doc/additionalDoc/doc-debug-real-time-logger.h

+/**
+\page subp_debug_rt_logger Real-time Logger
+
+ \section real_time_logger_quick_intro Quick introduction
+ Each entity has a protected logger_ object.
+ The simplest way to have information while running your graph is to initialize
+ it in the constructor, and then display information in the methods.
+
+ You can then change the level of information you want to display using
+ either the entity method setLoggerVerbosityLevel()
+ or the corresponding python bindings.
+
+ \section real_time_logger_modifying_entities Putting information in your
+entity.
+
+ It is possible to define the periodicity of the logger:
+ \code
+ logger_.setTimeSample(0.001);
+ \endcode
+
+ To define the periodicity at which one wants to print information:
+ \code
+ logger_.setStreamPrintPeriod(0.005);
+ \endcode
+
+ Several level of verbosity are possible:
+ \code
+ logger_.setVerbosity(VERBOSITY_ALL);
+ \endcode
+ The full list of options are:
+<ul>
+<li>VERBOSITY_ALL: Accept all messages</li>
+<li>VERBOSITY_INFO_WARNING_ERROR: Accept messages at minimum level : INFO,
+WARNING, ERROR</li> <li>VERBOSITY_WARNING_ERROR: Accept messages at minimum
+level : WARNING, ERROR</li> <li>VERBOSITY_ERROR: Accept messages at minimum
+level : ERROR</li>
+</ul>
+
+It is specified by the enum LoggerVerbosity
+
+ It is possible to display information according to various level of debug:
+ \code
+ sendMsg("This is a message of level MSG_TYPE_DEBUG", MSG_TYPE_DEBUG);
+ \endcode
+ or
+ \code
+ DYNAMIC_GRAPH_ENTITY_DEBUG   (*this) << "This is a message of level
+MSG_TYPE_DEBUG\n"; DYNAMIC_GRAPH_ENTITY_INFO    (*this) << "This is a message of
+level MSG_TYPE_INFO\n"; DYNAMIC_GRAPH_ENTITY_WARNING (*this) << "This is a
+message of level MSG_TYPE_WARNING\n"; DYNAMIC_GRAPH_ENTITY_ERROR   (*this) <<
+"This is a message of level MSG_TYPE_ERROR\n"; DYNAMIC_GRAPH_ENTITY_DEBUG_STREAM
+(*this) << "This is a message of level MSG_TYPE_DEBUG_STREAM\n";
+ DYNAMIC_GRAPH_ENTITY_INFO_STREAM    (*this) << "This is a message of level
+MSG_TYPE_INFO_STREAM\n"; DYNAMIC_GRAPH_ENTITY_WARNING_STREAM (*this) << "This is
+a message of level MSG_TYPE_WARNING_STREAM\n"; DYNAMIC_GRAPH_ENTITY_ERROR_STREAM
+(*this) << "This is a message of level MSG_TYPE_ERROR_STREAM\n"; \endcode
+
+
+   \note Thread safety. This class expects to have:
+   - only one reader: the one who take the log entries and write them somewhere.
+   - one writer at a time. Writing to the logs is **never** a blocking
+     operation. If the resource is busy, the log entry is discarded.
+*/

