diff --git a/.cproject b/.cproject
new file mode 100644
index 0000000..e3a48d3
--- /dev/null
+++ b/.cproject
@@ -0,0 +1,1006 @@
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+ cmake
+ -E chdir ../build cmake -DCMAKE_INSTALL_PREFIX=${PREFIX} -DCMAKE_BUILD_TYPE=debug ..
+
+ true
+ false
+ true
+
+
+ make
+
+
+ true
+ true
+ true
+
+
+ make
+
+ clean
+ true
+ true
+ true
+
+
+ make
+
+ install
+ true
+ true
+ true
+
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+
+
+
+ cmake
+ -E chdir ../build cmake -DCMAKE_INSTALL_PREFIX=${PREFIX} -DCMAKE_BUILD_TYPE=debug ..
+
+ true
+ false
+ true
+
+
+ make
+
+
+ true
+ true
+ true
+
+
+ make
+
+ clean
+ true
+ true
+ true
+
+
+ make
+
+ install
+ true
+ true
+ true
+
+
+
+
+
+
+
+
+
diff --git a/.project b/.project
new file mode 100644
index 0000000..ef6c3ed
--- /dev/null
+++ b/.project
@@ -0,0 +1,87 @@
+
+
+ RCIOncilla
+
+
+ RCI
+ RCIQuadSim
+ RST
+ Webots
+
+
+
+ org.eclipse.cdt.managedbuilder.core.genmakebuilder
+ clean,full,incremental,
+
+
+ ?name?
+
+
+
+ org.eclipse.cdt.make.core.append_environment
+ true
+
+
+ org.eclipse.cdt.make.core.autoBuildTarget
+ all
+
+
+ org.eclipse.cdt.make.core.buildArguments
+
+
+
+ org.eclipse.cdt.make.core.buildCommand
+ make
+
+
+ org.eclipse.cdt.make.core.buildLocation
+ ${workspace_loc:/RCIOncilla/build}
+
+
+ org.eclipse.cdt.make.core.cleanBuildTarget
+ clean
+
+
+ org.eclipse.cdt.make.core.contents
+ org.eclipse.cdt.make.core.activeConfigSettings
+
+
+ org.eclipse.cdt.make.core.enableAutoBuild
+ false
+
+
+ org.eclipse.cdt.make.core.enableCleanBuild
+ true
+
+
+ org.eclipse.cdt.make.core.enableFullBuild
+ true
+
+
+ org.eclipse.cdt.make.core.fullBuildTarget
+ all
+
+
+ org.eclipse.cdt.make.core.stopOnError
+ true
+
+
+ org.eclipse.cdt.make.core.useDefaultBuildCmd
+ true
+
+
+
+
+ org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder
+ full,incremental,
+
+
+
+
+
+ org.eclipse.cdt.core.cnature
+ org.eclipse.cdt.core.ccnature
+ org.eclipse.cdt.managedbuilder.core.managedBuildNature
+ org.eclipse.cdt.managedbuilder.core.ScannerConfigNature
+
+
diff --git a/.settings/org.eclipse.cdt.core.prefs b/.settings/org.eclipse.cdt.core.prefs
new file mode 100644
index 0000000..441bcc4
--- /dev/null
+++ b/.settings/org.eclipse.cdt.core.prefs
@@ -0,0 +1,21 @@
+#Fri Sep 23 15:22:53 CEST 2011
+eclipse.preferences.version=1
+environment/project/cdt.managedbuild.config.gnu.exe.debug.106830519/PKG_CONFIG_PATH/delimiter=\:
+environment/project/cdt.managedbuild.config.gnu.exe.debug.106830519/PKG_CONFIG_PATH/operation=append
+environment/project/cdt.managedbuild.config.gnu.exe.debug.106830519/PKG_CONFIG_PATH/value=${PREFIX}/lib/pkgconfig
+environment/project/cdt.managedbuild.config.gnu.exe.debug.106830519/PREFIX/delimiter=\:
+environment/project/cdt.managedbuild.config.gnu.exe.debug.106830519/PREFIX/operation=append
+environment/project/cdt.managedbuild.config.gnu.exe.debug.106830519/PREFIX/value=/vol/amarsi/trunk
+environment/project/cdt.managedbuild.config.gnu.exe.debug.106830519/WEBOTS_HOME/delimiter=\:
+environment/project/cdt.managedbuild.config.gnu.exe.debug.106830519/WEBOTS_HOME/operation=append
+environment/project/cdt.managedbuild.config.gnu.exe.debug.106830519/WEBOTS_HOME/value=/homes/anordman/local/webots
+environment/project/cdt.managedbuild.config.gnu.exe.debug.106830519/append=true
+environment/project/cdt.managedbuild.config.gnu.exe.debug.106830519/appendContributed=true
+environment/project/cdt.managedbuild.config.gnu.exe.release.1168393720/PREFIX/delimiter=\:
+environment/project/cdt.managedbuild.config.gnu.exe.release.1168393720/PREFIX/operation=append
+environment/project/cdt.managedbuild.config.gnu.exe.release.1168393720/PREFIX/value=/vol/amarsi/trunk
+environment/project/cdt.managedbuild.config.gnu.exe.release.1168393720/WEBOTS_HOME/delimiter=\:
+environment/project/cdt.managedbuild.config.gnu.exe.release.1168393720/WEBOTS_HOME/operation=append
+environment/project/cdt.managedbuild.config.gnu.exe.release.1168393720/WEBOTS_HOME/value=/homes/anordman/local/webots
+environment/project/cdt.managedbuild.config.gnu.exe.release.1168393720/append=true
+environment/project/cdt.managedbuild.config.gnu.exe.release.1168393720/appendContributed=true
diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..5d3102b
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,215 @@
+CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+SET(PROJECTNAME "RCIOncilla")
+SET(LIBNAME "rcioncilla")
+PROJECT(${PROJECTNAME})
+
+SET(CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS TRUE)
+SET(RCIONCILLA_CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
+
+ENABLE_LANGUAGE(C)
+ENABLE_LANGUAGE(CXX)
+
+SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+
+# CMake module path and modules
+SET(PROJECT_CMAKE_PATH "${CMAKE_INSTALL_PREFIX}/share/cmake/Modules")
+SET(SYSTEM_CMAKE_PATH "/usr/share/cmake/Modules")
+SET(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${RCIONCILLA_CMAKE_MODULE_PATH}" "${PROJECT_CMAKE_PATH}" "${SYSTEM_CMAKE_PATH}")
+FIND_PACKAGE(RSC REQUIRED)
+SET(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${RSC_CMAKE_MODULE_PATH}")
+MESSAGE(STATUS "RSC version: ${RSC_VERSION}")
+
+INCLUDE(CheckIncludeFileCXX)
+INCLUDE(InstallFilesRecursive)
+INCLUDE(EnableCoverageReport)
+INCLUDE(EnableSlocCount)
+INCLUDE(GenerateDoxygen)
+INCLUDE(GenerateCppcheck)
+INCLUDE(FindPkgConfig)
+
+SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+
+# --- user options ---
+OPTION(BUILD_TESTS "Decide whether unit-tests are built" ON)
+OPTION(BUILD_EXAMPLES "Decide whether the examples are built" ON)
+OPTION(BUILD_DOCS "Decide whether the docygen documentation is built" OFF)
+OPTION(BUILD_HARDWARE_DRIVER "Decide whether driver for the real robot is build" OFF)
+OPTION(WEBOTS_PROJECT_DIR "Specify folder to install the Webots Simulator Project to" "~/projects/oncillasim")
+
+# Cross-compiling
+IF ("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "i486")
+ SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=${CMAKE_SYSTEM_PROCESSOR}")
