Added code to sot-dynamic

AUTHORS

+Authors: Nicolas Mansard, Olivier Stasse, François Keith, François Bleibel 
\ No newline at end of file

COPYING

+#
+# Copyright (c) 
+#
+# Permission to use, copy, modify, and distribute this software for any
+# purpose with or without fee is hereby granted, provided that the above
+# copyright notice and this permission notice appear in all copies.
+#
+# THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+# WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+# MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+# ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+# WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+# ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+# OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+

ChangeLog

+Write in this file the modifications you commit.

INSTALL

+#
+#  Copyright
+#
+
+Installation instructions for library sot-dynamic
+----------------------------------------------
+
+It is recommended to create a specific directory to install this package.
+mkdir build
+cd build
+cmake [Options] ..
+make 
+make install
+
+Options:
+
+-DCMAKE_INSTALL_PREFIX=...
+  specifies the directory where to install the package.
+
+-DCMAKE_BUILD_TYPE=[none|debug|release|relwithdebinfo|MinSizeRel]
+  specifies to type of compilation (release, debug, ...)

NEWS

+Write in this file the news related to package sot-dynamic.

README

+See INSTALL for installation instruction.

doc/CMakeFiles/CMakeDirectoryInformation.cmake

+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 2.8
+
+# Relative path conversion top directories.
+SET(CMAKE_RELATIVE_PATH_TOP_SOURCE "/home/blue/sot-devel/sot-dynamic")
+SET(CMAKE_RELATIVE_PATH_TOP_BINARY "/home/blue/sot-devel/sot-dynamic")
+
+# Force unix paths in dependencies.
+SET(CMAKE_FORCE_UNIX_PATHS 1)
+
+# The C and CXX include file search paths:
+SET(CMAKE_C_INCLUDE_PATH
+  )
+SET(CMAKE_CXX_INCLUDE_PATH ${CMAKE_C_INCLUDE_PATH})
+SET(CMAKE_Fortran_INCLUDE_PATH ${CMAKE_C_INCLUDE_PATH})
+
+# The C and CXX include file regular expressions for this directory.
+SET(CMAKE_C_INCLUDE_REGEX_SCAN "^.*$")
+SET(CMAKE_C_INCLUDE_REGEX_COMPLAIN "^$")
+SET(CMAKE_CXX_INCLUDE_REGEX_SCAN ${CMAKE_C_INCLUDE_REGEX_SCAN})
+SET(CMAKE_CXX_INCLUDE_REGEX_COMPLAIN ${CMAKE_C_INCLUDE_REGEX_COMPLAIN})

doc/CMakeFiles/documentation.dir/DependInfo.cmake

+# The set of languages for which implicit dependencies are needed:
+SET(CMAKE_DEPENDS_LANGUAGES
+  )
+# The set of files for implicit dependencies of each language:
+
+# Targets to which this target links.
+SET(CMAKE_TARGET_LINKED_INFO_FILES
+  )

