string &type5) {
+  return (std::string("\n") + doc + "\n\n" + "Input:\n - A " + type1 + ".\n" +
+          "Input:\n - A " + type2 + ".\n" + "Input:\n - A " + type3 + ".\n" +
+          "Input:\n - A " + type4 + ".\n" + "Input:\n - A " + type5 + ".\n" +
+          "Void return.\n\n");
+}
+
+}  // namespace command
+}  // namespace dynamicgraph
+
+/* --- FUNCTION 6 ARGS ------------------------------------------------------ */
+namespace dynamicgraph {
+namespace command {
+
+template <class E, typename T1, typename T2, typename T3, typename T4,
+          typename T5, typename T6>
+struct CommandVoid6 : public Command {
+  typedef boost::function<void(const T1 &, const T2 &, const T3 &, const T4 &,
+                               const T5 &, const T6 &)>
+      function_t;
+  typedef void (E::*memberFunction_ptr_t)(const T1 &, const T2 &, const T3 &,
+                                          const T4 &, const T5 &, const T6 &);
+
+  CommandVoid6(E &entity, function_t function, const std::string &docString)
+      : Command(entity,
+                boost::assign::list_of(ValueHelper<T1>::TypeID)(
+                    ValueHelper<T2>::TypeID)(ValueHelper<T3>::TypeID)(
+                    ValueHelper<T4>::TypeID)(ValueHelper<T5>::TypeID)(
+                    ValueHelper<T6>::TypeID),
+                docString),
+        fptr(function) {}
+
+ protected:
+  virtual Value doExecute() {
+    assert(getParameterValues().size() == 6);
+    T1 val1 = getParameterValues()[0].value();
+    T2 val2 = getParameterValues()[1].value();
+    T3 val3 = getParameterValues()[2].value();
+    T4 val4 = getParameterValues()[3].value();
+    T5 val5 = getParameterValues()[4].value();
+    T6 val6 = getParameterValues()[5].value();
+    fptr(val1, val2, val3, val4, val5, val6);
+    return Value();  // void
+  }
+
+ private:
+  function_t fptr;
+};
+
+template <class E, typename T1, typename T2, typename T3, typename T4,
+          typename T5, typename T6>
+CommandVoid6<E, T1, T2, T3, T4, T5, T6> *makeCommandVoid6(
+    E &entity,
+    typename CommandVoid6<E, T1, T2, T3, T4, T5, T6>::function_t function,
+    const std::string &docString) {
+  return new CommandVoid6<E, T1, T2, T3, T4, T5, T6>(entity, function,
+                                                     docString);
+}
+
+template <class E, typename T1, typename T2, typename T3, typename T4,
+          typename T5, typename T6>
+CommandVoid6<E, T1, T2, T3, T4, T5, T6> *makeCommandVoid6(
+    E &entity,
+    boost::function<void(E *, const T1 &, const T2 &, const T3 &, const T4 &,
+                         const T5 &, const T6 &)>
+        function,
+    const std::string &docString) {
+  return new CommandVoid6<E, T1, T2, T3, T4, T5, T6>(
+      entity, boost::bind(function, &entity, _1, _2, _3, _4, _5, _6),
+      docString);
+}
+
+template <class E, typename T1, typename T2, typename T3, typename T4,
+          typename T5, typename T6>
+CommandVoid6<E, T1, T2, T3, T4, T5, T6> *makeCommandVoid6(
+    E &entity,
+    void (E::*function)(const T1 &, const T2 &, const T3 &, const T4 &,
+                        const T5 &, const T6 &),
+    const std::string &docString) {
+  return new CommandVoid6<E, T1, T2, T3, T4, T5, T6>(
+      entity, boost::bind(function, &entity, _1, _2, _3, _4, _5, _6),
+      docString);
+  return NULL;
+}
+
+inline std::string docCommandVoid6(
+    const std::string &doc, const std::string &type1, const std::string &type2,
+    const std::string &type3, const std::string &type4,
+    const std::string &type5, const std::string &type6) {
+  return (std::string("\n") + doc + "\n\n" + "Input:\n - A " + type1 + ".\n" +
+          "Input:\n - A " + type2 + ".\n" + "Input:\n - A " + type3 + ".\n" +
+          "Input:\n - A " + type4 + ".\n" + "Input:\n - A " + type5 + ".\n" +
+          "Input:\n - A " + type6 + ".\n" + "Void return.\n\n");
+}
+
+}  // namespace command
+}  // namespace dynamicgraph
+
+/* --- FUNCTION 7 ARGS ------------------------------------------------------ */
+namespace dynamicgraph {