+ MESSAGE(STATUS "Compiling for architecture: ${CMAKE_SYSTEM_PROCESSOR}")
+ENDIF ()
+IF ("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "i586")
+ SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=${CMAKE_SYSTEM_PROCESSOR}")
+ MESSAGE(STATUS "Compiling for architecture: ${CMAKE_SYSTEM_PROCESSOR}")
+ENDIF ()
+
+# Dependencies
+FIND_PACKAGE(BoostUUID)
+
+FIND_PACKAGE(Threads REQUIRED)
+MESSAGE(STATUS "Threading library: ${CMAKE_THREAD_LIBS_INIT}")
+
+FIND_PACKAGE(NemoMath REQUIRED)
+MESSAGE(STATUS "NemoMath version: ${NemoMath_VERSION}")
+
+FIND_PACKAGE(ProtocolBuffers)
+
+FIND_PACKAGE(RST REQUIRED)
+MESSAGE(STATUS "RST version: ${RST_VERSION}")
+
+FIND_PACKAGE(RSB REQUIRED)
+MESSAGE(STATUS "RSB version: ${RSB_VERSION}")
+
+FIND_PACKAGE(CCA REQUIRED)
+MESSAGE(STATUS "CCA version: ${CCA_VERSION}")
+
+FIND_PACKAGE(RCI REQUIRED)
+MESSAGE(STATUS "RCI version: ${RCI_VERSION}")
+
+# --- global definitions ---
+SET(RCIONCILLA_NAME "${LIBNAME}")
+SET(DRIVER_TEST_NAME "${PROJECTNAME}Tests")
+SET(DTO_TEST_NAME "${DRIVER_TEST_NAME}DTO")
+SET(LWRCONTROL_TEST_NAME "${DRIVER_TEST_NAME}LWRControl")
+SET(INTEGRATED_TEST_NAME "${DRIVER_TEST_NAME}Integrated")
+SET(RCIONCILLA_VERSION_MAJOR 0)
+SET(RCIONCILLA_VERSION_MINOR 2)
+SET(RCIONCILLA_VERSION_PATCH 0)
+SET(RCIONCILLA_VERSION "${RCIONCILLA_VERSION_MAJOR}.${RCIONCILLA_VERSION_MINOR}.${RCIONCILLA_VERSION_PATCH}")
+SET(DRIVER_CMAKE_MODULE_PATH "${CMAKE_INSTALL_PREFIX}/share/cmake/Modules")
+
+SET(GTEST_DIR ${CMAKE_SOURCE_DIR}/3rdparty/gtest-1.5.0)
+SET(GTEST_INCLUDE_DIR ${GTEST_DIR}/include)
+SET(GMOCK_DIR ${CMAKE_SOURCE_DIR}/3rdparty/gmock-1.5.0)
+SET(GMOCK_INCLUDE_DIR ${GMOCK_DIR}/include)
+SET(GMOCK_LIBRARY_NAME "gmock")
+
+SET(OUTPUT_PATH ${CMAKE_BINARY_DIR}/build)
+SET(ARCHIVE_OUTPUT_PATH ${OUTPUT_PATH})
+SET(LIBRARY_OUTPUT_PATH ${OUTPUT_PATH})
+SET(EXECUTABLE_OUTPUT_PATH ${OUTPUT_PATH})
+
+# --- dependency handling ---
+IF(BUILD_DOCS)
+ FIND_PACKAGE(Doxygen)
+ENDIF()
+
+# Includes
+INCLUDE_DIRECTORIES(BEFORE src ${CMAKE_CURRENT_BINARY_DIR}/src)
+INCLUDE_DIRECTORIES(SYSTEM ${RSC_INCLUDE_DIRS})
+INCLUDE_DIRECTORIES(SYSTEM ${RSB_INCLUDE_DIRS})
+INCLUDE_DIRECTORIES(SYSTEM ${RST_INCLUDE_DIRS})
+INCLUDE_DIRECTORIES(SYSTEM ${SPREAD_INCLUDE_DIRS})
+INCLUDE_DIRECTORIES(SYSTEM ${CCA_INCLUDE_DIRS})
+INCLUDE_DIRECTORIES(SYSTEM ${RCI_INCLUDE_DIRS})
+INCLUDE_DIRECTORIES(SYSTEM ${NemoMath_INCLUDE_DIRS})
+INCLUDE_DIRECTORIES(SYSTEM ${Boost_INCLUDE_DIRS})
+INCLUDE_DIRECTORIES(SYSTEM ${BOOSTUUID_INCLUDE_DIRS})
+INCLUDE_DIRECTORIES(SYSTEM ${LIBRARIES_INCLUDE_DIRS})
+INCLUDE_DIRECTORIES(BEFORE SYSTEM ${PROTOBUF_INCLUDE_DIR} ${RST_INCLUDE_DIRS})
+
+ADD_DEFINITIONS(${RST_CFLAGS})
+
+LINK_DIRECTORIES(${RSC_LIBRARY_DIR}
+ ${RSB_LIBRARY_DIR}
+ ${CCA_LIBRARY_DIR}
+ ${RCI_LIBRARY_DIR}
+ ${LIBRARIES_LIBRARY_DIRS})
+
+ADD_SUBDIRECTORY(src)
+ADD_SUBDIRECTORY(cmake)
+
+IF(BUILD_HARDWARE_DRIVER)
+ INCLUDE_DIRECTORIES(SYSTEM ${LIBXML2_INCLUDE_DIR})
+ENDIF(BUILD_HARDWARE_DRIVER)
+
+IF(BUILD_TESTS)
+ ADD_SUBDIRECTORY(test)
+ #ADD_SUBDIRECTORY(3rdparty)
+ENDIF()
+IF(BUILD_EXAMPLES)
+ ADD_SUBDIRECTORY(examples)
+ENDIF()
+
+# --- cmake config file ---
+SET(LIB_SUFFIX ${CMAKE_SHARED_LIBRARY_SUFFIX})
+IF(CMAKE_LINK_LIBRARY_SUFFIX)
+ SET(LIB_SUFFIX ${CMAKE_LINK_LIBRARY_SUFFIX})
+ENDIF()
+
+# --- pkgconfig file ---
+CONFIGURE_FILE(${RCIONCILLA_NAME}.pc.in ${CMAKE_CURRENT_BINARY_DIR}/${RCIONCILLA_NAME}.pc @ONLY)
+INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/${RCIONCILLA_NAME}.pc DESTINATION lib/pkgconfig)
+
+# --- cmake config file ---
+SET(LIB_SUFFIX ${CMAKE_SHARED_LIBRARY_SUFFIX})
+IF(CMAKE_LINK_LIBRARY_SUFFIX)
+ SET(LIB_SUFFIX ${CMAKE_LINK_LIBRARY_SUFFIX})
+ENDIF()
+CONFIGURE_FILE(${PROJECTNAME}Config.cmake.in ${CMAKE_CURRENT_BINARY_DIR}/${PROJECTNAME}Config.cmake @ONLY)
+INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECTNAME}Config.cmake DESTINATION share/${LIBNAME})
+
+# --- documentation generation ---
+IF(BUILD_DOCS)
+IF(DOXYGEN_FOUND)
+ SET(API_DIR "${CMAKE_BINARY_DIR}/doc")
+ SET(SOURCE_DIR "${CMAKE_SOURCE_DIR}/src")
+ SET(DOXYFILE "${CMAKE_BINARY_DIR}/Doxyfile")
+ SET(WARNFILE "${CMAKE_BINARY_DIR}/doxygen-warn.log")
+
+ CONFIGURE_FILE(Doxyfile.in ${DOXYFILE})
+
+ ADD_CUSTOM_COMMAND(OUTPUT ${API_DIR}
+ DEPENDS ${DOXYFILE}
+ COMMAND ${DOXYGEN_EXECUTABLE}
+ ARGS ${DOXYFILE}
+ WORKING_DIRECTORY ${CMAKE_BINARY_DIR})
+ ADD_CUSTOM_TARGET(doc DEPENDS ${API_DIR})
+
+ INSTALL(CODE "execute_process(COMMAND ${CMAKE_BUILD_TOOL} doc)")
+ INSTALL(DIRECTORY ${API_DIR} DESTINATION share/${LIBNAME})
+ENDIF()
+ENDIF(BUILD_DOCS)
+
+# --- coverage ---
+IF(BUILD_TESTS)
+ ENABLE_COVERAGE_REPORT(TARGETS ${RCIONCILLA_NAME} TESTS ${DTO_TEST_NAME} ${INTEGRATED_TEST_NAME} FILTER "*3rdparty*" "*test/*")
+ENDIF(BUILD_TESTS)
+
+# --- sloccount ---
+ENABLE_SLOCCOUNT(FOLDERS src test examples)
+
+# --- cppcheck ---
+GENERATE_CPPCHECK(SOURCES src test examples
+ "${CMAKE_CURRENT_BINARY_DIR}/src" "${CMAKE_CURRENT_BINARY_DIR}/test" "${CMAKE_CURRENT_BINARY_DIR}/examples"
+ ENABLE_IDS style)
+
+# --- package ---
+INCLUDE(CheckLSBTypes)
+
+SET(CPACK_PACKAGE_VERSION_MAJOR ${RCIONCILLA_VERSION_MAJOR})
+SET(CPACK_PACKAGE_VERSION_MINOR ${RCIONCILLA_VERSION_MINOR})
+SET(CPACK_PACKAGE_VERSION_PATCH ${RCIONCILLA_VERSION_PATCH})
+SET(CPACK_PACKAGE_VERSION "${CPACK_PACKAGE_VERSION_MAJOR}.${CPACK_PACKAGE_VERSION_MINOR}.${CPACK_PACKAGE_VERSION_PATCH}")
+SET(CPACK_PACKAGE_FILE_NAME ${CMAKE_PROJECT_NAME}-${CPACK_PACKAGE_VERSION}_${LSB_CODENAME}_${LSB_PROCESSOR_ARCH})
+
+SET(CPACK_GENERATOR "TGZ")
+SET(CPACK_PACKAGE_VENDOR "CoR-Lab Bielefeld University")
+
+IF(CMAKE_SYSTEM_NAME STREQUAL "Linux")
+ SET(CPACK_GENERATOR "${CPACK_GENERATOR};DEB")
+ SET(CPACK_DEBIAN_PACKAGE_NAME "amarsi-rci-oncilla")
+ SET(CPACK_DEBIAN_PACKAGE_VERSION ${RCIONCILLA_VERSION_MAJOR}.${RCIONCILLA_VERSION_MINOR}.${RCIONCILLA_VERSION_PATCH})
+ SET(CPACK_DEBIAN_PACKAGE_MAINTAINER "Arne Nordmann (anordman@cor-lab.uni-bielefeld.de)")
+ SET(CPACK_DEBIAN_PACKAGE_DESCRIPTION "RCI Drivers for the quadruped Oncilla robot.")