doc/CMakeFiles/documentation.dir/build.make

+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 2.8
+
+#=============================================================================
+# Special targets provided by cmake.
+
+# Disable implicit rules so canoncical targets will work.
+.SUFFIXES:
+
+# Remove some rules from gmake that .SUFFIXES does not remove.
+SUFFIXES =
+
+.SUFFIXES: .hpux_make_needs_suffix_list
+
+# Produce verbose output by default.
+VERBOSE = 1
+
+# Suppress display of executed commands.
+$(VERBOSE).SILENT:
+
+# A target that is always out of date.
+cmake_force:
+.PHONY : cmake_force
+
+#=============================================================================
+# Set environment variables for the build.
+
+# The shell in which to execute make rules.
+SHELL = /bin/sh
+
+# The CMake executable.
+CMAKE_COMMAND = /usr/bin/cmake
+
+# The command to remove a file.
+RM = /usr/bin/cmake -E remove -f
+
+# The program to use to edit the cache.
+CMAKE_EDIT_COMMAND = /usr/bin/ccmake
+
+# The top-level source directory on which CMake was run.
+CMAKE_SOURCE_DIR = /home/blue/sot-devel/sot-dynamic
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /home/blue/sot-devel/sot-dynamic
+
+# Utility rule file for documentation.
+
+doc/CMakeFiles/documentation: doc/html/index.html
+
+doc/html/index.html:
+	$(CMAKE_COMMAND) -E cmake_progress_report /home/blue/sot-devel/sot-dynamic/CMakeFiles $(CMAKE_PROGRESS_1)
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --blue --bold "Generating html/index.html"
+	cd /home/blue/sot-devel/sot-dynamic/doc && /usr/bin/doxygen "/home/blue/sot-devel/sot-dynamic/doc/package.dox"
+
+documentation: doc/CMakeFiles/documentation
+documentation: doc/html/index.html
+documentation: doc/CMakeFiles/documentation.dir/build.make
+.PHONY : documentation
+
+# Rule to build all files generated by this target.
+doc/CMakeFiles/documentation.dir/build: documentation
+.PHONY : doc/CMakeFiles/documentation.dir/build
+
+doc/CMakeFiles/documentation.dir/clean:
+	cd /home/blue/sot-devel/sot-dynamic/doc && $(CMAKE_COMMAND) -P CMakeFiles/documentation.dir/cmake_clean.cmake
+.PHONY : doc/CMakeFiles/documentation.dir/clean
+
+doc/CMakeFiles/documentation.dir/depend:
+	cd /home/blue/sot-devel/sot-dynamic && $(CMAKE_COMMAND) -E cmake_depends "Unix Makefiles" /home/blue/sot-devel/sot-dynamic /home/blue/sot-devel/sot-dynamic/doc /home/blue/sot-devel/sot-dynamic /home/blue/sot-devel/sot-dynamic/doc /home/blue/sot-devel/sot-dynamic/doc/CMakeFiles/documentation.dir/DependInfo.cmake --color=$(COLOR)
+.PHONY : doc/CMakeFiles/documentation.dir/depend
+

doc/CMakeFiles/documentation.dir/cmake_clean.cmake

+FILE(REMOVE_RECURSE
+  "CMakeFiles/documentation"
+  "html/index.html"
+)
+
+# Per-language clean rules from dependency scanning.
+FOREACH(lang)
+  INCLUDE(CMakeFiles/documentation.dir/cmake_clean_${lang}.cmake OPTIONAL)
+ENDFOREACH(lang)

doc/CMakeFiles/documentation.dir/progress.make

+CMAKE_PROGRESS_1 = 2
+

doc/CMakeFiles/progress.marks

+1

doc/CMakeLists.txt

+# 
+#  Copyright 
+# 
+
+# Configure package.dox file
+CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/package.dox.cmake
+  ${CMAKE_CURRENT_BINARY_DIR}/package.dox
+)
+
+
+ADD_CUSTOM_COMMAND(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/html/index.html
+  COMMAND ${DOXYGEN_EXECUTABLE} \"${CMAKE_CURRENT_BINARY_DIR}/package.dox\"
+)
+
+ADD_CUSTOM_TARGET(documentation ALL
+  DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/html/index.html)
+
+#
+# Install html documentation
+#
+
+# html files
+INSTALL(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/html
+  DESTINATION ${CMAKE_INSTALL_PREFIX}/share/doc/${PROJECT_NAME})
+
+# doxytag
+INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.doxytag
+  DESTINATION ${CMAKE_INSTALL_PREFIX}/share/doc/${PROJECT_NAME}/html)
+
+# pictures
+INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/pictures
+  DESTINATION ${CMAKE_INSTALL_PREFIX}/share/doc/${PROJECT_NAME}/html)

