dynamic.h

/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 * Copyright Projet JRL-Japan, 2007
 *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * File:      Dynamic.h
 * Project:   SOT
 * Author:    Nicolas Mansard
 *
 * Version control
 * ===============
 *
 *  $Id$
 *
 * Description
 * ============
 *
 *
 * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/



#ifndef __SOT_DYNAMIC_H__
#define __SOT_DYNAMIC_H__

/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */

/* Matrix */
#include <MatrixAbstractLayer/boost.h>
#include "MatrixAbstractLayer/MatrixAbstractLayer.h"
namespace ml = maal::boost;

/* JRL dynamic */
#include <robotDynamics/jrlHumanoidDynamicRobot.h>
#include <dynamicsJRLJapan/dynamicsJRLJapanFactory.h>
namespace djj = dynamicsJRLJapan;

/* SOT */
#include <sot-core/flags.h>
#include <dynamic-graph/entity.h>
#include <dynamic-graph/pool.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
#include <sot-core/exception-dynamic.h>
#include <sot-core/matrix-homogeneous.h>

/* STD */
#include <string>

/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */

#if defined (WIN32) 
#  if defined (dynamic_EXPORTS)
#    define SOTDYNAMIC_EXPORT __declspec(dllexport)
#  else  
#    define SOTDYNAMIC_EXPORT __declspec(dllimport)
#  endif 
#else
#  define SOTDYNAMIC_EXPORT
#endif


namespace sot {
namespace dg = dynamicgraph;

/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */