diff --git a/include/sot-dynamic/angle-estimator.h b/include/sot-dynamic/angle-estimator.h
index 4c41a430967cebc254dd4f13cecf29f913b0efee..385689ec8a63b5a6a9afd48ff152fcc775d9f1b6 100644
--- a/include/sot-dynamic/angle-estimator.h
+++ b/include/sot-dynamic/angle-estimator.h
@@ -46,15 +46,15 @@ namespace ml = maal::boost;
#include <dynamic-graph/entity.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
-#include <sot-core/matrix-homogeneous.h>
+#include <sot/core/matrix-homogeneous.hh>
#include <sot-core/vector-roll-pitch-yaw.h>
-#include <sot-core/matrix-rotation.h>
+#include <sot/core/matrix-rotation.hh>
/* STD */
#include <string>
-namespace sot {
+namespace dynamicgraph { namespace sot {
namespace dg = dynamicgraph;
/* --------------------------------------------------------------------- */
@@ -123,7 +123,7 @@ class SOTANGLEESTIMATOR_EXPORT AngleEstimator
};
-} // namespace sot
+} /* namespace sot */} /* namespace dynamicgraph */
diff --git a/include/sot-dynamic/dynamic-hrp2.h b/include/sot-dynamic/dynamic-hrp2.h
index a8781cabe7bdda51bdb0ba032aeaef498027b880..12f1a0d4118a3d4648f48df6471d506a1c5ed747 100644
--- a/include/sot-dynamic/dynamic-hrp2.h
+++ b/include/sot-dynamic/dynamic-hrp2.h
@@ -48,7 +48,7 @@
-namespace sot {
+namespace dynamicgraph { namespace sot {
namespace dg = dynamicgraph;
/* --------------------------------------------------------------------- */
@@ -80,7 +80,7 @@ class SOTDYNAMICHRP2_EXPORT DynamicHrp2
};
-} // namespace sot
+} /* namespace sot */} /* namespace dynamicgraph */
diff --git a/include/sot-dynamic/dynamic-hrp2_10.h b/include/sot-dynamic/dynamic-hrp2_10.h
index 67d9c3099e651d7ea407e2f159d5463bbcab99b6..a3908f6980fb5ec98b274f71cf2068133f910cc0 100644
--- a/include/sot-dynamic/dynamic-hrp2_10.h
+++ b/include/sot-dynamic/dynamic-hrp2_10.h
@@ -46,7 +46,7 @@
# define DYNAMICHRP2_10_EXPORT
#endif
-namespace sot {
+namespace dynamicgraph { namespace sot {
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
@@ -75,7 +75,7 @@ class DYNAMICHRP2_10_EXPORT DynamicHrp2_10
};
-} // namespace sot
+} /* namespace sot */} /* namespace dynamicgraph */
#endif // #ifndef __SOT_DYNAMIC_HRP2_H__
diff --git a/include/sot-dynamic/dynamic-hrp2_10_old.h b/include/sot-dynamic/dynamic-hrp2_10_old.h
index 8c431c4bdc8b05e60e25241fe2b97c5c62fca08e..8aa71bda792b589d5f9afb1d93324bc496be35a1 100644
--- a/include/sot-dynamic/dynamic-hrp2_10_old.h
+++ b/include/sot-dynamic/dynamic-hrp2_10_old.h
@@ -46,7 +46,7 @@
# define DynamicHrp2_10_old_EXPORT
#endif
-namespace sot {
+namespace dynamicgraph { namespace sot {
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
@@ -77,7 +77,7 @@ class DynamicHrp2_10_old_EXPORT DynamicHrp2_10_old
};
-} // namespace sot
+} /* namespace sot */} /* namespace dynamicgraph */
#endif // #ifndef __SOT_DYNAMIC_HRP2_H__
diff --git a/include/sot-dynamic/dynamic.h b/include/sot-dynamic/dynamic.h
index c8ed58dd1f621458ebbdb2f82d1856abe45fb085..5a7b2c98fbe1020510e736ed70ca5443421c13b8 100644
--- a/include/sot-dynamic/dynamic.h
+++ b/include/sot-dynamic/dynamic.h
@@ -47,7 +47,7 @@ namespace djj = dynamicsJRLJapan;
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
#include <sot-core/exception-dynamic.h>
-#include <sot-core/matrix-homogeneous.h>
+#include <sot/core/matrix-homogeneous.hh>
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
@@ -64,7 +64,7 @@ namespace djj = dynamicsJRLJapan;
#endif
-namespace sot {
+namespace dynamicgraph { namespace sot {
namespace dg = dynamicgraph;
namespace command {
@@ -365,7 +365,7 @@ class SOTDYNAMIC_EXPORT Dynamic
std::ostream& operator<<(std::ostream& os, const CjrlHumanoidDynamicRobot& r);
std::ostream& operator<<(std::ostream& os, const CjrlJoint& r);
-} // namespace sot
+} /* namespace sot */} /* namespace dynamicgraph */
diff --git a/include/sot-dynamic/force-compensation.h b/include/sot-dynamic/force-compensation.h
index 04c9b31862f92f95399dec4630695ca3b7146940..fefccc357cc7714ea4100d09b3bab971ab86c377 100644
--- a/include/sot-dynamic/force-compensation.h