+ SET(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
+ SET(CPACK_DEBIAN_PACKAGE_SECTION "devel")
+ SET(CPACK_DEBIAN_ARCHITECTURE ${CMAKE_SYSTEM_PROCESSOR})
+ SET(CPACK_DEBIAN_PACKAGE_DEPENDS "amarsi-rci-all")
+ SET(CPACK_DEBIAN_PACKAGE_SUGGESTS "cmake, cmake-data, doxygen, lcov, cppcheck, sloccount")
+ENDIF(CMAKE_SYSTEM_NAME STREQUAL "Linux")
+
+INCLUDE(CPack)
diff --git a/Doxyfile.in b/Doxyfile.in
new file mode 100644
index 0000000..a031a4d
--- /dev/null
+++ b/Doxyfile.in
@@ -0,0 +1,1356 @@
+# Doxyfile 1.5.5
+
+# This file describes the settings to be used by the documentation system
+# doxygen (www.doxygen.org) for a project
+#
+# All text after a hash (#) is considered a comment and will be ignored
+# The format is:
+# TAG = value [value, ...]
+# For lists items can also be appended using:
+# TAG += value [value, ...]
+# Values that contain spaces should be placed between quotes (" ")
+
+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+
+# This tag specifies the encoding used for all characters in the config file
+# that follow. The default is UTF-8 which is also the encoding used for all
+# text before the first occurrence of this tag. Doxygen uses libiconv (or the
+# iconv built into libc) for the transcoding. See
+# http://www.gnu.org/software/libiconv for the list of possible encodings.
+
+DOXYFILE_ENCODING = UTF-8
+
+# The PROJECT_NAME tag is a single word (or a sequence of words surrounded
+# by quotes) that should identify the project.
+
+PROJECT_NAME = @CMAKE_PROJECT_NAME@
+
+# The PROJECT_NUMBER tag can be used to enter a project or revision number.
+# This could be handy for archiving the generated documentation or
+# if some version control system is used.
+
+PROJECT_NUMBER = @COSVERSION@
+
+# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute)
+# base path where the generated documentation will be put.
+# If a relative path is entered, it will be relative to the location
+# where doxygen was started. If left blank the current directory will be used.
+
+OUTPUT_DIRECTORY = @API_DIR@
+
+# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create
+# 4096 sub-directories (in 2 levels) under the output directory of each output
+# format and will distribute the generated files over these directories.
+# Enabling this option can be useful when feeding doxygen a huge amount of
+# source files, where putting all generated files in the same directory would
+# otherwise cause performance problems for the file system.
+
+CREATE_SUBDIRS = NO
+
+# The OUTPUT_LANGUAGE tag is used to specify the language in which all
+# documentation generated by doxygen is written. Doxygen will use this
+# information to generate all constant output in the proper language.
+# The default language is English, other supported languages are:
+# Afrikaans, Arabic, Brazilian, Catalan, Chinese, Chinese-Traditional,
+# Croatian, Czech, Danish, Dutch, Farsi, Finnish, French, German, Greek,
+# Hungarian, Italian, Japanese, Japanese-en (Japanese with English messages),
+# Korean, Korean-en, Lithuanian, Norwegian, Macedonian, Persian, Polish,
+# Portuguese, Romanian, Russian, Serbian, Slovak, Slovene, Spanish, Swedish,
+# and Ukrainian.
+
+OUTPUT_LANGUAGE = English
+
+# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will
+# include brief member descriptions after the members that are listed in
+# the file and class documentation (similar to JavaDoc).
+# Set to NO to disable this.
+
+BRIEF_MEMBER_DESC = YES
+
+# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend
+# the brief description of a member or function before the detailed description.
+# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the
+# brief descriptions will be completely suppressed.
+
+REPEAT_BRIEF = YES
+
+# This tag implements a quasi-intelligent brief description abbreviator
+# that is used to form the text in various listings. Each string
+# in this list, if found as the leading text of the brief description, will be
+# stripped from the text and the result after processing the whole list, is
+# used as the annotated text. Otherwise, the brief description is used as-is.
+# If left blank, the following values are used ("$name" is automatically
+# replaced with the name of the entity): "The $name class" "The $name widget"
+# "The $name file" "is" "provides" "specifies" "contains"
+# "represents" "a" "an" "the"
+
+ABBREVIATE_BRIEF =
+
+# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then
+# Doxygen will generate a detailed section even if there is only a brief
+# description.
+
+ALWAYS_DETAILED_SEC = NO
+
+# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all
+# inherited members of a class in the documentation of that class as if those
+# members were ordinary class members. Constructors, destructors and assignment
+# operators of the base classes will not be shown.
+
+INLINE_INHERITED_MEMB = NO
+
+# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full
+# path before files name in the file list and in the header files. If set
+# to NO the shortest path that makes the file name unique will be used.
+
+FULL_PATH_NAMES = YES
+
+# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag
+# can be used to strip a user-defined part of the path. Stripping is
+# only done if one of the specified strings matches the left-hand part of
+# the path. The tag can be used to show relative paths in the file list.
+# If left blank the directory from which doxygen is run is used as the
+# path to strip.
+
+STRIP_FROM_PATH = @SOURCE_DIR@
+
+# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of
+# the path mentioned in the documentation of a class, which tells
+# the reader which header file to include in order to use a class.
+# If left blank only the name of the header file containing the class
+# definition is used. Otherwise one should specify the include paths that
+# are normally passed to the compiler using the -I flag.
+
+STRIP_FROM_INC_PATH =
+
+# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter
+# (but less readable) file names. This can be useful is your file systems
+# doesn't support long names like on DOS, Mac, or CD-ROM.
+
+SHORT_NAMES = NO
+
+# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen
+# will interpret the first line (until the first dot) of a JavaDoc-style
+# comment as the brief description. If set to NO, the JavaDoc
+# comments will behave just like regular Qt-style comments
+# (thus requiring an explicit @brief command for a brief description.)
+
+JAVADOC_AUTOBRIEF = YES
+
+# If the QT_AUTOBRIEF tag is set to YES then Doxygen will
+# interpret the first line (until the first dot) of a Qt-style
+# comment as the brief description. If set to NO, the comments
+# will behave just like regular Qt-style comments (thus requiring
+# an explicit \brief command for a brief description.)
+
+QT_AUTOBRIEF = NO
+
+# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen
+# treat a multi-line C++ special comment block (i.e. a block of //! or ///
+# comments) as a brief description. This used to be the default behaviour.