+namespace command {
+
+template <class E, typename T1, typename T2, typename T3, typename T4,
+          typename T5, typename T6, typename T7>
+struct CommandVoid7 : public Command {
+  typedef boost::function<void(const T1 &, const T2 &, const T3 &, const T4 &,
+                               const T5 &, const T6 &, const T7 &)>
+      function_t;
+  typedef void (E::*memberFunction_ptr_t)(const T1 &, const T2 &, const T3 &,
+                                          const T4 &, const T5 &, const T6 &,
+                                          const T7 &);
+
+  CommandVoid7(E &entity, function_t function, const std::string &docString)
+      : Command(entity,
+                boost::assign::list_of(ValueHelper<T1>::TypeID)(
+                    ValueHelper<T2>::TypeID)(ValueHelper<T3>::TypeID)(
+                    ValueHelper<T4>::TypeID)(ValueHelper<T5>::TypeID)(
+                    ValueHelper<T6>::TypeID)(ValueHelper<T7>::TypeID),
+                docString),
+        fptr(function) {}
+
+ protected:
+  virtual Value doExecute() {
+    assert(getParameterValues().size() == 7);
+    T1 val1 = getParameterValues()[0].value();
+    T2 val2 = getParameterValues()[1].value();
+    T3 val3 = getParameterValues()[2].value();
+    T4 val4 = getParameterValues()[3].value();
+    T5 val5 = getParameterValues()[4].value();
+    T6 val6 = getParameterValues()[5].value();
+    T7 val7 = getParameterValues()[6].value();
+    fptr(val1, val2, val3, val4, val5, val6, val7);
+    return Value();  // void
+  }
+
+ private:
+  function_t fptr;
+};
+
+template <class E, typename T1, typename T2, typename T3, typename T4,
+          typename T5, typename T6, typename T7>
+CommandVoid7<E, T1, T2, T3, T4, T5, T6, T7> *makeCommandVoid7(
+    E &entity,
+    typename CommandVoid7<E, T1, T2, T3, T4, T5, T6, T7>::function_t function,
+    const std::string &docString) {
+  return new CommandVoid7<E, T1, T2, T3, T4, T5, T6, T7>(entity, function,
+                                                         docString);
+}
+
+template <class E, typename T1, typename T2, typename T3, typename T4,
+          typename T5, typename T6, typename T7>
+CommandVoid7<E, T1, T2, T3, T4, T5, T6, T7> *makeCommandVoid7(
+    E &entity,
+    boost::function<void(E *, const T1 &, const T2 &, const T3 &, const T4 &,
+                         const T5 &, const T6 &, const T7 &)>
+        function,
+    const std::string &docString) {
+  return new CommandVoid7<E, T1, T2, T3, T4, T5, T6, T7>(
+      entity, boost::bind(function, &entity, _1, _2, _3, _4, _5, _6, _7),
+      docString);
+}
+
+template <class E, typename T1, typename T2, typename T3, typename T4,
+          typename T5, typename T6, typename T7>
+CommandVoid7<E, T1, T2, T3, T4, T5, T6, T7> *makeCommandVoid7(
+    E &entity,
+    void (E::*function)(const T1 &, const T2 &, const T3 &, const T4 &,
+                        const T5 &, const T6 &, const T7 &),
+    const std::string &docString) {
+  return new CommandVoid7<E, T1, T2, T3, T4, T5, T6, T7>(
+      entity, boost::bind(function, &entity, _1, _2, _3, _4, _5, _6, _7),
+      docString);
+  return NULL;
+}
+
+inline std::string docCommandVoid7(
+    const std::string &doc, const std::string &type1, const std::string &type2,
+    const std::string &type3, const std::string &type4,
+    const std::string &type5, const std::string &type6,
+    const std::string &type7) {
+  return (std::string("\n") + doc + "\n\n" + "Input:\n - A " + type1 + ".\n" +
+          "Input:\n - A " + type2 + ".\n" + "Input:\n - A " + type3 + ".\n" +
+          "Input:\n - A " + type4 + ".\n" + "Input:\n - A " + type5 + ".\n" +
+          "Input:\n - A " + type6 + ".\n" + "Input:\n - A " + type7 + ".\n" +
+          "Void return.\n\n");
+}
+
+}  // namespace command
+}  // namespace dynamicgraph
+
+/* --- FUNCTION 8 ARGS ------------------------------------------------------ */
+namespace dynamicgraph {
+namespace command {
+
+template <class E, typename T1, typename T2, typename T3, typename T4,
