diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5a7ab6582240d405b023e010eda27ade9b3f43eb..30e54d715c8ac7c886dc67225111b8343d18d04a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -26,6 +26,7 @@ SET(PROJECT_DESCRIPTION "control by inverse dynamics.")
SET(PROJECT_URL "http://github.com/laas/sot-dyninv")
SET(CUSTOM_HEADER_DIR "${PROJECT_NAME}")
+SET(DOXYGEN_USE_MATHJAX YES)
# Disable -Werror on Unix for now.
SET(CXX_DISABLE_WERROR True)
diff --git a/README.md b/README.md
index a2962db8fca692ba5e9f3c762289abb784a994dc..b88e14f54c96d802fe97b2c243b01a70c3be9496 100644
--- a/README.md
+++ b/README.md
@@ -3,7 +3,7 @@ sot-dyninv
[](https://travis-ci.org/stack-of-tasks/sot-dyninv)
[](https://gepgitlab.laas.fr/stack-of-tasks/sot-dyninv/commits/master)
-[](http://projects.laas.fr/stack-of-tasks/doc/stack-of-tasks/sot-dyninv/master/coverage/)
+[](http://projects.laas.fr/gepetto/doc/stack-of-tasks/sot-dyninv/master/coverage/)
This sofware provides the solver and features to resolve the inverse of the
diff --git a/src/controller-pd.cpp b/src/controller-pd.cpp
index e5d19226759db1328a8f964013e53c6588f9c1ca..3df99934d2e715e0594aefa10f9907524978b49a 100644
--- a/src/controller-pd.cpp
+++ b/src/controller-pd.cpp
@@ -244,52 +244,6 @@ namespace dynamicgraph
}
catch (ExceptionSignal e) {}
}
-
- void ControllerPD::
- commandLine( const std::string& cmdLine,
- std::istringstream& cmdArgs,
- std::ostream& os )
- {
- if( cmdLine == "help" )
- {
- os << "sotControlPD:\n"
- << " - size <arg>\t\tset the size of the vector.\n"
- << " - stdGain \t\tset the input vector gains according to the size for HRP2.\n"
- << " - velocityonly <arg>\t\tset Kp = 0.\n"
- << std::endl;
- }
- else if( cmdLine == "size" )
- {
- cmdArgs >> std::ws;
- if( cmdArgs.good() )
- {
- unsigned int i; cmdArgs >> i ;
- size(i);
- }
- else
- {
- os << "size = " << size() << std::endl;
- }
- }
- else if( cmdLine == "velocityonly" )
- { setGainVelocityOnly(); }
- else if( cmdLine == "stdGain" )
- {
- std::string config = "high";
- cmdArgs >> std::ws; if( cmdArgs.good() ) cmdArgs >> config;
- setStandardGains( config );
- }
- else
- {
- Entity::commandLine(cmdLine,cmdArgs,os);
- }
- }
-
-
-
-
-
-
} // namespace dyninv
} // namespace sot
} // namespace dynamicgraph
diff --git a/src/controller-pd.h b/src/controller-pd.h
index 0ead2a73210b06c963a707da9fd5c58c03f89ee6..319737b25b57a4c20e23065cdd31383a7cd66f91 100644
--- a/src/controller-pd.h
+++ b/src/controller-pd.h
@@ -74,10 +74,6 @@ namespace dynamicgraph {
virtual void display( std::ostream& os ) const;
- virtual void commandLine( const std::string& cmdLine,
- std::istringstream& cmdArgs,
- std::ostream& os );
-
public: /* --- SIGNALS --- */
DECLARE_SIGNAL_IN(Kp,dg::Vector);
diff --git a/src/dynamic-integrator.cpp b/src/dynamic-integrator.cpp
index 734d10f3b7595f94341c9eacf5b9a4931e8910f7..23f5b5dd43a8be2a8ef56efc9a6446f4eab7dae6 100644
--- a/src/dynamic-integrator.cpp
+++ b/src/dynamic-integrator.cpp
@@ -342,31 +342,6 @@ namespace dynamicgraph
{
os << "DynamicIntegrator "<<getName() << ". " << std::endl;
}
-
- void DynamicIntegrator::
- commandLine( const std::string& cmdLine,
- std::istringstream& cmdArgs,
- std::ostream& os )
- {
- if( cmdLine == "help" )
- {
- os << "DynamicIntegrator:" << std::endl
- << " - inc [dt]" << std::endl;
- }
- else if( cmdLine == "inc" )
- {
- if( cmdArgs >> std::ws, cmdArgs.good() )
- {
- double dt; cmdArgs >> dt; dtSIN = dt;
- }
- integrateFromSignals();
- }
- else
- {
- Entity::commandLine( cmdLine,cmdArgs,os );
- }
- }
-
} // namespace dyninv
} // namespace sot
} // namespace dynamicgraph
diff --git a/src/dynamic-integrator.h b/src/dynamic-integrator.h
