diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4befdcc3fe1033fbde2b8f4f58d801896c87c0ad..f298f34fe09f1894345bae2ff0f3cf2687eec4ee 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,17 +1,4 @@
# Copyright 2010, François Bleibel, Olivier Stasse, JRL, CNRS/AIST
-#
-# This file is part of sot-dynamic-pinocchio.
-# sot-dynamic-pinocchio 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-pinocchio 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
-# sot-dynamic-pinocchio. If not, see <http://www.gnu.org/licenses/>.
CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
diff --git a/COPYING.LESSER b/COPYING.LESSER
deleted file mode 100644
index 65c5ca88a67c30becee01c5a8816d964b03862f9..0000000000000000000000000000000000000000
--- a/COPYING.LESSER
+++ /dev/null
@@ -1,165 +0,0 @@
- GNU LESSER GENERAL PUBLIC LICENSE
- Version 3, 29 June 2007
-
- Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
- Everyone is permitted to copy and distribute verbatim copies
- of this license document, but changing it is not allowed.
-
-
- This version of the GNU Lesser General Public License incorporates
-the terms and conditions of version 3 of the GNU General Public
-License, supplemented by the additional permissions listed below.
-
- 0. Additional Definitions.
-
- As used herein, "this License" refers to version 3 of the GNU Lesser
-General Public License, and the "GNU GPL" refers to version 3 of the GNU
-General Public License.
-
- "The Library" refers to a covered work governed by this License,
-other than an Application or a Combined Work as defined below.
-
- An "Application" is any work that makes use of an interface provided
-by the Library, but which is not otherwise based on the Library.
-Defining a subclass of a class defined by the Library is deemed a mode
-of using an interface provided by the Library.
-
- A "Combined Work" is a work produced by combining or linking an
-Application with the Library. The particular version of the Library
-with which the Combined Work was made is also called the "Linked
-Version".
-
- The "Minimal Corresponding Source" for a Combined Work means the
-Corresponding Source for the Combined Work, excluding any source code
-for portions of the Combined Work that, considered in isolation, are
-based on the Application, and not on the Linked Version.
-
- The "Corresponding Application Code" for a Combined Work means the
-object code and/or source code for the Application, including any data
-and utility programs needed for reproducing the Combined Work from the
-Application, but excluding the System Libraries of the Combined Work.
-
- 1. Exception to Section 3 of the GNU GPL.
-
- You may convey a covered work under sections 3 and 4 of this License
-without being bound by section 3 of the GNU GPL.
-
- 2. Conveying Modified Versions.
-
- If you modify a copy of the Library, and, in your modifications, a
-facility refers to a function or data to be supplied by an Application
-that uses the facility (other than as an argument passed when the
-facility is invoked), then you may convey a copy of the modified
-version:
-
- a) under this License, provided that you make a good faith effort to
- ensure that, in the event an Application does not supply the
- function or data, the facility still operates, and performs
- whatever part of its purpose remains meaningful, or
-
- b) under the GNU GPL, with none of the additional permissions of
- this License applicable to that copy.
-
- 3. Object Code Incorporating Material from Library Header Files.
-
- The object code form of an Application may incorporate material from
-a header file that is part of the Library. You may convey such object
-code under terms of your choice, provided that, if the incorporated
-material is not limited to numerical parameters, data structure
-layouts and accessors, or small macros, inline functions and templates
-(ten or fewer lines in length), you do both of the following:
-
- a) Give prominent notice with each copy of the object code that the
- Library is used in it and that the Library and its use are
- covered by this License.
-
- b) Accompany the object code with a copy of the GNU GPL and this license
- document.
-
- 4. Combined Works.
-
- You may convey a Combined Work under terms of your choice that,
-taken together, effectively do not restrict modification of the
-portions of the Library contained in the Combined Work and reverse
-engineering for debugging such modifications, if you also do each of
-the following:
-
- a) Give prominent notice with each copy of the Combined Work that
- the Library is used in it and that the Library and its use are
- covered by this License.
-
- b) Accompany the Combined Work with a copy of the GNU GPL and this license
- document.
-
- c) For a Combined Work that displays copyright notices during
- execution, include the copyright notice for the Library among
- these notices, as well as a reference directing the user to the
- copies of the GNU GPL and this license document.
-
- d) Do one of the following:
-
- 0) Convey the Minimal Corresponding Source under the terms of this
- License, and the Corresponding Application Code in a form
- suitable for, and under terms that permit, the user to
- recombine or relink the Application with a modified version of
- the Linked Version to produce a modified Combined Work, in the
- manner specified by section 6 of the GNU GPL for conveying
- Corresponding Source.
-
- 1) Use a suitable shared library mechanism for linking with the
- Library. A suitable mechanism is one that (a) uses at run time
- a copy of the Library already present on the user's computer
- system, and (b) will operate properly with a modified version
- of the Library that is interface-compatible with the Linked
- Version.
-
- e) Provide Installation Information, but only if you would otherwise
- be required to provide such information under section 6 of the
- GNU GPL, and only to the extent that such information is
- necessary to install and execute a modified version of the
- Combined Work produced by recombining or relinking the
- Application with a modified version of the Linked Version. (If
- you use option 4d0, the Installation Information must accompany
- the Minimal Corresponding Source and Corresponding Application
- Code. If you use option 4d1, you must provide the Installation
- Information in the manner specified by section 6 of the GNU GPL
- for conveying Corresponding Source.)
-
- 5. Combined Libraries.
-
- You may place library facilities that are a work based on the
-Library side by side in a single library together with other library
-facilities that are not Applications and are not covered by this
-License, and convey such a combined library under terms of your
-choice, if you do both of the following:
-
- a) Accompany the combined library with a copy of the same work based
- on the Library, uncombined with any other library facilities,
- conveyed under the terms of this License.
-
- b) Give prominent notice with the combined library that part of it
- is a work based on the Library, and explaining where to find the
- accompanying uncombined form of the same work.
-
- 6. Revised Versions of the GNU Lesser General Public License.
-
- The Free Software Foundation may publish revised and/or new versions
-of the GNU Lesser General Public License from time to time. Such new
-versions will be similar in spirit to the present version, but may
-differ in detail to address new problems or concerns.
-
- Each version is given a distinguishing version number. If the
-Library as you received it specifies that a certain numbered version
-of the GNU Lesser General Public License "or any later version"
-applies to it, you have the option of following the terms and
-conditions either of that published version or of any later version
-published by the Free Software Foundation. If the Library as you
-received it does not specify a version number of the GNU Lesser
-General Public License, you may choose any version of the GNU Lesser
-General Public License ever published by the Free Software Foundation.
-
- If the Library as you received it specifies that a proxy can decide
-whether future versions of the GNU Lesser General Public License shall
-apply, that proxy's public statement of acceptance of any version is
-permanent authorization for you to choose that version for the
-Library.
diff --git a/debian/changelog b/debian/changelog
deleted file mode 100644
index b55239a497518c23fa2b88d7c3df72de221c7ec3..0000000000000000000000000000000000000000
--- a/debian/changelog
+++ /dev/null
@@ -1,5 +0,0 @@
-sot-dynamic (1.0.0.99-1) lucid; urgency=low
-
- * Initial work.
-
- -- Thomas Moulard <thomas.moulard@gmail.com> Thu, 30 Sep 2010 10:11:00 +0200
diff --git a/debian/compat b/debian/compat
deleted file mode 100644
index 7f8f011eb73d6043d2e6db9d2c101195ae2801f2..0000000000000000000000000000000000000000
--- a/debian/compat
+++ /dev/null
@@ -1 +0,0 @@
-7
diff --git a/debian/control b/debian/control
deleted file mode 100644
index bd7197b5f171f566c936b01593c8da3cb0fe516d..0000000000000000000000000000000000000000
--- a/debian/control
+++ /dev/null
@@ -1,57 +0,0 @@
-Source: sot-dynamic
-Priority: extra
-Maintainer: Thomas Moulard <thomas.moulard@gmail.com>
-Build-Depends: debhelper (>= 7.0.50~), cmake (>= 2.6),
- doxygen (>= 1.6.3),
- pkg-config (>= 0.22),
- libjrl-dynamics-dev (>= 1.19.1),
- libdynamic-graph-dev (>= 1.0.0.99),
- libsot-core-dev (>= 1.0.0.99),
- libjrl-dynamics-dev (>= 1.19.1.99),
- libhrp2-dynamics-dev (>= 1.5.1.99),
- libhrp2-10-optimized1.0.0.99 (>= 1.0.0.99),
- hrp2-10-data (>= 1.0.0.99),
- hrp2-14-data (>= 1.7.5),
- hrp2-14-small-data (>= 1.0.0.99),
-#FIXME: missing hrp2-10-optimized
-Standards-Version: 3.8.4
-#Vcs-Git:
-#Vcs-browser:
-Section: libs
-#Homepage:
-
-Package: libsot-dynamic-dev
-Section: libdevel
-Architecture: any
-Depends: libjrl-mal-dev (>= 1.9.0.99), libdynamic-graph-dev (>= 1.0.0.99), libsot-core-dev (>= 1.0.0.99), libjrl-dynamics-dev (>= 1.19.1.99), libhrp2-dynamics-dev (>= 1.5.1.99), hrp2-10-data (>= 1.0.0.99), hrp2-14-data (>= 1.7.5), hrp2-14-small-data (>= 1.0.0.99),libhrp2-10-optimized1.0.0.99 (>= 1.0.0.99), libsot-dynamic1.0.0.99 (= ${binary:Version}), ${misc:Depends}
-Suggests: libsot-dynamic-doc
-Description: dynamic computation plug-in for dynamic graph
- This package provides dynamic computation plug-in for dynamic-graph.
- It provides support for jrl-dynamics and abstract-robot-dynamics algorithms
- into the dynamic-graph data-flow.
- .
- This package contains development files (headers and pkg-config file).
-
-Package: libsot-dynamic1.0.0.99
-Architecture: any
-Depends: ${shlibs:Depends}, ${misc:Depends}
-Description: dynamic computation plug-in for dynamic graph
- This package provides dynamic computation plug-in for dynamic-graph.
- It provides support for jrl-dynamics and abstract-robot-dynamics algorithms
- into the dynamic-graph data-flow.
- .
- This package contains the dynamic graph plug-ins and versioned shared
- libraries.
-
-
-Package: libsot-dynamic-doc
-Section: doc
-Architecture: all
-Depends: ${misc:Depends}
-Suggests: libdynamic-graph-doc
-Description: documentation for the dynamic computation plug-in for dynamic graph
- This package provides dynamic computation plug-in for dynamic-graph.
- It provides support for jrl-dynamics and abstract-robot-dynamics algorithms
- into the dynamic-graph data-flow.
- .
- This package contains the Doxygen documentation.
diff --git a/debian/copyright b/debian/copyright
deleted file mode 100644
index 2d5c8e22c0cef8a99c82448849c85c8a6a4752f7..0000000000000000000000000000000000000000
--- a/debian/copyright
+++ /dev/null
@@ -1,23 +0,0 @@
-This work was packaged for Debian by:
-
- Thomas Moulard <thomas.moulard@gmail.com> on Thu, 30 Sep 2010 10:16:00 +0200
-
-It was downloaded from <not yet available>
-
-Upstream Author(s):
-
- Thomas Moulard <thomas.moulard@gmail.com>
-
-Copyright:
-
- Copyright (C) 2010 François Bleibel, Olivier Stasse, JRL, CNRS/AIST.
-
-License:
-
- See `/usr/share/common-licenses/LGPL-3'.
-
-The Debian packaging is:
-
- Copyright (C) 2010 Thomas Moulard <thomas.moulard@gmail.com>
- and is licensed under the GPL version 3,
- see `/usr/share/common-licenses/GPL-3'.
diff --git a/debian/docs b/debian/docs
deleted file mode 100644
index 46a4ca7180f4a6e0f569152a8ec634c8ed313ca6..0000000000000000000000000000000000000000
--- a/debian/docs
+++ /dev/null
@@ -1,3 +0,0 @@
-AUTHORS
-NEWS
-README.md
diff --git a/debian/libsot-dynamic-dev.install b/debian/libsot-dynamic-dev.install
deleted file mode 100644
index b0a5f2dd0d19b7a9e7d2dae0ead6ae7b39478f24..0000000000000000000000000000000000000000
--- a/debian/libsot-dynamic-dev.install
+++ /dev/null
@@ -1,3 +0,0 @@
-usr/include/*
-usr/lib/plugin/*.so
-usr/lib/pkgconfig/*
diff --git a/debian/libsot-dynamic-doc.doc-base b/debian/libsot-dynamic-doc.doc-base
deleted file mode 100644
index 3752debab8f697d1dc346e9e92222d5ea4f0b88d..0000000000000000000000000000000000000000
--- a/debian/libsot-dynamic-doc.doc-base
+++ /dev/null
@@ -1,9 +0,0 @@
-Document: sot-dynamic
-Title: Debian sot-dynamic Manual
-Author: Thomas Moulard <thomas.moulard@gmail.com>
-Abstract: Doxygen documentation of sot-dynamic.
-Section: Programming
-
-Format: HTML
-Index: /usr/share/doc/sot-dynamic/html/index.html
-Files: /usr/share/doc/sot-dynamic/html/*.html
diff --git a/debian/libsot-dynamic-doc.install b/debian/libsot-dynamic-doc.install
deleted file mode 100644
index bd4f2691fb3bf916e201a709220456a1ecac7ff4..0000000000000000000000000000000000000000
--- a/debian/libsot-dynamic-doc.install
+++ /dev/null
@@ -1 +0,0 @@
-usr/share/doc/sot-dynamic/*
diff --git a/debian/libsot-dynamic1.0.0.99.install b/debian/libsot-dynamic1.0.0.99.install
deleted file mode 100644
index 083da28daa7e11be481f2d930d93dfe9ad3268dd..0000000000000000000000000000000000000000
--- a/debian/libsot-dynamic1.0.0.99.install
+++ /dev/null
@@ -1 +0,0 @@
-usr/lib/plugin/*.so.*
diff --git a/debian/rules b/debian/rules
deleted file mode 100755
index cc750bedb876a19f8ba7c3792e8ea07ed3a9083d..0000000000000000000000000000000000000000
--- a/debian/rules
+++ /dev/null
@@ -1,33 +0,0 @@
-#!/usr/bin/make -f
-# -*- makefile -*-
-# Sample debian/rules that uses debhelper.
-# This file was originally written by Joey Hess and Craig Small.
-# As a special exception, when this file is copied by dh-make into a
-# dh-make output file, you may use that output file without restriction.
-# This special exception was added by Craig Small in version 0.37 of dh-make.
-
-# Uncomment this to turn on verbose mode.
-export DH_VERBOSE=1
-
-# FIXME: test suite fails for now.
-export DEB_BUILD_OPTIONS=nocheck
-
-override_dh_auto_configure:
- dh_auto_configure -- -DGENERATE_DOC=ON
-
-# Remove useless ldconfig call.
-override_dh_makeshlibs:
- dh_makeshlibs --
- rm debian/libsot-dynamic1.0.0.99.postinst.debhelper
- rm debian/libsot-dynamic1.0.0.99.postrm.debhelper
-
-# FIXME: this is only necessary because some binaries are linked against
-# plug-ins.
-# Teach dh_shlibdeps where the plug-in are located.
-override_dh_shlibdeps:
- export LD_LIBRARY_PATH=\
-debian/libsot-dynamic1.0.0.99/usr/lib/plugin:$(LD_LIBRARY_PATH) \
-&& dh_shlibdeps --
-
-%:
- dh $@
diff --git a/debian/source/format b/debian/source/format
deleted file mode 100644
index 163aaf8d82b6c54f23c45f32895dbdfdcc27b047..0000000000000000000000000000000000000000
--- a/debian/source/format
+++ /dev/null
@@ -1 +0,0 @@
-3.0 (quilt)
diff --git a/debian/watch b/debian/watch
deleted file mode 100644
index 780190371a01da5d3ff7234514ea4ea25f3b353c..0000000000000000000000000000000000000000
--- a/debian/watch
+++ /dev/null
@@ -1,8 +0,0 @@
-# Watch control file for uscan
-# Rename this file to "watch" and then you can run the "uscan" command
-# to check for upstream updates and more.
-# See uscan(1) for format
-
-version=3
-
-#http://github.com/laas/hpp-util/downloads /laas/hpp-util/tarball/v(.*)
diff --git a/doc/additionalDoc/package.hh b/doc/additionalDoc/package.hh
index a3a52298df3d3bfe49db27077e851df8b5129666..17805f494fd18ec490f96206ac87490becc662e5 100644
--- a/doc/additionalDoc/package.hh
+++ b/doc/additionalDoc/package.hh
@@ -5,17 +5,6 @@
*
* 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
diff --git a/include/CMakeLists.txt b/include/CMakeLists.txt
index 06d457c7ddd1859bd3b58ae6f597f618a77c22f5..02d946138a6a96bafe45964a13ceec266d100540 100644
--- a/include/CMakeLists.txt
+++ b/include/CMakeLists.txt
@@ -1,17 +1,4 @@
# Copyright 2010, François Bleibel, Olivier Stasse, JRL, CNRS/AIST
-#
-# This file is part of sot-dynamic-pinocchio.
-# sot-dynamic-pinocchio 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-pinocchio 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
-# sot-dynamic-pinocchio. If not, see <http://www.gnu.org/licenses/>.
SET(${PROJECT_NAME}_HEADERS
dynamic-pinocchio.h
diff --git a/include/sot-dynamic-pinocchio/angle-estimator.h b/include/sot-dynamic-pinocchio/angle-estimator.h
index 33185c807cd9b4c365fd545450c464bb1af80cca..4349c6923ab6f23fe9e8da01287c523843b75488 100644
--- a/include/sot-dynamic-pinocchio/angle-estimator.h
+++ b/include/sot-dynamic-pinocchio/angle-estimator.h
@@ -5,17 +5,6 @@
*
* CNRS/AIST
*
- * This file is part of sot-dynamic-pinocchio.
- * sot-dynamic-pinocchio 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-pinocchio 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-pinocchio. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __SOT_ANGLE_ESTIMATOR_H__
@@ -125,4 +114,3 @@ class SOTANGLEESTIMATOR_EXPORT AngleEstimator
#endif // #ifndef __SOT_ANGLE_ESTIMATOR_H__
-
diff --git a/include/sot-dynamic-pinocchio/dynamic-pinocchio.h b/include/sot-dynamic-pinocchio/dynamic-pinocchio.h
index c2a0c36c5a649f082a4a84f711c850f5d4dcf53f..b2179341a4617ce56abd6c331f384ab92c028c63 100644
--- a/include/sot-dynamic-pinocchio/dynamic-pinocchio.h
+++ b/include/sot-dynamic-pinocchio/dynamic-pinocchio.h
@@ -5,17 +5,6 @@
*
* CNRS/AIST
*
- * This file is part of sot-dynamic-pinocchio.
- * sot-dynamic-pinocchio 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-pinocchio 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-pinocchio. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __SOT_DYNAMIC_PINOCCHIO_H__
diff --git a/include/sot-dynamic-pinocchio/force-compensation.h b/include/sot-dynamic-pinocchio/force-compensation.h
index 6cb9739ec13a0984b1533bfcccf520f7e248dbfb..11df058d9b9f581df45bc23d20f521b3664d2052 100644
--- a/include/sot-dynamic-pinocchio/force-compensation.h
+++ b/include/sot-dynamic-pinocchio/force-compensation.h
@@ -5,17 +5,6 @@
*
* CNRS/AIST
*
- * This file is part of sot-dynamic-pinocchio.
- * sot-dynamic-pinocchio 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-pinocchio 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-pinocchio. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __SOT_SOTFORCECOMPENSATION_H__
diff --git a/include/sot-dynamic-pinocchio/integrator-force-exact.h b/include/sot-dynamic-pinocchio/integrator-force-exact.h
index 2a8f8cc9d1e0cde4ec8d94340d8e48db5673987a..5d82735dc21e0eaafaf218ec198462dc08edc473 100644
--- a/include/sot-dynamic-pinocchio/integrator-force-exact.h
+++ b/include/sot-dynamic-pinocchio/integrator-force-exact.h
@@ -5,17 +5,6 @@
*
* CNRS/AIST
*
- * This file is part of sot-dynamic-pinocchio.
- * sot-dynamic-pinocchio 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-pinocchio 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-pinocchio. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __SOT_SOTINTEGRATORFORCEEXACT_H__
@@ -90,4 +79,3 @@ class SOTINTEGRATORFORCEEXACT_EXPORT IntegratorForceExact
#endif // #ifndef __SOT_SOTINTEGRATORFORCEEXACT_H__
-
diff --git a/include/sot-dynamic-pinocchio/integrator-force-rk4.h b/include/sot-dynamic-pinocchio/integrator-force-rk4.h
index 16219764581bbb98de56f3fb70a96469e157e7d1..acba19375143e78a277f62f483ef7e98001104ef 100644
--- a/include/sot-dynamic-pinocchio/integrator-force-rk4.h
+++ b/include/sot-dynamic-pinocchio/integrator-force-rk4.h
@@ -5,17 +5,6 @@
*
* CNRS/AIST
*
- * This file is part of sot-dynamic-pinocchio.
- * sot-dynamic-pinocchio 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-pinocchio 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-pinocchio. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __SOT_SOTINTEGRATORFORCERK4_H__
@@ -91,4 +80,3 @@ class SOTINTEGRATORFORCERK4_EXPORT IntegratorForceRK4
#endif // #ifndef __SOT_SOTINTEGRATORFORCERK4_H__
-
diff --git a/include/sot-dynamic-pinocchio/integrator-force.h b/include/sot-dynamic-pinocchio/integrator-force.h
index 4b7834a6df4d258c57495424140b306d540d1f3d..4b2c5bb97396d6772fd18769887ce1cc19692a26 100644
--- a/include/sot-dynamic-pinocchio/integrator-force.h
+++ b/include/sot-dynamic-pinocchio/integrator-force.h
@@ -5,17 +5,6 @@
*
* CNRS/AIST
*
- * This file is part of sot-dynamic-pinocchio.
- * sot-dynamic-pinocchio 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-pinocchio 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-pinocchio. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __SOT_SOTINTEGRATORFORCE_H__
@@ -110,4 +99,3 @@ class SOTINTEGRATORFORCE_EXPORT IntegratorForce
#endif // #ifndef __SOT_WAISTATTITUDEFROMSENSOR_H__
-
diff --git a/include/sot-dynamic-pinocchio/mass-apparent.h b/include/sot-dynamic-pinocchio/mass-apparent.h
index 43743cb22a72d1b9cff4fb1672457a5c022fef03..50a22ce330e04382194765faec835712a18fa173 100644
--- a/include/sot-dynamic-pinocchio/mass-apparent.h
+++ b/include/sot-dynamic-pinocchio/mass-apparent.h
@@ -5,17 +5,6 @@
*
* CNRS/AIST
*
- * This file is part of sot-dynamic-pinocchio.
