derivator-impl.hh
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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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namespace
dg
=
dynamicgraph
;
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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, dg::Vector)
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DECLARE_SPECIFICATION
(DerivatorMatrix, dg::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__
dynamicgraph::sot::VectorQuaternion
Eigen::Quaternion< double > SOT_CORE_EXPORT VectorQuaternion
Definition:
matrix-geometry.hh:77
dynamicgraph
Definition:
abstract-sot-external-interface.hh:17
derivator.hh
DECLARE_SPECIFICATION
#define DECLARE_SPECIFICATION(className, sotSigType)
Definition:
derivator-impl.hh:45
matrix-geometry.hh
include
sot
core
derivator-impl.hh
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