remove GPL headers and debian directory

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__
-

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__
-

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__
-

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;

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__
-

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__
-

python/kine_romeo.py

 # -*- 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

python/kine_romeo_small.py

 # -*- 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

src/CMakeLists.txt

 # 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})
 

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
     {

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>

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

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");

src/dynamic_graph/sot/dynamics_pinocchio/humanoid_robot.py

 # -*- 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.
     """
 

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

src/dynamic_graph/sot/dynamics_pinocchio/tools.py

 #!/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

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>

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>

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>

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>