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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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#include <sot/core/factory.hh> |
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#include <sot/core/integrator-euler.hh> |
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using namespace dynamicgraph::sot; |
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using namespace dynamicgraph; |
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#define SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_EULER(sotClassType, sotSigType, \ |
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sotCoefType, className) \ |
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template <> \ |
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std::string sotClassType<sotSigType, sotCoefType>::getTypeName(void) { \ |
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return #sotSigType; \ |
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} \ |
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template <> \ |
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const std::string sotClassType<sotSigType, sotCoefType>::CLASS_NAME = \ |
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className; \ |
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template <> \ |
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const std::string &sotClassType<sotSigType, sotCoefType>::getClassName(void) \ |
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const { \ |
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return CLASS_NAME; \ |
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} \ |
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extern "C" { \ |
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Entity *regFunction##_##sotSigType##_##sotCoefType( \ |
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const std::string &objname) { \ |
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return new sotClassType<sotSigType, sotCoefType>(objname); \ |
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} \ |
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EntityRegisterer regObj##_##sotSigType##_##sotCoefType( \ |
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sotClassType<sotSigType, sotCoefType>::CLASS_NAME, \ |
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®Function##_##sotSigType##_##sotCoefType); \ |
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} |
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using namespace std; |
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namespace dynamicgraph { |
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namespace sot { |
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SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_EULER(IntegratorEuler, double, double, |
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"IntegratorEulerDoubleDouble") |
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SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_EULER(IntegratorEuler, Vector, Matrix, |
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"IntegratorEulerVectorMatrix") |
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SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_EULER(IntegratorEuler, Vector, double, |
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"IntegratorEulerVectorDouble") |
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template class IntegratorEuler<double, double>; |
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template class IntegratorEuler<Vector, double>; |
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template class IntegratorEuler<Vector, Matrix>; |
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} // namespace sot |
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} // namespace dynamicgraph |
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