Merge pull request #60 from nim65s/topic/delete-shell

delete shell

Author: Guilhem Saurel

CMakeLists.txt

@@ -20,13 +20,16 @@ INCLUDE(cmake/boost.cmake)
 INCLUDE(cmake/eigen.cmake)
 INCLUDE(cmake/lapack.cmake)
 INCLUDE(cmake/cpack.cmake)
+INCLUDE(cmake/python.cmake)
 
 SET(PROJECT_NAME sot-core)
 SET(PROJECT_DESCRIPTION "Hierarchical task solver plug-in for dynamic-graph.")
 SET(PROJECT_URL "http://github.com/jrl-umi3218/sot-core")
 
 SET(CUSTOM_HEADER_DIR "sot/core")
 
+SET(DOXYGEN_USE_MATHJAX YES)
+
 # Disable -Werror on Unix for now.
 SET(CXX_DISABLE_WERROR True)
 
@@ -43,11 +46,20 @@ PKG_CONFIG_APPEND_LIBS("sot-core")
 # Search for dependencies.
 # Boost
 SET(BOOST_COMPONENTS thread filesystem program_options unit_test_framework system regex )
-SEARCH_FOR_BOOST()
 SEARCH_FOR_EIGEN()
 
 ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 3.0.0")
-ADD_REQUIRED_DEPENDENCY("dynamic-graph-python >= 3.0.0")
+
+OPTION (BUILD_PYTHON_INTERFACE "Build the python binding" ON)
+IF(BUILD_PYTHON_INTERFACE)
+  FINDPYTHON(2.7 EXACT REQUIRED)
+  STRING(REGEX REPLACE "-" "_" PY_NAME ${PROJECT_NAME})
+  SET(${PY_NAME}_INSTALL_DIR ${PYTHON_SITELIB}/${PY_NAME})
+  INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_DIRS})
+  ADD_REQUIRED_DEPENDENCY("dynamic-graph-python >= 3.0.0")
+ENDIF(BUILD_PYTHON_INTERFACE)
+
+SEARCH_FOR_BOOST()
 
 ADD_SUBDIRECTORY(include)
 ADD_SUBDIRECTORY(src)

doc/CMakeLists.txt

@@ -4,13 +4,13 @@
 #
 
 # get the python script install path
-INCLUDE(../cmake/python.cmake)
-FINDPYTHON()
 
-INCLUDE(../cmake/sphinx.cmake)
-SPHINX_SETUP()
-SPHINX_FINALIZE()
-INSTALL (FILES
-  pictures/feature.png 
-  pictures/task.png 
-  DESTINATION ${_PKG_CONFIG_DOXYGENDOCDIR}/pictures)
+IF(BUILD_PYTHON_INTERFACE)
+  INCLUDE(../cmake/sphinx.cmake)
+  SPHINX_SETUP()
+  SPHINX_FINALIZE()
+  INSTALL (FILES
+    pictures/feature.png
+    pictures/task.png
+    DESTINATION ${_PKG_CONFIG_DOXYGENDOCDIR}/pictures)
+ENDIF(BUILD_PYTHON_INTERFACE)

include/sot/core/binary-int-to-uint.hh

@@ -34,12 +34,12 @@
 /* --- API ------------------------------------------------------------- */
 /* --------------------------------------------------------------------- */
 
-#if defined (WIN32) 
+#if defined (WIN32)
 #  if defined (binary_int_to_uint_EXPORTS)
 #    define SOTBINARYINTTOUINT_EXPORT __declspec(dllexport)
-#  else  
+#  else
 #    define SOTBINARYINTTOUINT_EXPORT __declspec(dllimport)
-#  endif 
+#  endif
 #else
 #  define SOTBINARYINTTOUINT_EXPORT
 #endif
@@ -67,9 +67,6 @@ public:
   virtual unsigned& computeOutput( unsigned& res,int time );
 
   virtual void display( std::ostream& os ) const;
-  void commandLine( const std::string& cmdLine,
-		    std::istringstream& cmdArgs,
-		    std::ostream& os );
 };
 
 

include/sot/core/clamp-workspace.hh

@@ -84,9 +84,6 @@ class SOTCLAMPWORKSPACE_EXPORT ClampWorkspace
   virtual MatrixHomogeneous& computeRef( MatrixHomogeneous& res, int time );
 
   virtual void display( std::ostream& ) const;
-  void commandLine( const std::string& cmdLine,
-		    std::istringstream& cmdArgs,
-		    std::ostream& os );
 
  private:
 

include/sot/core/constraint.hh

@@ -44,12 +44,12 @@ namespace dg = dynamicgraph;
 /* --- API ------------------------------------------------------------- */
 /* --------------------------------------------------------------------- */
 