+++ b/include/sot-dynamic/force-compensation.h
@@ -33,9 +33,9 @@ namespace ml = maal::boost;
#include <dynamic-graph/entity.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
-#include <sot-core/matrix-rotation.h>
+#include <sot/core/matrix-rotation.hh>
#include <sot-core/matrix-force.h>
-#include <sot-core/matrix-homogeneous.h>
+#include <sot/core/matrix-homogeneous.hh>
/* STD */
#include <string>
@@ -55,148 +55,146 @@ namespace ml = maal::boost;
#endif
-namespace sot {
-namespace dg = dynamicgraph;
+namespace dynamicgraph { namespace sot {
+ namespace dg = dynamicgraph;
-/* --------------------------------------------------------------------- */
-/* --- CLASS ----------------------------------------------------------- */
-/* --------------------------------------------------------------------- */
+ /* --------------------------------------------------------------------- */
+ /* --- CLASS ----------------------------------------------------------- */
+ /* --------------------------------------------------------------------- */
-class SOTFORCECOMPENSATION_EXPORT ForceCompensation
-{
- private:
- static MatrixRotation I3;
- protected:
- bool usingPrecompensation;
+ class SOTFORCECOMPENSATION_EXPORT ForceCompensation
+ {
+ private:
+ static MatrixRotation I3;
+ protected:
+ bool usingPrecompensation;
- public:
- ForceCompensation( void );
- static MatrixForce& computeHandXworld(
- const MatrixRotation & worldRhand,
- const ml::Vector & transSensorCom,
- MatrixForce& res );
+ public:
+ ForceCompensation( void );
+ static MatrixForce& computeHandXworld(
+ const MatrixRotation & worldRhand,
+ const ml::Vector & transSensorCom,
+ MatrixForce& res );
- static MatrixForce& computeHandVsensor( const MatrixRotation & sensorRhand,
- MatrixForce& res );
- static MatrixForce& computeSensorXhand( const MatrixRotation & sensorRhand,
- const ml::Vector & transSensorCom,
- MatrixForce& res );
-/* static ml::Matrix& computeInertiaSensor( const ml::Matrix& inertiaJoint, */
-/* const MatrixForce& sensorXhand, */
-/* ml::Matrix& res ); */
-
- static ml::Vector& computeTorsorCompensated( const ml::Vector& torqueInput,
- const ml::Vector& torquePrecompensation,
- const ml::Vector& gravity,
- const MatrixForce& handXworld,
- const MatrixForce& handVsensor,
- const ml::Matrix& gainSensor,
- const ml::Vector& momentum,
- ml::Vector& res );
-
- static ml::Vector& crossProduct_V_F( const ml::Vector& velocity,
- const ml::Vector& force,
- ml::Vector& res );
- static ml::Vector& computeMomentum( const ml::Vector& velocity,
- const ml::Vector& acceleration,
- const MatrixForce& sensorXhand,
- const ml::Matrix& inertiaJoint,
- ml::Vector& res );
-
- static ml::Vector& computeDeadZone( const ml::Vector& torqueInput,
- const ml::Vector& deadZoneLimit,
- ml::Vector& res );
+ static MatrixForce& computeHandVsensor( const MatrixRotation & sensorRhand,
+ MatrixForce& res );
+ static MatrixForce& computeSensorXhand( const MatrixRotation & sensorRhand,
+ const ml::Vector & transSensorCom,
+ MatrixForce& res );
+ /* static ml::Matrix& computeInertiaSensor( const ml::Matrix& inertiaJoint, */
+ /* const MatrixForce& sensorXhand, */
+ /* ml::Matrix& res ); */
+
+ static ml::Vector& computeTorsorCompensated( const ml::Vector& torqueInput,
+ const ml::Vector& torquePrecompensation,
+ const ml::Vector& gravity,
+ const MatrixForce& handXworld,
+ const MatrixForce& handVsensor,
+ const ml::Matrix& gainSensor,
+ const ml::Vector& momentum,
+ ml::Vector& res );
+
+ static ml::Vector& crossProduct_V_F( const ml::Vector& velocity,
+ const ml::Vector& force,
+ ml::Vector& res );
+ static ml::Vector& computeMomentum( const ml::Vector& velocity,
+ const ml::Vector& acceleration,
+ const MatrixForce& sensorXhand,
+ const ml::Matrix& inertiaJoint,
+ ml::Vector& res );
+
+ static ml::Vector& computeDeadZone( const ml::Vector& torqueInput,
+ const ml::Vector& deadZoneLimit,
+ ml::Vector& res );
- public: // CALIBRATION
+ public: // CALIBRATION
- std::list<ml::Vector> torsorList;
- std::list<MatrixRotation> rotationList;