doc/Makefile

+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 2.8
+
+# Default target executed when no arguments are given to make.
+default_target: all
+.PHONY : default_target
+
+#=============================================================================
+# Special targets provided by cmake.
+
+# Disable implicit rules so canoncical targets will work.
+.SUFFIXES:
+
+# Remove some rules from gmake that .SUFFIXES does not remove.
+SUFFIXES =
+
+.SUFFIXES: .hpux_make_needs_suffix_list
+
+# Produce verbose output by default.
+VERBOSE = 1
+
+# Suppress display of executed commands.
+$(VERBOSE).SILENT:
+
+# A target that is always out of date.
+cmake_force:
+.PHONY : cmake_force
+
+#=============================================================================
+# Set environment variables for the build.
+
+# The shell in which to execute make rules.
+SHELL = /bin/sh
+
+# The CMake executable.
+CMAKE_COMMAND = /usr/bin/cmake
+
+# The command to remove a file.
+RM = /usr/bin/cmake -E remove -f
+
+# The program to use to edit the cache.
+CMAKE_EDIT_COMMAND = /usr/bin/ccmake
+
+# The top-level source directory on which CMake was run.
+CMAKE_SOURCE_DIR = /home/blue/sot-devel/sot-dynamic
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /home/blue/sot-devel/sot-dynamic
+
+#=============================================================================
+# Targets provided globally by CMake.
+
+# Special rule for the target edit_cache
+edit_cache:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake cache editor..."
+	/usr/bin/ccmake -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR)
+.PHONY : edit_cache
+
+# Special rule for the target edit_cache
+edit_cache/fast: edit_cache
+.PHONY : edit_cache/fast
+
+# Special rule for the target install
+install: preinstall
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..."
+	/usr/bin/cmake -P cmake_install.cmake
+.PHONY : install
+
+# Special rule for the target install
+install/fast: preinstall/fast
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..."
+	/usr/bin/cmake -P cmake_install.cmake
+.PHONY : install/fast
+
+# Special rule for the target install/local
+install/local: preinstall
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..."
+	/usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake
+.PHONY : install/local
+
+# Special rule for the target install/local
+install/local/fast: install/local
+.PHONY : install/local/fast
+
+# Special rule for the target install/strip
+install/strip: preinstall
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..."
+	/usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake
+.PHONY : install/strip
+
+# Special rule for the target install/strip
+install/strip/fast: install/strip
+.PHONY : install/strip/fast
+
+# Special rule for the target list_install_components
+list_install_components:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Available install components are: \"Unspecified\""
+.PHONY : list_install_components
+
+# Special rule for the target list_install_components
+list_install_components/fast: list_install_components
+.PHONY : list_install_components/fast
+
+# Special rule for the target rebuild_cache
+rebuild_cache:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake to regenerate build system..."
+	/usr/bin/cmake -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR)
+.PHONY : rebuild_cache
+
+# Special rule for the target rebuild_cache
+rebuild_cache/fast: rebuild_cache
+.PHONY : rebuild_cache/fast
+
+# The main all target
+all: cmake_check_build_system
+	cd /home/blue/sot-devel/sot-dynamic && $(CMAKE_COMMAND) -E cmake_progress_start /home/blue/sot-devel/sot-dynamic/CMakeFiles /home/blue/sot-devel/sot-dynamic/doc/CMakeFiles/progress.marks
+	cd /home/blue/sot-devel/sot-dynamic && $(MAKE) -f CMakeFiles/Makefile2 doc/all
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/blue/sot-devel/sot-dynamic/CMakeFiles 0
+.PHONY : all
+
+# The main clean target
+clean:
+	cd /home/blue/sot-devel/sot-dynamic && $(MAKE) -f CMakeFiles/Makefile2 doc/clean
+.PHONY : clean
+
+# The main clean target
+clean/fast: clean
+.PHONY : clean/fast
+
+# Prepare targets for installation.
+preinstall: all
+	cd /home/blue/sot-devel/sot-dynamic && $(MAKE) -f CMakeFiles/Makefile2 doc/preinstall
+.PHONY : preinstall
+
+# Prepare targets for installation.
+preinstall/fast:
+	cd /home/blue/sot-devel/sot-dynamic && $(MAKE) -f CMakeFiles/Makefile2 doc/preinstall
+.PHONY : preinstall/fast
+
+# clear depends
+depend:
+	cd /home/blue/sot-devel/sot-dynamic && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1
+.PHONY : depend
+
+# Convenience name for target.
+doc/CMakeFiles/documentation.dir/rule:
+	cd /home/blue/sot-devel/sot-dynamic && $(MAKE) -f CMakeFiles/Makefile2 doc/CMakeFiles/documentation.dir/rule
+.PHONY : doc/CMakeFiles/documentation.dir/rule
+
+# Convenience name for target.
+documentation: doc/CMakeFiles/documentation.dir/rule
+.PHONY : documentation
+
+# fast build rule for target.
+documentation/fast:
+	cd /home/blue/sot-devel/sot-dynamic && $(MAKE) -f doc/CMakeFiles/documentation.dir/build.make doc/CMakeFiles/documentation.dir/build
+.PHONY : documentation/fast
+
+# Help Target
+help:
+	@echo "The following are some of the valid targets for this Makefile:"
+	@echo "... all (the default if no target is provided)"
+	@echo "... clean"
+	@echo "... depend"
+	@echo "... documentation"
+	@echo "... edit_cache"
+	@echo "... install"
+	@echo "... install/local"
+	@echo "... install/strip"
+	@echo "... list_install_components"
+	@echo "... rebuild_cache"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+	cd /home/blue/sot-devel/sot-dynamic && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+