- * sot-dynamic-pinocchio 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-pinocchio 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-pinocchio. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __SOT_SOTMASSAPPARENT_H__
@@ -43,12 +32,12 @@
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
-#if defined (WIN32)
+#if defined (WIN32)
# if defined (mass_apparent_EXPORTS)
# define SOTMASSAPPARENT_EXPORT __declspec(dllexport)
-# else
+# else
# define SOTMASSAPPARENT_EXPORT __declspec(dllimport)
-# endif
+# endif
#else
# define SOTMASSAPPARENT_EXPORT
#endif
@@ -74,13 +63,13 @@ namespace dynamicgraph { namespace sot {
public: /* --- SIGNAL --- */
- dg::SignalPtr<dynamicgraph::Matrix,int> jacobianSIN;
- dg::SignalPtr<dynamicgraph::Matrix,int> inertiaInverseSIN;
- dg::SignalTimeDependent<dynamicgraph::Matrix,int> massInverseSOUT;
- dg::SignalTimeDependent<dynamicgraph::Matrix,int> massSOUT;
+ dg::SignalPtr<dynamicgraph::Matrix,int> jacobianSIN;
+ dg::SignalPtr<dynamicgraph::Matrix,int> inertiaInverseSIN;
+ dg::SignalTimeDependent<dynamicgraph::Matrix,int> massInverseSOUT;
+ dg::SignalTimeDependent<dynamicgraph::Matrix,int> massSOUT;
- dg::SignalPtr<dynamicgraph::Matrix,int> inertiaSIN;
- dg::SignalTimeDependent<dynamicgraph::Matrix,int> inertiaInverseSOUT;
+ dg::SignalPtr<dynamicgraph::Matrix,int> inertiaSIN;
+ dg::SignalTimeDependent<dynamicgraph::Matrix,int> inertiaInverseSOUT;
public: /* --- FUNCTIONS --- */
dynamicgraph::Matrix& computeMassInverse( dynamicgraph::Matrix& res,const int& time );
@@ -93,4 +82,3 @@ namespace dynamicgraph { namespace sot {
} // namespace dynamicgraph
#endif // #ifndef __SOT_SOTMASSAPPARENT_H__
-
diff --git a/include/sot-dynamic-pinocchio/matrix-inertia.h b/include/sot-dynamic-pinocchio/matrix-inertia.h
index f385cd77a75afa65a0c087568ed43d788074b40a..bb4d45b9be16279eb3cfe3eaa0d035caaceb8243 100644
--- a/include/sot-dynamic-pinocchio/matrix-inertia.h
+++ b/include/sot-dynamic-pinocchio/matrix-inertia.h
@@ -5,17 +5,6 @@
*
* CNRS/AIST
*
- * This file is part of sot-dynamic-pinocchio.
- * sot-dynamic-pinocchio 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-pinocchio 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-pinocchio. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __SOT_SOTMATRIXINERTIA_H__
@@ -34,12 +23,12 @@
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
-#if defined (WIN32)
+#if defined (WIN32)
# if defined (matrix_inertia_EXPORTS)
# define SOTMATRIXINERTIA_EXPORT __declspec(dllexport)
-# else
+# else
# define SOTMATRIXINERTIA_EXPORT __declspec(dllimport)
-# endif
+# endif
#else
# define SOTMATRIXINERTIA_EXPORT
#endif
@@ -80,7 +69,7 @@ private:
dynamicsJRLJapan::HumanoidDynamicMultiBody* aHDMB_;
std::vector<CjrlJoint*> joints_;
std::vector<int> parentIndex_;
-
+
std::vector< dynamicgraph::Matrix > Ic;
std::vector< dynamicgraph::Vector > phi;
std::vector< MatrixTwist > iVpi;
diff --git a/include/sot-dynamic-pinocchio/waist-attitude-from-sensor.h b/include/sot-dynamic-pinocchio/waist-attitude-from-sensor.h
index 57cb9cfbfc7250a718a637ff45221e2741f9ab8c..58f7aaa8bb2fd1d66201d79f48acf3020d11dd34 100644
--- a/include/sot-dynamic-pinocchio/waist-attitude-from-sensor.h
+++ b/include/sot-dynamic-pinocchio/waist-attitude-from-sensor.h
@@ -5,17 +5,6 @@
*
* CNRS/AIST
*
- * This file is part of sot-dynamic-pinocchio.
- * sot-dynamic-pinocchio 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-pinocchio 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-pinocchio. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __SOT_WAISTATTITUDEFROMSENSOR_H__
@@ -120,4 +109,3 @@ class SOTWAISTATTITUDEFROMSENSOR_EXPORT WaistPoseFromSensorAndContact
#endif // #ifndef __SOT_WAISTATTITUDEFROMSENSOR_H__
-
diff --git a/include/sot-dynamic-pinocchio/zmpreffromcom.h b/include/sot-dynamic-pinocchio/zmpreffromcom.h
index d70a2e348672a90d96a08e426565a0e93f8450de..d256603e1c7b40ff0302a8fdbfad8456bad679fd 100644
--- a/include/sot-dynamic-pinocchio/zmpreffromcom.h
+++ b/include/sot-dynamic-pinocchio/zmpreffromcom.h
@@ -5,17 +5,6 @@
*
* CNRS/AIST
*
- * This file is part of sot-dynamic-pinocchio.
- * sot-dynamic-pinocchio 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-pinocchio 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-pinocchio. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __SOT_ZMPREFFROMCOM_H__
@@ -93,4 +82,3 @@ class SOTZMPREFFROMCOM_EXPORT ZmprefFromCom
#endif // #ifndef __SOT_ZMPREFFROMCOM_H__
-
diff --git a/python/kine_romeo.py b/python/kine_romeo.py
index de0a6149ea77e31681b540f133a50ded48deca38..8e00913faaeb0f0af1fe4c915ddfbcd68118d0ab 100644
--- a/python/kine_romeo.py
+++ b/python/kine_romeo.py
@@ -1,18 +1,5 @@
# -*- coding: utf-8 -*-
# Copyright 2011, Florent Lamiraux, Thomas Moulard, 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/>.
from dynamic_graph.sot.core.matrix_util import matrixToTuple, vectorToTuple,rotate, matrixToRPY
from dynamic_graph.sot.core.meta_tasks_kine import *
@@ -74,7 +61,7 @@ for name,joint in [ ['LF','left-ankle'], ['RF','right-ankle' ] ]:
# --- RUN ----------------------------------------------------------------------
# Move the desired position of the right hand
-# 1st param: task concerned
+# 1st param: task concerned
# 2st param: objective
# 3rd param: selected parameters
# 4th param: gain
diff --git a/python/kine_romeo_small.py b/python/kine_romeo_small.py
index f0d6228477a04a0aa029311c54f608fb101cc7f7..778b2c6b0a2715cf0da99ab70047c065a5084db8 100644
--- a/python/kine_romeo_small.py
+++ b/python/kine_romeo_small.py
@@ -1,18 +1,5 @@
# -*- coding: utf-8 -*-
# Copyright 2011, Florent Lamiraux, Thomas Moulard, 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/>.
from dynamic_graph.sot.core.matrix_util import matrixToTuple, vectorToTuple,rotate, matrixToRPY
from dynamic_graph.sot.core.meta_tasks_kine import *
@@ -74,7 +61,7 @@ for name,joint in [ ['LF','left-ankle'], ['RF','right-ankle' ] ]:
# --- RUN ----------------------------------------------------------------------
# Move the desired position of the right hand
-# 1st param: task concerned
+# 1st param: task concerned
# 2st param: objective
# 3rd param: selected parameters
# 4th param: gain
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index f52588a648c4bca1d49b2024f41f58c64c5705fa..4e074d50a56f0960d73fadb710edc1c8aa36bf72 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,18 +1,5 @@
# Copyright 2010, François Bleibel, Olivier Stasse, JRL, CNRS/AIST,
# Florent Lamiraux (CNRS/LAAS)
-#
-# This file is part of sot-dynamic-pinocchio.
-# sot-dynamic-pinocchio 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-pinocchio 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
-# sot-dynamic-pinocchio. If not, see <http://www.gnu.org/licenses/>.
LINK_DIRECTORIES(${Boost_LIBRARY_DIRS})
diff --git a/src/angle-estimator-command.h b/src/angle-estimator-command.h
index c763106d59d49d6ccd2d2c08119bdb849d2c8ae2..97f775b9d03a88ebc8d1d7768a36e941eeb3a300 100644
--- a/src/angle-estimator-command.h
+++ b/src/angle-estimator-command.h
@@ -4,17 +4,6 @@
*
* CNRS/LAAS
*
- * This file is part of sot-core.