doc/additionalDoc/entity.h

+/**
+\page subpage_entities Entities
+
+\section section_entities Entities
+\subsection entity_definition General definition
+\image html entity.png
+
+Despite the fact that it looks very similar to a ROS node or a CORBA/OpenRTM
+server, an entity is simply a C++ object. The main idea is that this entity is
+providing mostly a data-driven functionnality working at very high rate (\f$ 200
+Hz\f$ or \f$ 1 kHz \f$) and should have a minimal computational time foot-print.
+
+For this \subpage subp_signals (or ports to use a more classical terminology)
+are providing a time dependency between data. To implement this, an output
+signal is linked with a method of the entity. The method calls input signals or
+use other means to get the needed data. It might be provided by the connection
+with remote computers through a middleware, or specific protocols, but in
+general the external data is based upon the sensor values provided by a "Device"
+entity. For this reason the signal evaluations are realized through the cascade
+of dependencies and start from the evaluation of an input signal of a periodic
+node (in general the device). This is realized inside a \b real-time thread.
+
+To add flexibility to a node, it is possible to add command with arguments to
+modify the internal behavior of the entity or get information from the entity.
+As a command is in general asynchronous and rare with respect to the data-flow
+scheme for the signals the command is in general executed in a \b none-real-time
+thread. For more details on command see \subpage subpage_command .
+
+\subsection entity_classes Entity class
+Entities are implemented as C++ classes and compiled as dynamic libraries. They
+can be loaded and instancied dynamically. It is therefore necessary to specify
+the location of their dynamical libraries. However given the time it might take
+to load the library, it is not advised to do that during a control-law
+computation. Entity instanciation also implies memory allocation which is also
+time consuming and thus not advised inside a real-time thread.
+
+The entities will be placed in ${PREFIX}/lib/dynamic-graph-plugin
+(since this may change, it is advised to check the install log or the
+CMakeLists.txt file to check the installation path).
+
+\subsection entities List of entities in this package
+Since most of the functionality in projects using the dynamic-graph framework
+is exposed from entities, here is a short description of all the entities
+contained in this package. Note that most entities are contained in a binary
+file that closely matches the entities' names in the scripts; loading this file
+with the plugin loader will enable creation of this entity through the factory.
+\li \ref tracerdoc
+\li \ref tracerrealtimedoc
+
+\subsection specific_semantics Specific semantics with entities
+
+It is possible to derive classes and apply specific semantic for the entities.
+In our case we are interested in specific control semantics: \li Tasks (more
+information <a
+href="http://stack-of-tasks.github.io/sot-core/doxygen/HEAD/a00089.html">here</a>)
+\li Features (more information <a
+href="http://stack-of-tasks.github.io/sot-core/doxygen/HEAD/a00030.html">here</a>)
+\li Solver (more information <a
+href="http://stack-of-tasks.github.io/sot-core/doxygen/HEAD/a00078.html">here</a>)
+
+*/