+# The new default is to treat a multi-line C++ comment block as a detailed
+# description. Set this tag to YES if you prefer the old behaviour instead.
+
+MULTILINE_CPP_IS_BRIEF = NO
+
+# If the DETAILS_AT_TOP tag is set to YES then Doxygen
+# will output the detailed description near the top, like JavaDoc.
+# If set to NO, the detailed description appears after the member
+# documentation.
+
+DETAILS_AT_TOP = NO
+
+# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented
+# member inherits the documentation from any documented member that it
+# re-implements.
+
+INHERIT_DOCS = YES
+
+# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce
+# a new page for each member. If set to NO, the documentation of a member will
+# be part of the file/class/namespace that contains it.
+
+SEPARATE_MEMBER_PAGES = NO
+
+# The TAB_SIZE tag can be used to set the number of spaces in a tab.
+# Doxygen uses this value to replace tabs by spaces in code fragments.
+
+TAB_SIZE = 4
+
+# This tag can be used to specify a number of aliases that acts
+# as commands in the documentation. An alias has the form "name=value".
+# For example adding "sideeffect=\par Side Effects:\n" will allow you to
+# put the command \sideeffect (or @sideeffect) in the documentation, which
+# will result in a user-defined paragraph with heading "Side Effects:".
+# You can put \n's in the value part of an alias to insert newlines.
+
+ALIASES =
+
+# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C
+# sources only. Doxygen will then generate output that is more tailored for C.
+# For instance, some of the names that are used will be different. The list
+# of all members will be omitted, etc.
+
+OPTIMIZE_OUTPUT_FOR_C = NO
+
+# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java
+# sources only. Doxygen will then generate output that is more tailored for
+# Java. For instance, namespaces will be presented as packages, qualified
+# scopes will look different, etc.
+
+OPTIMIZE_OUTPUT_JAVA = NO
+
+# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran
+# sources only. Doxygen will then generate output that is more tailored for
+# Fortran.
+
+OPTIMIZE_FOR_FORTRAN = NO
+
+# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL
+# sources. Doxygen will then generate output that is tailored for
+# VHDL.
+
+OPTIMIZE_OUTPUT_VHDL = NO
+
+# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want
+# to include (a tag file for) the STL sources as input, then you should
+# set this tag to YES in order to let doxygen match functions declarations and
+# definitions whose arguments contain STL classes (e.g. func(std::string); v.s.
+# func(std::string) {}). This also make the inheritance and collaboration
+# diagrams that involve STL classes more complete and accurate.
+
+BUILTIN_STL_SUPPORT = YES
+
+# If you use Microsoft's C++/CLI language, you should set this option to YES to
+# enable parsing support.
+
+CPP_CLI_SUPPORT = NO
+
+# Set the SIP_SUPPORT tag to YES if your project consists of sip sources only.
+# Doxygen will parse them like normal C++ but will assume all classes use public
+# instead of private inheritance when no explicit protection keyword is present.
+
+SIP_SUPPORT = NO
+
+# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC
+# tag is set to YES, then doxygen will reuse the documentation of the first
+# member in the group (if any) for the other members of the group. By default
+# all members of a group must be documented explicitly.
+
+DISTRIBUTE_GROUP_DOC = NO
+
+# Set the SUBGROUPING tag to YES (the default) to allow class member groups of
+# the same type (for instance a group of public functions) to be put as a
+# subgroup of that type (e.g. under the Public Functions section). Set it to
+# NO to prevent subgrouping. Alternatively, this can be done per class using
+# the \nosubgrouping command.
+
+SUBGROUPING = YES
+
+# When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum
+# is documented as struct, union, or enum with the name of the typedef. So
+# typedef struct TypeS {} TypeT, will appear in the documentation as a struct
+# with name TypeT. When disabled the typedef will appear as a member of a file,
+# namespace, or class. And the struct will be named TypeS. This can typically
+# be useful for C code in case the coding convention dictates that all compound
+# types are typedef'ed and only the typedef is referenced, never the tag name.
+
+TYPEDEF_HIDES_STRUCT = NO
+
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+
+# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in
+# documentation are documented, even if no documentation was available.
+# Private class members and static file members will be hidden unless
+# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES
+
+EXTRACT_ALL = YES
+
+# If the EXTRACT_PRIVATE tag is set to YES all private members of a class
+# will be included in the documentation.
+
+EXTRACT_PRIVATE = YES
+
+# If the EXTRACT_STATIC tag is set to YES all static members of a file
+# will be included in the documentation.
+
+EXTRACT_STATIC = YES
+
+# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs)
+# defined locally in source files will be included in the documentation.
+# If set to NO only classes defined in header files are included.
+
+EXTRACT_LOCAL_CLASSES = YES
+
+# This flag is only useful for Objective-C code. When set to YES local
+# methods, which are defined in the implementation section but not in
+# the interface are included in the documentation.
+# If set to NO (the default) only methods in the interface are included.
+
+EXTRACT_LOCAL_METHODS = NO
+
+# If this flag is set to YES, the members of anonymous namespaces will be
+# extracted and appear in the documentation as a namespace called
+# 'anonymous_namespace{file}', where file will be replaced with the base
+# name of the file that contains the anonymous namespace. By default
+# anonymous namespace are hidden.
+
+EXTRACT_ANON_NSPACES = NO
+
+# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all
+# undocumented members of documented classes, files or namespaces.
+# If set to NO (the default) these members will be included in the
+# various overviews, but no documentation section is generated.
+# This option has no effect if EXTRACT_ALL is enabled.
+
+HIDE_UNDOC_MEMBERS = NO
+
+# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all
+# undocumented classes that are normally visible in the class hierarchy.
+# If set to NO (the default) these classes will be included in the various
+# overviews. This option has no effect if EXTRACT_ALL is enabled.
+
+HIDE_UNDOC_CLASSES = NO
+
+# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all
+# friend (class|struct|union) declarations.
+# If set to NO (the default) these declarations will be included in the
+# documentation.
+
+HIDE_FRIEND_COMPOUNDS = NO
+
+# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any
+# documentation blocks found inside the body of a function.
+# If set to NO (the default) these blocks will be appended to the
+# function's detailed documentation block.
+
+HIDE_IN_BODY_DOCS = NO
+
+# The INTERNAL_DOCS tag determines if documentation
+# that is typed after a \internal command is included. If the tag is set
+# to NO (the default) then the documentation will be excluded.
+# Set it to YES to include the internal documentation.
+
+INTERNAL_DOCS = NO
+
+# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate
+# file names in lower-case letters. If set to YES upper-case letters are also
+# allowed. This is useful if you have classes or files whose names only differ
+# in case and if your file system supports case sensitive file names. Windows
+# and Mac users are advised to set this option to NO.
+
+CASE_SENSE_NAMES = YES
+
+# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen
+# will show members with their full class and namespace scopes in the
+# documentation. If set to YES the scope will be hidden.
+
+HIDE_SCOPE_NAMES = NO
+
+# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen
+# will put a list of the files that are included by a file in the documentation
+# of that file.
+
+SHOW_INCLUDE_FILES = YES
+
+# If the INLINE_INFO tag is set to YES (the default) then a tag [inline]
+# is inserted in the documentation for inline members.
+
+INLINE_INFO = YES
+
+# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen
+# will sort the (detailed) documentation of file and class members
+# alphabetically by member name. If set to NO the members will appear in
+# declaration order.
+
+SORT_MEMBER_DOCS = YES
+
+# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the
+# brief documentation of file, namespace and class members alphabetically
+# by member name. If set to NO (the default) the members will appear in
+# declaration order.
+
+SORT_BRIEF_DOCS = NO
+
+# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the
+# hierarchy of group names into alphabetical order. If set to NO (the default)
+# the group names will appear in their defined order.
+
+SORT_GROUP_NAMES = NO
+
+# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be
+# sorted by fully-qualified names, including namespaces. If set to
+# NO (the default), the class list will be sorted only by class name,
+# not including the namespace part.
+# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.
+# Note: This option applies only to the class list, not to the
+# alphabetical list.
+
+SORT_BY_SCOPE_NAME = NO
+
+# The GENERATE_TODOLIST tag can be used to enable (YES) or
+# disable (NO) the todo list. This list is created by putting \todo
+# commands in the documentation.