+ std::list<ml::Vector> torsorList;
+ std::list<MatrixRotation> rotationList;
- void clearCalibration( void );
- void addCalibrationValue( const ml::Vector& torsor,
- const MatrixRotation & worldRhand );
+ void clearCalibration( void );
+ void addCalibrationValue( const ml::Vector& torsor,
+ const MatrixRotation & worldRhand );
- ml::Vector calibrateTransSensorCom( const ml::Vector& gravity,
- const MatrixRotation& handRsensor );
- ml::Vector calibrateGravity( const MatrixRotation& handRsensor,
- bool precompensationCalibration = false,
- const MatrixRotation& hand0Rsensor = I3 );
+ ml::Vector calibrateTransSensorCom( const ml::Vector& gravity,
+ const MatrixRotation& handRsensor );
+ ml::Vector calibrateGravity( const MatrixRotation& handRsensor,
+ bool precompensationCalibration = false,
+ const MatrixRotation& hand0Rsensor = I3 );
-};
+ };
-/* --------------------------------------------------------------------- */
-/* --- PLUGIN ---------------------------------------------------------- */
-/* --------------------------------------------------------------------- */
+ /* --------------------------------------------------------------------- */
+ /* --- PLUGIN ---------------------------------------------------------- */
+ /* --------------------------------------------------------------------- */
-class SOTFORCECOMPENSATION_EXPORT ForceCompensationPlugin
-:public dg::Entity, public ForceCompensation
-{
- public:
- static const std::string CLASS_NAME;
- bool calibrationStarted;
+ class SOTFORCECOMPENSATION_EXPORT ForceCompensationPlugin
+ :public dg::Entity, public ForceCompensation
+ {
+ public:
+ static const std::string CLASS_NAME;
+ bool calibrationStarted;
- public: /* --- CONSTRUCTION --- */
+ public: /* --- CONSTRUCTION --- */
- ForceCompensationPlugin( const std::string& name );
- virtual ~ForceCompensationPlugin( void );
+ ForceCompensationPlugin( const std::string& name );
+ virtual ~ForceCompensationPlugin( void );
- public: /* --- SIGNAL --- */
+ public: /* --- SIGNAL --- */
- /* --- INPUTS --- */
- dg::SignalPtr<ml::Vector,int> torsorSIN;
- dg::SignalPtr<MatrixRotation,int> worldRhandSIN;
+ /* --- INPUTS --- */
+ dg::SignalPtr<ml::Vector,int> torsorSIN;
+ dg::SignalPtr<MatrixRotation,int> worldRhandSIN;
- /* --- CONSTANTS --- */
- dg::SignalPtr<MatrixRotation,int> handRsensorSIN;
- dg::SignalPtr<ml::Vector,int> translationSensorComSIN;
- dg::SignalPtr<ml::Vector,int> gravitySIN;
- dg::SignalPtr<ml::Vector,int> precompensationSIN;
- dg::SignalPtr<ml::Matrix,int> gainSensorSIN;
- dg::SignalPtr<ml::Vector,int> deadZoneLimitSIN;
- dg::SignalPtr<ml::Vector,int> transSensorJointSIN;
- dg::SignalPtr<ml::Matrix,int> inertiaJointSIN;
+ /* --- CONSTANTS --- */
+ dg::SignalPtr<MatrixRotation,int> handRsensorSIN;
+ dg::SignalPtr<ml::Vector,int> translationSensorComSIN;
+ dg::SignalPtr<ml::Vector,int> gravitySIN;
+ dg::SignalPtr<ml::Vector,int> precompensationSIN;
+ dg::SignalPtr<ml::Matrix,int> gainSensorSIN;
+ dg::SignalPtr<ml::Vector,int> deadZoneLimitSIN;
+ dg::SignalPtr<ml::Vector,int> transSensorJointSIN;
+ dg::SignalPtr<ml::Matrix,int> inertiaJointSIN;
- dg::SignalPtr<ml::Vector,int> velocitySIN;
- dg::SignalPtr<ml::Vector,int> accelerationSIN;
+ dg::SignalPtr<ml::Vector,int> velocitySIN;
+ dg::SignalPtr<ml::Vector,int> accelerationSIN;
- /* --- INTERMEDIATE OUTPUTS --- */
- dg::SignalTimeDependent<MatrixForce,int> handXworldSOUT;
- dg::SignalTimeDependent<MatrixForce,int> handVsensorSOUT;
- dg::SignalPtr<ml::Vector,int> torsorDeadZoneSIN;
+ /* --- INTERMEDIATE OUTPUTS --- */
+ dg::SignalTimeDependent<MatrixForce,int> handXworldSOUT;
+ dg::SignalTimeDependent<MatrixForce,int> handVsensorSOUT;
+ dg::SignalPtr<ml::Vector,int> torsorDeadZoneSIN;
- dg::SignalTimeDependent<MatrixForce,int> sensorXhandSOUT;
- //dg::SignalTimeDependent<ml::Matrix,int> inertiaSensorSOUT;
- dg::SignalTimeDependent<ml::Vector,int> momentumSOUT;
- dg::SignalPtr<ml::Vector,int> momentumSIN;
+ dg::SignalTimeDependent<MatrixForce,int> sensorXhandSOUT;