doc/additionalDoc/extension.h

+/**
+\page subp_how_to_use Using this package
+
+\section usecase How to use this package
+
+\subsection use_programmatically General introduction
+
+For control purposes the main use of this package is to create new entities and
+connect them through signals.
+
+Objects, which are derived from Entities (base class dynamicgraph::Entity), can
+be declared within the code and compiled as shared libraries (.so/.dll files).
+These libraries can be loaded at run-time using the PluginLoader methods,
+and at the same time register their class names to the Factory (see the
+examples in the <a
+href="http://projects.laas.fr/gepetto/doc/stack-of-tasks/sot-core/master/doxygen-html">sot-core
+documentation</a> for advanced control examples).
+
+The Factory can then create instances of these objects and subsequently
+register them in the Pool. From the pool they can be listed, accessed, and acted
+upon (see PoolStorage documentation). Basic commands defined by entities include
+signal connection graph file generation, help and name print, and signals.
+This is usually done through a scripting language such as python (see
+<a
+hef="https://github.com/stack-of-tasks/dynamic-graph-python">dynamic-graph-python</a>)
+
+The singletons made available by including the corresponding headers in this
+module are:
+\li dynamicgraph::FactoryStorage
+\li dynamicgraph::PoolStorage
+
+For an example of a program creating entities in C++, see the unit test
+test_pool.cpp (in your package source directory/tests).
+
+\subsection Tutorial
+A tutorial is available <a
+href="http://stack-of-tasks.github.io/dynamic-graph-tutorial/">here</a>. It is
+providing a step-by-step way of building an entity
+
+\section sec_htw_helpers Helpers
+
+
+When writing entities you might use some macros which are very useful to write
+your class.
+
+\subsection subsec_howto_typedef Entity helpers
+
+The header <b>entity-helper.h</b> is defining a type called EntityClassName
+
+\section sec_howto_macros_helpers Macro helpers
+
+\subsection subsec_howto_macros_helpers_ent Preprocessing macros for entities
+
+<ul>
+  <li> <b>DYNAMIC_GRAPH_ENTITY_DECL()</b>:
+  This macro creates a method <b>getClassName()</b> which returns the class
+name.</li> This macro <b>should</b> be used in the declaration of the class.
+  </li>
+  <li> <b>DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(classtype,classname)</b>
+  This macros creates the methods necessary to have a factory building the C++
+class <b>classtype</b> from the string <b>classname</b>. This macro
+<b>should</b> be used in the implementation of the class.
+  </li>
+</ul>
+
+\subsection subsec_howto_macros_helpers_sig Preprocessing macros for signals
+
+<ul>
+  <li>  Macro for input signals
+    <ul>
+      <li> <b>DECLARE_SIGNAL_IN(signal_name,type)</b>:
+      Declare an input time dependent signal as a field of the class with the
+following name: \code m_signal_nameSIN \endcode
+      </li>
+      <li> <b>CONSTRUCT_SIGNAL_IN(signal_name,type)</b>:
+      This macro is used in the constructor of the entity class handling this
+signal. It is calling the signal constructor and set the signal name to: \code
+      EntityClassName(entity-name)::input(type)::signal_name
+      \endcode
+    </ul>
+  </li>
+  <li>  Macro for output signals
+    <ul>
+      <li> <b>DECLARE_SIGNAL_OUT(signal_name,type)</b>:
+      Declare an output time dependent signal as a field of the class with the
+following name: \code m_signal_nameSOUT \endcode It also declares a method with
+the following pattern: \code type signal_nameSOUT_function(type &,int) \endcode
+      The second pattern is the time when calling the output.
+      </li>
+      <li> <b>CONSTRUCT_SIGNAL_OUT(signal_name,type)</b>
+      This macro is used in the constructor of the entity class handling this
+signal. It creates the binding to the method described previously, and set the
+signal name to: \code EntityClassName(entity_name)::output(type)::signal_name
+      \endcode
+      where entity_name is the name of the entity currently instanciated.
+      </li>
+
+      <li> <b>DEFINE_SIGNAL_OUT_FUNCTION(signal_name, type)</b>:
+      This macro is used when implementing the method specific to the output
+signal. It is used in the main body of the entity class to declare the header of
+the method with the following pattern: \code type
+EntityClassName::signal_nameSOUT_function(type &, int iter) \endcode
+      </li>
+
+    </ul>
+  <li>
+  </li> Inner signals
+    <ul>
+      <li> <b> DECLARE_SIGNAL_INNER(signal_name,type)</b>
+      Inner signal are signal that depend on a state of the entity and not on
+input signals. This macro declares an inner signal with the following pattern:
+      \code
+      m_signal_nameSINNER
+      \endcode
+      It also creates a member function with the following pattern:
+      \code
+      type & EntityClassName::nameSINNER_function(signal_name)(type &, int)
+      \endcode
+      </li>
+      <li> <b>DEFINE_SIGNAL_INNER_FUNCTION(signal_name,type)</b>
+      This macro is used to implement the method related to signal_name. More
+precisely it provides the header of the member function(i.e. method)
+declaration.
+      </li>
+      <li><b>DECLARE_SIGNAL_INNER_FUNCTION(signal_name,type)</b>
+      This macros declares the member function used to handle the access to this
+signal.
+      </li>
+    </ul>
+</ul>
+
+*/

doc/additionalDoc/factory.h

+/**
+\page subp_factory Factory
+\section sec_factory Factory
+
+The class \ref dynamicgraph::FactoryStorage is a singleton which register the
+entity classes and which is allowing the instancation of such classes.
+*/

doc/additionalDoc/graph.h

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

doc/additionalDoc/installation.h

+/**
+\page subp_installation Installation
+
+\section sec_inst_dep Dependencies
+
+dynamic-graph depends on:
+<ul>
+<li> boost </li>
+<li> eigen </li>
+<li> cmake </li>
+</ul>
+
+\section sec_inst_get_src Getting the source
+
+The sources are available through github at the following URL:
+<a
+href="https://github.com/stack-of-tasks/dynamic-graph">https://github.com/stack-of-tasks/dynamic-graph</a>
+
+To clone:
+\code{.sh}
+git clone https://github.com/stack-of-tasks/dynamic-graph.git
+\endcode
+
+
+\section sec_inst_comp Compiling
+
+\code
+cd dynamic-graph
+mkdir _build
+cd _build
+cmake .. -DCMAKE_BUILD_TYPE=RELEASE
+make
+\endcode
+
+
+*/

doc/additionalDoc/introduction.h

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

doc/additionalDoc/package.h

@@ -6,154 +6,74 @@
  *
  * 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 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/>.
  */
 