+          typename T5, typename T6, typename T7, typename T8>
+struct CommandVoid8 : public Command {
+  typedef boost::function<void(const T1 &, const T2 &, const T3 &, const T4 &,
+                               const T5 &, const T6 &, const T7 &, const T8 &)>
+      function_t;
+  typedef void (E::*memberFunction_ptr_t)(const T1 &, const T2 &, const T3 &,
+                                          const T4 &, const T5 &, const T6 &,
+                                          const T7 &, const T8 &);
+
+  CommandVoid8(E &entity, function_t function, const std::string &docString)
+      : Command(entity,
+                boost::assign::list_of(ValueHelper<T1>::TypeID)(
+                    ValueHelper<T2>::TypeID)(ValueHelper<T3>::TypeID)(
+                    ValueHelper<T4>::TypeID)(ValueHelper<T5>::TypeID)(
+                    ValueHelper<T6>::TypeID)(ValueHelper<T7>::TypeID)(
+                    ValueHelper<T8>::TypeID),
+                docString),
+        fptr(function) {}
+
+ protected:
+  virtual Value doExecute() {
+    assert(getParameterValues().size() == 8);
+    T1 val1 = getParameterValues()[0].value();
+    T2 val2 = getParameterValues()[1].value();
+    T3 val3 = getParameterValues()[2].value();
+    T4 val4 = getParameterValues()[3].value();
+    T5 val5 = getParameterValues()[4].value();
+    T6 val6 = getParameterValues()[5].value();
+    T7 val7 = getParameterValues()[6].value();
+    T8 val8 = getParameterValues()[7].value();
+    fptr(val1, val2, val3, val4, val5, val6, val7, val8);
+    return Value();  // void
+  }
+
+ private:
+  function_t fptr;
+};
+
+template <class E, typename T1, typename T2, typename T3, typename T4,
+          typename T5, typename T6, typename T7, typename T8>
+CommandVoid8<E, T1, T2, T3, T4, T5, T6, T7, T8> *makeCommandVoid8(
+    E &entity,
+    typename CommandVoid8<E, T1, T2, T3, T4, T5, T6, T7, T8>::function_t
+        function,
+    const std::string &docString) {
+  return new CommandVoid8<E, T1, T2, T3, T4, T5, T6, T7, T8>(entity, function,
+                                                             docString);
+}
+
+template <class E, typename T1, typename T2, typename T3, typename T4,
+          typename T5, typename T6, typename T7, typename T8>
+CommandVoid8<E, T1, T2, T3, T4, T5, T6, T7, T8> *makeCommandVoid8(
+    E &entity,
+    boost::function<void(E *, const T1 &, const T2 &, const T3 &, const T4 &,
+                         const T5 &, const T6 &, const T7 &, const T8 &)>
+        function,
+    const std::string &docString) {
+  return new CommandVoid8<E, T1, T2, T3, T4, T5, T6, T7, T8>(
+      entity, boost::bind(function, &entity, _1, _2, _3, _4, _5, _6, _7, _8),
+      docString);
+}
+
+template <class E, typename T1, typename T2, typename T3, typename T4,
+          typename T5, typename T6, typename T7, typename T8>
+CommandVoid8<E, T1, T2, T3, T4, T5, T6, T7, T8> *makeCommandVoid8(
+    E &entity,
+    void (E::*function)(const T1 &, const T2 &, const T3 &, const T4 &,
+                        const T5 &, const T6 &, const T7 &, const T8 &),
+    const std::string &docString) {
+  return new CommandVoid8<E, T1, T2, T3, T4, T5, T6, T7, T8>(
+      entity, boost::bind(function, &entity, _1, _2, _3, _4, _5, _6, _7, _8),
+      docString);
+  return NULL;
+}
+
+inline std::string docCommandVoid8(
+    const std::string &doc, const std::string &type1, const std::string &type2,
+    const std::string &type3, const std::string &type4,
+    const std::string &type5, const std::string &type6,
+    const std::string &type7, const std::string &type8) {
+  return (std::string("\n") + doc + "\n\n" + "Input:\n - A " + type1 + ".\n" +
+          "Input:\n - A " + type2 + ".\n" + "Input:\n - A " + type3 + ".\n" +
+          "Input:\n - A " + type4 + ".\n" + "Input:\n - A " + type5 + ".\n" +
+          "Input:\n - A " + type6 + ".\n" + "Input:\n - A " + type7 + ".\n" +
+          "Input:\n - A " + type8 + ".\n" + "Void return.\n\n");
+}
+
+}  // namespace command
+}  // namespace dynamicgraph

