Merge branch 'cpp11' into release/4.11.0

Author: nim65s

CMakeLists.txt

@@ -46,7 +46,7 @@ IF(BUILD_PYTHON_INTERFACE)
   STRING(REGEX REPLACE "-" "_" PYTHON_DIR ${CUSTOM_HEADER_DIR})
   ADD_PROJECT_DEPENDENCY(dynamic-graph-python REQUIRED
     PKG_CONFIG_REQUIRES dynamic-graph-python)
-  SET(BOOST_COMPONENTS ${BOOST_COMPONENTS} python)
+  ADD_PROJECT_DEPENDENCY(dynamic-graph-python REQUIRED PKG_CONFIG_REQUIRES dynamic-graph-python)
 ENDIF(BUILD_PYTHON_INTERFACE)
 
 SEARCH_FOR_BOOST()

cmake

@@ -18,8 +18,8 @@ import sys
 # add these directories to sys.path here. If the directory is relative to the
 # documentation root, use os.path.abspath to make it absolute, like shown here.
 sys.path = [os.path.abspath('@CMAKE_INSTALL_PREFIX@/@PYTHON_SITELIB@')] + sys.path
-sys.path = [os.path.abspath('@CMAKE_BINARY_DIR@/src')] + sys.path
 sys.path = [os.path.abspath('@CMAKE_SOURCE_DIR@/src')] + sys.path
+sys.path = [os.path.abspath('@CMAKE_BINARY_DIR@/src')] + sys.path
 
 # -- General configuration -----------------------------------------------------
 

doc/sphinx/conf.py.in

@@ -46,9 +46,6 @@ Entities
 .. autoclass:: dynamic_graph.sot.core.task.Task
    :members:
 
-.. autoclass:: dynamic_graph.sot.core.constraint.Constraint
-   :members:
-
 .. autoclass:: dynamic_graph.sot.core.gain_adaptive.GainAdaptive
    :members:
 

doc/sphinx/index.rst.in

@@ -97,6 +97,9 @@ public:
   void setTorqueBounds(const Vector &lower, const Vector &upper);
   /// \}
 
+  PeriodicCall& periodicCallBefore() { return periodicCallBefore_; }
+  PeriodicCall& periodicCallAfter() { return periodicCallAfter_; }
+
 public: /* --- DISPLAY --- */
   virtual void display(std::ostream &os) const;
   virtual void cmdDisplay();

include/sot/core/device.hh

@@ -17,10 +17,10 @@ namespace dynamicgraph {
 namespace sot {
 
 class DoubleConstant : public Entity {
+public:
   static const std::string CLASS_NAME;
   virtual const std::string &getClassName(void) const { return CLASS_NAME; }
 
-public:
   DoubleConstant(const std::string &name);
 
   virtual ~DoubleConstant(void) {}

include/sot/core/double-constant.hh

@@ -19,6 +19,7 @@
 #include <vector>
 
 /* SOT */
+#include <dynamic-graph/signal-caster.h>
 #include "sot/core/api.hh"
 
 /* --------------------------------------------------------------------- */
@@ -81,6 +82,8 @@ SOT_CORE_EXPORT extern const Flags FLAG_LINE_7;
 SOT_CORE_EXPORT extern const Flags FLAG_LINE_8;
 
 } // namespace sot
+
+template <> struct signal_io<sot::Flags> : signal_io_unimplemented<sot::Flags> {};
 } // namespace dynamicgraph
 
 #endif /* #ifndef __SOT_FLAGS_H */

include/sot/core/flags.hh

@@ -66,7 +66,7 @@ public:
         "pushDenomCoef",
         makeCommandVoid1(
             *this, &IntegratorAbstract::pushDenomCoef,
-            docCommandVoid1("Push a new denomicator coefficient", typeName)));
+            docCommandVoid1("Push a new denominator coefficient", typeName)));
 
     addCommand(
         "popNumCoef",
@@ -75,7 +75,7 @@ public:
     addCommand(
         "popDenomCoef",
         makeCommandVoid0(*this, &IntegratorAbstract::popDenomCoef,
-                         docCommandVoid0("Pop a new denomicator coefficient")));
+                         docCommandVoid0("Pop a new denominator coefficient")));
   }
 
   virtual ~IntegratorAbstract() {}
@@ -90,11 +90,33 @@ public:
   void popNumCoef() { numerator.pop_back(); }
   void popDenomCoef() { denominator.pop_back(); }
 