+
+GENERATE_TODOLIST = YES
+
+# The GENERATE_TESTLIST tag can be used to enable (YES) or
+# disable (NO) the test list. This list is created by putting \test
+# commands in the documentation.
+
+GENERATE_TESTLIST = YES
+
+# The GENERATE_BUGLIST tag can be used to enable (YES) or
+# disable (NO) the bug list. This list is created by putting \bug
+# commands in the documentation.
+
+GENERATE_BUGLIST = YES
+
+# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or
+# disable (NO) the deprecated list. This list is created by putting
+# \deprecated commands in the documentation.
+
+GENERATE_DEPRECATEDLIST= YES
+
+# The ENABLED_SECTIONS tag can be used to enable conditional
+# documentation sections, marked by \if sectionname ... \endif.
+
+ENABLED_SECTIONS =
+
+# The MAX_INITIALIZER_LINES tag determines the maximum number of lines
+# the initial value of a variable or define consists of for it to appear in
+# the documentation. If the initializer consists of more lines than specified
+# here it will be hidden. Use a value of 0 to hide initializers completely.
+# The appearance of the initializer of individual variables and defines in the
+# documentation can be controlled using \showinitializer or \hideinitializer
+# command in the documentation regardless of this setting.
+
+MAX_INITIALIZER_LINES = 30
+
+# Set the SHOW_USED_FILES tag to NO to disable the list of files generated
+# at the bottom of the documentation of classes and structs. If set to YES the
+# list will mention the files that were used to generate the documentation.
+
+SHOW_USED_FILES = YES
+
+# If the sources in your project are distributed over multiple directories
+# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy
+# in the documentation. The default is NO.
+
+SHOW_DIRECTORIES = YES
+
+# The FILE_VERSION_FILTER tag can be used to specify a program or script that
+# doxygen should invoke to get the current version for each file (typically from
+# the version control system). Doxygen will invoke the program by executing (via
+# popen()) the command , where is the value of
+# the FILE_VERSION_FILTER tag, and is the name of an input file
+# provided by doxygen. Whatever the program writes to standard output
+# is used as the file version. See the manual for examples.
+
+FILE_VERSION_FILTER =
+
+#---------------------------------------------------------------------------
+# configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+
+# The QUIET tag can be used to turn on/off the messages that are generated
+# by doxygen. Possible values are YES and NO. If left blank NO is used.
+
+QUIET = NO
+
+# The WARNINGS tag can be used to turn on/off the warning messages that are
+# generated by doxygen. Possible values are YES and NO. If left blank
+# NO is used.
+
+WARNINGS = YES
+
+# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings
+# for undocumented members. If EXTRACT_ALL is set to YES then this flag will
+# automatically be disabled.
+
+WARN_IF_UNDOCUMENTED = YES
+
+# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for
+# potential errors in the documentation, such as not documenting some
+# parameters in a documented function, or documenting parameters that
+# don't exist or using markup commands wrongly.
+
+WARN_IF_DOC_ERROR = YES
+
+# This WARN_NO_PARAMDOC option can be abled to get warnings for
+# functions that are documented, but have no documentation for their parameters
+# or return value. If set to NO (the default) doxygen will only warn about
+# wrong or incomplete parameter documentation, but not about the absence of
+# documentation.
+
+WARN_NO_PARAMDOC = YES
+
+# The WARN_FORMAT tag determines the format of the warning messages that
+# doxygen can produce. The string should contain the $file, $line, and $text
+# tags, which will be replaced by the file and line number from which the
+# warning originated and the warning text. Optionally the format may contain
+# $version, which will be replaced by the version of the file (if it could
+# be obtained via FILE_VERSION_FILTER)
+
+WARN_FORMAT = "$file:$line: $text"
+
+# The WARN_LOGFILE tag can be used to specify a file to which warning
+# and error messages should be written. If left blank the output is written
+# to stderr.
+
+WARN_LOGFILE = @WARNFILE@
+
+#---------------------------------------------------------------------------
+# configuration options related to the input files
+#---------------------------------------------------------------------------
+
+# The INPUT tag can be used to specify the files and/or directories that contain
+# documented source files. You may enter file names like "myfile.cpp" or
+# directories like "/usr/src/myproject". Separate the files or directories
+# with spaces.
+
+INPUT = @SOURCE_DIR@
+
+# This tag can be used to specify the character encoding of the source files
+# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is
+# also the default input encoding. Doxygen uses libiconv (or the iconv built
+# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for
+# the list of possible encodings.
+
+INPUT_ENCODING = UTF-8
+
+# If the value of the INPUT tag contains directories, you can use the
+# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
+# and *.h) to filter out the source-files in the directories. If left
+# blank the following patterns are tested:
+# *.c *.cc *.cxx *.cpp *.c++ *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx
+# *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.py *.f90
+
+FILE_PATTERNS =
+
+# The RECURSIVE tag can be used to turn specify whether or not subdirectories
+# should be searched for input files as well. Possible values are YES and NO.
+# If left blank NO is used.
+
+RECURSIVE = YES
+
+# The EXCLUDE tag can be used to specify files and/or directories that should
+# excluded from the INPUT source files. This way you can easily exclude a
+# subdirectory from a directory tree whose root is specified with the INPUT tag.
+
+EXCLUDE =
+
+# The EXCLUDE_SYMLINKS tag can be used select whether or not files or
+# directories that are symbolic links (a Unix filesystem feature) are excluded
+# from the input.
+
+EXCLUDE_SYMLINKS = NO
+
+# If the value of the INPUT tag contains directories, you can use the
+# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
+# certain files from those directories. Note that the wildcards are matched
+# against the file with absolute path, so to exclude all test directories
+# for example use the pattern */test/*
+
+EXCLUDE_PATTERNS =
+
+# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
+# (namespaces, classes, functions, etc.) that should be excluded from the
+# output. The symbol name can be a fully qualified name, a word, or if the
+# wildcard * is used, a substring. Examples: ANamespace, AClass,
+# AClass::ANamespace, ANamespace::*Test
+
+EXCLUDE_SYMBOLS =
+
+# The EXAMPLE_PATH tag can be used to specify one or more files or
+# directories that contain example code fragments that are included (see
+# the \include command).
+
+EXAMPLE_PATH =
+
+# If the value of the EXAMPLE_PATH tag contains directories, you can use the
+# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
+# and *.h) to filter out the source-files in the directories. If left
+# blank all files are included.
+
+EXAMPLE_PATTERNS =
+
+# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
+# searched for input files to be used with the \include or \dontinclude
+# commands irrespective of the value of the RECURSIVE tag.
+# Possible values are YES and NO. If left blank NO is used.
+
+EXAMPLE_RECURSIVE = NO
+
+# The IMAGE_PATH tag can be used to specify one or more files or
+# directories that contain image that are included in the documentation (see
+# the \image command).
+
+IMAGE_PATH =
+
+# The INPUT_FILTER tag can be used to specify a program that doxygen should
+# invoke to filter for each input file. Doxygen will invoke the filter program
+# by executing (via popen()) the command , where
+# is the value of the INPUT_FILTER tag, and is the name of an
+# input file. Doxygen will then use the output that the filter program writes
+# to standard output. If FILTER_PATTERNS is specified, this tag will be
+# ignored.
+
+INPUT_FILTER =
+
+# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern
+# basis. Doxygen will compare the file name with each pattern and apply the
+# filter if there is a match. The filters are a list of the form:
+# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further
+# info on how filters are used. If FILTER_PATTERNS is empty, INPUT_FILTER
+# is applied to all files.
+
+FILTER_PATTERNS =
+
+# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
+# INPUT_FILTER) will be used to filter the input files when producing source
+# files to browse (i.e. when SOURCE_BROWSER is set to YES).
+
+FILTER_SOURCE_FILES = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to source browsing
+#---------------------------------------------------------------------------
+
+# If the SOURCE_BROWSER tag is set to YES then a list of source files will
+# be generated. Documented entities will be cross-referenced with these sources.
+# Note: To get rid of all source code in the generated output, make sure also
+# VERBATIM_HEADERS is set to NO.
+
+SOURCE_BROWSER = YES
+
+# Setting the INLINE_SOURCES tag to YES will include the body
+# of functions and classes directly in the documentation.
