1 |
|
|
/* |
2 |
|
|
* Copyright 2010, |
3 |
|
|
* François Bleibel, |
4 |
|
|
* Olivier Stasse, |
5 |
|
|
* |
6 |
|
|
* CNRS/AIST |
7 |
|
|
* |
8 |
|
|
*/ |
9 |
|
|
|
10 |
|
|
#ifndef __SOT_INTEGRATOR_ABSTRACT_VECTOR_H__ |
11 |
|
|
#define __SOT_INTEGRATOR_ABSTRACT_VECTOR_H__ |
12 |
|
|
|
13 |
|
|
/* --- SOT PLUGIN --- */ |
14 |
|
|
#include <sot/core/integrator-abstract.hh> |
15 |
|
|
|
16 |
|
|
/* --------------------------------------------------------------------- */ |
17 |
|
|
/* --- API ------------------------------------------------------------- */ |
18 |
|
|
/* --------------------------------------------------------------------- */ |
19 |
|
|
|
20 |
|
|
#if defined(WIN32) |
21 |
|
|
#if defined(integrator_abstract_EXPORTS) |
22 |
|
|
#define INTEGRATOR_ABSTRACT_EXPORT __declspec(dllexport) |
23 |
|
|
#else |
24 |
|
|
#define INTEGRATOR_ABSTRACT_EXPORT __declspec(dllimport) |
25 |
|
|
#endif |
26 |
|
|
#else |
27 |
|
|
#define INTEGRATOR_ABSTRACT_EXPORT |
28 |
|
|
#endif |
29 |
|
|
|
30 |
|
|
/* --------------------------------------------------------------------- */ |
31 |
|
|
/* --- CLASS ----------------------------------------------------------- */ |
32 |
|
|
/* --------------------------------------------------------------------- */ |
33 |
|
|
|
34 |
|
|
#ifdef WIN32 |
35 |
|
|
#define DECLARE_SPECIFICATION(className, sotSigType, sotCoefType) \ |
36 |
|
|
class INTEGRATOR_ABSTRACT_EXPORT className \ |
37 |
|
|
: public IntegratorAbstract<sotSigType, sotCoefType> { \ |
38 |
|
|
public: \ |
39 |
|
|
className(const std::string &name); \ |
40 |
|
|
}; |
41 |
|
|
#else |
42 |
|
|
#define DECLARE_SPECIFICATION(className, sotSigType, sotCoefType) \ |
43 |
|
|
typedef IntegratorAbstract<sotSigType, sotCoefType> className; |
44 |
|
|
#endif |
45 |
|
|
|
46 |
|
|
namespace dynamicgraph { |
47 |
|
|
namespace sot { |
48 |
|
|
DECLARE_SPECIFICATION(IntegratorAbstractDouble, double, double) |
49 |
|
|
DECLARE_SPECIFICATION(IntegratorAbstractVector, dynamicgraph::Vector, |
50 |
|
|
dynamicgraph::Matrix) |
51 |
|
|
} // namespace sot |
52 |
|
|
} // namespace dynamicgraph |
53 |
|
|
#endif // #ifndef __SOT_MAILBOX_HH |