+ //dg::SignalTimeDependent<ml::Matrix,int> inertiaSensorSOUT;
+ dg::SignalTimeDependent<ml::Vector,int> momentumSOUT;
+ dg::SignalPtr<ml::Vector,int> momentumSIN;
- /* --- OUTPUTS --- */
- dg::SignalTimeDependent<ml::Vector,int> torsorCompensatedSOUT;
- dg::SignalTimeDependent<ml::Vector,int> torsorDeadZoneSOUT;
+ /* --- OUTPUTS --- */
+ dg::SignalTimeDependent<ml::Vector,int> torsorCompensatedSOUT;
+ dg::SignalTimeDependent<ml::Vector,int> torsorDeadZoneSOUT;
- typedef int sotDummyType;
- dg::SignalTimeDependent<sotDummyType,int> calibrationTrigerSOUT;
+ typedef int sotDummyType;
+ dg::SignalTimeDependent<sotDummyType,int> calibrationTrigerSOUT;
- public: /* --- COMMANDLINE --- */
+ public: /* --- COMMANDLINE --- */
- sotDummyType& calibrationTriger( sotDummyType& dummy,int time );
+ sotDummyType& calibrationTriger( sotDummyType& dummy,int time );
- virtual void commandLine( const std::string& cmdLine,
- std::istringstream& cmdArgs,
- std::ostream& os );
+ virtual void commandLine( const std::string& cmdLine,
+ std::istringstream& cmdArgs,
+ std::ostream& os );
-};
-
-
-} // namaspace sot
+ };
+ } // namaspace sot
+} // namespace dynamicgraph
#endif // #ifndef __SOT_SOTFORCECOMPENSATION_H__
-
diff --git a/include/sot-dynamic/integrator-force-exact.h b/include/sot-dynamic/integrator-force-exact.h
index f3f5dc1bee1752a02b99e008a9436cd13be2f8d7..ad610f82b971ca50c89b0924181b27c99d27325f 100644
--- a/include/sot-dynamic/integrator-force-exact.h
+++ b/include/sot-dynamic/integrator-force-exact.h
@@ -33,9 +33,9 @@ namespace ml = maal::boost;
#include <dynamic-graph/entity.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
-#include <sot-core/matrix-homogeneous.h>
+#include <sot/core/matrix-homogeneous.hh>
#include <sot-core/vector-roll-pitch-yaw.h>
-#include <sot-core/matrix-rotation.h>
+#include <sot/core/matrix-rotation.hh>
#include <sot-dynamic/integrator-force.h>
/* STD */
@@ -56,7 +56,7 @@ namespace ml = maal::boost;
#endif
-namespace sot {
+namespace dynamicgraph { namespace sot {
namespace dg = dynamicgraph;
/* --------------------------------------------------------------------- */
@@ -92,7 +92,7 @@ class SOTINTEGRATORFORCEEXACT_EXPORT IntegratorForceExact
};
-} // namespace sot
+} /* namespace sot */} /* namespace dynamicgraph */
diff --git a/include/sot-dynamic/integrator-force-rk4.h b/include/sot-dynamic/integrator-force-rk4.h
index aad8ecae10c272aaa567b73a42ca798fb8c58453..2e584bfe9a3bdbb166d7511c4ee4a5769f24b1da 100644
--- a/include/sot-dynamic/integrator-force-rk4.h
+++ b/include/sot-dynamic/integrator-force-rk4.h
@@ -33,9 +33,9 @@ namespace ml = maal::boost;
#include <dynamic-graph/entity.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
-#include <sot-core/matrix-homogeneous.h>
+#include <sot/core/matrix-homogeneous.hh>
#include <sot-core/vector-roll-pitch-yaw.h>
-#include <sot-core/matrix-rotation.h>
+#include <sot/core/matrix-rotation.hh>
#include <sot-dynamic/integrator-force.h>
/* STD */
@@ -56,7 +56,7 @@ namespace ml = maal::boost;
#endif
-namespace sot {
+namespace dynamicgraph { namespace sot {
namespace dg = dynamicgraph;
/* --------------------------------------------------------------------- */
@@ -92,7 +92,7 @@ class SOTINTEGRATORFORCERK4_EXPORT IntegratorForceRK4
};
-} // namespace sot
+} /* namespace sot */} /* namespace dynamicgraph */
diff --git a/include/sot-dynamic/integrator-force.h b/include/sot-dynamic/integrator-force.h
index 480d9494bad4d8cfaaf1333b10c9c8449a193ae7..6eb461e9c40b770d9dbc8d319134b6f00cb71ec1 100644
--- a/include/sot-dynamic/integrator-force.h
+++ b/include/sot-dynamic/integrator-force.h
@@ -33,9 +33,9 @@ namespace ml = maal::boost;
#include <dynamic-graph/entity.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
-#include <sot-core/matrix-homogeneous.h>
+#include <sot/core/matrix-homogeneous.hh>
#include <sot-core/vector-roll-pitch-yaw.h>
-#include <sot-core/matrix-rotation.h>
+#include <sot/core/matrix-rotation.hh>
/* STD */
#include <string>
@@ -55,7 +55,7 @@ namespace ml = maal::boost;
#endif
