From 68a14338418d0733ccd82ee857cc5a28970d317b Mon Sep 17 00:00:00 2001 From: Thomas Moulard <thomas.moulard@gmail.com> Date: Thu, 30 Sep 2010 11:36:06 +0200 Subject: [PATCH] Add license header. --- doc/additionalDoc/package.hh | 20 +++++++++++ include/sot-dynamic/angle-estimator.h | 35 +++++++++---------- include/sot-dynamic/dynamic-hrp2.h | 35 +++++++++---------- include/sot-dynamic/dynamic-hrp2_10.h | 30 +++++++++------- include/sot-dynamic/dynamic-hrp2_10_old.h | 30 +++++++++------- include/sot-dynamic/dynamic.h | 35 +++++++++---------- include/sot-dynamic/force-compensation.h | 35 +++++++++---------- include/sot-dynamic/integrator-force-exact.h | 35 +++++++++---------- include/sot-dynamic/integrator-force-rk4.h | 35 +++++++++---------- include/sot-dynamic/integrator-force.h | 35 +++++++++---------- include/sot-dynamic/mass-apparent.h | 35 +++++++++---------- include/sot-dynamic/matrix-inertia.h | 20 +++++++++++ .../sot-dynamic/waist-attitude-from-sensor.h | 35 +++++++++---------- include/sot-dynamic/zmpreffromcom.h | 35 +++++++++---------- src/angle-estimator.cpp | 33 ++++++++--------- src/dynamic-hrp2.cpp | 34 +++++++++--------- src/dynamic-hrp2_10.cpp | 27 ++++++++------ src/dynamic-hrp2_10_old.cpp | 27 ++++++++------ src/dynamic.cpp | 32 +++++++++-------- src/force-compensation.cpp | 33 ++++++++--------- src/integrator-force-exact.cpp | 33 ++++++++--------- src/integrator-force-rk4.cpp | 33 ++++++++--------- src/integrator-force.cpp | 33 ++++++++--------- src/mass-apparent.cpp | 33 ++++++++--------- src/matrix-inertia.cpp | 20 +++++++++++ src/waist-attitude-from-sensor.cpp | 33 ++++++++--------- src/zmpreffromcom.cpp | 33 ++++++++--------- unitTesting/dummy.cpp | 18 +++++++++- unitTesting/test_djj.cpp | 20 +++++++++++ unitTesting/test_dyn.cpp | 33 ++++++++--------- unitTesting/test_results.cpp | 20 +++++++++++ 31 files changed, 544 insertions(+), 401 deletions(-) diff --git a/doc/additionalDoc/package.hh b/doc/additionalDoc/package.hh index 0be58c2..6f2b1eb 100644 --- a/doc/additionalDoc/package.hh +++ b/doc/additionalDoc/package.hh @@ -1,3 +1,23 @@ +/* + * Copyright 2010, + * François Bleibel, + * Olivier Stasse, + * + * CNRS/AIST + * + * This file is part of sot-dynamic. + * sot-dynamic 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. + * sot-dynamic 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 sot-dynamic. If not, see <http://www.gnu.org/licenses/>. + */ + /** \mainpage \section sec_intro Introduction diff --git a/include/sot-dynamic/angle-estimator.h b/include/sot-dynamic/angle-estimator.h index f8e1f39..e25726a 100644 --- a/include/sot-dynamic/angle-estimator.h +++ b/include/sot-dynamic/angle-estimator.h @@ -1,23 +1,22 @@ -/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ - * Copyright Projet JRL-Japan, 2007 - *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ +/* + * Copyright 2010, + * François Bleibel, + * Olivier Stasse, * - * File: AngleEstimator.h - * Project: SOT - * Author: Nicolas Mansard + * CNRS/AIST * - * Version control - * =============== - * - * $Id$ - * - * Description - * ============ - * - * - * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/ - - + * This file is part of sot-dynamic. + * sot-dynamic 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. + * sot-dynamic 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 sot-dynamic. If not, see <http://www.gnu.org/licenses/>. + */ #ifndef __SOT_ANGLE_ESTIMATOR_H__ #define __SOT_ANGLE_ESTIMATOR_H__ diff --git a/include/sot-dynamic/dynamic-hrp2.h b/include/sot-dynamic/dynamic-hrp2.h index 4060204..900bd90 100644 --- a/include/sot-dynamic/dynamic-hrp2.h +++ b/include/sot-dynamic/dynamic-hrp2.h @@ -1,23 +1,22 @@ -/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ - * Copyright Projet JRL-Japan, 2007 - *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ +/* + * Copyright 2010, + * François Bleibel, + * Olivier Stasse, * - * File: Dynamic.h - * Project: SOT - * Author: Nicolas Mansard + * CNRS/AIST * - * Version control - * =============== - * - * $Id$ - * - * Description - * ============ - * - * - * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/ - - + * This file is part of sot-dynamic. + * sot-dynamic 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. + * sot-dynamic 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 