 /**
 \mainpage
 
-\section intro_dynamicGraph Introduction
-
-The dynamic-graph package is used to connect computation nodes, "entities"
-together using a graph system, akin to what Simulink does. With the building
-blocks this package provides, you can easily create a full computation graph
-for a given problem. It is the basis for the stack of tasks operation.
-
-\image html pictures/entity.png
-Functionality:
-\li Built-in scripting language* for fast prototyping and testing
-\li Support for extensions and modules using dynamic link libraries
-\li Template-based signal definition, independant
-\li Type-safe connection of input and output signals
-\li On-demand signal computation as well as a caching system for signal values allow fast
-computation of signal values, which is a critical point for real-time systems\n
-See \ref scriptingabout
-
-\section overview Code overview
-
-\section entities List of entities in this package
-Since most of the functionality in projects using the dynamic-graph framework
-is exposed from entities, here is a short description of all the entities contained in
-this package. Note that most entities are contained in a binary file that closely matches
-the entities' names in the scripts; loading this file with the plugin loader will
-enable creation of this entity through the factory.
-\li \ref tracerdoc
-\li \ref tracerrealtimedoc
-\li ShellProcedure
-\li \ref shellfunctions_doc
-
-The entities will be placed in ${PREFIX}/lib/plugin (since this may change, it is advised to
-check the install log or the CMakeLists.txt file to check the installation path).
-\section sigintro About signals
-
-Entities can output different types of signals. 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
-
-\section scriptingabout Notes about the scripting language
-The scripting language allows entities to define their own commands, and
-provides a basic framework for working with the dynamic-graph.
-
-A couple of functions are built-in in the interpreter and provides low-level features such as file sourcing or
-plug-in loading.\n
-These functions are:\n
-\code plug <obj1.sig1> <obj2.sig2> \endcode plugs the signal sig1 of obj1 to the signal sig2 of obj2. sig1 and sig2
-have to be of the same type. sig1 has to be an output signal and sig2 an input signal.
-\code new <class> <object> \endcode instantiates an object object of class class. object has to be a free identifier and
-class an existing entity.
-\code destroy <object> \endcode deletes an instance previously created.
-\code run <script.txt> \endcode sources (i.e. read and interpret) an external file.
-\code loadPlugin <file.so> <directory> \endcode loads a plugin called file.so and located in the directory directory.
-\code unloadPlugin <path/file.so> \endcode unloads a plugin.
-\code help \endcode lists available functions.
-\code set <obj.signal> <value> \endcode defines an input signal to a specific, constant, value.
-\code get <obj.signal> <value> \endcode prints out a signal value.
-\code compute <obj.sig> <time> \endcode computes an output signal and sets the associated time to time.
-
-\section usecase How to use this package
-1) Programmatically\n
-This code implements the factory design pattern, making creation of entities
-available to packages depending on the dynamic-graph API.
-
-Objects, which are derived from Entities (base class dynamicgraph::Entity), can be
- declared within the code and compiled to shared libraries (.so/.dll files).
-These libraries can be loaded at run-time using the PluginLoader methods,
-and at the same time register their class names to the Factory (see the
-examples in the SOT documentation to learn how).
-
-The Factory can then create instances of these objects and subsequently
-register them in the Pool, where they can be listed, accessed, and acted upon
-(see PoolStorage documentation). Basic commands defined by entities include
-signal connection graph file generation, help and name print, and signals.
-
-Finally, a shell (command-line) interface is made available thanks to the
-Interpreter class (see the file test_shell.cpp for an example). Objects deriving from
-Entity can expose their own commands by overriding the Entity's default
-commandLine() method. It is possible to load a plugin to register custom
-shell commands; see shell-functions and shell-procedure for an example.
-
-Some basic shell functions, and support for procedures, are also included.
-For a complete list of those, load the plugin shell-functions.so and type 'help'
-at the command line.
-
-The public static objects (singletons) made available by including the
-corresponding headers in this module are:
-\li g_factory: dynamicgraph::FactoryStorage
-\li g_pool: dynamicgraph::PoolStorage
-\li g_shell: dynamicgraph::Interpreter
-
-For an example of a program creating entities in C++, see the unit test
-test_pool.cpp (in your package source directory/unitTesting).
-
-2) Through scripts\n
-The program \ref dgshell_doc can be used to have scripting access to the dynamic-graph
-library, where you can execute scripts and commands, load plugins, create entities and connect signals.
-
-Here is a typical use case for programmers:
-\image html figures/use-case.svg
-
-\section References
-\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
+The dynamic-graph aims at building computational graphs for real-time control.
+It provides the basic software functionnalities.
 