doc/additionalDoc/package.hh

+/**
+\mainpage
+
+\section intro_sot-dynamic Introduction
+
+This package implements ...
+
+*/

doc/cmake_install.cmake

+# Install script for directory: /home/blue/sot-devel/sot-dynamic/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 "${BUILD_TYPE}")
+  ELSE(BUILD_TYPE)
+    SET(CMAKE_INSTALL_CONFIG_NAME "DEBUG")
+  ENDIF(BUILD_TYPE)
+  MESSAGE(STATUS "Install configuration: \"${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 "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  FILE(INSTALL DESTINATION "/home/blue/sot-lib/share/doc/sot-dynamic" TYPE DIRECTORY FILES "/home/blue/sot-devel/sot-dynamic/doc/html")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  FILE(INSTALL DESTINATION "/home/blue/sot-lib/share/doc/sot-dynamic/html" TYPE FILE FILES "/home/blue/sot-devel/sot-dynamic/doc/sot-dynamic.doxytag")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+  FILE(INSTALL DESTINATION "/home/blue/sot-lib/share/doc/sot-dynamic/html" TYPE DIRECTORY FILES "/home/blue/sot-devel/sot-dynamic/doc/pictures")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+

doc/footer.html

+ <br><br>
+ <hr>
+ <center>
+ <img src="./pictures/footer.jpg" Height=100>
+ <br>sot-dynamic library documentation</br>
+ </center>
+ <hr>
+ </center>
+ </body>
+ </head>
+

doc/header.html

+<HTML>
+    <HEAD>
+      <TITLE>sot-dynamic library documentation</TITLE>
+      <LINK HREF="package.css" REL="stylesheet" TYPE="text/css">
+    </HEAD>
+    <BODY>
+

