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--- a/doc/footer.html
+++ b/doc/footer.html
- <br><br>
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- <center>
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- <br>dynamicGraph library documentation</br>
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- <hr>
- </center>
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- </head>
-
--- a/doc/header.html
+++ b/doc/header.html
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-# Configuration::additions related to external references   
-#---------------------------------------------------------------------------
-TAGFILES               = \
-	/html/MatrixAbstractLayer.doxytag=/html \
-	/html/dynamicsJRLJapan.doxytag=/html \
-	/html/hrp2Dynamics.doxytag=/html \
-	/html/walkGenJrl.doxytag=/html
-GENERATE_TAGFILE       = dynamic-graph.doxytag
-ALLEXTERNALS           = NO
-EXTERNAL_GROUPS        = YES
-PERL_PATH              = /usr/bin/perl
-#---------------------------------------------------------------------------
-# Configuration options related to the dot tool   
-#---------------------------------------------------------------------------
-#---------------------------------------------------------------------------
-# Configuration::additions related to the search engine   
-#---------------------------------------------------------------------------
-SEARCHENGINE           = YES
-
-
-
-
-#---------------------------------------------------------------------------
-# Project related configuration options
-#---------------------------------------------------------------------------
-PROJECT_NAME           = "dynamic-graph library"
-PROJECT_NUMBER         = 1.0.0
-
-#---------------------------------------------------------------------------
-# Build related configuration options
-#---------------------------------------------------------------------------
-EXTRACT_ALL            = YES
-EXTRACT_PRIVATE        = YES
-EXTRACT_STATIC         = NO
-HIDE_UNDOC_MEMBERS     = YES
-HIDE_UNDOC_CLASSES     = YES
-HIDE_FRIEND_COMPOUNDS  = YES
-HIDE_IN_BODY_DOCS      = NO
-INTERNAL_DOCS          = NO
-SHOW_INCLUDE_FILES     = NO
-GENERATE_TODOLIST      = YES
-GENERATE_TESTLIST      = NO
-GENERATE_BUGLIST       = NO
-GENERATE_DEPRECATEDLIST= YES
-ENABLED_SECTIONS       = 
-SHOW_USED_FILES        = NO
-SHOW_DIRECTORIES       = NO
-#---------------------------------------------------------------------------
-# configuration options related to warning and progress messages
-#---------------------------------------------------------------------------
-#---------------------------------------------------------------------------
-# configuration options related to the input files
-#---------------------------------------------------------------------------
-FILE_PATTERNS          = *.h *.idl
-EXCLUDE_PATTERNS       = 
-INPUT                  = /home/blue/sot-devel/dg/include \
-                         /home/blue/sot-devel/dg/doc/additionalDoc
-
-#---------------------------------------------------------------------------
-# configuration options related to inserting images
-#---------------------------------------------------------------------------
-IMAGE_PATH = /home/blue/sot-devel/dg/doc/figures
-#---------------------------------------------------------------------------
-# configuration options related to source browsing
-#---------------------------------------------------------------------------
-SOURCE_BROWSER         = NO
-INLINE_SOURCES         = NO
-STRIP_CODE_COMMENTS    = YES
-REFERENCED_BY_RELATION = NO
-REFERENCES_RELATION    = NO
-VERBATIM_HEADERS       = NO
-#---------------------------------------------------------------------------
-# configuration options related to the alphabetical class index
-#---------------------------------------------------------------------------
-#---------------------------------------------------------------------------
-# configuration options related to the HTML output
-#---------------------------------------------------------------------------
-HTML_OUTPUT            = html
-HTML_STYLESHEET        = /home/blue/sot-devel/dg/doc/package.css
-HTML_HEADER            = /home/blue/sot-devel/dg/doc/header.html
-HTML_FOOTER            = /home/blue/sot-devel/dg/doc/footer.html
-
-#---------------------------------------------------------------------------
-# configuration options related to the LaTeX output
-#---------------------------------------------------------------------------
-GENERATE_LATEX         = NO
-USE_PDFLATEX           = YES
-#---------------------------------------------------------------------------
-# configuration options related to the RTF output
-#---------------------------------------------------------------------------
-GENERATE_RTF           = NO
-#---------------------------------------------------------------------------