+A more detailed introduction is available at \subpage subp_concept_intro.
 
-\defgroup dgraph Core classes and objects
-\defgroup signals Signals
+The installation instruction are given at \subpage subp_installation.
+
+The software graph structure is detailled in \subpage p_graph
+
+For debugging your entities detailed instructions are given in \subpage debug
+
+For citing the software in your research work please refer to
+\subpage subp_references
 
-\ingroup dgraph
+\namespace dynamicgraph This is the namespace where every object and class of
+this library is located.
+
+\defgroup debug Debugging
+
+\defgroup dgraph Core classes and objects
 @{
 
-Classes, entities and binaries that make up the core of the dynamic-graph library are listed here.
+Classes, entities and binaries that make up the core of the dynamic-graph
+library are listed here.
 @}
-\ingroup signals
+
+\defgroup signals Signals
 @{
 This part provides the mechanism to transfer information
 from one entity to another. There are three main types of signals,
 all deriving from the common class dynamicgraph::SignalBase :
-\li dynamicgraph::Signal
-\li dynamicgraph::SignalPtr
-\li dynamicgraph::SignalTimeDependent
+\li dynamicgraph::Signal : a "normal" signal, passing data around \b by \b value
+\li dynamicgraph::SignalPtr : a signal used for efficient passing of large data,
+by reference (or rather, C pointers)* \li dynamicgraph::SignalTimeDependent : a
+signal that enforces a time dependency between other signals, making sure its
+inputs are up to date on access, using a incrementing time tick as reference.
+
+\n* Note: this may cause a problem if this package is used in a multithreaded
+program.
 
 Signals can be grouped together using dynamicgraph::SignalArray.
 
 Signals implement a caching mechanism by storing the last computation time tick.
-Signals can be plugged into one another or set through shell commands.
+
+For more information, please see the individual signal pages.
+
+\b Samples
+
+\li The following code ensures the jacobian output signal uses up-to-date values
+for its computations, when accessed.
+
+\code
+  // This signal returns the Jacobian of the current value
+  //  according to the robot state
+  dg::SignalTimeDependent<ml::Matrix,int> jacobianSOUT;
+
+  (...)
+
+  jacobianSOUT.addDependency( positionSIN );
+  jacobianSOUT.addDependency( articularJacobianSIN );
+
+\endcode
+
 @}
 
-\namespace dynamicgraph This is the namespace where every object and class of this library is located.
 */

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/shellfunctions_doc.h

-/**
-\page shellfunctions_doc ShellFunctions
-\note Note: this documentation covers specific aspects of the in-house
-scripting language currently used by the dynamic-graph script. Unless
-otherwise specified, it is only relevant for programmers using this
-particular language. At the time of writing, there is talk of
-replacing the language with python, so check if this information is still
-relevant before reading.
-
-\section description Description
-The \b ShellFunctions plugin file adds common shell functions to the
-dynamic-graph shell.
-\section commands Commands
-The supplementary \b commands provided (you can also type 'help' at the
-dynamic-graph shell command line to see them and a brief description):
-\code
-  LoadPlugins
-  Try
-  DisplayPlugins
-  DisplayFactory
-  Commentary
-  Unplug
-  ClearPlugin
-  SignalTime
-  SynchroSignal
-  Echo
-  Copy
-  Freeze
-  Squeeze
-  EnableTrace
-  SetPrompt
-  Sleep
-  Beep
-  FlagSet
-  CompletionList
-\endcode
-
-\section addi Additional information
-See doxygen documentation for the class ShellFunctions
-
-\section generates Generated plugin file
-shell-functions.dll or shell-functions.so.
-
-**/