doc/package.css

+body {
+    font-family: 'Lucida Grande','Lucida Sans Unicode',Verdana,Sans-Serif;
+    color: #5D5D5D;
+}
+
+dl {
+    border: 1.5px #82b6d7 solid;
+    width: 97%;
+    padding: 5px;
+    color: #330077;
+}
+
+code {
+    color: #3C9A35;
+}
+
+td.md {
+    color: #0066CC;
+}
+
+h1 {
+    padding-top: 50px;
+    padding: 0px;
+    font-family: 'Lucida Grande','Lucida Sans Unicode',Verdana,Sans-Serif;
+    font-variant: small-caps;
+    color:#0066CC;
+    text-align: center;
+}
+
+h2,h3,hr {
+    magin-top: 15px;
+    padding: 0px;
+    font-family: 'Lucida Grande','Lucida Sans Unicode',Verdana,Sans-Serif;
+    font-variant: small-caps;
+    color:#0066CC;
+}
+
+h4 {
+    color: #3C9A35;
+}
+
+a:link {
+    font-weight: bold;
+    text-decoration: none;
+    color:#0066CC
+}
+
+a:hover, a:active { 
+	text-decoration: underline; 
+	color: #3C9A35;
+}
+
+a:visited {
+    font-weight: bold;
+    color: #3C9A35;
+    text-decoration: none;
+}
+
+DIV.memitem
+{ 
+  spacing: 10px;
+  width:100%;
+  background:#FFFFFF;
+  font-size:100%;
+  line-height:normal;
+  border-width: 1px;
+  border-style: solid;
+  border-color: #808080;
+  -moz-border-radius: 8px 8px 8px 8px;
+}
+
+DIV.memproto
+{ 
+  width:100%;
+  background:#F0F0F0;
+  font-size:100%;
+  line-height:normal;
+  border-width: 1px;
+  border-style: solid;
+  border-color: #808080;
+  -moz-border-radius: 8px 8px 8px 8px;
+}
+
+DIV.memdoc
+{ 
+  padding: 10px;
+  width:100%;
+  font-size:100%;
+  line-height:normal;
+}
+
+DIV.tabs
+{
+   float            : left;
+   width            : 100%;
+   background       : url("tab_b.gif") repeat-x bottom;
+   margin-bottom    : 4px;
+}
+
+DIV.tabs UL
+{
+   margin           : 0px;
+   padding-left     : 10px;
+   list-style       : none;
+}
+
+DIV.tabs LI, DIV.tabs FORM
+{
+   display          : inline;
+   margin           : 0px;
+   padding          : 0px;
+}
+
+DIV.tabs FORM
+{
+   float            : right;
+}
+
+DIV.tabs A
+{
+   float            : left;
+   background       : url("tab_r.gif") no-repeat right top;
+   border-bottom    : 1px solid #84B0C7;
+   font-size        : x-small;
+   font-weight      : bold;
+   text-decoration  : none;
+}
+
+DIV.tabs A:hover
+{
+   background-position: 100% -150px;
+}
+
+DIV.tabs A:link, DIV.tabs A:visited,
+DIV.tabs A:active, DIV.tabs A:hover
+{
+       color: #1A419D;
+}
+
+DIV.tabs SPAN
+{
+   float            : left;
+   display          : block;
+   background       : url("tab_l.gif") no-repeat left top;
+   padding          : 5px 9px;
+   white-space      : nowrap;
+}
+
+DIV.tabs INPUT
+{
+   float            : right;
+   display          : inline;
+   font-size        : 1em;
+}
+
+DIV.tabs TD
+{
+   font-size        : x-small;
+   font-weight      : bold;
+   text-decoration  : none;
+}
+
+
+
+DIV.tabs SPAN {float : none;}
+
+DIV.tabs A:hover SPAN
+{
+   background-position: 0% -150px;
+}
+
+DIV.tabs LI#current A
+{
+   background-position: 100% -150px;
+   border-width     : 0px;
+}
+
+DIV.tabs LI#current SPAN
+{
+   background-position: 0% -150px;
+   padding-bottom   : 6px;
+}
+
+DIV.nav
+{
+   background       : none;
+   border           : none;
+   border-bottom    : 1px solid #84B0C7;
+}
+
+DIV.groupHeader
+{ 
+  padding-top: 30px;
+  padding-bottom: 20px;
+  background       : none;
+  border           : none;
+  border-bottom    : 1px solid #84B0C7;
+  font-family: 'Lucida Grande','Lucida Sans Unicode',Verdana,Sans-Serif;
+  font-variant: small-caps;
+  font-size: 14pt;
+  color:#0066CC;
+}
+
+.directory p 
+{ 
+    margin: 0px; 
+    white-space: nowrap; 
+    font-family: 'Lucida Grande','Lucida Sans Unicode',Verdana,Sans-Serif;
+    font-size: 10pt;
+    font-weight: normal;
+}
+
+
+.directory h3 
+{ 
+    font-family: 'Lucida Grande','Lucida Sans Unicode',Verdana,Sans-Serif;
+    margin: 0px; 
+    margin-top: 1em; 
+    padding-bottom: 20px;
+    font-size: 12pt; 
+    font-variant: small-caps;
+    text-align: center;
+}
+
+.directory a:visited {
+    font-weight: bold;
+    text-decoration: none;
+    color:#0066CC
+}
+