+  const std::vector<coefT>& numCoeffs() const { return numerator; }
+  void numCoeffs(const std::vector<coefT>& coeffs) { numerator = coeffs; }
+
+  const std::vector<coefT>& denomCoeffs() const { return denominator; }
+  void denomCoeffs(const std::vector<coefT>& coeffs) { denominator = coeffs; }
+
 public:
   dynamicgraph::SignalPtr<sigT, int> SIN;
 
   dynamicgraph::SignalTimeDependent<sigT, int> SOUT;
 
+  virtual void display(std::ostream &os) const
+  {
+    os << this->getClassName() << ": " << getName() << '\n'
+      << "  ";
+    if (numerator.empty() || denominator.empty()) {
+      os << "ill-formed.";
+      return;
+    }
+    os << numerator[0];
+    for (std::size_t i = 1; i < numerator.size(); ++i)
+      os << " + " << numerator[i] << " s^" << i;
+    os << "\n  " << denominator[0];
+    for (std::size_t i = 1; i < denominator.size(); ++i)
+      os << " + " << denominator[i] << " s^" << i;
+  }
+
 protected:
   std::vector<coefT> numerator;
   std::vector<coefT> denominator;

include/sot/core/integrator-abstract.hh

@@ -168,6 +168,18 @@ public:
   double getSamplingPeriod() const { return dt; }
 
   void initialize() {
+    if (denominator.empty() || numerator.empty())
+      throw dynamicgraph::ExceptionSignal(
+          dynamicgraph::ExceptionSignal::GENERIC,
+          "The numerator or the denominator is empty.");
+
+    // Check that denominator.back is the identity
+    if (!internal::integratorEulerCoeffIsIdentity(denominator.back()))
+      throw dynamicgraph::ExceptionSignal(
+          dynamicgraph::ExceptionSignal::GENERIC,
+          "The coefficient of the highest order derivative of denominator "
+          "should be 1 (the last pushDenomCoef should be the identity).");
+
     std::size_t numsize = numerator.size();
     inputMemory.resize(numsize);
 
@@ -181,13 +193,6 @@ public:
     for (std::size_t i = 0; i < denomsize; ++i) {
       outputMemory[i] = inputMemory[0];
     }
-
-    // Check that denominator.back is the identity
-    if (!internal::integratorEulerCoeffIsIdentity(denominator.back()))
-      throw dynamicgraph::ExceptionSignal(
-          dynamicgraph::ExceptionSignal::GENERIC,
-          "The coefficient of the highest order derivative of denominator "
-          "should be 1 (the last pushDenomCoef should be the identity).");
   }
 };
 

include/sot/core/integrator-euler.hh

@@ -31,16 +31,21 @@
 namespace dynamicgraph {
 namespace sot {
 
-template <class Object> class Mailbox : public dynamicgraph::Entity {
+namespace dg = dynamicgraph;
+
+template <class Object> struct MailboxTimestampedObject
+{
+  Object obj;
+  struct timeval timestamp;
+};
+
+template <class Object> class Mailbox : public dg::Entity {
 public:
   static const std::string CLASS_NAME;
   virtual const std::string &getClassName(void) const { return CLASS_NAME; }
 
 public:
-  struct sotTimestampedObject {
-    Object obj;
-    struct timeval timestamp;
-  };
+  typedef MailboxTimestampedObject<Object> sotTimestampedObject;
 
 public:
   Mailbox(const std::string &name);
@@ -61,12 +66,17 @@ protected:
   bool update;
 
 public: /* --- SIGNALS --- */
-  dynamicgraph::SignalTimeDependent<struct sotTimestampedObject, int> SOUT;
+  dynamicgraph::SignalTimeDependent<sotTimestampedObject, int> SOUT;
   dynamicgraph::SignalTimeDependent<Object, int> objSOUT;
   dynamicgraph::SignalTimeDependent<struct timeval, int> timeSOUT;
 };
 
 } /* namespace sot */
+
+template <class Object> struct signal_io<sot::MailboxTimestampedObject<Object> >
+: signal_io_unimplemented<sot::MailboxTimestampedObject<Object> > {};
+
+template <> struct signal_io<timeval> : signal_io_unimplemented<timeval > {};
 } /* namespace dynamicgraph */
 
 #endif // #ifndef  __SOT_MAILBOX_HH