- * sot-core 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-core 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-core. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef ANGLE_ESTIMATOR_COMMAND_H
@@ -30,7 +19,7 @@ namespace dynamicgraph { namespace sot {
namespace command {
using ::dynamicgraph::command::Command;
using ::dynamicgraph::command::Value;
-
+
// Command FromSensor
class FromSensor : public Command
{
diff --git a/src/angle-estimator.cpp b/src/angle-estimator.cpp
index e0a0e9106903226b1bcd40093e77890f90cef466..7c9d78daa67c6f30688f3e5a9b8020f4179a6177 100644
--- a/src/angle-estimator.cpp
+++ b/src/angle-estimator.cpp
@@ -5,17 +5,6 @@
*
* CNRS/AIST
*
- * This file is part of sot-dynamic-pinocchio.
- * sot-dynamic-pinocchio 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-pinocchio 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-pinocchio. If not, see <http://www.gnu.org/licenses/>.
*/
#include <sot-dynamic-pinocchio/angle-estimator.h>
diff --git a/src/dynamic-command.h b/src/dynamic-command.h
index 864dfb8a31c07c3cb0c7e395dd9a0a31cb54fa20..ea521b34ce507857922529e814c869c70aa27a71 100644
--- a/src/dynamic-command.h
+++ b/src/dynamic-command.h
@@ -4,17 +4,6 @@
*
* CNRS/AIST
*
- * This file is part of sot-core.
- * sot-core 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-core 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-core. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef DYNAMIC_COMMAND_H
diff --git a/src/dynamic.cpp b/src/dynamic.cpp
index f8288542e146d021e5e74d5bb0a873239b35def9..a17527242bec5d1bbf6e5e6cf564c55b9ffefadb 100644
--- a/src/dynamic.cpp
+++ b/src/dynamic.cpp
@@ -5,17 +5,6 @@
*
* CNRS/AIST
*
- * This file is part of sot-dynamic-pinocchio.
- * sot-dynamic-pinocchio 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-pinocchio 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-pinocchio. If not, see <http://www.gnu.org/licenses/>.
*/
#include <sot-dynamic-pinocchio/dynamic-pinocchio.h>
@@ -25,13 +14,13 @@ using namespace dynamicgraph;
using namespace dynamicgraph::sot;
extern "C" {
- ::dynamicgraph::Entity*
- EntityMaker_DynamicPinocchio(const std::string& objname)
- {
- return new DynamicPinocchio (objname);
- }
- ::dynamicgraph::EntityRegisterer
- reg_Dynamic ("DynamicPinocchio",
- &EntityMaker_DynamicPinocchio);
+ ::dynamicgraph::Entity*
+ EntityMaker_DynamicPinocchio(const std::string& objname)
+ {
+ return new DynamicPinocchio (objname);
+ }
+ ::dynamicgraph::EntityRegisterer
+ reg_Dynamic ("DynamicPinocchio",
+ &EntityMaker_DynamicPinocchio);
}
//DYNAMICGRAPH_FACTORY_DYNAMIC_PLUGIN(Dynamic,"Dynamic");
diff --git a/src/dynamic_graph/sot/dynamics_pinocchio/humanoid_robot.py b/src/dynamic_graph/sot/dynamics_pinocchio/humanoid_robot.py
index 4896b0f6477cd0b68507278a0a9146a3c3027ccd..afee3a47c4942a7a825b21ab19b0f1b625a6bf88 100755
--- a/src/dynamic_graph/sot/dynamics_pinocchio/humanoid_robot.py
+++ b/src/dynamic_graph/sot/dynamics_pinocchio/humanoid_robot.py
@@ -1,18 +1,5 @@
# -*- coding: utf-8 -*-
# Copyright 2011, Florent Lamiraux, Thomas Moulard, 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/>.
from __future__ import print_function
@@ -54,13 +41,13 @@ class AbstractHumanoidRobot (object):
Other attributes require to be defined:
- halfSitting: half-sitting position is the robot initial pose.
This attribute *must* be defined in subclasses.
-
+
- dynamic: The robot dynamic model.
-
+
- device: The device that integrates the dynamic equation, namely
the real robot or
a simulator
-
+
- dimension: The configuration size.
"""
diff --git a/src/dynamic_graph/sot/dynamics_pinocchio/parser.py b/src/dynamic_graph/sot/dynamics_pinocchio/parser.py
index 93762ea93c2d06b70dd0fc9540be04f87a705067..4b5f3a63b2b25ae79add019f018287a77ce73b7c 100755
--- a/src/dynamic_graph/sot/dynamics_pinocchio/parser.py
+++ b/src/dynamic_graph/sot/dynamics_pinocchio/parser.py
@@ -2,9 +2,6 @@
# Copyright 2010 CNRS
# Author: Florent Lamiraux
-#
-# Release under LGPL license: see COPYING.LESSER at root of the project.
-#
import xml.dom.minidom as dom
from dynamic_graph.sot.dynamics_pinocchio.dynamic import DynamicPinocchio
diff --git a/src/dynamic_graph/sot/dynamics_pinocchio/tools.py b/src/dynamic_graph/sot/dynamics_pinocchio/tools.py
index 277461f14bad9e76a77670667daa71c4ea509e48..f5cea8662f4a04c0caf086751b8220eb746c802b 100755
--- a/src/dynamic_graph/sot/dynamics_pinocchio/tools.py
+++ b/src/dynamic_graph/sot/dynamics_pinocchio/tools.py
@@ -1,19 +1,6 @@
#!/usr/bin/env python
# -*- coding: utf-8 -*-
# Copyright 2011, Florent Lamiraux, Thomas Moulard, 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/>.
from dynamic_graph import plug
from dynamic_graph.sot.core import SOT
diff --git a/src/force-compensation.cpp b/src/force-compensation.cpp
index e952e3ef8b7b1b47aed208131ce980a4fbe22660..909fb73736c2aa1f9213dfcebcc987f048206b65 100644
--- a/src/force-compensation.cpp
+++ b/src/force-compensation.cpp
@@ -5,17 +5,6 @@
*
* CNRS/AIST
*
- * This file is part of sot-dynamic-pinocchio.
- * sot-dynamic-pinocchio 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-pinocchio 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-pinocchio. If not, see <http://www.gnu.org/licenses/>.
*/
#include <sot-dynamic-pinocchio/force-compensation.h>
diff --git a/src/integrator-force-exact.cpp b/src/integrator-force-exact.cpp
index 3c0ce3fe821a2f9954726fa7307cc91eb13cc592..4a60c8e44590841b34ead52a0d9c73fc2646c095 100644
--- a/src/integrator-force-exact.cpp
+++ b/src/integrator-force-exact.cpp
@@ -5,17 +5,6 @@
*
* CNRS/AIST
*
- * This file is part of sot-dynamic-pinocchio.
- * sot-dynamic-pinocchio 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-pinocchio 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-pinocchio. If not, see <http://www.gnu.org/licenses/>.
*/
#include <sot-dynamic-pinocchio/integrator-force-exact.h>
diff --git a/src/integrator-force-rk4.cpp b/src/integrator-force-rk4.cpp
index 6104215c2988d2860c06a40d75f7912d365327de..9989c37ccc033a44b961a56f3b76bbfdd37c978f 100644
--- a/src/integrator-force-rk4.cpp
+++ b/src/integrator-force-rk4.cpp
@@ -5,17 +5,6 @@
*
* CNRS/AIST
*
- * This file is part of sot-dynamic-pinocchio.
- * sot-dynamic-pinocchio 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-pinocchio 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-pinocchio. If not, see <http://www.gnu.org/licenses/>.
