Create a sot_loader library to simplifies the embedding on a new robot.

CMakeLists.txt

@@ -36,6 +36,7 @@ set(CUSTOM_HEADER_DIR dynamic_graph_bridge)
 set(${PROJECT_NAME}_HEADERS
   include/dynamic_graph_bridge/ros_init.hh
   include/dynamic_graph_bridge/ros_interpreter.hh
+  include/dynamic_graph_bridge/sot_loader.hh
   )
 include(cmake/base.cmake)
 include(cmake/ros.cmake)
@@ -153,6 +154,14 @@ add_executable(geometric_simu src/geometric_simu.cpp src/sot_loader.cpp)
 pkg_config_use_dependency(geometric_simu roscpp)
 target_link_libraries(geometric_simu  ros_bridge ${Boost_LIBRARIES} dl)
 
+# Sot loader library
+add_library(sot_loader src/sot_loader.cpp)
+pkg_config_use_dependency(sot_loader dynamic-graph)
+pkg_config_use_dependency(sot_loader sot-core)
+target_link_libraries(sot_loader ${Boost_LIBRARIES})
+install(TARGETS sot_loader DESTINATION lib)
+
+
 add_subdirectory(src)
 
 # Deal with the ROS part.

src/geometric_simu.cpp

@@ -20,7 +20,7 @@
 #include <boost/thread/thread.hpp>
 #include <boost/thread/condition.hpp>
 
-#include "sot_loader.hh"
+#include <dynamic_graph_bridge/sot_loader.hh>
 
 boost::condition_variable cond;
 boost::mutex mut;

src/sot_loader.cpp

@@ -20,7 +20,7 @@
 /* --- INCLUDES ------------------------------------------------------------- */
 /* -------------------------------------------------------------------------- */
 
-#include "sot_loader.hh"
+#include <dynamic_graph_bridge/sot_loader.hh>
 
 // POSIX.1-2001
 #include <dlfcn.h>