 /* --- FUNCTION VERBOSE ----------------------------------------------------- */
 /* This bind a function void f( ostream& ) that display some results into
@@ -349,28 +709,29 @@ inline std::string docCommandVoid4(const std::string &doc,

 namespace dynamicgraph {
 namespace command {
-template <class E> struct CommandVerbose : public Command {
+template <class E>
+struct CommandVerbose : public Command {
  typedef boost::function<void(std::ostream &)> function_t;

  CommandVerbose(E &entity, function_t function, const std::string &docString)
      : Command(entity, EMPTY_ARG, docString), fptr(function) {}

-protected:
+ protected:
  virtual Value doExecute() {
    assert(getParameterValues().size() == 0);
    std::ostringstream oss;
    fptr(oss);
-    return Value(oss.str()); // return string
+    return Value(oss.str());  // return string
  }

-private:
+ private:
  function_t fptr;
 };

 template <class E>
-CommandVerbose<E> *
-makeCommandVerbose(E &entity, typename CommandVerbose<E>::function_t function,
-                   const std::string &docString) {
+CommandVerbose<E> *makeCommandVerbose(
+    E &entity, typename CommandVerbose<E>::function_t function,
+    const std::string &docString) {
  return new CommandVerbose<E>(entity, function, docString);
  return NULL;
 }
@@ -397,51 +758,48 @@ struct CommandReturnType0 : public Command {
                     const std::string &docString)
      : Command(entity, EMPTY_ARG, docString), fptr(function) {}

-protected:
+ protected:
  virtual Value doExecute() {
    assert(getParameterValues().size() == 0);
-    Value res;
-    res = fptr();
+    Value res(fptr());
    return res;
  }

-private:
+ private:
  boost::function<ReturnType(void)> fptr;
 };

 template <class E, class ReturnType>
-CommandReturnType0<E, ReturnType> *
-makeCommandReturnType0(E &entity, boost::function<ReturnType(void)> function,
-                       const std::string &docString) {
+CommandReturnType0<E, ReturnType> *makeCommandReturnType0(
+    E &entity, boost::function<ReturnType(void)> function,
+    const std::string &docString) {
  return new CommandReturnType0<E, ReturnType>(entity, function, docString);
 }

 template <class E, class ReturnType>
-CommandReturnType0<E, ReturnType> *
-makeCommandReturnType0(E &entity, boost::function<ReturnType(E *)> function,
-                       const std::string &docString) {
+CommandReturnType0<E, ReturnType> *makeCommandReturnType0(
+    E &entity, boost::function<ReturnType(E *)> function,
+    const std::string &docString) {
  return new CommandReturnType0<E, ReturnType>(
      entity, boost::bind(function, &entity), docString);
 }

 template <class E, class ReturnType>
-CommandReturnType0<E, ReturnType> *
-makeCommandReturnType0(E &entity, ReturnType (E::*function)(void),
-                       const std::string &docString) {
+CommandReturnType0<E, ReturnType> *makeCommandReturnType0(
+    E &entity, ReturnType (E::*function)(void), const std::string &docString) {
  return new CommandReturnType0<E, ReturnType>(
      entity, boost::bind(function, &entity), docString);
 }

 template <typename ReturnType>
-inline std::string
-docCommandReturnType0(const std::string &doc,
-                      const std::string & /* return_type */) {
+inline std::string docCommandReturnType0(
+    const std::string &doc, const std::string & /* return_type */) {
  return std::string("\n") + doc + "\n\nNo input.\n" +
         typeid(ReturnType).name() + " return.\n\n";
 }