*/
#include <sot-dynamic-pinocchio/integrator-force-rk4.h>
diff --git a/src/integrator-force.cpp b/src/integrator-force.cpp
index ea4d9d74630359acda337caac53bb813990c1776..135a9a42f7aa2da79fddb35f5a4b9f58ba72bf8e 100644
--- a/src/integrator-force.cpp
+++ b/src/integrator-force.cpp
@@ -5,17 +5,6 @@
*
* CNRS/AIST
*
- * This file is part of sot-dynamic-pinocchio.
- * sot-dynamic-pinocchio 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-pinocchio 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-pinocchio. If not, see <http://www.gnu.org/licenses/>.
*/
#include <sot-dynamic-pinocchio/integrator-force.h>
diff --git a/src/mass-apparent.cpp b/src/mass-apparent.cpp
index 5644508fe1aa0cd64002776b21cf3ef71873adb4..482faa48377b8e55a1be71382d358a25ce8bb0aa 100644
--- a/src/mass-apparent.cpp
+++ b/src/mass-apparent.cpp
@@ -5,17 +5,6 @@
*
* CNRS/AIST
*
- * This file is part of sot-dynamic-pinocchio.
- * sot-dynamic-pinocchio 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-pinocchio 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-pinocchio. If not, see <http://www.gnu.org/licenses/>.
*/
#include <sot-dynamic-pinocchio/mass-apparent.h>
@@ -28,7 +17,7 @@ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(MassApparent,"MassApparent");
MassApparent::
-MassApparent( const std::string & name )
+MassApparent( const std::string & name )
:Entity(name)
,jacobianSIN(NULL,"sotMassApparent("+name+")::input(vector)::jacobian")
,inertiaInverseSIN(NULL,"sotMassApparent("+name+")::input(vector)::inertiaInverse")
@@ -45,7 +34,7 @@ MassApparent( const std::string & name )
"sotMassApparent("+name+")::input(vector)::inertiaInverseOUT")
{
sotDEBUGIN(5);
-
+
signalRegistration(jacobianSIN);
signalRegistration(inertiaInverseSIN);
signalRegistration(massInverseSOUT);
@@ -72,7 +61,7 @@ computeMassInverse( dynamicgraph::Matrix& res,
const int& time )
{
sotDEBUGIN(15);
-
+
const dynamicgraph::Matrix & J = jacobianSIN( time );
const dynamicgraph::Matrix & A = inertiaInverseSIN( time );
diff --git a/src/matrix-inertia.cpp b/src/matrix-inertia.cpp
index f18087348104f45116f0df0eb4e22ecdd68022d9..0259b5746b8a889b1896cd784243c948ca64ed1a 100644
--- a/src/matrix-inertia.cpp
+++ b/src/matrix-inertia.cpp
@@ -5,17 +5,6 @@
*
* CNRS/AIST
*
- * This file is part of sot-dynamic-pinocchio.
- * sot-dynamic-pinocchio 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-pinocchio 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-pinocchio. If not, see <http://www.gnu.org/licenses/>.
*/
#include <fstream>
@@ -109,18 +98,18 @@ initParents( void )
if(joints_[i]->parentJoint() == 0x0)
{
parentIndex_[i] = -1;
- sotDEBUG(15) << "parent of\t" << i << "\t("
- << static_cast<Joint*>(joints_[i])->getName()
+ sotDEBUG(15) << "parent of\t" << i << "\t("
+ << static_cast<Joint*>(joints_[i])->getName()
<< "):\t" << -1 << std::endl;
}
else
{
parentIndex_[i] = m[joints_[i]->parentJoint()];
- sotDEBUG(15) << "parent of\t" << i << ":\t("
- << static_cast<Joint*>(joints_[i])->getName()
+ sotDEBUG(15) << "parent of\t" << i << ":\t("
+ << static_cast<Joint*>(joints_[i])->getName()
<< "):\t" << m[joints_[i]->parentJoint()]
<< "\t(" << static_cast<Joint*>
- (joints_[m[joints_[i]->parentJoint()]])->getName()
+ (joints_[m[joints_[i]->parentJoint()]])->getName()
<< ")" << std::endl;
}
}
@@ -159,12 +148,12 @@ void MatrixInertia::update( void )
const size_t SIZE = joints_.size();
for(size_t i = 0; i < SIZE; ++i)
{
- sotDEBUG(25) << "Joint " << i << ": rank = "
+ sotDEBUG(25) << "Joint " << i << ": rank = "
<< joints_[i]->rankInConfiguration() <<endl;
Joint* j = static_cast<Joint*>(joints_[i]);
/* iRpi: Rotation from joint i to parent of i. */
- MatrixRotation piRi;
+ MatrixRotation piRi;
{
/* phi_[1] = phi_(1:3) is the rotation axis of the joint. */
matrix3d Ri; j->getStaticRotation(Ri);
@@ -174,16 +163,16 @@ void MatrixInertia::update( void )
matrix3d piRi_tmp;
j->RodriguesRotation(axeJ,q,piRi_tmp);
for( unsigned int loopi=0;loopi<3;++loopi )
- for( unsigned int loopj=0;loopj<3;++loopj )
+ for( unsigned int loopj=0;loopj<3;++loopj )
piRi( loopi,loopj ) = piRi_tmp(loopi,loopj);
}
- dynamicgraph::Vector piTi(3);
+ dynamicgraph::Vector piTi(3);
{
- vector3d piTi_tmp;
+ vector3d piTi_tmp;
j->getStaticTranslation( piTi_tmp );
for( unsigned int loopi=0;loopi<3;++loopi ) piTi(loopi) = piTi_tmp(loopi);
}
- /* Twist matrix iXpi: transfo of the velocities between i en pi (parent i).
+ /* Twist matrix iXpi: transfo of the velocities between i en pi (parent i).
* iXpi = [ iRpi Skew( iRpi.t )*iRpi ]
* [ 0 iRpi ] */
MatrixHomogeneous piMi; piMi.buildFrom( piRi,piTi );
@@ -213,13 +202,13 @@ void MatrixInertia::computeInertiaMatrix()
matrix3d Sc = skewSymmetric(com);
/* Inertia of the link. */
matrix3d Icm = joints_[i]->linkedBody()->inertiaMatrix();
-
+
double m = joints_[i]->linkedBody()->mass();
-
- /* Ic_ is the inertia 6D matrix of the joint in the joint frame.
+
+ /* Ic_ is the inertia 6D matrix of the joint in the joint frame.