doc/package.dox

+# Doxyfile 1.4.2
+
+
+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+OUTPUT_DIRECTORY       = .
+CREATE_SUBDIRS         = NO
+OUTPUT_LANGUAGE        = English
+BRIEF_MEMBER_DESC      = YES
+REPEAT_BRIEF           = YES
+ABBREVIATE_BRIEF       = "The $name class" \
+                         "The $name widget" \
+                         "The $name file" \
+                         is \
+                         provides \
+                         specifies \
+                         contains \
+                         represents \
+                         a \
+                         an \
+                         the
+ALWAYS_DETAILED_SEC    = YES
+INLINE_INHERITED_MEMB  = NO
+FULL_PATH_NAMES        = NO
+STRIP_FROM_PATH        = 
+STRIP_FROM_INC_PATH    = 
+SHORT_NAMES            = NO
+JAVADOC_AUTOBRIEF      = YES
+MULTILINE_CPP_IS_BRIEF = NO
+DETAILS_AT_TOP         = YES
+INHERIT_DOCS           = YES
+DISTRIBUTE_GROUP_DOC   = NO
+SEPARATE_MEMBER_PAGES  = NO
+TAB_SIZE               = 2
+OPTIMIZE_OUTPUT_FOR_C  = NO
+OPTIMIZE_OUTPUT_JAVA   = NO
+SUBGROUPING            = YES
+
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+EXTRACT_LOCAL_CLASSES  = YES
+EXTRACT_LOCAL_METHODS  = NO
+CASE_SENSE_NAMES       = NO
+HIDE_SCOPE_NAMES       = NO
+SHOW_INCLUDE_FILES     = NO
+INLINE_INFO            = YES
+SORT_MEMBER_DOCS       = YES
+SORT_BRIEF_DOCS        = NO
+SORT_BY_SCOPE_NAME     = NO
+MAX_INITIALIZER_LINES  = 30
+FILE_VERSION_FILTER    = 
+#---------------------------------------------------------------------------
+# configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+QUIET                  = NO
+WARNINGS               = YES
+WARN_IF_UNDOCUMENTED   = YES
+WARN_IF_DOC_ERROR      = YES
+WARN_NO_PARAMDOC       = NO
+WARN_FORMAT            = "$file:$line: $text"
+WARN_LOGFILE           = 
+#---------------------------------------------------------------------------
+# configuration options related to the input files
+#---------------------------------------------------------------------------
+RECURSIVE              = YES
+EXCLUDE                = 
+EXCLUDE_SYMLINKS       = NO
+EXAMPLE_PATH           = 
+EXAMPLE_PATTERNS       = *
+EXAMPLE_RECURSIVE      = NO
+INPUT_FILTER           = 
+FILTER_PATTERNS        = 
+FILTER_SOURCE_FILES    = NO
+#---------------------------------------------------------------------------
+# configuration options related to source browsing
+#---------------------------------------------------------------------------
+#---------------------------------------------------------------------------
+# configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+ALPHABETICAL_INDEX     = NO
+COLS_IN_ALPHA_INDEX    = 5
+IGNORE_PREFIX          = 
+#---------------------------------------------------------------------------
+# configuration options related to the HTML output
+#---------------------------------------------------------------------------
+GENERATE_HTML          = YES
+HTML_FILE_EXTENSION    = .html
+HTML_ALIGN_MEMBERS     = YES
+GENERATE_HTMLHELP      = NO
+CHM_FILE               = 
+HHC_LOCATION           = 
+GENERATE_CHI           = NO
+BINARY_TOC             = NO
+TOC_EXPAND             = YES
+DISABLE_INDEX          = NO
+ENUM_VALUES_PER_LINE   = 1
+GENERATE_TREEVIEW      = YES
+TREEVIEW_WIDTH         = 250
+#---------------------------------------------------------------------------
+# configuration options related to the LaTeX output
+#---------------------------------------------------------------------------
+LATEX_OUTPUT           = latex
+LATEX_CMD_NAME         = latex
+MAKEINDEX_CMD_NAME     = makeindex
+COMPACT_LATEX          = NO
+PAPER_TYPE             = a4wide
+EXTRA_PACKAGES         = 
+LATEX_HEADER           = 
+PDF_HYPERLINKS         = NO
+USE_PDFLATEX           = NO
+LATEX_BATCHMODE        = NO
+LATEX_HIDE_INDICES     = NO
