integrator-euler.t.cpp

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

#include <sot/core/factory.hh>
#include <sot/core/integrator-euler.hh>

using namespace dynamicgraph::sot;
using namespace dynamicgraph;

#define SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_EULER(sotClassType, sotSigType,     \
                                                 sotCoefType, className)       \
  template <>                                                                  \
  std::string sotClassType<sotSigType, sotCoefType>::getTypeName(void) {       \
    return #sotSigType;                                                        \
  }                                                                            \
  template <>                                                                  \
  const std::string sotClassType<sotSigType, sotCoefType>::CLASS_NAME =        \
      className;                                                               \
  template <>                                                                  \
  const std::string &sotClassType<sotSigType, sotCoefType>::getClassName(void) \
      const {                                                                  \
    return CLASS_NAME;                                                         \
  }                                                                            \
  extern "C" {                                                                 \
  Entity *regFunction##_##sotSigType##_##sotCoefType(                          \
      const std::string &objname) {                                            \
    return new sotClassType<sotSigType, sotCoefType>(objname);                 \
  }                                                                            \
  EntityRegisterer regObj##_##sotSigType##_##sotCoefType(                      \
      sotClassType<sotSigType, sotCoefType>::CLASS_NAME,                       \
      &regFunction##_##sotSigType##_##sotCoefType);                            \
  }

using namespace std;
namespace dynamicgraph {
namespace sot {
SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_EULER(IntegratorEuler, double, double,
                                         "IntegratorEulerDoubleDouble")
SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_EULER(IntegratorEuler, Vector, Matrix,
                                         "IntegratorEulerVectorMatrix")
SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_EULER(IntegratorEuler, Vector, double,
                                         "IntegratorEulerVectorDouble")

template class IntegratorEuler<double, double>;
template class IntegratorEuler<Vector, double>;
template class IntegratorEuler<Vector, Matrix>;
}  // namespace sot
}  // namespace dynamicgraph