* Ic = [ Ai+mSc.Sc' mSc ]
- * [ mSc' mId ]
+ * [ mSc' mId ]
*/
sotDEBUG(45) << "com"<<i<<" = [ " << com <<"]"<<endl;
sotDEBUG(45) << "Sc"<<i<<" = [ " << Sc<<"]"<<endl;
@@ -230,34 +219,34 @@ void MatrixInertia::computeInertiaMatrix()
for( unsigned int loopi=0;loopi<3;++loopi )
for( unsigned int loopj=0;loopj<3;++loopj )
{
- /*TT*/if( loopi==loopj ) Ici( loopi,loopj ) = m;
+ /*TT*/if( loopi==loopj ) Ici( loopi,loopj ) = m;
else Ici( loopi,loopj ) = 0.;
/*TR*/Ici( loopi,loopj+3 ) = m*Sct( loopi,loopj );
/*RT*/Ici( loopi+3,loopj ) = m*Sc( loopi,loopj );
/*RR*/Ici( loopi+3,loopj+3 ) = m*Irr( loopi,loopj )+ Icm( loopi,loopj );
}
-
+
sotDEBUG(25) << "Ic" << i << " = " << Ici;
}
-
+
dynamicgraph::Vector Fi(6);
dynamicgraph::Matrix iVpiT_Ici(6,6);
dynamicgraph::Matrix iVpiT_Ici_iVpi(6,6);
- for( int i=SIZE-1;i>=1;--i )
+ for( int i=SIZE-1;i>=1;--i )
{
const unsigned int iRank = joints_[i]->rankInConfiguration();
- dynamicgraph::Matrix & Ici = Ic[i];
- sotMatrixTwist & iVpii = iVpi[i];
- MatrixForce & iVpiiT = iVpiT[i];
+ dynamicgraph::Matrix & Ici = Ic[i];
+ sotMatrixTwist & iVpii = iVpi[i];
+ MatrixForce & iVpiiT = iVpiT[i];
dynamicgraph::Vector & phii = phi[i];
/* F = Ic_i . phi_i */
- Fi = Ici*phii;
+ Fi = Ici*phii;
/* H_ii = phi_i' . F */
/*DEBUGinertia_(i + 5, i + 5) = phii.scalarProduct(Fi);*/
-
-
+
+
inertia_(iRank,iRank) = phii.scalarProduct(Fi);
sotDEBUG(30) << "phi"<<i<<" = " << phii;
sotDEBUG(35) << "Fi"<<i<<" = " << Fi << endl;
@@ -282,8 +271,8 @@ void MatrixInertia::computeInertiaMatrix()
/* j = pj */
j = parentIndex_[j];
/* Hij = Hji = F' phi_j */
- inertia_(iRank,joints_[j]->rankInConfiguration())
- = inertia_(joints_[j]->rankInConfiguration(),iRank)
+ inertia_(iRank,joints_[j]->rankInConfiguration())
+ = inertia_(joints_[j]->rankInConfiguration(),iRank)
= Fi.scalarProduct( phi[j]);
sotDEBUG(35) << "Fi = " << Fi << endl;
sotDEBUG(35) << "FiXphi = " << inertia_(j + 5, i + 5) << endl;
diff --git a/src/python-module-py.cpp b/src/python-module-py.cpp
index d0cfedcc7b1c8647203f1357bd735f330f5bbdfa..f004b83be1d509b485f43d5639b4a1cf60620053 100644
--- a/src/python-module-py.cpp
+++ b/src/python-module-py.cpp
@@ -1,17 +1,4 @@
// Copyright (C) 2008-2016 LAAS-CNRS, JRL AIST-CNRS.
-//
-// This file is part of sot-dynamic-pinocchio.
-// sot-dynamic-pinocchio 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-pinocchio 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-pinocchio. If not, see <http://www.gnu.org/licenses/>.
#include <sot/core/debug.hh>
@@ -50,16 +37,16 @@ namespace dynamicgraph{
catch (const std::exception& exc) {
//PyErr_SetString(dgpyError, exc.what());
return NULL;
- }
- catch (const char* s) {
+ }
+ catch (const char* s) {
//PyErr_SetString(dgpyError, s);
return NULL;
}
catch (...) {
//PyErr_SetString(dgpyError, "Unknown exception");
- return NULL;
+ return NULL;
}
-
+
return Py_BuildValue("");
}
@@ -86,16 +73,16 @@ namespace dynamicgraph{
dyn_entity->setData(pointer2);
}
catch (const std::exception& exc) {
- // PyErr_SetString(dgpyError, exc.what());
+ // PyErr_SetString(dgpyError, exc.what());
return NULL;
- }
- catch (const char* s) {
+ }
+ catch (const char* s) {
// PyErr_SetString(dgpyError, s);
return NULL;
}
catch (...) {
- // PyErr_SetString(dgpyError, "Unknown exception");
- return NULL;
+ // PyErr_SetString(dgpyError, "Unknown exception");
+ return NULL;
}
return Py_BuildValue("");
diff --git a/src/sot-dynamic-pinocchio.cpp b/src/sot-dynamic-pinocchio.cpp
index 0aa3440e542c5748accca251d68573a3eef6d6ef..15c609eb39784a8bc1738ab198687bd2c1ca3a28 100644
--- a/src/sot-dynamic-pinocchio.cpp
+++ b/src/sot-dynamic-pinocchio.cpp
@@ -5,17 +5,6 @@
*
* CNRS/AIST
*
- * This file is part of sot-dynamic-pinocchio.
- * sot-dynamic-pinocchio 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-pinocchio 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-pinocchio. If not, see <http://www.gnu.org/licenses/>.
*/
#include <sot/core/debug.hh>
diff --git a/src/waist-attitude-from-sensor.cpp b/src/waist-attitude-from-sensor.cpp
index b2cb0e6c69c1842548117862e19950b9a0ea5db1..30af2562e5c110f9bbb211c922ca7cff56cb8289 100644
--- a/src/waist-attitude-from-sensor.cpp
+++ b/src/waist-attitude-from-sensor.cpp
@@ -5,17 +5,6 @@
*
* CNRS/AIST
*
- * This file is part of sot-dynamic-pinocchio.
- * sot-dynamic-pinocchio 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-pinocchio 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-pinocchio. If not, see <http://www.gnu.org/licenses/>.
*/
#include <sot-dynamic-pinocchio/waist-attitude-from-sensor.h>
diff --git a/src/zmp-from-forces.cpp b/src/zmp-from-forces.cpp
index 8391faf55758b6d536e0dc974c08166125779aed..91037a996ea321aafa92431c463b235d1233a54a 100644
--- a/src/zmp-from-forces.cpp
+++ b/src/zmp-from-forces.cpp
@@ -4,17 +4,6 @@
*
* CNRS
*
- * This file is part of sot-dynamic-pinocchio.
- * sot-dynamic-pinocchio 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-pinocchio 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-pinocchio. If not, see <http://www.gnu.org/licenses/>.
*/
#include <vector>
diff --git a/src/zmpreffromcom.cpp b/src/zmpreffromcom.cpp
index bb81292a45fd7f3d85480b4ed1d18a3d6780424e..2ea2701dd73154b7f742bb7bbff62b6617b2a5cc 100644
--- a/src/zmpreffromcom.cpp
+++ b/src/zmpreffromcom.cpp
@@ -5,17 +5,6 @@
*
* CNRS/AIST
*
- * This file is part of sot-dynamic-pinocchio.
- * sot-dynamic-pinocchio 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-pinocchio 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-pinocchio. If not, see <http://www.gnu.org/licenses/>.
*/
#include <sot-dynamic-pinocchio/zmpreffromcom.h>
diff --git a/unitTesting/CMakeLists.txt b/unitTesting/CMakeLists.txt
index e45601685e2bb7f317551584fba7a5cc3adbeb2d..0ca9d4f6600ca7b5e7f43c1c5a734fb78e8800c7 100644
--- a/unitTesting/CMakeLists.txt
+++ b/unitTesting/CMakeLists.txt
@@ -1,17 +1,4 @@
# Copyright 2010, François Bleibel, Olivier Stasse, JRL, CNRS/AIST
-#
-# This file is part of sot-dynamic-pinocchio.
-# sot-dynamic-pinocchio 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-pinocchio 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
-# sot-dynamic-pinocchio. If not, see <http://www.gnu.org/licenses/>.
ADD_DEFINITIONS(-DDEBUG=2)
diff --git a/unitTesting/dummy.cpp b/unitTesting/dummy.cpp
index 3848f27b8d92f56556a756fa6ecc6495f6ae5506..1aeba6c841ba76555d210269027fdccdd49c276a 100644
--- a/unitTesting/dummy.cpp
+++ b/unitTesting/dummy.cpp
@@ -5,17 +5,6 @@
*
* CNRS/AIST
*
- * This file is part of sot-dynamic-pinocchio.
- * sot-dynamic-pinocchio 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-pinocchio 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-pinocchio. If not, see <http://www.gnu.org/licenses/>.