-# configuration options related to the man page output
-#---------------------------------------------------------------------------
-GENERATE_MAN           = NO
-#---------------------------------------------------------------------------
-# configuration options related to the XML output
-#---------------------------------------------------------------------------
-GENERATE_XML           = NO
-#---------------------------------------------------------------------------
-# configuration options for the AutoGen Definitions output
-#---------------------------------------------------------------------------
-GENERATE_AUTOGEN_DEF   = NO
-#---------------------------------------------------------------------------
-# configuration options related to the Perl module output
-#---------------------------------------------------------------------------
-GENERATE_PERLMOD       = NO
-#---------------------------------------------------------------------------
-# Configuration options related to the preprocessor   
-#---------------------------------------------------------------------------
-#---------------------------------------------------------------------------
-# Configuration::additions related to external references   
-#---------------------------------------------------------------------------
-#---------------------------------------------------------------------------
-# Configuration options related to the dot tool   
-#---------------------------------------------------------------------------
-CLASS_DIAGRAMS         = YES
-HIDE_UNDOC_RELATIONS   = YES
-HAVE_DOT               = YES
-CLASS_GRAPH            = NO
-COLLABORATION_GRAPH    = YES
-GROUP_GRAPHS           = YES
-UML_LOOK               = NO
-TEMPLATE_RELATIONS     = NO
-INCLUDE_GRAPH          = YES
-INCLUDED_BY_GRAPH      = YES
-CALL_GRAPH             = NO
-GRAPHICAL_HIERARCHY    = YES
-DIRECTORY_GRAPH        = YES
-DOT_IMAGE_FORMAT       = png
-DOT_PATH               = 
-DOTFILE_DIRS           = 
-MAX_DOT_GRAPH_DEPTH    = 1000
-DOT_TRANSPARENT        = NO
-DOT_MULTI_TARGETS      = YES
-GENERATE_LEGEND        = YES
-DOT_CLEANUP            = YES
--- a/doc/package.dox.cmake
+++ b/doc/package.dox.cmake
--- a/doc/pictures/Concept-Software-Fig.png
+++ b/doc/pictures/Concept-Software-Fig.png
--- a/doc/figures/entity.svg
+++ b/doc/figures/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/doc/pictures/my_dynamic_graph.png
+++ b/doc/pictures/my_dynamic_graph.png
--- a/doc/pictures/sot.ico
+++ b/doc/pictures/sot.ico
--- a/doc/pictures/sot.png
+++ b/doc/pictures/sot.png
--- a/doc/pictures/use-case.png
+++ b/doc/pictures/use-case.png
--- a/doc/tabs.css
+++ b/doc/tabs.css
-.tabs, .tabs2, .tabs3 {
-    background-image: url('tab_b.png');
-    width: 100%;
-    z-index: 101;
-    font-size: 13px;
-}
-
-.tabs2 {
-    font-size: 10px;
-}
-.tabs3 {
-    font-size: 9px;
-}
-
-.tablist {
-    margin: 0;
-    padding: 0;
-    display: table;
-}
-
-.tablist li {
-    float: left;
-    display: table-cell;
-    background-image: url('tab_b.png');
-    line-height: 36px;
-    list-style: none;
-}
-
-.tablist a {
-    display: block;
-    padding: 0 20px;
-    font-weight: bold;
-    background-image:url('tab_s.png');
-    background-repeat:no-repeat;
-    background-position:right;
-    color: #283A5D;
-    text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9);
-    text-decoration: none;
-    outline: none;
-}
-
-.tabs3 .tablist a {
-    padding: 0 10px;
-}
-
-.tablist a:hover {
-    background-image: url('tab_h.png');
-    background-repeat:repeat-x;
-    color: #fff;
-    text-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0);
-    text-decoration: none;
-}
-
-.tablist li.current a {
-    background-image: url('tab_a.png');
-    background-repeat:repeat-x;
-    color: #fff;
-    text-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0);
-}
--- a/dynamic-graph.pc.cmake
+++ b/dynamic-graph.pc.cmake
-prefix=${CMAKE_INSTALL_PREFIX}
-exec_prefix=${install_pkg_prefix}
-libdir=${install_pkg_exec_prefix}/lib
-includedir=${install_pkg_prefix}/include
-datarootdir=${install_pkg_prefix}/share
-docdir=${install_pkg_datarootdir}/doc/${PROJECT_NAME}
-
-Name: ${PROJECT_NAME}
-Description: 
-Version: ${PROJECT_VERSION}
-Requires: ${PACKAGE_REQUIREMENTS}
-Libs: ${LIBDIR_KW}${install_pkg_libdir} ${${PROJECT_NAME}_LDFLAGS}
-Cflags: -I${install_pkg_include_dir} ${${PROJECT_NAME}_CXXFLAGS}
--- a/include/CMakeLists.txt
+++ b/include/CMakeLists.txt
-# Copyright 2010, Olivier Stasse, JRL, CNRS/AIST
-#
-# This file is part of dynamic-graph.
-# dynamic-graph is free software: you can redistribute it and/or
-# modify it under the terms of the GNU Lesser General Public License
-# as published by the Free Software Foundation, either version 3 of
-# the License, or (at your option) any later version.