-} // namespace command
-} // namespace dynamicgraph
+}  // namespace command
+}  // namespace dynamicgraph

 /* --- FUNCTION 1 ARGS ------------------------------------------------------ */
 namespace dynamicgraph {
@@ -457,41 +815,40 @@ struct CommandReturnType1 : public Command {
                docString),
        fptr(function) {}

-protected:
+ protected:
  virtual Value doExecute() {
    assert(getParameterValues().size() == 1);
    T val = getParameterValues()[0].value();
    Value res(fptr(val));
-    return res; // void
+    return res;
  }

-private:
+ private:
  function_t fptr;
 };

 template <class E, typename ReturnType, typename T>
-CommandReturnType1<E, ReturnType, T> *
-makeCommandReturnType1(E &entity,
-                       boost::function<ReturnType(const T &)> function,
-                       const std::string &docString) {
+CommandReturnType1<E, ReturnType, T> *makeCommandReturnType1(
+    E &entity, boost::function<ReturnType(const T &)> function,
+    const std::string &docString) {
  return new CommandReturnType1<E, ReturnType, T>(entity, function, docString);
 }

 template <class E, typename ReturnType, typename T>
-CommandReturnType1<E, ReturnType, T> *
-makeCommandReturnType1(E &entity,
-                       // The following syntaxt don't compile when not
-                       // specializing the template arg... why ???
-                       boost::function<ReturnType(E *, const T &)> function,
-                       const std::string &docString) {
+CommandReturnType1<E, ReturnType, T> *makeCommandReturnType1(
+    E &entity,
+    // The following syntaxt don't compile when not
+    // specializing the template arg... why ???
+    boost::function<ReturnType(E *, const T &)> function,
+    const std::string &docString) {
  return new CommandReturnType1<E, ReturnType, T>(
      entity, boost::bind(function, &entity, _1), docString);
 }

 template <class E, typename ReturnType, typename T>
-CommandReturnType1<E, ReturnType, T> *
-makeCommandReturnType1(E &entity, ReturnType (E::*function)(const T &),
-                       const std::string &docString) {
+CommandReturnType1<E, ReturnType, T> *makeCommandReturnType1(
+    E &entity, ReturnType (E::*function)(const T &),
+    const std::string &docString) {
  return new CommandReturnType1<E, ReturnType, T>(
      entity, boost::bind(function, &entity, _1), docString);
  return NULL;
@@ -504,8 +861,8 @@ inline std::string docCommandReturnType1(const std::string &doc,
         typeid(ReturnType).name() + "return.\n\n";
 }

-} // namespace command
-} // namespace dynamicgraph
+}  // namespace command
+}  // namespace dynamicgraph

 /*********** FUNCTION 2 Arguments ************************/
 namespace dynamicgraph {
@@ -523,16 +880,16 @@ struct CommandReturnType2 : public Command {
                docString),
        fptr(function) {}

-protected:
+ protected:
  virtual Value doExecute() {
    assert(getParameterValues().size() == 2);
    T1 val1 = getParameterValues()[0].value();
    T2 val2 = getParameterValues()[1].value();
-    fptr(val1, val2);
-    return Value(); // void
+    Value res(fptr(val1, val2));
+    return res;
  }

-private:
+ private:
  function_t fptr;
 };

@@ -556,10 +913,9 @@ CommandReturnType2<E, ReturnType, T1, T2> *makeCommandReturnType2(
 }

 template <class E, typename ReturnType, typename T1, typename T2>
-CommandReturnType2<E, ReturnType, T1, T2> *
-makeCommandReturnType2(E &entity,
-                       ReturnType (E::*function)(const T1 &, const T2 &),
-                       const std::string &docString) {
+CommandReturnType2<E, ReturnType, T1, T2> *makeCommandReturnType2(
+    E &entity, ReturnType (E::*function)(const T1 &, const T2 &),
+    const std::string &docString) {
  return new CommandReturnType2<E, ReturnType, T1, T2>(
      entity, boost::bind(function, &entity, _1, _2), docString);
  return NULL;
@@ -574,7 +930,7 @@ inline std::string docCommandReturnType2(const std::string &doc,
          "ReturnType:\n - Returns:" + typeid(ReturnType).name() + +".\n\n");
 }