-namespace sot {
+namespace dynamicgraph { namespace sot {
namespace dg = dynamicgraph;
/* --------------------------------------------------------------------- */
@@ -112,7 +112,7 @@ class SOTINTEGRATORFORCE_EXPORT IntegratorForce
};
-} // namespace sot
+} /* namespace sot */} /* namespace dynamicgraph */
diff --git a/include/sot-dynamic/mass-apparent.h b/include/sot-dynamic/mass-apparent.h
index 8894e43919d55eedecb3395b6aeb99c1b2f689e2..369348b97d171294c3aa1768501fb4a630d4ac8f 100644
--- a/include/sot-dynamic/mass-apparent.h
+++ b/include/sot-dynamic/mass-apparent.h
@@ -33,9 +33,9 @@ namespace ml = maal::boost;
#include <dynamic-graph/entity.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
-#include <sot-core/matrix-homogeneous.h>
+#include <sot/core/matrix-homogeneous.hh>
#include <sot-core/vector-roll-pitch-yaw.h>
-#include <sot-core/matrix-rotation.h>
+#include <sot/core/matrix-rotation.hh>
/* STD */
#include <string>
@@ -55,42 +55,42 @@ namespace ml = maal::boost;
#endif
-namespace sot {
-namespace dg = dynamicgraph;
+namespace dynamicgraph { namespace sot {
+ namespace dg = dynamicgraph;
-/* --------------------------------------------------------------------- */
-/* --- CLASS ----------------------------------------------------------- */
-/* --------------------------------------------------------------------- */
-class SOTMASSAPPARENT_EXPORT MassApparent
-:public dg::Entity
-{
- public:
- static const std::string CLASS_NAME;
-
- public: /* --- CONSTRUCTION --- */
+ /* --------------------------------------------------------------------- */
+ /* --- CLASS ----------------------------------------------------------- */
+ /* --------------------------------------------------------------------- */
+ class SOTMASSAPPARENT_EXPORT MassApparent
+ :public dg::Entity
+ {
+ public:
+ static const std::string CLASS_NAME;
- MassApparent( const std::string& name );
- virtual ~MassApparent( void );
+ public: /* --- CONSTRUCTION --- */
- public: /* --- SIGNAL --- */
+ MassApparent( const std::string& name );
+ virtual ~MassApparent( void );
- dg::SignalPtr<ml::Matrix,int> jacobianSIN;
- dg::SignalPtr<ml::Matrix,int> inertiaInverseSIN;
- dg::SignalTimeDependent<ml::Matrix,int> massInverseSOUT;
- dg::SignalTimeDependent<ml::Matrix,int> massSOUT;
+ public: /* --- SIGNAL --- */
- dg::SignalPtr<ml::Matrix,int> inertiaSIN;
- dg::SignalTimeDependent<ml::Matrix,int> inertiaInverseSOUT;
+ dg::SignalPtr<ml::Matrix,int> jacobianSIN;
+ dg::SignalPtr<ml::Matrix,int> inertiaInverseSIN;
+ dg::SignalTimeDependent<ml::Matrix,int> massInverseSOUT;
+ dg::SignalTimeDependent<ml::Matrix,int> massSOUT;
- public: /* --- FUNCTIONS --- */
- ml::Matrix& computeMassInverse( ml::Matrix& res,const int& time );
- ml::Matrix& computeMass( ml::Matrix& res,const int& time );
- ml::Matrix& computeInertiaInverse( ml::Matrix& res,const int& time );
-};
+ dg::SignalPtr<ml::Matrix,int> inertiaSIN;
+ dg::SignalTimeDependent<ml::Matrix,int> inertiaInverseSOUT;
+ public: /* --- FUNCTIONS --- */
+ ml::Matrix& computeMassInverse( ml::Matrix& res,const int& time );
+ ml::Matrix& computeMass( ml::Matrix& res,const int& time );
+ ml::Matrix& computeInertiaInverse( ml::Matrix& res,const int& time );
+ };
-}
+ } // namespace sot
+} // namespace dynamicgraph
#endif // #ifndef __SOT_SOTMASSAPPARENT_H__
diff --git a/include/sot-dynamic/matrix-inertia.h b/include/sot-dynamic/matrix-inertia.h
index f91498b8ed3c1ce6fd7ddaf7842fea8d1ae1fd08..5a32977ae80b4ae9b272ede7701ea667254d29d6 100644
--- a/include/sot-dynamic/matrix-inertia.h
+++ b/include/sot-dynamic/matrix-inertia.h
@@ -28,8 +28,8 @@
#include <sot-core/matrix-twist.h>
#include <sot-core/matrix-force.h>
-#include <sot-core/matrix-rotation.h>
-#include <sot-core/matrix-homogeneous.h>
+#include <sot/core/matrix-rotation.hh>
+#include <sot/core/matrix-homogeneous.hh>
namespace dynamicsJRLJapan
{
@@ -54,7 +54,7 @@ class CjrlJoint;
#endif
-namespace sot {
+namespace dynamicgraph { namespace sot {
namespace dg = dynamicgraph;