-#
-# dynamic-graph is distributed in the hope that it will be useful, but
-# WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-# General Lesser Public License for more details.  You should have
-# received a copy of the GNU Lesser General Public License along with
-# dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
-
-# Add default script directory.
-#  It is used by the import directive of the sot shell to locate
-#  scripts.
-SET(DG_IMPORT_DEFAULT_PATHS
-	"${CMAKE_INSTALL_PREFIX}/share/dynamic-graph/script")
-
-CONFIGURE_FILE(
-	${PROJECT_NAME}/import-default-paths.h.cmake	
-	${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}/import-default-paths.h)
-INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}/import-default-paths.h
-       DESTINATION include/${PROJECT_NAME}
-       PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
-)
-
-
-# Headers list.
-SET(${PROJECT_NAME}_HEADERS
-contiifstream.h
-debug.h
-
-dynamic-graph-api.h
-
-entity.h
-factory.h
-interpreter.h
-interpreter-helper.h
-plugin-loader.h
-pool.h
-import.h
-
-exception-abstract.h
-exception-factory.h
-exception-signal.h
-exception-traces.h
-
-functions.h
-shell-procedure.h
-
-signal.h
-signal-array.h
-signal-base.h
-signal-ptr.h
-signal-time-dependent.h
-signal-ptr.t.cpp
-signal.t.cpp
-time-dependency.h
-time-dependency.t.cpp
-signal-caster.h
-all-signals.h
-
-tracer.h
-tracer-real-time.h
-)
-
-# Recreate correct path for the headers
-#--------------------------------------
-
-SET(fullpath_${PROJECT_NAME}_HEADERS)
-FOREACH(lHeader ${${PROJECT_NAME}_HEADERS})
- SET(fullpath_${PROJECT_NAME}_HEADERS
-   ${fullpath_${PROJECT_NAME}_HEADERS}
-   ./${PROJECT_NAME}/${lHeader}
- )
-
-ENDFOREACH(lHeader)
-
-#----------------------------------------------------
-# Install procedure for the header files
-#----------------------------------------------------
-INSTALL(FILES ${fullpath_${PROJECT_NAME}_HEADERS}
-       DESTINATION include/${PROJECT_NAME}
-       PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
-)
--- a/include/dynamic-graph/all-commands.h
+++ b/include/dynamic-graph/all-commands.h
+// -*- mode: c++ -*-
+// Copyright 2010, François Bleibel, Olivier Stasse, JRL, CNRS/AIST
+//                 Thomas Moulard, Nicolas Mansard  LAAS-CNRS
+//
+
+#ifndef DYNAMIC_GRAPH_ALL_COMMANDS_H
+#define DYNAMIC_GRAPH_ALL_COMMANDS_H
+
+// Utility header files including all commands headers
+
+#include <dynamic-graph/command-bind.h>
+#include <dynamic-graph/command-direct-getter.h>
+#include <dynamic-graph/command-direct-setter.h>
+#include <dynamic-graph/command-getter.h>
+#include <dynamic-graph/command-setter.h>
+#include <dynamic-graph/command.h>
+
+#endif  //! DYNAMIC_GRAPH_ALL_COMMANDS_H
--- a/include/dynamic-graph/all-signals.h
+++ b/include/dynamic-graph/all-signals.h
-/*
- * Copyright 2010,
- * François Bleibel,
- * Olivier Stasse,
- *
- * 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/>.
- */
+// -*- mode: c++ -*-
+// Copyright 2010, François Bleibel, Thomas Moulard, Olivier Stasse,
+// JRL, CNRS/AIST.
+//

-#ifndef ALLSIGNALS_H_
-#define ALLSIGNALS_H_
+#ifndef DYNAMIC_GRAPH_ALL_SIGNALS_H
+#define DYNAMIC_GRAPH_ALL_SIGNALS_H

-/// Utility header files including all signal headers
+// Utility header files including all signal headers

-#include <dynamic-graph/signal.h>
 #include <dynamic-graph/signal-ptr.h>
 #include <dynamic-graph/signal-time-dependent.h>
+#include <dynamic-graph/signal.h>

-#endif /* ALLSIGNALS_H_ */
+#endif  //! DYNAMIC_GRAPH_ALL_SIGNALS_H
--- a/include/dynamic-graph/command-bind.h
+++ b/include/dynamic-graph/command-bind.h
--- a/include/dynamic-graph/command-direct-getter.h
+++ b/include/dynamic-graph/command-direct-getter.h
--- a/include/dynamic-graph/command-direct-setter.h
+++ b/include/dynamic-graph/command-direct-setter.h
--- a/include/dynamic-graph/command-getter.h
+++ b/include/dynamic-graph/command-getter.h
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