*/
int main (int , char** )
diff --git a/unitTesting/python/feet_follower.py b/unitTesting/python/feet_follower.py
index 1576e439103ae95954ee4d9f29536ea8b2a3e279..07fe503768de353e8e986f596900d9b6629674ad 100755
--- a/unitTesting/python/feet_follower.py
+++ b/unitTesting/python/feet_follower.py
@@ -1,19 +1,6 @@
#!/usr/bin/env python
# -*- coding: utf-8 -*-
# Copyright 2011, Florent Lamiraux, Thomas Moulard, 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/>.
from dynamic_graph.sot.dynamics.tools import *
diff --git a/unitTesting/python/humanoid_robot.py b/unitTesting/python/humanoid_robot.py
index d58e0e48af20c98aa94a63c668232c0756196a80..de042dcad1d3aff2b984815abe195dd45010cade 100755
--- a/unitTesting/python/humanoid_robot.py
+++ b/unitTesting/python/humanoid_robot.py
@@ -1,19 +1,6 @@
#!/usr/bin/env python
# -*- coding: utf-8 -*-
# Copyright 2011, Florent Lamiraux, Thomas Moulard, 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/>.
import unittest
diff --git a/unitTesting/python/reach_both_hands.py b/unitTesting/python/reach_both_hands.py
index ab853dc52f0f4aed7927affe4c16e08e437c4b0a..3c2b939b16fbb704cb2c327572a6ac44a5409ae7 100755
--- a/unitTesting/python/reach_both_hands.py
+++ b/unitTesting/python/reach_both_hands.py
@@ -1,19 +1,6 @@
#!/usr/bin/env python
# -*- coding: utf-8 -*-
# Copyright 2011, Florent Lamiraux, Thomas Moulard, 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/>.
import sys
from dynamic_graph.sot.dynamics.tools import *
diff --git a/unitTesting/python/reach_left_hand.py b/unitTesting/python/reach_left_hand.py
index bbb8e0e35613e2347cd98a39f7227a7ffd0bf099..7ed5fba4bf0dcf6625f0d2b3256a7764e0ce23fc 100755
--- a/unitTesting/python/reach_left_hand.py
+++ b/unitTesting/python/reach_left_hand.py
@@ -1,19 +1,6 @@
#!/usr/bin/env python
# -*- coding: utf-8 -*-
# Copyright 2011, Florent Lamiraux, Thomas Moulard, 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/>.
import sys
from dynamic_graph.sot.dynamics.tools import *
diff --git a/unitTesting/python/reach_right_hand.py b/unitTesting/python/reach_right_hand.py
index e6fb07f7ec9ae07514be505b1543e7e39e72556c..41f2cb205f3398ac020373a47cd823432442a375 100755
--- a/unitTesting/python/reach_right_hand.py
+++ b/unitTesting/python/reach_right_hand.py
@@ -1,19 +1,6 @@
#!/usr/bin/env python
# -*- coding: utf-8 -*-
# Copyright 2011, Florent Lamiraux, Thomas Moulard, 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/>.
from dynamic_graph.sot.dynamics.tools import *
diff --git a/unitTesting/test_djj.cpp b/unitTesting/test_djj.cpp
index 22e013e0a2bea83392826ef0405dbf7b38a357ba..f2b2d1105ef170b9fb8d05c21e6fb38a6436ebe9 100644
--- a/unitTesting/test_djj.cpp
+++ b/unitTesting/test_djj.cpp
@@ -5,17 +5,6 @@
*
* CNRS/AIST
*
- * This file is part of sot-dynamic-pinocchio.
- * sot-dynamic-pinocchio 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-pinocchio 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-pinocchio. If not, see <http://www.gnu.org/licenses/>.
*/
#include <string>
diff --git a/unitTesting/test_dyn.cpp b/unitTesting/test_dyn.cpp
index bc63792fd0aa63e0395c4fa6f69069b49a3e2b6a..246371d689a92c0ecbea691c318bea98c2ae68e4 100644
--- a/unitTesting/test_dyn.cpp
+++ b/unitTesting/test_dyn.cpp
@@ -5,17 +5,6 @@
*
* CNRS/AIST
*
- * This file is part of sot-dynamic-pinocchio.
- * sot-dynamic-pinocchio 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-pinocchio 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-pinocchio. If not, see <http://www.gnu.org/licenses/>.
*/
/* -------------------------------------------------------------------------- */
diff --git a/unitTesting/test_results.cpp b/unitTesting/test_results.cpp
index d8cf75004767a85119b0854d5a0ad7311d212d0a..ebe49f2945a8f450fe3e8d4d4c5dc1d0d7d5b195 100644
--- a/unitTesting/test_results.cpp
+++ b/unitTesting/test_results.cpp
@@ -5,17 +5,6 @@
*
* CNRS/AIST
*
- * This file is part of sot-dynamic-pinocchio.
- * sot-dynamic-pinocchio 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-pinocchio 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-pinocchio. If not, see <http://www.gnu.org/licenses/>.
*/
/* --------------------------------------------------------------------- */
@@ -47,7 +36,7 @@ int main(int argc, char * argv[])
cerr << "./TestHumanoidDynamicRobot PATH_TO_VRML_FILE VRML_FILE_NAME "<< endl;
cerr << " PATH_TO_SPECIFICITIES_XML PATH PATH_TO_MAP_JOINT_2_RANK INITIAL_CONFIGURATION_FILE" << endl;
exit(0);
- }
+ }
string aSpecificitiesFileName = argv[3];
string aPath=argv[1];
@@ -96,7 +85,7 @@ int main(int argc, char * argv[])
MAL_VECTOR_DIM(m_ReferenceStateData,double,100);
MAL_VECTOR_DIM(m_ActualStateData,double,131);
-
+
unsigned int NbIterations=0;
const CjrlJoint *ActualLeftFoot, *ActualRightFoot, *ActualRightHand;
@@ -110,7 +99,7 @@ int main(int argc, char * argv[])
ActualRightFoot = aHDR2->rightFoot()->associatedAnkle();
ActualLeftFoot = aHDR2->leftFoot()->associatedAnkle();
ActualRightHand = aHDR2->rightWrist();
-
+
matrix4d ReferenceSupportFootPosition;
matrix4d ReferenceRightHandPosition;
matrix4d ReferenceLeftHandPosition;
@@ -130,11 +119,11 @@ int main(int argc, char * argv[])
{
for(unsigned int i=0;i<100;i++)
ReferenceStateFile >> m_ReferenceStateData[i];
-
+
for(unsigned int i=0;i<40;i++)
m_ReferenceStateConf[i+6] = m_ReferenceStateData[i];
-
-
+
+
if (NbIterations>0)
{
for(unsigned int i=0;i<46;i++)
@@ -145,7 +134,7 @@ int main(int argc, char * argv[])
for(unsigned int i=0;i<46;i++)
m_ReferenceStateSpeed[i] = 0.0;
}
-
+
// cout << "ReferenceStateConf: " << m_ReferenceStateConf << endl;
/* Update the current configuration vector */
aHDR->currentConfiguration(m_ReferenceStateConf);
@@ -167,7 +156,7 @@ int main(int argc, char * argv[])
FileRefRHPos << MAL_S4x4_MATRIX_ACCESS_I_J(ReferenceRightHandPosition,0,3) << " ";
FileRefRHPos << MAL_S4x4_MATRIX_ACCESS_I_J(ReferenceRightHandPosition,1,3) << " " ;
FileRefRHPos << MAL_S4x4_MATRIX_ACCESS_I_J(ReferenceRightHandPosition,2,3) << endl;
-
+
FileRefLHPos << MAL_S4x4_MATRIX_ACCESS_I_J(ReferenceLeftHandPosition,0,3) << " ";
FileRefLHPos << MAL_S4x4_MATRIX_ACCESS_I_J(ReferenceLeftHandPosition,1,3) << " " ;
@@ -189,8 +178,8 @@ int main(int argc, char * argv[])
}
for(unsigned int i=0;i<40;i++)
m_ActualStateConf[i+6] = m_ActualStateData[i];
-
-
+
+
if (NbIterations>0)
{
for(unsigned int i=6;i<46;i++)
@@ -211,7 +200,7 @@ int main(int argc, char * argv[])
{
m_ActualStateConfPrev[i] = m_ActualStateConf[i];
}
-
+
aHDR2->computeForwardKinematics();
ActualRightHandPosition = ActualRightHand->currentTransformation();
@@ -227,5 +216,5 @@ int main(int argc, char * argv[])
FileActualRHPos.close();
FileRefRHPos.close();
FileRefLHPos.close();
-
+
}