-#if defined (WIN32) 
+#if defined (WIN32)
 #  if defined (constraint_EXPORTS)
 #    define SOTCONSTRAINT_EXPORT __declspec(dllexport)
-#  else  
+#  else
 #    define SOTCONSTRAINT_EXPORT __declspec(dllimport)
-#  endif 
+#  endif
 #else
 #  define SOTCONSTRAINT_EXPORT
 #endif
@@ -68,8 +68,8 @@ namespace dynamicgraph {
     protected:
       typedef std::list< Signal<dg::Matrix,int>* > JacobianList;
       JacobianList jacobianList;
-  
-    public: 
+
+    public:
       static const std::string CLASS_NAME;
       virtual const std::string& getClassName( void ) const { return CLASS_NAME; }
 
@@ -88,11 +88,6 @@ namespace dynamicgraph {
 
       /* --- DISPLAY ------------------------------------------------------------ */
       SOTCONSTRAINT_EXPORT friend std::ostream& operator<< ( std::ostream& os,const Constraint& t );
-
-      /* --- PARAMS --- */
-      virtual void commandLine( const std::string& cmdLine
-				,std::istringstream& cmdArgs
-				,std::ostream& os );
     };
   } // namespace sot
 } // namespace dynamicgraph

include/sot/core/device.hh

@@ -63,15 +63,15 @@ namespace dynamicgraph {
       virtual const std::string& getClassName(void) const {
         return CLASS_NAME;
       }
-      
+
       enum ForceSignalSource
       {
         FORCE_SIGNAL_RLEG,
         FORCE_SIGNAL_LLEG,
         FORCE_SIGNAL_RARM,
         FORCE_SIGNAL_LARM
       };
-      
+
     protected:
       dg::Vector state_;
       dg::Vector velocity_;
@@ -82,12 +82,12 @@ namespace dynamicgraph {
       PeriodicCall periodicCallBefore_;
       PeriodicCall periodicCallAfter_;
     public:
-      
+
       /* --- CONSTRUCTION --- */
       Device(const std::string& name);
       /* --- DESTRUCTION --- */
       virtual ~Device();
-      
+
       virtual void setStateSize(const unsigned int& size);
       virtual void setState(const dg::Vector& st);
       void setVelocitySize(const unsigned int& size);
@@ -96,7 +96,7 @@ namespace dynamicgraph {
       virtual void setNoIntegration();
       virtual void setControlInputType(const std::string& cit);
       virtual void increment(const double & dt = 5e-2);
-      
+
     public: /* --- DISPLAY --- */
       virtual void display(std::ostream& os) const;
       SOT_CORE_EXPORT friend std::ostream&
@@ -129,9 +129,6 @@ namespace dynamicgraph {
       /*! \brief The ZMP reference send by the previous controller. */
       dynamicgraph::Signal<dg::Vector,int> ZMPPreviousControllerSOUT;
 
-    public: /* --- COMMANDS --- */
-      void commandLine(const std::string&, std::istringstream&,
-                       std::ostream&){}
     protected:
       /// Compute roll pitch yaw angles of freeflyer joint.
       void integrateRollPitchYaw(dg::Vector& state, const dg::Vector& control,

include/sot/core/exception-tools.hh

@@ -48,7 +48,6 @@ namespace dynamicgraph {
 
 	,CORBA
 	,KALMAN_SIZE
-	,PY_SHELL_PTR
       };
 
       static const std::string EXCEPTION_NAME;

include/sot/core/feature-generic.hh

@@ -128,10 +128,6 @@ class SOTFEATUREGENERIC_EXPORT FeatureGeneric
   /*! \brief Display the information related to this generic implementation. */
   virtual void display( std::ostream& os ) const;
 
-  void commandLine( const std::string& cmdLine,
-		    std::istringstream& cmdArgs,
-		    std::ostream& os );
-
   /*! \name Dealing with the reference value to be reach with this feature.
     @{
   */

include/sot/core/feature-joint-limits.hh

@@ -104,11 +104,6 @@ class SOTFEATUREJOINTLIMITS_EXPORT FeatureJointLimits
   inline static Flags selectActuated( void );
 
   virtual void display( std::ostream& os ) const;
-  void commandLine( const std::string& cmdLine,
-		    std::istringstream& cmdArgs,
-		    std::ostream& os );
-
-
 } ;
 
 } /* namespace sot */} /* namespace dynamicgraph */

include/sot/core/feature-line-distance.hh

@@ -95,10 +95,6 @@ class SOTFEATURELINEDISTANCE_EXPORT FeatureLineDistance
 
   virtual void display( std::ostream& os ) const;
 
-  virtual void commandLine( const std::string& cmdLine,
-			    std::istringstream& cmdArgs,
-			    std::ostream& os );
-
 } ;