index b11e43093275a0e926378f42f3a6c5c23415f985..617bade79443019cfe9b027de6f61982e95ca56c 100644
--- a/src/dynamic-integrator.h
+++ b/src/dynamic-integrator.h
@@ -61,10 +61,6 @@ namespace dynamicgraph {
virtual void display( std::ostream& os ) const;
- virtual void commandLine( const std::string& cmdLine,
- std::istringstream& cmdArgs,
- std::ostream& os );
-
public: /* --- SIGNALS --- */
DECLARE_SIGNAL_IN( acceleration,dg::Vector );
diff --git a/src/pseudo-robot-dynamic.cpp b/src/pseudo-robot-dynamic.cpp
index 6953e38e23fbff13f3f001be411bec25f0dcdd5d..30ad433dd3c0c81b0aa29e3d9ac6e5aa7631d5cf 100644
--- a/src/pseudo-robot-dynamic.cpp
+++ b/src/pseudo-robot-dynamic.cpp
@@ -218,55 +218,6 @@ namespace dynamicgraph
{
os << "PseudoRobotDynamic "<<getName() << ". " << std::endl;
}
-
- void PseudoRobotDynamic::
- commandLine( const std::string& cmdLine,
- std::istringstream& cmdArgs,
- std::ostream& os )
- {
- sotDEBUGIN(15);
-
- if( cmdLine == "help" )
- {
- os << "PseudoRobotDynamic:" << std::endl
- << " - replace <OpenHRP> [plug]" << std::endl;
- }
- else if( cmdLine == "replace" )
- {
- if( cmdArgs >> std::ws, cmdArgs.good() )
- {
- std::string repName; cmdArgs >> repName >> std::ws;
- bool plug = cmdArgs.good();
- replaceSimulatorEntity( repName,plug );
- }
- }
- else if( cmdLine=="sbs" || cmdLine=="play" || cmdLine =="withForces"
- || cmdLine == "periodicCall" || cmdLine == "periodicCallBefore"
- || cmdLine == "periodicCallAfter" )
- {
- formerOpenHRP ->commandLine( cmdLine,cmdArgs,os );
- }
- else if( cmdLine=="root" )
- {
- if( cmdArgs >> std::ws, cmdArgs.good() )
- {
- dg::Matrix M; cmdArgs >> M ; setRoot(M);
- std::ostringstream osback;
- osback << M.data(); cmdArgs.str(osback.str());
- formerOpenHRP ->commandLine( cmdLine,cmdArgs,os );
- }
- else
- {
- os << "TODO" << std::endl;
- }
- }
- else
- {
- Entity::commandLine( cmdLine,cmdArgs,os );
- }
- sotDEBUGOUT(15);
- }
-
} // namespace dyninv
} // namespace sot
} // namespace dynamicgraph
diff --git a/src/pseudo-robot-dynamic.h b/src/pseudo-robot-dynamic.h
index 177386b39285dd5a9954d078628dd54eaf7bdfe6..db75d55c08e9cae2f7bfd45dec46ea331e7cacbf 100644
--- a/src/pseudo-robot-dynamic.h
+++ b/src/pseudo-robot-dynamic.h
@@ -71,10 +71,6 @@ namespace dynamicgraph {
virtual void display( std::ostream& os ) const;
- virtual void commandLine( const std::string& cmdLine,
- std::istringstream& cmdArgs,
- std::ostream& os );
-
typedef ::dynamicgraph::EntityHelper<PseudoRobotDynamic>::EntityClassName
EntityClassName;
diff --git a/src/zmp-estimator.cpp b/src/zmp-estimator.cpp
index 930335f3e6edad0ea882d6ee8ed63f08895c5166..8d3debe6a58c0a7bbf33c8fdd06ef0ec7dfea69c 100644
--- a/src/zmp-estimator.cpp
+++ b/src/zmp-estimator.cpp
@@ -89,24 +89,6 @@ namespace dynamicgraph
{
os << "ZmpEstimator "<<getName() << "." << std::endl;
}
-
- void ZmpEstimator::
- commandLine( const std::string& cmdLine,
- std::istringstream& cmdArgs,
- std::ostream& os )
- {
- if( cmdLine == "help" )
- {
- os << "ZmpEstimator:\n"
- << "\t- ." << std::endl;
- Entity::commandLine( cmdLine,cmdArgs,os );
- }
- else
- {
- Entity::commandLine( cmdLine,cmdArgs,os );
- }
- }
-
} // namespace dyninv
} // namespace sot
} // namespace dynamicgraph
diff --git a/src/zmp-estimator.h b/src/zmp-estimator.h
index 02a009034cb33db4da27de397b7638163e7494bb..e4eb3bbd0a23ddc5d6976ad438849274e4c2226c 100644
--- a/src/zmp-estimator.h
+++ b/src/zmp-estimator.h
@@ -60,10 +60,6 @@ namespace dynamicgraph {
virtual void display( std::ostream& os ) const;
- virtual void commandLine( const std::string& cmdLine,
- std::istringstream& cmdArgs,
- std::ostream& os );
-
public: /* --- SIGNALS --- */
DECLARE_SIGNAL_IN(fn,dg::Vector);