+
+INLINE_SOURCES = NO
+
+# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct
+# doxygen to hide any special comment blocks from generated source code
+# fragments. Normal C and C++ comments will always remain visible.
+
+STRIP_CODE_COMMENTS = YES
+
+# If the REFERENCED_BY_RELATION tag is set to YES (the default)
+# then for each documented function all documented
+# functions referencing it will be listed.
+
+REFERENCED_BY_RELATION = YES
+
+# If the REFERENCES_RELATION tag is set to YES (the default)
+# then for each documented function all documented entities
+# called/used by that function will be listed.
+
+REFERENCES_RELATION = YES
+
+# If the REFERENCES_LINK_SOURCE tag is set to YES (the default)
+# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from
+# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will
+# link to the source code. Otherwise they will link to the documentstion.
+
+REFERENCES_LINK_SOURCE = YES
+
+# If the USE_HTAGS tag is set to YES then the references to source code
+# will point to the HTML generated by the htags(1) tool instead of doxygen
+# built-in source browser. The htags tool is part of GNU's global source
+# tagging system (see http://www.gnu.org/software/global/global.html). You
+# will need version 4.8.6 or higher.
+
+USE_HTAGS = NO
+
+# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen
+# will generate a verbatim copy of the header file for each class for
+# which an include is specified. Set to NO to disable this.
+
+VERBATIM_HEADERS = YES
+
+#---------------------------------------------------------------------------
+# configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+
+# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index
+# of all compounds will be generated. Enable this if the project
+# contains a lot of classes, structs, unions or interfaces.
+
+ALPHABETICAL_INDEX = YES
+
+# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then
+# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns
+# in which this list will be split (can be a number in the range [1..20])
+
+COLS_IN_ALPHA_INDEX = 5
+
+# In case all classes in a project start with a common prefix, all
+# classes will be put under the same header in the alphabetical index.
+# The IGNORE_PREFIX tag can be used to specify one or more prefixes that
+# should be ignored while generating the index headers.
+
+IGNORE_PREFIX =
+
+#---------------------------------------------------------------------------
+# configuration options related to the HTML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_HTML tag is set to YES (the default) Doxygen will
+# generate HTML output.
+
+GENERATE_HTML = YES
+
+# The HTML_OUTPUT tag is used to specify where the HTML docs will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `html' will be used as the default path.
+
+HTML_OUTPUT = html
+
+# The HTML_FILE_EXTENSION tag can be used to specify the file extension for
+# each generated HTML page (for example: .htm,.php,.asp). If it is left blank
+# doxygen will generate files with .html extension.
+
+HTML_FILE_EXTENSION = .html
+
+# The HTML_HEADER tag can be used to specify a personal HTML header for
+# each generated HTML page. If it is left blank doxygen will generate a
+# standard header.
+
+HTML_HEADER =
+
+# The HTML_FOOTER tag can be used to specify a personal HTML footer for
+# each generated HTML page. If it is left blank doxygen will generate a
+# standard footer.
+
+HTML_FOOTER =
+
+# The HTML_STYLESHEET tag can be used to specify a user-defined cascading
+# style sheet that is used by each HTML page. It can be used to
+# fine-tune the look of the HTML output. If the tag is left blank doxygen
+# will generate a default style sheet. Note that doxygen will try to copy
+# the style sheet file to the HTML output directory, so don't put your own
+# stylesheet in the HTML output directory as well, or it will be erased!
+
+HTML_STYLESHEET =
+
+# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes,
+# files or namespaces will be aligned in HTML using tables. If set to
+# NO a bullet list will be used.
+
+HTML_ALIGN_MEMBERS = YES
+
+# If the GENERATE_HTMLHELP tag is set to YES, additional index files
+# will be generated that can be used as input for tools like the
+# Microsoft HTML help workshop to generate a compiled HTML help file (.chm)
+# of the generated HTML documentation.
+
+GENERATE_HTMLHELP = NO
+
+# If the GENERATE_DOCSET tag is set to YES, additional index files
+# will be generated that can be used as input for Apple's Xcode 3
+# integrated development environment, introduced with OSX 10.5 (Leopard).
+# To create a documentation set, doxygen will generate a Makefile in the
+# HTML output directory. Running make will produce the docset in that
+# directory and running "make install" will install the docset in
+# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find
+# it at startup.
+
+GENERATE_DOCSET = NO
+
+# When GENERATE_DOCSET tag is set to YES, this tag determines the name of the
+# feed. A documentation feed provides an umbrella under which multiple
+# documentation sets from a single provider (such as a company or product suite)
+# can be grouped.
+
+DOCSET_FEEDNAME = "Doxygen generated docs"
+
+# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that
+# should uniquely identify the documentation set bundle. This should be a
+# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen
+# will append .docset to the name.
+
+DOCSET_BUNDLE_ID = org.doxygen.Project
+
+# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
+# documentation will contain sections that can be hidden and shown after the
+# page has loaded. For this to work a browser that supports
+# JavaScript and DHTML is required (for instance Mozilla 1.0+, Firefox
+# Netscape 6.0+, Internet explorer 5.0+, Konqueror, or Safari).
+
+HTML_DYNAMIC_SECTIONS = NO
+
+# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can
+# be used to specify the file name of the resulting .chm file. You
+# can add a path in front of the file if the result should not be
+# written to the html output directory.
+
+CHM_FILE =
+
+# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can
+# be used to specify the location (absolute path including file name) of
+# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run
+# the HTML help compiler on the generated index.hhp.
+
+HHC_LOCATION =
+
+# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag
+# controls if a separate .chi index file is generated (YES) or that
+# it should be included in the master .chm file (NO).
+
+GENERATE_CHI = NO
+
+# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag
+# controls whether a binary table of contents is generated (YES) or a
+# normal table of contents (NO) in the .chm file.
+
+BINARY_TOC = NO
+
+# The TOC_EXPAND flag can be set to YES to add extra items for group members
+# to the contents of the HTML help documentation and to the tree view.
+
+TOC_EXPAND = NO
+
+# The DISABLE_INDEX tag can be used to turn on/off the condensed index at
+# top of each HTML page. The value NO (the default) enables the index and
+# the value YES disables it.
+
+DISABLE_INDEX = NO
+
+# This tag can be used to set the number of enum values (range [1..20])
+# that doxygen will group on one line in the generated HTML documentation.
+
+ENUM_VALUES_PER_LINE = 4
+
+# If the GENERATE_TREEVIEW tag is set to YES, a side panel will be
+# generated containing a tree-like index structure (just like the one that
+# is generated for HTML Help). For this to work a browser that supports
+# JavaScript, DHTML, CSS and frames is required (for instance Mozilla 1.0+,
+# Netscape 6.0+, Internet explorer 5.0+, or Konqueror). Windows users are
+# probably better off using the HTML help feature.
+
+GENERATE_TREEVIEW = YES
+
+# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be
+# used to set the initial width (in pixels) of the frame in which the tree
+# is shown.
+
+TREEVIEW_WIDTH = 250
+
+#---------------------------------------------------------------------------
+# configuration options related to the LaTeX output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will
+# generate Latex output.
+
+GENERATE_LATEX = NO
+
+# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `latex' will be used as the default path.
+
+LATEX_OUTPUT = latex
+
+# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
+# invoked. If left blank `latex' will be used as the default command name.
+
+LATEX_CMD_NAME = latex
+
+# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to
+# generate index for LaTeX. If left blank `makeindex' will be used as the
+# default command name.
+
+MAKEINDEX_CMD_NAME = makeindex
+
+# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact
+# LaTeX documents. This may be useful for small projects and may help to
+# save some trees in general.
+
+COMPACT_LATEX = NO
+
+# The PAPER_TYPE tag can be used to set the paper type that is used
+# by the printer. Possible values are: a4, a4wide, letter, legal and
+# executive. If left blank a4wide will be used.
+
+PAPER_TYPE = a4wide
+
+# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX
+# packages that should be included in the LaTeX output.
+
+EXTRA_PACKAGES =
+
+# The LATEX_HEADER tag can be used to specify a personal LaTeX header for
+# the generated latex document. The header should contain everything until
+# the first chapter. If it is left blank doxygen will generate a
+# standard header. Notice: only use this tag if you know what you are doing!
+
+LATEX_HEADER =
+
+# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated
+# is prepared for conversion to pdf (using ps2pdf). The pdf file will
+# contain links (just like the HTML output) instead of page references
+# This makes the output suitable for online browsing using a pdf viewer.