/* -------------------------------------------------------------------------- */
@@ -99,6 +99,6 @@ private:
};
-} // namespace sot
+} /* namespace sot */} /* namespace dynamicgraph */
#endif // __SOT_SOTMATRIXINERTIA_H__
diff --git a/include/sot-dynamic/waist-attitude-from-sensor.h b/include/sot-dynamic/waist-attitude-from-sensor.h
index adeb65831bb3bb2e94bbacd305eefd5d3e741ce1..cce96e5a6f8f632e3628182d24d0fd29a64db91d 100644
--- a/include/sot-dynamic/waist-attitude-from-sensor.h
+++ b/include/sot-dynamic/waist-attitude-from-sensor.h
@@ -33,7 +33,7 @@ namespace ml = maal::boost;
#include <dynamic-graph/entity.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
-#include <sot-core/matrix-homogeneous.h>
+#include <sot/core/matrix-homogeneous.hh>
#include <sot-core/vector-roll-pitch-yaw.h>
/* STD */
@@ -54,7 +54,7 @@ namespace ml = maal::boost;
#endif
-namespace sot {
+namespace dynamicgraph { namespace sot {
namespace dg = dynamicgraph;
/* --------------------------------------------------------------------- */
@@ -130,7 +130,7 @@ class SOTWAISTATTITUDEFROMSENSOR_EXPORT WaistPoseFromSensorAndContact
};
-} // namespace sot
+} /* namespace sot */} /* namespace dynamicgraph */
#endif // #ifndef __SOT_WAISTATTITUDEFROMSENSOR_H__
diff --git a/include/sot-dynamic/zmpreffromcom.h b/include/sot-dynamic/zmpreffromcom.h
index 59c38b9bd87c2f2d1bcd418fd5e82c8ca90e8b21..2f75df546b4c2a9a343bdb1f27a266206a8d88c2 100644
--- a/include/sot-dynamic/zmpreffromcom.h
+++ b/include/sot-dynamic/zmpreffromcom.h
@@ -33,7 +33,7 @@ namespace ml = maal::boost;
#include <dynamic-graph/entity.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
-#include <sot-core/matrix-homogeneous.h>
+#include <sot/core/matrix-homogeneous.hh>
/* STD */
#include <string>
@@ -52,7 +52,7 @@ namespace ml = maal::boost;
# define SOTZMPREFFROMCOM_EXPORT
#endif
-namespace sot {
+namespace dynamicgraph { namespace sot {
namespace dg = dynamicgraph;
/* --------------------------------------------------------------------- */
@@ -94,7 +94,7 @@ class SOTZMPREFFROMCOM_EXPORT ZmprefFromCom
};
-} // namespace sot
+} /* namespace sot */} /* namespace dynamicgraph */
#endif // #ifndef __SOT_ZMPREFFROMCOM_H__
diff --git a/src/angle-estimator-command.h b/src/angle-estimator-command.h
index c5966c56e25a7996442fb3fa5b226164fb933240..19898b1f94b3d731519d40c5d4919658c1a34774 100644
--- a/src/angle-estimator-command.h
+++ b/src/angle-estimator-command.h
@@ -26,7 +26,7 @@
#include <dynamic-graph/command-setter.h>
#include <dynamic-graph/command-getter.h>
-namespace sot {
+namespace dynamicgraph { namespace sot {
namespace command {
using ::dynamicgraph::command::Command;
using ::dynamicgraph::command::Value;
@@ -61,6 +61,7 @@ namespace sot {
}
}; // class FromSensor
} // namespace command
-} //namespace sot
+ } // namespace sot
+} // namespace dynamicgraph
#endif //ANGLE_ESTIMATOR_COMMAND_H
diff --git a/src/angle-estimator.cpp b/src/angle-estimator.cpp
index b597064e198ede5f805758db39d0f2858cbcac08..421ef1321ba83301e203c018bce0015d0ad8bf13 100644
--- a/src/angle-estimator.cpp
+++ b/src/angle-estimator.cpp
@@ -27,7 +27,7 @@
#include <jrl/mal/matrixabstractlayer.hh>
-using namespace sot;
+using namespace dynamicgraph::sot;
using namespace dynamicgraph;
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(AngleEstimator,"AngleEstimator");
diff --git a/src/dynamic-command.h b/src/dynamic-command.h
index d289dfbd9a6053c2be0a4bb5bf74f49af27d8b77..138def4265ca45f4acc0de9c02f1c9e6347d0152 100644
--- a/src/dynamic-command.h
+++ b/src/dynamic-command.h
@@ -27,7 +27,7 @@
#include <dynamic-graph/command-setter.h>
#include <dynamic-graph/command-getter.h>
-namespace sot {
+namespace dynamicgraph { namespace sot {
namespace command {
using ::dynamicgraph::command::Command;
using ::dynamicgraph::command::Value;
@@ -492,6 +492,6 @@ namespace sot {
}
}; // class Write
} // namespace command
-} //namespace sot
+} /* namespace sot */} /* namespace dynamicgraph */
#endif //DYNAMIC_COMMAND_H
diff --git a/src/dynamic-hrp2.cpp b/src/dynamic-hrp2.cpp