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
-The \b commands that this entity exposes are (you can also type [entity name].help at the
-dynamic-graph shell command line to see this list):
+
+\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
-The \b commands that this entity exposes are (you can also type [entity name].help at the
-dynamic-graph shell command line to see this list):
+\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);
 add (a signal)
@@ -20,29 +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/cmake_install.cmake

-# Install script for directory: /home/blue/sot-devel/dg/doc
-
-# Set the install prefix
-IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
-  SET(CMAKE_INSTALL_PREFIX "/home/blue/sot-lib")
-ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
-STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
-
-# Set the install configuration name.
-IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
-  IF(BUILD_TYPE)
-    STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
-           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
-  ELSE(BUILD_TYPE)
-    SET(CMAKE_INSTALL_CONFIG_NAME "")
-  ENDIF(BUILD_TYPE)
-  MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
-ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
-
-# Set the component getting installed.
-IF(NOT CMAKE_INSTALL_COMPONENT)
-  IF(COMPONENT)
-    MESSAGE(STATUS "Install component: \"${COMPONENT}\"")
-    SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
-  ELSE(COMPONENT)
-    SET(CMAKE_INSTALL_COMPONENT)
-  ENDIF(COMPONENT)
-ENDIF(NOT CMAKE_INSTALL_COMPONENT)
-
-# Install shared libraries without execute permission?
-IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
-  SET(CMAKE_INSTALL_SO_NO_EXE "1")
-ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
-
-IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
-  FILE(INSTALL DESTINATION "/home/blue/sot-lib/share/doc/dynamic-graph" TYPE DIRECTORY FILES "/home/blue/sot-devel/dg/doc/html")
-ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
-
-IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
-  FILE(INSTALL DESTINATION "/home/blue/sot-lib/share/doc/dynamic-graph/html" TYPE FILE FILES "/home/blue/sot-devel/dg/doc/dynamic-graph.doxytag")
-ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
-
-IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
-  FILE(INSTALL DESTINATION "/home/blue/sot-lib/share/doc/dynamic-graph/html" TYPE DIRECTORY FILES "/home/blue/sot-devel/dg/doc/pictures")
-ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
-

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/dg-shell-plugin.pod.in

-=head1 NAME
-
-dg-shell-plugin - Stack of tasks shell with all plug-ins loaded
-
-
-=head1 SYNOPSIS
-
-dg-shell-plugin
-
-
-=head1 DESCRIPTION
-
-Start the stack of tasks with all core plug-ins loaded.
-
-=head1 AUTHORS
-
-This software has been developed at CNRS/AIST and LAAS-CNRS laboratories.
-
-See <@CMAKE_INSTALL_PREFIX@/share/doc/libdg-middleware-dev/AUTHORS> to
-see the list of all contributors.
-
-
-=head1 SEE ALSO
-       dg-shell(1)
-
-See also <@PROJECT_URL@> for additional resources.

doc/dg-shell.pod.in

-=head1 NAME
-
-dg-shell - Stack of tasks shell
-
-
-=head1 SYNOPSIS
-
-dg-shell [FILE]
-
-
-=head1 DESCRIPTION
-
-Start the stack of tasks and provides to the user an interactive shell
-to control the data-flow.
-
-Optionally, a file which will be interpreted at start-up can be given
-to the program.
-
-
-=head1 AUTHORS
-
-This software has been developed at CNRS/AIST and LAAS-CNRS laboratories.
-
-See <@CMAKE_INSTALL_PREFIX@/share/doc/libdg-middleware-dev/AUTHORS> to
-see the list of all contributors.
-
-
-=head1 SEE ALSO
-       dg-shell-plugin(1)
-
-See also <@PROJECT_URL@> for additional resources.

doc/figures/use-case.svg

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