+
+PDF_HYPERLINKS = YES
+
+# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of
+# plain latex in the generated Makefile. Set this option to YES to get a
+# higher quality PDF documentation.
+
+USE_PDFLATEX = YES
+
+# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode.
+# command to the generated LaTeX files. This will instruct LaTeX to keep
+# running if errors occur, instead of asking the user for help.
+# This option is also used when generating formulas in HTML.
+
+LATEX_BATCHMODE = NO
+
+# If LATEX_HIDE_INDICES is set to YES then doxygen will not
+# include the index chapters (such as File Index, Compound Index, etc.)
+# in the output.
+
+LATEX_HIDE_INDICES = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to the RTF output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output
+# The RTF output is optimized for Word 97 and may not look very pretty with
+# other RTF readers or editors.
+
+GENERATE_RTF = NO
+
+# The RTF_OUTPUT tag is used to specify where the RTF docs will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `rtf' will be used as the default path.
+
+RTF_OUTPUT = rtf
+
+# If the COMPACT_RTF tag is set to YES Doxygen generates more compact
+# RTF documents. This may be useful for small projects and may help to
+# save some trees in general.
+
+COMPACT_RTF = NO
+
+# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated
+# will contain hyperlink fields. The RTF file will
+# contain links (just like the HTML output) instead of page references.
+# This makes the output suitable for online browsing using WORD or other
+# programs which support those fields.
+# Note: wordpad (write) and others do not support links.
+
+RTF_HYPERLINKS = NO
+
+# Load stylesheet definitions from file. Syntax is similar to doxygen's
+# config file, i.e. a series of assignments. You only have to provide
+# replacements, missing definitions are set to their default value.
+
+RTF_STYLESHEET_FILE =
+
+# Set optional variables used in the generation of an rtf document.
+# Syntax is similar to doxygen's config file.
+
+RTF_EXTENSIONS_FILE =
+
+#---------------------------------------------------------------------------
+# configuration options related to the man page output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_MAN tag is set to YES (the default) Doxygen will
+# generate man pages
+
+GENERATE_MAN = NO
+
+# The MAN_OUTPUT tag is used to specify where the man pages will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `man' will be used as the default path.
+
+MAN_OUTPUT = man
+
+# The MAN_EXTENSION tag determines the extension that is added to
+# the generated man pages (default is the subroutine's section .3)
+
+MAN_EXTENSION = .3
+
+# If the MAN_LINKS tag is set to YES and Doxygen generates man output,
+# then it will generate one additional man file for each entity
+# documented in the real man page(s). These additional files
+# only source the real man page, but without them the man command
+# would be unable to find the correct page. The default is NO.
+
+MAN_LINKS = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to the XML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_XML tag is set to YES Doxygen will
+# generate an XML file that captures the structure of
+# the code including all documentation.
+
+GENERATE_XML = NO
+
+# The XML_OUTPUT tag is used to specify where the XML pages will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `xml' will be used as the default path.
+
+XML_OUTPUT = xml
+
+# The XML_SCHEMA tag can be used to specify an XML schema,
+# which can be used by a validating XML parser to check the
+# syntax of the XML files.
+
+XML_SCHEMA =
+
+# The XML_DTD tag can be used to specify an XML DTD,
+# which can be used by a validating XML parser to check the
+# syntax of the XML files.
+
+XML_DTD =
+
+# If the XML_PROGRAMLISTING tag is set to YES Doxygen will
+# dump the program listings (including syntax highlighting
+# and cross-referencing information) to the XML output. Note that
+# enabling this will significantly increase the size of the XML output.
+
+XML_PROGRAMLISTING = YES
+
+#---------------------------------------------------------------------------
+# configuration options for the AutoGen Definitions output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will
+# generate an AutoGen Definitions (see autogen.sf.net) file
+# that captures the structure of the code including all
+# documentation. Note that this feature is still experimental
+# and incomplete at the moment.
+
+GENERATE_AUTOGEN_DEF = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to the Perl module output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_PERLMOD tag is set to YES Doxygen will
+# generate a Perl module file that captures the structure of
+# the code including all documentation. Note that this
+# feature is still experimental and incomplete at the
+# moment.
+
+GENERATE_PERLMOD = NO
+
+# If the PERLMOD_LATEX tag is set to YES Doxygen will generate
+# the necessary Makefile rules, Perl scripts and LaTeX code to be able
+# to generate PDF and DVI output from the Perl module output.
+
+PERLMOD_LATEX = NO
+
+# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be
+# nicely formatted so it can be parsed by a human reader. This is useful
+# if you want to understand what is going on. On the other hand, if this
+# tag is set to NO the size of the Perl module output will be much smaller
+# and Perl will parse it just the same.
+
+PERLMOD_PRETTY = YES
+
+# The names of the make variables in the generated doxyrules.make file
+# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX.
+# This is useful so different doxyrules.make files included by the same
+# Makefile don't overwrite each other's variables.
+
+PERLMOD_MAKEVAR_PREFIX =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor
+#---------------------------------------------------------------------------
+
+# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will
+# evaluate all C-preprocessor directives found in the sources and include
+# files.
+
+ENABLE_PREPROCESSING = YES
+
+# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro
+# names in the source code. If set to NO (the default) only conditional
+# compilation will be performed. Macro expansion can be done in a controlled
+# way by setting EXPAND_ONLY_PREDEF to YES.
+
+MACRO_EXPANSION = NO
+
+# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES
+# then the macro expansion is limited to the macros specified with the
+# PREDEFINED and EXPAND_AS_DEFINED tags.
+
+EXPAND_ONLY_PREDEF = NO
+
+# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files
+# in the INCLUDE_PATH (see below) will be search if a #include is found.
+
+SEARCH_INCLUDES = YES
+
+# The INCLUDE_PATH tag can be used to specify one or more directories that
+# contain include files that are not input files but should be processed by
+# the preprocessor.
+
+INCLUDE_PATH =
+
+# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard
+# patterns (like *.h and *.hpp) to filter out the header-files in the
+# directories. If left blank, the patterns specified with FILE_PATTERNS will
+# be used.
+
+INCLUDE_FILE_PATTERNS =
+
+# The PREDEFINED tag can be used to specify one or more macro names that
+# are defined before the preprocessor is started (similar to the -D option of
+# gcc). The argument of the tag is a list of macros of the form: name
+# or name=definition (no spaces). If the definition and the = are
+# omitted =1 is assumed. To prevent a macro definition from being
+# undefined via #undef or recursively expanded use the := operator
+# instead of the = operator.
+
+PREDEFINED =
+
+# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then
+# this tag can be used to specify a list of macro names that should be expanded.
+# The macro definition that is found in the sources will be used.
+# Use the PREDEFINED tag if you want to use a different macro definition.
+
+EXPAND_AS_DEFINED =
+
+# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then
+# doxygen's preprocessor will remove all function-like macros that are alone
+# on a line, have an all uppercase name, and do not end with a semicolon. Such
+# function macros are typically used for boiler-plate code, and will confuse
+# the parser if not removed.
+
+SKIP_FUNCTION_MACROS = YES
+
+#---------------------------------------------------------------------------
+# Configuration::additions related to external references
+#---------------------------------------------------------------------------
+
+# The TAGFILES option can be used to specify one or more tagfiles.
+# Optionally an initial location of the external documentation
+# can be added for each tagfile. The format of a tag file without
+# this location is as follows:
+# TAGFILES = file1 file2 ...
+# Adding location for the tag files is done as follows:
+# TAGFILES = file1=loc1 "file2 = loc2" ...
+# where "loc1" and "loc2" can be relative or absolute paths or
+# URLs. If a location is present for each tag, the installdox tool
+# does not have to be run to correct the links.
+# Note that each tag file must have a unique name
+# (where the name does NOT include the path)
+# If a tag file is not located in the directory in which doxygen
+# is run, you must also specify the path to the tagfile here.
+
+TAGFILES =
+
+# When a file name is specified after GENERATE_TAGFILE, doxygen will create
+# a tag file that is based on the input files it reads.
+
+GENERATE_TAGFILE =
+
+# If the ALLEXTERNALS tag is set to YES all external classes will be listed
+# in the class index. If set to NO only the inherited external classes
+# will be listed.