index b9a94f46eec03fd33280c114a1aa9bd4ed19c0dd..160a0e13ae9620cd27c95d9ee9aa0ab6c3bc63a5 100644
--- a/src/dynamic-hrp2.cpp
+++ b/src/dynamic-hrp2.cpp
@@ -27,7 +27,7 @@
#include <dynamic-graph/factory.h>
-using namespace sot;
+using namespace dynamicgraph::sot;
using namespace dynamicgraph;
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(DynamicHrp2,"DynamicHrp2");
diff --git a/src/dynamic-hrp2_10.cpp b/src/dynamic-hrp2_10.cpp
index aa8c0f20e205599ef02b56886b73e8694de71cde..328d8eeaa0aa2a1c7dd9f2aa90f5d7bbd11ccb94 100644
--- a/src/dynamic-hrp2_10.cpp
+++ b/src/dynamic-hrp2_10.cpp
@@ -25,7 +25,7 @@
#include <dynamic-graph/factory.h>
using namespace dynamicgraph;
-using namespace sot;
+using namespace dynamicgraph::sot;
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(DynamicHrp2_10,"DynamicHrp2_10");
diff --git a/src/dynamic-hrp2_10_old.cpp b/src/dynamic-hrp2_10_old.cpp
index df828ca33edb2e25e4817f0992f8e2554c0f819e..c740009f917ffb8f3751555cd46db0fbbd80e9be 100644
--- a/src/dynamic-hrp2_10_old.cpp
+++ b/src/dynamic-hrp2_10_old.cpp
@@ -25,7 +25,7 @@
#include <dynamic-graph/factory.h>
using namespace dynamicgraph;
-using namespace sot;
+using namespace dynamicgraph::sot;
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(DynamicHrp2_10_old,"DynamicHrp2_10_old");
diff --git a/src/dynamic.cpp b/src/dynamic.cpp
index 91b94a0bccc15d19f039c2386e22b5d00d5463f6..1065dc7dc3e9d422d50d748cfa9c1ec45a4f38e5 100644
--- a/src/dynamic.cpp
+++ b/src/dynamic.cpp
@@ -34,7 +34,7 @@
#include "../src/dynamic-command.h"
-using namespace sot;
+using namespace dynamicgraph::sot;
using namespace dynamicgraph;
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(Dynamic,"Dynamic");
diff --git a/src/dynamic_graph/sot/dynamics/hrp2.py.in b/src/dynamic_graph/sot/dynamics/hrp2.py.in
index d4c26831adf77dbd61c1608954b797a315424565..ef400aef01facbb137edda5ef25ecf11d628fe36 100755
--- a/src/dynamic_graph/sot/dynamics/hrp2.py.in
+++ b/src/dynamic_graph/sot/dynamics/hrp2.py.in
@@ -15,7 +15,7 @@
# dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
from dynamic_graph.sot import SE3, R3, SO3
-from dynamic_graph.sot.core import RobotSimu, FeaturePoint6dRelative, \
+from dynamic_graph.sot.core import FeaturePoint6dRelative, \
FeatureGeneric, FeatureJointLimits, Task, Constraint, GainAdaptive, SOT
from dynamic_graph.sot.dynamics import AngleEstimator
from dynamic_graph import enableTrace, plug
diff --git a/src/dynamic_graph/sot/dynamics/humanoid_robot.py b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
index 88bec8a61ed2f64f4dc68dd1431b27cabfe59e29..f3d62d5e124cfa9492550473a9b425a87489200a 100755
--- a/src/dynamic_graph/sot/dynamics/humanoid_robot.py
+++ b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
@@ -16,7 +16,7 @@
from dynamic_graph.sot import SE3, R3, SO3
from dynamic_graph.sot.core.feature_position import FeaturePosition
-from dynamic_graph.sot.core import RobotSimu, FeaturePoint6dRelative, \
+from dynamic_graph.sot.core import Device, FeaturePoint6dRelative, \
FeatureGeneric, FeatureJointLimits, Task, Constraint, GainAdaptive, SOT
from dynamic_graph.sot.dynamics.parser import Parser
@@ -158,7 +158,7 @@ class AbstractHumanoidRobot (object):
raise RunTimeError("robots models have to be initialized first")
if not self.device:
- self.device = RobotSimu(self.name + '.device')
+ self.device = Device(self.name + '.device')
# Freeflyer reference frame should be the same as global
# frame so that operational point positions correspond to
diff --git a/src/force-compensation.cpp b/src/force-compensation.cpp
index 78652a4b5efdc936f4beaeeeb416f5b1158fab84..8e79b4e5ec266cce0e9dde5e33fa0a3c87599a67 100644
--- a/src/force-compensation.cpp
+++ b/src/force-compensation.cpp
@@ -23,7 +23,7 @@
#include <dynamic-graph/factory.h>
#include <sot-core/macros-signal.h>
-using namespace sot;
+using namespace dynamicgraph::sot;
using namespace dynamicgraph;
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(ForceCompensationPlugin,"ForceCompensation");