sot-dynamic. If not, see <http://www.gnu.org/licenses/>. + */ #ifndef __SOT_DYNAMIC_HRP2_H__ #define __SOT_DYNAMIC_HRP2_H__ diff --git a/include/sot-dynamic/dynamic-hrp2_10.h b/include/sot-dynamic/dynamic-hrp2_10.h index a5cc4e2..67d9c30 100644 --- a/include/sot-dynamic/dynamic-hrp2_10.h +++ b/include/sot-dynamic/dynamic-hrp2_10.h @@ -1,18 +1,22 @@ -/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ - * Copyright JRL-Japan, 2010 - *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ +/* + * Copyright 2010, + * François Bleibel, + * Olivier Stasse, * - * File: DynamicHrp2_10.h - * Project: SOT - * Author: Olivier Stasse - * Nicolas Mansard + * CNRS/AIST * - * For license see the file License.txt - * - * - * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/ - - + * This file is part of sot-dynamic. + * sot-dynamic 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. + * sot-dynamic 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 sot-dynamic. If not, see <http://www.gnu.org/licenses/>. + */ #ifndef __SOT_DYNAMIC_HRP2_10_H__ #define __SOT_DYNAMIC_HRP2_10_H__ diff --git a/include/sot-dynamic/dynamic-hrp2_10_old.h b/include/sot-dynamic/dynamic-hrp2_10_old.h index 91480a4..8c431c4 100644 --- a/include/sot-dynamic/dynamic-hrp2_10_old.h +++ b/include/sot-dynamic/dynamic-hrp2_10_old.h @@ -1,18 +1,22 @@ -/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ - * Copyright JRL-Japan, 2010 - *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ +/* + * Copyright 2010, + * François Bleibel, + * Olivier Stasse, * - * File: DynamicHrp2_10_old.h - * Project: SOT - * Author: Olivier Stasse - * Nicolas Mansard + * CNRS/AIST * - * For license see the file License.txt - * - * - * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/ - - + * This file is part of sot-dynamic. + * sot-dynamic 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. + * sot-dynamic 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 sot-dynamic. If not, see <http://www.gnu.org/licenses/>. + */ #ifndef __SOT_DYNAMIC_HRP2_10_old_H__ #define __SOT_DYNAMIC_HRP2_10_old_H__ diff --git a/include/sot-dynamic/dynamic.h b/include/sot-dynamic/dynamic.h index ec89dbc..7e4ae2c 100644 --- a/include/sot-dynamic/dynamic.h +++ b/include/sot-dynamic/dynamic.h @@ -1,23 +1,22 @@ -/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ - * Copyright Projet JRL-Japan, 2007 - *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ +/* + * Copyright 2010, + * François Bleibel, + * Olivier Stasse, * - * File: Dynamic.h - * Project: SOT - * Author: Nicolas Mansard + * CNRS/AIST * - * Version control - * =============== - * - * $Id$ - * - * Description - * ============ - * - * - * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/ - - + * This file is part of sot-dynamic. + * sot-dynamic 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. + * sot-dynamic 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 sot-dynamic. If not, see <http://www.gnu.org/licenses/>. + */ #ifndef __SOT_DYNAMIC_H__ #define __SOT_DYNAMIC_H__ diff --git a/include/sot-dynamic/force-compensation.h b/include/sot-dynamic/force-compensation.h index d16390f..5520854 100644 --- a/include/sot-dynamic/force-compensation.h +++ b/include/sot-dynamic/force-compensation.h @@ -1,23 +1,22 @@ -/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ - * Copyright Projet JRL-Japan, 2007 - *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ +/* + * Copyright 2010, + * François Bleibel, + * Olivier Stasse, * - * File: ForceCompensation.h - * Project: SOT - * Author: Nicolas Mansard + * CNRS/AIST * - * Version control - * =============== - * - * $Id$ - * - * Description - * ============ - * - * - * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/ - - + * This file is part of sot-dynamic. + * sot-dynamic 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. + * sot-dynamic 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 sot-dynamic. If not, see <http://www.gnu.org/licenses/>. + */ #ifndef __SOT_SOTFORCECOMPENSATION_H__ #define __SOT_SOTFORCECOMPENSATION_H__ diff --git a/include/sot-dynamic/integrator-force-exact.h b/include/sot-dynamic/integrator-force-exact.h index 37e28a4..591ae24 100644 --- a/include/sot-dynamic/integrator-force-exact.h +++ b/include/sot-dynamic/integrator-force-exact.h @@ -1,23 +1,22 @@ -/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ - * Copyright Projet JRL-Japan, 2007 - *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ +/* + * Copyright 2010, + * François Bleibel, + * Olivier Stasse, * - * File: IntegratorForceExact.h - * Project: SOT - * Author: Nicolas Mansard + * CNRS/AIST * - * Version control - * =============== - * - * $Id$ - * - * Description - * ============ - * - * - * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/ - - + * This file is part of sot-dynamic. + * sot-dynamic 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. + * sot-dynamic 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 sot-dynamic. If not, see <http://www.gnu.org/licenses/>. + */ #ifndef __SOT_SOTINTEGRATORFORCEEXACT_H__ #define __SOT_SOTINTEGRATORFORCEEXACT_H__ diff --git a/include/sot-dynamic/integrator-force-rk4.h b/include/sot-dynamic/integrator-force-rk4.h index 5cdf365..397ef10 100644 --- a/include/sot-dynamic/integrator-force-rk4.h +++ b/include/sot-dynamic/integrator-force-rk4.h @@ -1,23 +1,22 @@ -/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ - * Copyright Projet JRL-Japan, 2007 - *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ +/* + * Copyright 2010, + * François Bleibel, + * Olivier Stasse, * - * File: IntegratorForceRK4.h - * Project: SOT - * Author: Nicolas Mansard + * CNRS/AIST * - * Version control - * =============== - * - * $Id$ - * - * Description - * ============ - * - * - * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/ - - + * This file is part of sot-dynamic. + * sot-dynamic 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. + * sot-dynamic 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 sot-dynamic. If not, see <http://www.gnu.org/licenses/>. + */ #ifndef __SOT_SOTINTEGRATORFORCERK4_H__ #define __SOT_SOTINTEGRATORFORCERK4_H__ diff --git a/include/sot-dynamic/integrator-force.h b/include/sot-dynamic/integrator-force.h index 91d00cb..6bc235b 100644 --- a/include/sot-dynamic/integrator-force.h +++ b/include/sot-dynamic/integrator-force.h @@ -1,23 +1,22 @@ -/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ - * Copyright Projet JRL-Japan, 2007 - *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ +/* + * Copyright 2010, + * François Bleibel, + * Olivier Stasse, * - * File: IntegratorForce.h - * Project: SOT - * Author: Nicolas Mansard + * CNRS/AIST * - * Version control - * =============== - * - * $Id$ - * - * Description - * ============ - * - * - * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/ - - + * This file is part of sot-dynamic. + * sot-dynamic 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. + * sot-dynamic 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 sot-dynamic. If not, see <http://www.gnu.org/licenses/>. + */ #ifndef __SOT_SOTINTEGRATORFORCE_H__ #define __SOT_SOTINTEGRATORFORCE_H__ diff --git a/include/sot-dynamic/mass-apparent.h b/include/sot-dynamic/mass-apparent.h index 5b9c4b7..522654c 100644 --- a/include/sot-dynamic/mass-apparent.h +++ b/include/sot-dynamic/mass-apparent.h @@ -1,23 +1,22 @@ -/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ - * Copyright Projet JRL-Japan, 2007 - *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ +/* + * Copyright 2010, + * François Bleibel, + * Olivier Stasse, * - * File: MassApparent.h - * Project: SOT - * Author: Nicolas Mansard + * CNRS/AIST * - * Version control - * =============== - * - * $Id$ - * - * Description - * ============ - * - * - * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/ - - + * This file is part of sot-dynamic. + * sot-dynamic 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. + * sot-dynamic 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 sot-dynamic. If not, see <http://www.gnu.org/licenses/>. + */ #ifndef __SOT_SOTMASSAPPARENT_H__ #define __SOT_SOTMASSAPPARENT_H__ diff --git a/include/sot-dynamic/matrix-inertia.h b/include/sot-dynamic/matrix-inertia.h index cc59f5d..e50bb5a 100644 --- a/include/sot-dynamic/matrix-inertia.h +++ b/include/sot-dynamic/matrix-inertia.h @@ -1,3 +1,23 @@ +/* + * Copyright 2010, + * François Bleibel, + * Olivier Stasse, + * + * CNRS/AIST + * + * This file is part of sot-dynamic. + * sot-dynamic 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. + * sot-dynamic 