+#---------------------------------------------------------------------------
+# configuration options related to the RTF output
+#---------------------------------------------------------------------------
+RTF_OUTPUT             = rtf
+COMPACT_RTF            = NO
+RTF_HYPERLINKS         = NO
+RTF_STYLESHEET_FILE    = 
+RTF_EXTENSIONS_FILE    = 
+#---------------------------------------------------------------------------
+# configuration options related to the man page output
+#---------------------------------------------------------------------------
+MAN_OUTPUT             = man
+MAN_EXTENSION          = .3
+MAN_LINKS              = NO
+#---------------------------------------------------------------------------
+# configuration options related to the XML output
+#---------------------------------------------------------------------------
+XML_OUTPUT             = xml
+XML_SCHEMA             = 
+XML_DTD                = 
+XML_PROGRAMLISTING     = YES
+#---------------------------------------------------------------------------
+# configuration options for the AutoGen Definitions output
+#---------------------------------------------------------------------------
+GENERATE_AUTOGEN_DEF   = NO
+#---------------------------------------------------------------------------
+# configuration options related to the Perl module output
+#---------------------------------------------------------------------------
+PERLMOD_LATEX          = NO
+PERLMOD_PRETTY         = YES
+PERLMOD_MAKEVAR_PREFIX = 
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor   
+#---------------------------------------------------------------------------
+ENABLE_PREPROCESSING   = YES
+MACRO_EXPANSION        = YES
+EXPAND_ONLY_PREDEF     = YES
+SEARCH_INCLUDES        = YES
+INCLUDE_PATH           = 
+INCLUDE_FILE_PATTERNS  = 
+EXPAND_AS_DEFINED      = 
+SKIP_FUNCTION_MACROS   = YES
+#---------------------------------------------------------------------------
+# Configuration::additions related to external references   
+#---------------------------------------------------------------------------
+TAGFILES               = \
+	/home/blue/sot-lib/share/doc/dynamicsJRLJapan/html/dynamicsJRLJapan.doxytag=/home/blue/sot-lib/share/doc/dynamicsJRLJapan/html \
+	/home/blue/sot-lib/share/doc/hrp2Dynamics/html/hrp2Dynamics.doxytag=/home/blue/sot-lib/share/doc/hrp2Dynamics/html \
+	/home/blue/sot-lib/share/doc/dynamic-graph/html/dynamic-graph.doxytag=/home/blue/sot-lib/share/doc/dynamic-graph/html \
+	/home/blue/sot-lib/share/doc/sot-core/html/sot-core.doxytag=/home/blue/sot-lib/share/doc/sot-core/html \
+	/home/blue/sot-lib/share/doc/MatrixAbstractLayer/html/MatrixAbstractLayer.doxytag=/home/blue/sot-lib/share/doc/MatrixAbstractLayer/html
+GENERATE_TAGFILE       = sot-dynamic.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           = NO
+
+
+
+
+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+PROJECT_NAME           = "sot-dynamic library documentation"
+PROJECT_NUMBER         = 1.0
+
+#---------------------------------------------------------------------------
+# 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          = *.hh *.idl
+EXCLUDE_PATTERNS       = 
+INPUT                  = /home/blue/sot-devel/sot-dynamic/include \
+                         /home/blue/sot-devel/sot-dynamic/doc/additionalDoc
+
+#---------------------------------------------------------------------------
+# configuration options related to inserting images
+#---------------------------------------------------------------------------
+IMAGE_PATH = /home/blue/sot-devel/sot-dynamic/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/sot-dynamic/doc/package.css
+HTML_HEADER            = /home/blue/sot-devel/sot-dynamic/doc/header.html
+HTML_FOOTER            = /home/blue/sot-devel/sot-dynamic/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