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/* |
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* Copyright 2010, |
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* François Bleibel, |
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* Olivier Stasse, |
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* |
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* CNRS/AIST |
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* |
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*/ |
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#ifndef __SOT_DERIVATOR_IMPL_H__ |
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#define __SOT_DERIVATOR_IMPL_H__ |
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#include <sot/core/derivator.hh> |
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#include <sot/core/matrix-geometry.hh> |
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/* --------------------------------------------------------------------- */ |
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/* --- API ------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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#if defined(WIN32) |
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#if defined(derivator_EXPORTS) |
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#define DERIVATOR_EXPORT __declspec(dllexport) |
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#else |
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#define DERIVATOR_EXPORT __declspec(dllimport) |
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#endif |
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#else |
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#define DERIVATOR_EXPORT |
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#endif |
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/* --------------------------------------------------------------------- */ |
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/* --- INCLUDE --------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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namespace dynamicgraph { |
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namespace sot { |
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#ifdef WIN32 |
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#define DECLARE_SPECIFICATION(className, sotSigType) \ |
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class DERIVATOR_EXPORT className : public Derivator<sotSigType> { \ |
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public: \ |
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className(const std::string &name); \ |
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}; |
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#else |
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#define DECLARE_SPECIFICATION(className, sotSigType) \ |
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typedef Derivator<sotSigType> className; |
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#endif |
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DECLARE_SPECIFICATION(DerivatorDouble, double) |
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DECLARE_SPECIFICATION(DerivatorVector, dynamicgraph::Vector) |
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DECLARE_SPECIFICATION(DerivatorMatrix, dynamicgraph::Matrix) |
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DECLARE_SPECIFICATION(DerivatorVectorQuaternion, VectorQuaternion) |
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} /* namespace sot */ |
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} /* namespace dynamicgraph */ |
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#endif // #ifndef __SOT_DERIVATOR_H__ |