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 sot-dynamic. If not, see <http://www.gnu.org/licenses/>. + */ + #ifndef __SOT_SOTMATRIXINERTIA_H__ #define __SOT_SOTMATRIXINERTIA_H__ diff --git a/include/sot-dynamic/waist-attitude-from-sensor.h b/include/sot-dynamic/waist-attitude-from-sensor.h index da78580..4e949c2 100644 --- a/include/sot-dynamic/waist-attitude-from-sensor.h +++ b/include/sot-dynamic/waist-attitude-from-sensor.h @@ -1,23 +1,22 @@ -/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ - * Copyright Projet JRL-Japan, 2007 - *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ +/* + * Copyright 2010, + * François Bleibel, + * Olivier Stasse, * - * File: WaistAttitudeFromSensor.h - * Project: SOT - * Author: Nicolas Mansard + * CNRS/AIST * - * Version control - * =============== - * - * $Id$ - * - * Description - * ============ - * - * - * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/ - - + * This file is part of sot-dynamic. + * sot-dynamic 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. + * sot-dynamic 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 sot-dynamic. If not, see <http://www.gnu.org/licenses/>. + */ #ifndef __SOT_WAISTATTITUDEFROMSENSOR_H__ #define __SOT_WAISTATTITUDEFROMSENSOR_H__ diff --git a/include/sot-dynamic/zmpreffromcom.h b/include/sot-dynamic/zmpreffromcom.h index 575a526..a82046f 100644 --- a/include/sot-dynamic/zmpreffromcom.h +++ b/include/sot-dynamic/zmpreffromcom.h @@ -1,23 +1,22 @@ -/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ - * Copyright Projet JRL-Japan, 2007 - *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ +/* + * Copyright 2010, + * François Bleibel, + * Olivier Stasse, * - * File: ZmprefFromCom.h - * Project: SOT - * Author: Nicolas Mansard + * CNRS/AIST * - * Version control - * =============== - * - * $Id$ - * - * Description - * ============ - * - * - * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/ - - + * This file is part of sot-dynamic. + * sot-dynamic 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. + * sot-dynamic 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 sot-dynamic. If not, see <http://www.gnu.org/licenses/>. + */ #ifndef __SOT_ZMPREFFROMCOM_H__ #define __SOT_ZMPREFFROMCOM_H__ diff --git a/src/angle-estimator.cpp b/src/angle-estimator.cpp index f4ad420..ad8b479 100644 --- a/src/angle-estimator.cpp +++ b/src/angle-estimator.cpp @@ -1,21 +1,22 @@ -/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ - * Copyright Projet JRL-Japan, 2007 - *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ +/* + * Copyright 2010, + * François Bleibel, + * Olivier Stasse, * - * File: AngleEstimator.h - * Project: SOT - * Author: Nicolas Mansard + * CNRS/AIST * - * Version control - * =============== - * - * $Id$ - * - * Description - * ============ - * - * - * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/ + * This file is part of sot-dynamic. + * sot-dynamic 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. + * sot-dynamic 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 sot-dynamic. If not, see <http://www.gnu.org/licenses/>. + */ #include <sot-dynamic/angle-estimator.h> #include <sot-core/debug.h> diff --git a/src/dynamic-hrp2.cpp b/src/dynamic-hrp2.cpp index 276b42f..f97ab75 100644 --- a/src/dynamic-hrp2.cpp +++ b/src/dynamic-hrp2.cpp @@ -1,21 +1,23 @@ -/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ - * Copyright Projet JRL-Japan, 2007 - *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ +/* + * Copyright 2010, + * François Bleibel, + * Olivier Stasse, * - * File: Dynamic.h - * Project: SOT - * Author: Nicolas Mansard + * CNRS/AIST * - * Version control - * =============== - * - * $Id$ - * - * Description - * ============ - * - * - * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/ + * This file is part of sot-dynamic. + * sot-dynamic 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. + * sot-dynamic 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 sot-dynamic. If not, see <http://www.gnu.org/licenses/>. + */ + #include <MatrixAbstractLayer/MatrixAbstractLayer.h> #include <sot-dynamic/dynamic-hrp2.h> diff --git a/src/dynamic-hrp2_10.cpp b/src/dynamic-hrp2_10.cpp index e9613bf..c8bfd01 100644 --- a/src/dynamic-hrp2_10.cpp +++ b/src/dynamic-hrp2_10.cpp @@ -1,15 +1,22 @@ -/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ - * Copyright JRL-Japan, 2010 - *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ +/* + * Copyright 2010, + * François Bleibel, + * Olivier Stasse, * - * File: DynamicHrp2_10.h - * Project: SOT - * Author: Olivier Stasse - * Nicolas Mansard + * CNRS/AIST * - * For license see license.txt - * - * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/ + * This file is part of sot-dynamic. + * sot-dynamic 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. + * sot-dynamic 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 sot-dynamic. If not, see <http://www.gnu.org/licenses/>. + */ #include <sot-dynamic/dynamic-hrp2_10.h> #include <sot-core/debug.h> diff --git a/src/dynamic-hrp2_10_old.cpp b/src/dynamic-hrp2_10_old.cpp index eb66a38..ea8acca 100644 --- a/src/dynamic-hrp2_10_old.cpp +++ b/src/dynamic-hrp2_10_old.cpp @@ -1,15 +1,22 @@ -/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ - * Copyright JRL-Japan, 2010 - *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ +/* + * Copyright 2010, + * François Bleibel, + * Olivier Stasse, * - * File: DynamicHrp2_10.h - * Project: SOT - * Author: Olivier Stasse - * Nicolas Mansard + * CNRS/AIST * - * For license see license.txt - * - * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/ + * This file is part of sot-dynamic. + * sot-dynamic 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. + * sot-dynamic 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 sot-dynamic. If not, see <http://www.gnu.org/licenses/>. + */ #include <sot-dynamic/dynamic-hrp2_10_old.h> #include <sot-core/debug.h> diff --git a/src/dynamic.cpp b/src/dynamic.cpp index 4cef80d..1004d83 100644 --- a/src/dynamic.cpp +++ b/src/dynamic.cpp @@ -1,19 +1,23 @@ -/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ - * Copyright Projet JRL-Japan, 2007-2009 - *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ +/* + * Copyright 2010, + * François Bleibel, + * Olivier Stasse, * - * File: Dynamic.h - * Project: SOT - * Author: Nicolas Mansard, Olivier Stasse + * CNRS/AIST * - * Description - * ============ - * - * \file This object provides geometric, kinematic and dynamic - * information on a robot described through the dynamicsJRLJapan library. - * - * - * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/ + * This file is part of sot-dynamic. + * sot-dynamic 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. + * sot-dynamic 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 sot-dynamic. If not, see <http://www.gnu.org/licenses/>. + */ + #include <MatrixAbstractLayer/MatrixAbstractLayer.h> #include <sot-dynamic/dynamic.h> diff --git a/src/force-compensation.cpp b/src/force-compensation.cpp index 702a5e3..613e0d4 100644 --- a/src/force-compensation.cpp +++ b/src/force-compensation.cpp @@ -1,21 +1,22 @@ -/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ - * Copyright Projet JRL-Japan, 2007 - *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ +/* + * Copyright 2010, + * François Bleibel, + * Olivier Stasse, * - * File: ForceCompensation.h - * Project: SOT - * Author: Nicolas Mansard + * CNRS/AIST * - * Version control - * =============== - * - * $Id$ - * - * Description - * ============ - * - * - * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/ + * This file is part of sot-dynamic. + * sot-dynamic 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. + * sot-dynamic 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 sot-dynamic. If not, see <http://www.gnu.org/licenses/>. + */ #include <sot-dynamic/force-compensation.h> #include <sot-core/debug.h> diff --git a/src/integrator-force-exact.cpp b/src/integrator-force-exact.cpp index fbe5140..531ebdb 100644 --- a/src/integrator-force-exact.cpp +++ b/src/integrator-force-exact.cpp @@ -1,21 +1,22 @@ -/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ - * Copyright Projet JRL-Japan, 2007 - *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ +/* + * Copyright 2010, + * François Bleibel, + * Olivier Stasse, * - * File: IntegratorForceExact.h - * Project: SOT - * Author: Nicolas Mansard + * CNRS/AIST * - * Version control - * =============== - * - * $Id$ - * - * Description - * ============ - * - * - * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/ + * This file is part of sot-dynamic. + * sot-dynamic 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. + * sot-dynamic 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 sot-dynamic. If not, see <http://www.gnu.org/licenses/>. + */ #include <sot-dynamic/integrator-force-exact.h> #include <sot-core/debug.h> diff --git a/src/integrator-force-rk4.cpp b/src/integrator-force-rk4.cpp index 005c275..b879f6d 100644 --- a/src/integrator-force-rk4.cpp +++ b/src/integrator-force-rk4.cpp @@ -1,21 +1,22 @@ -/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ - * Copyright Projet JRL-Japan, 2007 - *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ +/* + * Copyright 2010, + * François Bleibel, + * Olivier Stasse, * - * File: IntegratorForceRK4.h - * Project: SOT - * Author: Nicolas Mansard + * CNRS/AIST * - * Version control - * =============== - * - * $Id$ - * - * Description - * ============ - * - * - * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/ + * This file is part of sot-dynamic. + * sot-dynamic 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. + * sot-dynamic 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 sot-dynamic. If not, see <http://www.gnu.org/licenses/>. + */ #include <sot-dynamic/integrator-force-rk4.h> #include <sot-core/debug.h> diff --git a/src/integrator-force.cpp b/src/integrator-force.cpp index 72fde2b..e333729 100644 --- a/src/integrator-force.cpp +++ b/src/integrator-force.cpp @@ -1,21 +1,22 @@ -/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ - * Copyright Projet JRL-Japan, 2007 - *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ +/* + * Copyright 2010, + * François Bleibel, + * Olivier Stasse, * - * File: IntegratorForce.h - * Project: SOT - * Author: Nicolas Mansard + * CNRS/AIST * - * Version control - * =============== - * - * $Id$ - * - * Description - * ============ - * - * - * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/ + * This file is part of sot-dynamic. + * sot-dynamic 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. + * sot-dynamic 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 sot-dynamic. If not, see <http://www.gnu.org/licenses/>. + */ #include <sot-dynamic/integrator-force.h> #include <sot-core/debug.h> diff --git a/src/mass-apparent.cpp b/src/mass-apparent.cpp index 39bae9e..544dba1 100644 --- a/src/mass-apparent.cpp +++ b/src/mass-apparent.cpp @@ -1,21 +1,22 @@ -/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ - * Copyright Projet JRL-Japan, 2007 - *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ +/* + * Copyright 2010, + * François Bleibel, + * Olivier Stasse, * - * File: MassApparent.h - * Project: SOT - * Author: Nicolas Mansard + * CNRS/AIST * - * Version control - * =============== - * - * $Id$ - * - * Description - * ============ - * - * - * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/ + * This file is part of sot-dynamic. + * sot-dynamic 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. + * sot-dynamic 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 sot-dynamic. If not, see <http://www.gnu.org/licenses/>. + */ #include <sot-dynamic/mass-apparent.h> #include <sot-core/debug.h> diff --git a/src/matrix-inertia.cpp b/src/matrix-inertia.cpp index 5d88b63..c06a08b 100644 --- a/src/matrix-inertia.cpp +++ b/src/matrix-inertia.cpp @@ -1,3 +1,23 @@ +/* + * Copyright 2010, + * François Bleibel, + * Olivier Stasse, + * + * CNRS/AIST + * + * This file is part of sot-dynamic. + * sot-dynamic 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. + * sot-dynamic 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 sot-dynamic. If not, see <http://www.gnu.org/licenses/>. + */ + #include <fstream> #include <vector> #include <map> diff --git a/src/waist-attitude-from-sensor.cpp b/src/waist-attitude-from-sensor.cpp index ced2107..783d906 100644 --- a/src/waist-attitude-from-sensor.cpp +++ b/src/waist-attitude-from-sensor.cpp @@ -1,21 +1,22 @@ -/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ - * Copyright Projet JRL-Japan, 2007 - *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ +/* + * Copyright 2010, + * François Bleibel, + * Olivier Stasse, * - * File: WaistAttitudeFromSensor.h - * Project: SOT - * Author: Nicolas Mansard + * CNRS/AIST * - * Version control - * =============== - * - * $Id$ - * - * Description - * ============ - * - * - * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/ + * This file is part of sot-dynamic. + * sot-dynamic 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. + * sot-dynamic 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 sot-dynamic. If not, see <http://www.gnu.org/licenses/>. + */ #include <sot-dynamic/waist-attitude-from-sensor.h> #include <sot-core/debug.h> diff --git a/src/zmpreffromcom.cpp b/src/zmpreffromcom.cpp index c60d6b4..7168456 100644 --- a/src/zmpreffromcom.cpp +++ b/src/zmpreffromcom.cpp @@ -1,21 +1,22 @@ -/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ - * Copyright Projet JRL-Japan, 2007 - *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ +/* + * Copyright 2010, + * François Bleibel, + * Olivier Stasse, * - * File: ZmprefFromCom.h - * Project: SOT - * Author: Nicolas Mansard + * CNRS/AIST * - * Version control - * =============== - * - * $Id$ - * - * Description - * ============ - * - * - * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/ + * This file is part of sot-dynamic. + * sot-dynamic 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. + * sot-dynamic 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 sot-dynamic. If not, see <http://www.gnu.org/licenses/>. + */ #include <sot-dynamic/zmpreffromcom.h> #include <sot-core/debug.h> diff --git a/unitTesting/dummy.cpp b/unitTesting/dummy.cpp index 796daa0..e912bea 100644 --- a/unitTesting/dummy.cpp +++ b/unitTesting/dummy.cpp @@ -1,5 +1,21 @@ /* - * Copyright + * Copyright 2010, + * François Bleibel, + * Olivier Stasse, + * + * CNRS/AIST + * + * This file is part of sot-dynamic. + * sot-dynamic 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. + * sot-dynamic 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 sot-dynamic. If not, see <http://www.gnu.org/licenses/>. */ int main (int argc, char** argv) diff --git a/unitTesting/test_djj.cpp b/unitTesting/test_djj.cpp index e3d6dfc..caea4a5 100644 --- a/unitTesting/test_djj.cpp +++ b/unitTesting/test_djj.cpp @@ -1,3 +1,23 @@ +/* + * Copyright 2010, + * François Bleibel, + * Olivier Stasse, + * + * CNRS/AIST + * + * This file is part of sot-dynamic. + * sot-dynamic 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. + * sot-dynamic 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 sot-dynamic. If not, see <http://www.gnu.org/licenses/>. + */ + #include <string> #include <cstdio> #include <MatrixAbstractLayer/MatrixAbstractLayer.h> diff --git a/unitTesting/test_dyn.cpp b/unitTesting/test_dyn.cpp index c424905..7a16b3b 100644 --- a/unitTesting/test_dyn.cpp +++ b/unitTesting/test_dyn.cpp @@ -1,21 +1,22 @@ -/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ - * Copyright Projet JRL 2007 - *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ +/* + * Copyright 2010, + * François Bleibel, + * Olivier Stasse, * - * File: test_flags.cc - * Project: sot - * Author: Nicolas Mansard + * CNRS/AIST * - * Version control - * =============== - * - * $Id$ - * - * Description - * ============ - * - * - * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/ + * This file is part of sot-dynamic. + * sot-dynamic 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. + * sot-dynamic 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 sot-dynamic. If not, see <http://www.gnu.org/licenses/>. + */ /* -------------------------------------------------------------------------- */ /* --- INCLUDES ------------------------------------------------------------- */ diff --git a/unitTesting/test_results.cpp b/unitTesting/test_results.cpp index f7b4dfa..6bece13 100644 --- a/unitTesting/test_results.cpp +++ b/unitTesting/test_results.cpp @@ -1,3 +1,23 @@ +/* + * Copyright 2010, + * François Bleibel, + * Olivier Stasse, + * + * CNRS/AIST + * + * This file is part of sot-dynamic. + * sot-dynamic 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. + * sot-dynamic 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 sot-dynamic. If not, see <http://www.gnu.org/licenses/>. + */ + /* --------------------------------------------------------------------- */ /* --- INCLUDE --------------------------------------------------------- */ /* --------------------------------------------------------------------- */ -- GitLab