-} // namespace command
-} // namespace dynamicgraph
+}  // namespace command
+}  // namespace dynamicgraph

-#endif // __dg_command_bind_h__
+#endif  // __dg_command_bind_h__
--- a/include/dynamic-graph/command-direct-getter.h
+++ b/include/dynamic-graph/command-direct-getter.h
@@ -15,15 +15,17 @@
 *
 */

-#include "dynamic-graph/command.h"
 #include <boost/assign/list_of.hpp>

+#include "dynamic-graph/command.h"
+
 /* --- GETTER --------------------------------------------------------- */
 namespace dynamicgraph {
 namespace command {

-template <class E, typename T> class DirectGetter : public Command {
-public:
+template <class E, typename T>
+class DirectGetter : public Command {
+ public:
  /// Pointer to method that sets parameter of type T
  typedef T (E::*GetterMethod)() const;

@@ -31,10 +33,10 @@ public:
  DirectGetter(E &entity, T *ptr, const std::string &docString)
      : Command(entity, std::vector<Value::Type>(), docString), T_ptr(ptr) {}

-protected:
+ protected:
  virtual Value doExecute() { return Value(*T_ptr); }

-private:
+ private:
  T *T_ptr;
 };

@@ -50,7 +52,7 @@ inline std::string docDirectGetter(const std::string &name,
         type + ".\n\n";
 }

-} // namespace command
-} // namespace dynamicgraph
+}  // namespace command
+}  // namespace dynamicgraph

-#endif // __dg_command_direct_getter_h__
+#endif  // __dg_command_direct_getter_h__
--- a/include/dynamic-graph/command-direct-setter.h
+++ b/include/dynamic-graph/command-direct-setter.h
@@ -15,29 +15,31 @@
 *
 */

-#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:
+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:
+ protected:
  virtual Value doExecute() {
    const std::vector<Value> &values = getParameterValues();
    T val = values[0].value();
    (*T_ptr) = val;
-    return Value(); // void
+    return Value();  // void
  }

-private:
+ private:
  T *T_ptr;
 };

@@ -53,7 +55,7 @@ inline std::string docDirectSetter(const std::string &name,
         ".\nVoid return.\n\n";
 }

-} // namespace command
-} // namespace dynamicgraph
+}  // namespace command
+}  // namespace dynamicgraph

-#endif // __dg_command_direct_setter_h__
+#endif  // __dg_command_direct_setter_h__
--- a/include/dynamic-graph/command-getter.h
+++ b/include/dynamic-graph/command-getter.h
@@ -41,21 +41,22 @@ namespace command {
 /// \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:
+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:
+ protected:
  virtual Value doExecute();

-private:
+ private:
  GetterMethod getterMethod_;
 };
-} // namespace command
-} // namespace dynamicgraph
+}  // namespace command
+}  // namespace dynamicgraph

 #include "dynamic-graph/command-getter.t.cpp"
-#endif // DYNAMIC_GRAPH_COMMAND_GETTER_H
+#endif  // DYNAMIC_GRAPH_COMMAND_GETTER_H
--- a/include/dynamic-graph/command-getter.t.cpp
+++ b/include/dynamic-graph/command-getter.t.cpp
@@ -8,6 +8,7 @@
 #define DYNAMIC_GRAPH_COMMAND_GETTER_T_CPP

 #include "dynamic-graph/command-getter.h"
+
 #include <sstream>

 namespace dynamicgraph {
@@ -20,12 +21,13 @@ Getter<E, T>::Getter(E &entity, GetterMethod getterMethod,
    : Command(entity, std::vector<Value::Type>(), docstring),
      getterMethod_(getterMethod) {}

-template <class E, typename T> Value Getter<E, T>::doExecute() {
+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
+}  // namespace command
+}  // namespace dynamicgraph

-#endif // DYNAMIC_GRAPH_COMMAND_GETTER_T_CPP
+#endif  // DYNAMIC_GRAPH_COMMAND_GETTER_T_CPP
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