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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/derivator.hh> |
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#include <sot/core/factory.hh> |
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using namespace dynamicgraph::sot; |
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using namespace dynamicgraph; |
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// Unrolled Code: |
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// template<> |
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// const double Derivator<double>::TIMESTEP_DEFAULT = 1.; |
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// template<> |
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// std::string Derivator<double>:: |
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// getTypeName( void ) { return #double; } |
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// template<> |
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// const std::string Derivator<double>::CLASS_NAME = |
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// std::string("Derivator_of_double"); extern "C" { |
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// Entity *regFunctiondoubleDerivator( const std::string& objname ) |
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// { |
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// return new Derivator<double>( objname ); |
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// } |
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// EntityRegisterer regObjdoubleDerivator |
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// ( std::string("Derivator_of_double"), |
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// ®FunctiondoubleDerivator ); |
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// } |
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#define SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN(sotClassType, sotType, className) \ |
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template <> \ |
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const double Derivator<sotType>::TIMESTEP_DEFAULT = 1.; \ |
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template <> \ |
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std::string sotClassType<sotType>::getTypeName(void) { \ |
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return #sotType; \ |
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} \ |
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template <> \ |
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const std::string sotClassType<sotType>::CLASS_NAME = \ |
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std::string(className) + "_of_" + #sotType; \ |
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extern "C" { \ |
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Entity *regFunction##_##sotType##_##sotClassType( \ |
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const std::string &objname) { \ |
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return new sotClassType<sotType>(objname); \ |
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} \ |
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EntityRegisterer regObj##_##sotType##_##sotClassType( \ |
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std::string(className) + "_of_" + #sotType, \ |
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®Function##_##sotType##_##sotClassType); \ |
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} |
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namespace dynamicgraph { |
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namespace sot { |
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SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN(Derivator, double, "Derivator") |
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SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN(Derivator, Vector, "Derivator") |
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SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN(Derivator, Matrix, "Derivator") |
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SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN(Derivator, VectorQuaternion, "Derivator") |
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} // namespace sot |
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} // namespace dynamicgraph |
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#include <sot/core/derivator-impl.hh> |
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#ifdef WIN32 |
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#define SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_WIN32(sotClassType, sotType, \ |
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className) \ |
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sotClassType##sotType## ::sotClassType##sotType##(const std::string &name) \ |
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: sotClassType<sotType>(name){}; |
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typedef double Double; |
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SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_WIN32(Derivator, Double, "Derivator") |
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SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_WIN32(Derivator, Vector, "Derivator") |
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SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_WIN32(Derivator, Matrix, "Derivator") |
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SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_WIN32(Derivator, VectorQuaternion, |
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"Derivator") |
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#endif |