derivator.cpp

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/*
 * Copyright 2010,
 * François Bleibel,
 * Olivier Stasse,
 *
 * CNRS/AIST
 *
 */
 
#include <sot/core/derivator.hh>
#include <sot/core/factory.hh>
 
using namespace dynamicgraph::sot;
using namespace dynamicgraph;
 
// Unrolled Code:
// template<>
// const double Derivator<double>::TIMESTEP_DEFAULT = 1.;
 
// template<>
// std::string Derivator<double>::
// getTypeName( void ) { return #double; }
 
// template<>
// const std::string Derivator<double>::CLASS_NAME =
// std::string("Derivator_of_double"); extern "C" {
//   Entity *regFunctiondoubleDerivator( const std::string& objname )
//   {
//     return new Derivator<double>( objname );
//   }
//   EntityRegisterer regObjdoubleDerivator
//   ( std::string("Derivator_of_double"),
//     &regFunctiondoubleDerivator );
// }
 
#define SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN(sotClassType, sotType, className) \
  template <>                                                                \
  const double Derivator<sotType>::TIMESTEP_DEFAULT = 1.;                    \
  template <>                                                                \
  std::string sotClassType<sotType>::getTypeName(void) {                     \
    return #sotType;                                                         \
  }                                                                          \
  template <>                                                                \
  const std::string sotClassType<sotType>::CLASS_NAME =                      \
      std::string(className) + "_of_" + #sotType;                            \
  extern "C" {                                                               \
  Entity *regFunction##_##sotType##_##sotClassType(                          \
      const std::string &objname) {                                          \
    return new sotClassType<sotType>(objname);                               \
  }                                                                          \
  EntityRegisterer regObj##_##sotType##_##sotClassType(                      \
      std::string(className) + "_of_" + #sotType,                            \
      &regFunction##_##sotType##_##sotClassType);                            \
  }
 
namespace dynamicgraph {
namespace sot {
SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN(Derivator, double, "Derivator")
SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN(Derivator, Vector, "Derivator")
SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN(Derivator, Matrix, "Derivator")
SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN(Derivator, VectorQuaternion, "Derivator")
}  // namespace sot
}  // namespace dynamicgraph
 
#include <sot/core/derivator-impl.hh>
 
#ifdef WIN32
#define SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_WIN32(sotClassType, sotType,      \
                                                 className)                  \
  sotClassType##sotType## ::sotClassType##sotType##(const std::string &name) \
      : sotClassType<sotType>(name){};
 
typedef double Double;
SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_WIN32(Derivator, Double, "Derivator")
SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_WIN32(Derivator, Vector, "Derivator")
SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_WIN32(Derivator, Matrix, "Derivator")
SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_WIN32(Derivator, VectorQuaternion,
                                         "Derivator")
#endif