diff --git a/include/sot-dyninv/entity-helper.h b/include/sot-dyninv/entity-helper.h
new file mode 100644
index 0000000000000000000000000000000000000000..1679001340f8f4488b8e41cbbb1a3a75ac632efe
--- /dev/null
+++ b/include/sot-dyninv/entity-helper.h
@@ -0,0 +1,33 @@
+/*
+ * Copyright 2011, Nicolas Mansard, LAAS-CNRS
+ *
+ * This file is part of sot-dyninv.
+ * sot-dyninv 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-dyninv 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-dyninv. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __sot_dyninv_entity_helper_H__
+#define __sot_dyninv_entity_helper_H__
+
+
+namespace dynamicgraph
+{
+
+ template< typename Ent >
+ struct EntityHelper
+ {
+ typedef Ent EntityClassName;
+ //static const std::string CLASS_NAME; TO BE ADDED IN DG DIRECTLY
+ };
+
+} // namespace dynamicgraph
+
+#endif // __sot_dyninv_entity_helper_H__
diff --git a/include/sot-dyninv/mal-to-eigen.h b/include/sot-dyninv/mal-to-eigen.h
new file mode 100644
index 0000000000000000000000000000000000000000..a999a956ecc6f0cb81ddc0c5ec3890c9fd647e95
--- /dev/null
+++ b/include/sot-dyninv/mal-to-eigen.h
@@ -0,0 +1,83 @@
+/*
+ * Copyright 2011, Nicolas Mansard, LAAS-CNRS
+ *
+ * This file is part of sot-dyninv.
+ * sot-dyninv 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-dyninv 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-dyninv. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __sot_dyninv_mal_to_eigen_H__
+#define __sot_dyninv_mal_to_eigen_H__
+
+#include <Eigen/LU>
+#include <soth/Algebra.hpp>
+
+namespace Eigen
+{
+ typedef Matrix<double,Dynamic,Dynamic,RowMajor> MatrixRXd;
+}
+
+#define EIGEN_MATRIX_FROM_SIGNAL(name,signal) \
+ Eigen::Map<Eigen::MatrixRXd> name \
+ ( \
+ const_cast<double*>(signal.accessToMotherLib().data().begin()), \
+ signal.nbRows(), \
+ signal.nbCols() \
+ )
+#define EIGEN_VECTOR_FROM_SIGNAL(name,signal) \
+ Eigen::Map<Eigen::VectorXd> name \
+ ( \
+ signal.accessToMotherLib().data().begin(), \
+ signal.size() \
+ )
+
+template< typename D >
+inline void EIGEN_VECTOR_TO_VECTOR( const Eigen::MatrixBase<D>& in, ml::Vector & out )
+{
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY( Eigen::MatrixBase<D> );
+ out.resize(in.size());
+ memcpy( out.accessToMotherLib().data().begin(),in.derived().data(),
+ in.size()*sizeof(double));
+}
+
+template< typename MB >
+inline void EIGEN_ROWMAJOR_MATRIX_TO_MATRIX( const Eigen::MatrixBase<MB>& in,
+ ml::Matrix & out )
+{
+ out.resize( in.rows(),in.cols() );
+ memcpy( out.accessToMotherLib().data().begin(),in.derived().data(),
+ in.cols()*in.rows()*sizeof(double));
+}
+
+template< typename MB >
+inline void EIGEN_COLMAJOR_MATRIX_TO_MATRIX( const Eigen::MatrixBase<MB>& in,
+ ml::Matrix & out )
+{
+ // TODO: find a better way for that!
+ out.resize( in.rows(),in.cols() );
+ for( int i=0;i<in.rows();++i )
+ for( int j=0;j<in.cols();++j )
+ out(i,j)=in(i,j);
+}
+
+
+
+#define EIGEN_MATRIX_FROM_MATRIX(eigName,mlName,r,c) \
+ mlName.resize(r,c); \
+ EIGEN_MATRIX_FROM_SIGNAL(eigName,mlName)
+
+#define EIGEN_VECTOR_FROM_VECTOR(eigName,mlName,r) \
+ mlName.resize(r); \
+ EIGEN_VECTOR_FROM_SIGNAL(eigName,mlName)
+
+
+
+#endif // __sot_dyninv_mal_to_eigen_H__
diff --git a/include/sot-dyninv/signal-helper.h b/include/sot-dyninv/signal-helper.h
new file mode 100644
index 0000000000000000000000000000000000000000..630f2e65b7491830bd0991261e243034f93ef9d0
--- /dev/null
+++ b/include/sot-dyninv/signal-helper.h
@@ -0,0 +1,51 @@
+/*
+ * Copyright 2011, Nicolas Mansard, LAAS-CNRS
+ *
+ * This file is part of sot-dyninv.
+ * sot-dyninv 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-dyninv 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-dyninv. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __sot_dyninv_signal_helper_H__
+#define __sot_dyninv_signal_helper_H__
+
+/* --- COMMON INCLUDE -------------------------------------------------- */
+
+/* dg signals */
+#include <dynamic-graph/entity.h>
+#include <dynamic-graph/signal-ptr.h>
+#include <dynamic-graph/signal-time-dependent.h>
+/* Matrix */
+#include <jrl/mal/boost.hh>
+namespace ml = maal::boost;
+
+/* --- MACROS ---------------------------------------------------------- */
+
+#define DECLARE_SIGNAL( name,IO,type ) ::dynamicgraph::Signal<type,int> name##S##IO
+#define CONSTRUCT_SIGNAL( name,IO,type ) name##S##IO( getClassName()+"("+getName()+")::"+#IO+"put("+#type+")::"+#name )
+
+#define DECLARE_SIGNAL_IN( name,type ) ::dynamicgraph::SignalPtr<type,int> name##SIN
+#define CONSTRUCT_SIGNAL_IN( name,type ) name##SIN( NULL,getClassName()+"("+getName()+")::input("+#type+")::"+#name )
+
+#define SIGNAL_OUT_FUNCTION( name ) name##SOUT_function
+#define DECLARE_SIGNAL_OUT( name,type ) \
+ public: \
+ ::dynamicgraph::SignalTimeDependent<type,int> name##SOUT; \
+ protected: \
+ type& SIGNAL_OUT_FUNCTION(name)( type&,int )
+#define CONSTRUCT_SIGNAL_OUT( name,type,dep ) \
+ name##SOUT( boost::bind(& EntityClassName::name##SOUT_function,this,_1,_2), \
+ dep,getClassName()+"("+getName()+")::output("+#type+")::"+#name )
+
+
+
+
+#endif // __sot_dyninv_signal_helper_H__