Code organization

Organization of the code

The code is based on the dynamic-graph package, which provides the framework on which sot-core relies. Hence most of the code in sot-core consists of classes that derive from dynamic_graph::Entity. These entities are usually compiled and linked in their own dynamic library, as a python module

Aside from the python modules, this package installs a core library libsot-core, that provides functions and code common to all modules. All python modules developed here link with libsot-core. For example, common mathematical entities, definitions and functions are in the core library. See Sot-core library (libsot-core.[dll|so]) for a list of what's in this code base.

This library implements

• A solver for the control law using tasks and features: the stack of tasks
• The framework of Tasks and Features, as defined in [Mansard2007], that
• Base classes for working with tasks and features, such as special matrices (rotation, twist) and vectors (quaternions, etc.)
• A basic C++ "machinery", the Factory, that "makes things work"