debian/libdynamic-graph-doc.doc-base

-Document: dynamic-graph
-Title: Debian dynamic-graph Manual
-Author: Thomas Moulard <thomas.moulard@gmail.com>
-Abstract: Doxygen documentation of dynamic-graph.
-Section: Programming
-
-Format: HTML
-Index: /usr/share/doc/dynamic-graph/html/index.html
-Files: /usr/share/doc/dynamic-graph/html/*.html

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-# 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
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-# dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
-
-# MANPAGE
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doc/additionalDoc/debug-doc.h

+/**
+\page debug Debugging
+
+They are several ways to perform debugging in dynamic-graph depending on your
+needs or situation:
+- Programmatically inside the entity in C++, a logger will
+write inside a buffer in a
+different thread and output in a stream (either std::cout or a file). It is
+detailed in \subpage subp_debug_rt_logger.
+It provides 4 levels of messags :(DEBUG,INFO,
+WARNING, ERROR). It is described in details here: \subpage subp_logger
+
+- Programmatically in C++ to avoid overhead with macros and handling level as an
+int: \subpage subp_dbg_trace .
+- If you just need to collect informations from signals (like rosbag). You can
+use an entity called Tracer inside the graph:\subpage tracerdoc . <br> A real
+time version exists to write directly inside a memory buffer
+\subpage tracerrealtimedoc
+**/

doc/additionalDoc/debug-logger.h

+/**
+\page subp_logger Loggers
+
+\section sec_init_rt_logger Initialization of the logger
+
+\subsection subsec_init_rt_logger_hcpp Header and preprocessor variable
+
+In order to activate the logger you need to add the following lines:
+\code
+#define ENABLE_RT_LOG
+#include <dynamic-graph/logger.h>
+#include <dynamic-graph/real-time-logger.h>
+\endcode
+
+\subsection subsec_logger_ Initialize the output stream
+
+It is possible to set the output stream of the messages inside a file:
+\code
+  dynamicgraph::RealTimeLogger::instance();
+  of.open("/tmp/dg-LOGS.txt",std::ofstream::out|std::ofstream::app);
+  dgADD_OSTREAM_TO_RTLOG (of);
+
+  dynamicgraph::RealTimeLogger::destroy();
+\endcode
+
+\section sec_use_rt_logger Using the rt_logger
+
+
+\code
+// Somewhere in your library
+dgRTLOG() << "your message. Prefer to use \n than std::endl."
+\endcode
+
+
+Here the output file is "/tmp/dg-LOGS.txt".
+
+
+Specifying the file with __FILE__ and the line inside the file by __LINE__ are
+necessary for the STREAM messages. Indeed they are indexed using the two values.
+The default values "" and 0 for the counting are not well understood.
+*/

doc/additionalDoc/debug-trace-doc.h

+/**
+\page subp_dbg_trace Debugging with macros and level
+
+\section subp_dbg_trace_intro Introduction
+The idea of this class and collection of MACROS is to specify
+a level for a message, and record the message in a stream according to this
+level. In addition there are mechanisms allowing that no time is wasted in
+condition test. You can therefore let the debugging messages inside the code
+without impact on performances.
+
+\section subp_dbg_trace_set_on_macros Setting up dgDEBUG macros
+
+To allow message display the entity must be compiled with the macro
+\code
+#define VP_DEBUG 1
+\endcode
+Commenting or removing this macro disable all the messages specified
+by the following macros.
+
+The level up to which the messages are accepted for display is
+specified by:
+\code
+#define VP_DEBUG_MODE 50
+\endcode
+
+In the constructor of the entity, the file where all the messages
+are written is specified by:
+\code
+  dynamicgraph::dgDEBUGFLOW.openFile("/tmp/dynamic-graph-traces.txt");
+\endcode
+
+\section subp_dbg_trace_using_macros Using dgDEBUG macros
+
+To print that the beginning of a method is being executed use the following
+macros: \code dgDEBUGIN(5); \endcode 5 here specifies the minimum level that you
+be specified by VP_DEBUG_MODE for this message to be displayed.
+
+It will generate the following output:
+\code
+/path_to/dynamic-graph/tests/debug-trace.cpp: testDebugTrace(#46) :# In {
+\endcode
+The output displays the name of the source file, the name of the method,
+the line where is the macro, and the message itself.
+
+When going out of the method:
+\code
+    dgDEBUGOUT(5);
+\endcode
+
+This generates the following output:
+\code
+/path_to/dynamic-graph/tests/debug-trace.cpp: testDebugTrace(#54) :# Out }
+\endcode
+
+A message inside the code is written through:
+\code
+      dgDEBUG(5) << "Here is a test" << std::endl;
+\endcode
+
+This generates the following output:
+\code
+/path_to/dynamic-graph/tests/debug-trace.cpp: testDebugTrace(#52) :Here is a
+test \endcode
+
+\section subp_dbg_trace_wrk_exp Working example
+
+A full working example is given here:
+\include tests/debug-trace.cpp
+ */

