integrator-abstract-impl.hh

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/*
 * Copyright 2010,
 * François Bleibel,
 * Olivier Stasse,
 *
 * CNRS/AIST
 *
 */

#ifndef __SOT_INTEGRATOR_ABSTRACT_VECTOR_H__
#define __SOT_INTEGRATOR_ABSTRACT_VECTOR_H__

/* --- SOT PLUGIN  --- */
#include <sot/core/integrator-abstract.hh>

/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */

#if defined(WIN32)
#if defined(integrator_abstract_EXPORTS)
#define INTEGRATOR_ABSTRACT_EXPORT __declspec(dllexport)
#else
#define INTEGRATOR_ABSTRACT_EXPORT __declspec(dllimport)
#endif
#else
#define INTEGRATOR_ABSTRACT_EXPORT
#endif

/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */

#ifdef WIN32
#define DECLARE_SPECIFICATION(className, sotSigType, sotCoefType) \
  class INTEGRATOR_ABSTRACT_EXPORT className                      \
      : public IntegratorAbstract<sotSigType, sotCoefType> {      \
   public:                                                        \
    className(const std::string &name);                           \
  };
#else
#define DECLARE_SPECIFICATION(className, sotSigType, sotCoefType) \
  typedef IntegratorAbstract<sotSigType, sotCoefType> className;
#endif

namespace dynamicgraph {
namespace sot {
DECLARE_SPECIFICATION(IntegratorAbstractDouble, double, double)
DECLARE_SPECIFICATION(IntegratorAbstractVector, dynamicgraph::Vector,
                      dynamicgraph::Matrix)
}  // namespace sot
}  // namespace dynamicgraph
#endif  // #ifndef  __SOT_MAILBOX_HH