derivator-impl.hh
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1 /*
2  * Copyright 2010,
3  * François Bleibel,
4  * Olivier Stasse,
5  *
6  * CNRS/AIST
7  *
8  */
9 
10 #ifndef __SOT_DERIVATOR_IMPL_H__
11 #define __SOT_DERIVATOR_IMPL_H__
12 
13 #include <sot/core/derivator.hh>
15 
16 /* --------------------------------------------------------------------- */
17 /* --- API ------------------------------------------------------------- */
18 /* --------------------------------------------------------------------- */
19 
20 #if defined(WIN32)
21 #if defined(derivator_EXPORTS)
22 #define DERIVATOR_EXPORT __declspec(dllexport)
23 #else
24 #define DERIVATOR_EXPORT __declspec(dllimport)
25 #endif
26 #else
27 #define DERIVATOR_EXPORT
28 #endif
29 
30 /* --------------------------------------------------------------------- */
31 /* --- INCLUDE --------------------------------------------------------- */
32 /* --------------------------------------------------------------------- */
33 
34 namespace dynamicgraph {
35 namespace sot {
36 namespace dg = dynamicgraph;
37 
38 #ifdef WIN32
39 #define DECLARE_SPECIFICATION(className, sotSigType) \
40  class DERIVATOR_EXPORT className : public Derivator<sotSigType> { \
41  public: \
42  className(const std::string &name); \
43  };
44 #else
45 #define DECLARE_SPECIFICATION(className, sotSigType) \
46  typedef Derivator<sotSigType> className;
47 #endif
48 
49 DECLARE_SPECIFICATION(DerivatorDouble, double)
50 DECLARE_SPECIFICATION(DerivatorVector, dg::Vector)
51 DECLARE_SPECIFICATION(DerivatorMatrix, dg::Matrix)
52 DECLARE_SPECIFICATION(DerivatorVectorQuaternion, VectorQuaternion)
53 } /* namespace sot */
54 } /* namespace dynamicgraph */
55 
56 #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