doc/additionalDoc/dgshell_doc.h

-/**
-
-\page dgshell_doc dg-shell executable
-The dynamic-graph shell program "dg-shell" allows access to the dynamic-graph library's
-Interpreter class, which can execute commands and scripts from the command line.
-It can be found in the installation prefix's bin/ directory.
-
-There is also a linux shell script available, dg-shell-plugin, that creates a
-and loads a default script whose goal is to load useful plugins at startup
-(shell-functions and shell-procedure).
-
-For an example of shell commands and scripts, see \ref scriptingabout .
-
-**/

doc/additionalDoc/doc-command.h

+/** \page subpage_command Commands
+
+\section subpage_command_intro Quick introduction
+
+Commands are allowing to expand the entities.
+It has no real interest in C++, and is mostly targeted to scripting languages
+used to manipulate the control graph.
+dynamic-graph-python provides a mecanism which is automatically binding command
+to python. The main interest for a programmer is that there is no additional
+lines to add. It is realized through CMake rules provided by the submodule
+jrl-cmakemodules.
+
+\section subpage_command_using Extending entities
+
+\subsection subpage_command_setters_and_getters Setters and getters
+
+To modify a quantity with a special method of your class, it is recommanded to
+use Setter.
+
+For instance to specify the size of the state in one entity and calls the
+method setStateSize it is possible to write:
+
+\code
+    docstring = "\n"
+                "    Set size of state vector\n"
+                "\n";
+    addCommand("resize", new command::Setter<Device, unsigned int>(
+                             *this, &Device::setStateSize, docstring));
+\endcode
+
+Getting the information of the member of the class can be realized with
+the following snippet:
+
+\code
+    addCommand("getTimeStep",
+               command::makeDirectGetter(
+                   *this, &this->timestep_,
+                   command::docDirectGetter("Time step", "double")));
+\endcode
+
+\subsubsection subsubpage_command_void_multiple_args Implementing a command
+
+Templates are provided to create commands returning no value, but with up to
+4 arguments.
+
+In order to call the following method:
+\code
+  void four_args(const int &, const int &, const int &, const int &) {
+    test_four_args_ = true;
+  }
+\endcode
+
+It is sufficient to add in the constructor:
+\code
+    addCommand("4_args",
+               makeCommandVoid4(
+                   *this, &CustomEntity::four_args,
+                   docCommandVoid4("four args", "int", "int", "int", "int")));
+\endcode
+
+The arguments are limited to the types provided by the class Value.
+
+\subsection subpage_command_void_multiple_args Commands returning a value
+
+The templates with the prefix makeCommandReturnType are allowing to return
+a type.
+
+For instance to add a command returning a type with two arguments:
+\code
+  std::string two_args_ret(const int &, const int &)
+  { test_two_args_ = true; return std::string("return");}
+\endcode
+
+In the constructor, the following snippet shows to create the command:
+\code
+    addCommand("2_args_r",
+               makeCommandReturnType2(
+                 *this, &CustomEntity::two_args_ret,
+                 docCommandVoid2("two args", "int","int")));
+\endcode
+
+\section section_calling_a_generic_command Calling a generic command
+
+Of course calling in C++ a command amounts to call directly the method.
+However in the context of writing a wrapper for another language,
+one may wants to find a command and build the call.
+
+All the commands of an entity are store in a map. The strings storing the
+commands name are the map keys.
+
+Therefore calling the previous command can be done with the following snippet:
+\code
+
+std::map<const std::string, Command *> aCommandMap =
+ this->getNewStyleCommandMap();
+
+std::string cmd_name = "4_args";
+
+std::map<const std::string, Command *>::iterator it_map;
+
+it_map = aCommandMap.find(cmd_name);
+if (it_map == aCommandMap.end())
+
+int first_arg = 1;
+Value aValue(first_arg);
+std::vector<Value> values;
+
+for (unsigned int i = 0; i < 4; i++)
+  values.push_back(aValue);
+
+it_map->second->setParameterValues(values);
+it_map->second->execute();
+it_map->second->owner();
+it_map->second->getDocstring();
+
+\endcode
+
+when returning a value the line with the call to execute is :
+\code
+Value aValue =it_map->second->execute();
+\endcode
+
+*/