diff --git a/src/integrator-force-exact.cpp b/src/integrator-force-exact.cpp
index 531ebdb437ce076899cbea42f92e1cdd6028b1e8..3c7dd2164036e7aea124fee3bb1f8e95fe360dd5 100644
--- a/src/integrator-force-exact.cpp
+++ b/src/integrator-force-exact.cpp
@@ -23,7 +23,7 @@
#include <dynamic-graph/factory.h>
#include <sot-core/exception-dynamic.h>
-using namespace sot;
+using namespace dynamicgraph::sot;
using namespace dynamicgraph;
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(IntegratorForceExact,"IntegratorForceExact");
diff --git a/src/integrator-force-rk4.cpp b/src/integrator-force-rk4.cpp
index b879f6d4bd17764f29eb7b98b23cea0f8f18d72a..059c589587863abe3e8cd2cbf17a2a75d5a58047 100644
--- a/src/integrator-force-rk4.cpp
+++ b/src/integrator-force-rk4.cpp
@@ -23,7 +23,7 @@
#include <dynamic-graph/factory.h>
-using namespace sot;
+using namespace dynamicgraph::sot;
using namespace dynamicgraph;
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(IntegratorForceRK4,"IntegratorForceRK4");
diff --git a/src/integrator-force.cpp b/src/integrator-force.cpp
index e333729fb7e2d3d03fe2d64e6ee8e33ecdf98164..9626bf3cc2857985fbfc3de00302ab879089cb5f 100644
--- a/src/integrator-force.cpp
+++ b/src/integrator-force.cpp
@@ -22,7 +22,7 @@
#include <sot-core/debug.h>
#include <dynamic-graph/factory.h>
-using namespace sot;
+using namespace dynamicgraph::sot;
using namespace dynamicgraph;
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(IntegratorForce,"IntegratorForce");
diff --git a/src/mass-apparent.cpp b/src/mass-apparent.cpp
index 544dba16a2a66e1825e77d8df4a444850bd0e90d..e4e3c0f70603ae4df28ceef8c0a2a89195cb57e2 100644
--- a/src/mass-apparent.cpp
+++ b/src/mass-apparent.cpp
@@ -22,7 +22,7 @@
#include <sot-core/debug.h>
#include <dynamic-graph/factory.h>
-using namespace sot;
+using namespace dynamicgraph::sot;
using namespace dynamicgraph;
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(MassApparent,"MassApparent");
diff --git a/src/matrix-inertia.cpp b/src/matrix-inertia.cpp
index 37844699f3e2f96f9c94baedbbd7b13591bf46ea..3b9763465eea9e9f1431735c70a03d6e1ddaa3cd 100644
--- a/src/matrix-inertia.cpp
+++ b/src/matrix-inertia.cpp
@@ -30,7 +30,7 @@
#include <sot-core/debug.h>
using namespace dynamicsJRLJapan;
-using namespace sot;
+using namespace dynamicgraph::sot;
using namespace dynamicgraph;
static matrix3d skewSymmetric(const vector3d& v)
diff --git a/src/waist-attitude-from-sensor.cpp b/src/waist-attitude-from-sensor.cpp
index 239a67299517a036ee3d2017e6e1353b093f1f7b..130eb6edb7606d7b04a30078b8c7f5804f1617ce 100644
--- a/src/waist-attitude-from-sensor.cpp
+++ b/src/waist-attitude-from-sensor.cpp
@@ -26,7 +26,7 @@
#include <dynamic-graph/command-setter.h>
#include <dynamic-graph/command-getter.h>
-using namespace sot;
+using namespace dynamicgraph::sot;
using namespace dynamicgraph;
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(WaistAttitudeFromSensor,"WaistAttitudeFromSensor");
diff --git a/src/zmpreffromcom.cpp b/src/zmpreffromcom.cpp
index 7168456255350e59c262f85ee288d48787b7415e..082450d9b329a9c9b3d85f81199169c97a5c0dab 100644
--- a/src/zmpreffromcom.cpp
+++ b/src/zmpreffromcom.cpp
@@ -22,7 +22,7 @@
#include <sot-core/debug.h>
#include <dynamic-graph/factory.h>
-using namespace sot;
+using namespace dynamicgraph::sot;
using namespace dynamicgraph;
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(ZmprefFromCom,"ZmprefFromCom");
diff --git a/unitTesting/test_dyn.cpp b/unitTesting/test_dyn.cpp
index 36cd6b575b97b088d95fb0d89b2855f2864db4db..f0d0dc951b0070e828aefa8ca1fe51faebf17daf 100644
--- a/unitTesting/test_dyn.cpp
+++ b/unitTesting/test_dyn.cpp
@@ -26,7 +26,7 @@
#include <sstream>
using namespace std;
-using namespace sot;
+using namespace dynamicgraph::sot;
int main(int argc, char * argv[])
{
@@ -50,7 +50,7 @@ int main(int argc, char * argv[])
dyn->parseConfigFiles();
}
- catch (sot::ExceptionDynamic& e)
+ catch (ExceptionDynamic& e)
{
if ( !strcmp(e.what(), "Error while parsing." )) {
cout << "Could not locate the necessary files for this test" << endl;