Added documentation stubs. Made hrp2Dynamics required (for some reason this...

Added documentation stubs. Made hrp2Dynamics required (for some reason this was commented out) again.

CMakeLists.txt

@@ -25,6 +25,21 @@ IF(UNIX)
   SET(LIB_EXT "")
 ENDIF(UNIX)
 
+# -------------------------------------------------------------------
+# --- UTILS ---------------------------------------------------------
+# -------------------------------------------------------------------
+MACRO(LIST2STRING _VAR_ARG _LIST_ARG)
+  SET(${_VAR_ARG})
+  SET(_FIRST_STEP 1)
+  FOREACH(_ITEM ${ARGV})
+     IF(_FIRST_STEP)
+	SET(_FIRST_STEP 0)
+     ELSE(_FIRST_STEP)
+           SET (${_VAR_ARG} "${${_VAR_ARG}} ${_ITEM}")
+     ENDIF(_FIRST_STEP)
+  ENDFOREACH(_ITEM)
+ENDMACRO(LIST2STRING)
+
 #
 # Look for dependencies
 #
@@ -58,12 +73,13 @@ ENDIF(PACKAGE_REQUIREMENTS STREQUAL "")
 # --- HRP2DYNAMICS ---------------------------------------
 SET(HRP2DYNAMICS_FOUND 0)
 SET(HRP2DYNAMICS_REQUIRED "hrp2Dynamics >= 1.3.0")
-#PKG_CHECK_MODULES(HRP2DYNAMICS REQUIRED ${HRP2DYNAMICS_REQUIRED})
-PKG_CHECK_MODULES(HRP2DYNAMICS ${HRP2DYNAMICS_REQUIRED})
+PKG_CHECK_MODULES(HRP2DYNAMICS REQUIRED ${HRP2DYNAMICS_REQUIRED})
 
 IF(${HRP2DYNAMICS_FOUND})
 SET(PACKAGE_REQUIREMENTS "${PACKAGE_REQUIREMENTS}, ${HRP2DYNAMICS_REQUIRED}")
 #  MESSAGE(FATAL_ERROR "Check that package hrp2Dynamics is installed in a directory pointed out by PKG_CONFIG_PATH.")
+LIST2STRING(temp ${HRP2DYNAMICS_LIBRARIES})
+#SET(HRP2DYNAMICS_LIBRARIES ${temp})
 MESSAGE(STATUS "h2D libs are '${HRP2DYNAMICS_LIBRARIES}'")
 ENDIF(${HRP2DYNAMICS_FOUND})
 

doc/additionalDoc/package.hh

 /** \mainpage
 \section sec_intro Introduction
 
-This library implements a modular architecture to test and experiment
-controllers in the Stack of Tasks Framework as defined in \ref Mansard2007.
-It is specifically targeted to retain real-time capabilities while
-having high level software capabilities such as:
-\li On-line plugin loading and unloading,
-\li Scripting of the control,
-\li A strong software model which allow a clear identification
-of the library application field.
-
-\section sec_RequirementsInstallation Requirements and Installation
- The library assumes that Boost is installed.
+The sot-dynamic package is a bridge between the stack of tasks framework and the dynamicsJRLJapan library.
+It provides an inverse dynamic model of the robot through dynamic-graph entities.
 
-\section sec_organization Organization of the code
-
-The code is divided mostly in two parts: the controller also called
-Tasks, and the signals providing the information necessary to compute
-the command.
+This class provides an inverse dynamic model of the robot. More precisely it wraps the newton euler algorithm implemented by the dynamicsJRLJapan library to make it accessible in the stack of tasks
+controllers in the Stack of Tasks Framework as defined in \ref Mansard2007.

doc/package.dox.cmake

@@ -209,7 +209,7 @@ SHOW_DIRECTORIES       = NO
 #---------------------------------------------------------------------------
 # configuration options related to the input files
 #---------------------------------------------------------------------------
-FILE_PATTERNS          = *.hh *.idl
+FILE_PATTERNS          = *.h *.hh *.idl
 EXCLUDE_PATTERNS       = 
 INPUT                  = ${${PROJECT_NAME}_SOURCE_DIR}/include \
                          ${CMAKE_CURRENT_SOURCE_DIR}/additionalDoc