+
+ALLEXTERNALS = NO
+
+# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed
+# in the modules index. If set to NO, only the current project's groups will
+# be listed.
+
+EXTERNAL_GROUPS = YES
+
+# The PERL_PATH should be the absolute path and name of the perl script
+# interpreter (i.e. the result of `which perl').
+
+PERL_PATH = /usr/bin/perl
+
+#---------------------------------------------------------------------------
+# Configuration options related to the dot tool
+#---------------------------------------------------------------------------
+
+# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will
+# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base
+# or super classes. Setting the tag to NO turns the diagrams off. Note that
+# this option is superseded by the HAVE_DOT option below. This is only a
+# fallback. It is recommended to install and use dot, since it yields more
+# powerful graphs.
+
+CLASS_DIAGRAMS = YES
+
+# You can define message sequence charts within doxygen comments using the \msc
+# command. Doxygen will then run the mscgen tool (see
+# http://www.mcternan.me.uk/mscgen/) to produce the chart and insert it in the
+# documentation. The MSCGEN_PATH tag allows you to specify the directory where
+# the mscgen tool resides. If left empty the tool is assumed to be found in the
+# default search path.
+
+MSCGEN_PATH =
+
+# If set to YES, the inheritance and collaboration graphs will hide
+# inheritance and usage relations if the target is undocumented
+# or is not a class.
+
+HIDE_UNDOC_RELATIONS = YES
+
+# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is
+# available from the path. This tool is part of Graphviz, a graph visualization
+# toolkit from AT&T and Lucent Bell Labs. The other options in this section
+# have no effect if this option is set to NO (the default)
+
+HAVE_DOT = YES
+
+# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen
+# will generate a graph for each documented class showing the direct and
+# indirect inheritance relations. Setting this tag to YES will force the
+# the CLASS_DIAGRAMS tag to NO.
+
+CLASS_GRAPH = YES
+
+# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen
+# will generate a graph for each documented class showing the direct and
+# indirect implementation dependencies (inheritance, containment, and
+# class references variables) of the class with other documented classes.
+
+COLLABORATION_GRAPH = YES
+
+# If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen
+# will generate a graph for groups, showing the direct groups dependencies
+
+GROUP_GRAPHS = YES
+
+# If the UML_LOOK tag is set to YES doxygen will generate inheritance and
+# collaboration diagrams in a style similar to the OMG's Unified Modeling
+# Language.
+
+UML_LOOK = YES
+
+# If set to YES, the inheritance and collaboration graphs will show the
+# relations between templates and their instances.
+
+TEMPLATE_RELATIONS = NO
+
+# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT
+# tags are set to YES then doxygen will generate a graph for each documented
+# file showing the direct and indirect include dependencies of the file with
+# other documented files.
+
+INCLUDE_GRAPH = YES
+
+# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and
+# HAVE_DOT tags are set to YES then doxygen will generate a graph for each
+# documented header file showing the documented files that directly or
+# indirectly include this file.
+
+INCLUDED_BY_GRAPH = YES
+
+# If the CALL_GRAPH and HAVE_DOT options are set to YES then
+# doxygen will generate a call dependency graph for every global function
+# or class method. Note that enabling this option will significantly increase
+# the time of a run. So in most cases it will be better to enable call graphs
+# for selected functions only using the \callgraph command.
+
+CALL_GRAPH = YES
+
+# If the CALLER_GRAPH and HAVE_DOT tags are set to YES then
+# doxygen will generate a caller dependency graph for every global function
+# or class method. Note that enabling this option will significantly increase
+# the time of a run. So in most cases it will be better to enable caller
+# graphs for selected functions only using the \callergraph command.
+
+CALLER_GRAPH = YES
+
+# If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen
+# will graphical hierarchy of all classes instead of a textual one.
+
+GRAPHICAL_HIERARCHY = YES
+
+# If the DIRECTORY_GRAPH, SHOW_DIRECTORIES and HAVE_DOT tags are set to YES
+# then doxygen will show the dependencies a directory has on other directories
+# in a graphical way. The dependency relations are determined by the #include
+# relations between the files in the directories.
+
+DIRECTORY_GRAPH = YES
+
+# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images
+# generated by dot. Possible values are png, jpg, or gif
+# If left blank png will be used.
+
+DOT_IMAGE_FORMAT = png
+
+# The tag DOT_PATH can be used to specify the path where the dot tool can be
+# found. If left blank, it is assumed the dot tool can be found in the path.
+
+DOT_PATH =
+
+# The DOTFILE_DIRS tag can be used to specify one or more directories that
+# contain dot files that are included in the documentation (see the
+# \dotfile command).
+
+DOTFILE_DIRS =
+
+# The MAX_DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of
+# nodes that will be shown in the graph. If the number of nodes in a graph
+# becomes larger than this value, doxygen will truncate the graph, which is
+# visualized by representing a node as a red box. Note that doxygen if the
+# number of direct children of the root node in a graph is already larger than
+# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note
+# that the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH.
+
+DOT_GRAPH_MAX_NODES = 50
+
+# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the
+# graphs generated by dot. A depth value of 3 means that only nodes reachable
+# from the root by following a path via at most 3 edges will be shown. Nodes
+# that lay further from the root node will be omitted. Note that setting this
+# option to 1 or 2 may greatly reduce the computation time needed for large
+# code bases. Also note that the size of a graph can be further restricted by
+# DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction.
+
+MAX_DOT_GRAPH_DEPTH = 0
+
+# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent
+# background. This is enabled by default, which results in a transparent
+# background. Warning: Depending on the platform used, enabling this option
+# may lead to badly anti-aliased labels on the edges of a graph (i.e. they
+# become hard to read).
+
+DOT_TRANSPARENT = YES
+
+# Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output
+# files in one run (i.e. multiple -o and -T options on the command line). This
+# makes dot run faster, but since only newer versions of dot (>1.8.10)
+# support this, this feature is disabled by default.
+
+DOT_MULTI_TARGETS = YES
+
+# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will
+# generate a legend page explaining the meaning of the various boxes and
+# arrows in the dot generated graphs.
+
+GENERATE_LEGEND = YES
+
+# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will
+# remove the intermediate dot files that are used to generate
+# the various graphs.
+
+DOT_CLEANUP = YES
+
+#---------------------------------------------------------------------------
+# Configuration::additions related to the search engine
+#---------------------------------------------------------------------------
+
+# The SEARCHENGINE tag specifies whether or not a search engine should be
+# used. If set to NO the values of all tags below this one will be ignored.
+
+SEARCHENGINE = YES
diff --git a/RCIOncillaConfig.cmake.in b/RCIOncillaConfig.cmake.in
new file mode 100644
index 0000000..84f89c9
--- /dev/null
+++ b/RCIOncillaConfig.cmake.in
@@ -0,0 +1,6 @@
+GET_FILENAME_COMPONENT(CONFIG_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
+SET(RCIONCILLA_LIBRARIES "${CONFIG_DIR}/../../lib/@CMAKE_SHARED_LIBRARY_PREFIX@@RCIONCILLA_NAME@@LIB_SUFFIX@")
+SET(RCIONCILLA_INCLUDE_DIRS "${CONFIG_DIR}/../../include")
+SET(RCIONCILLA_RUNTIME_LIBRARY_DIRS "${CONFIG_DIR}/../../bin")
+SET(RCIONCILLA_CMAKE_MODULE_PATH "@RCIDRIVER_CMAKE_MODULE_PATH@")
+SET(RCIONCILLA_VERSION "@RCIONCILLA_VERSION@")
diff --git a/cmake/CMakeLists.txt b/cmake/CMakeLists.txt
new file mode 100644
index 0000000..e69de29
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
new file mode 100644
index 0000000..e2407b7
--- /dev/null
+++ b/examples/CMakeLists.txt
@@ -0,0 +1,40 @@
+INCLUDE_DIRECTORIES(BEFORE ${CMAKE_BINARY_DIR}/src)
+
+set(SOURCES_LIST )
+foreach(file ${SOURCES})
+ set(SOURCES_LIST "${SOURCES_LIST} ${file}")
+endforeach(file)
+LINK_DIRECTORIES(${CMAKE_BINARY_DIR}/src/${LIBNAME} ${CMAKE_INSTALL_PREFIX}/lib ${CMAKE_INSTALL_PREFIX})
+
+SET(EXAMPLE1 "OncillaKneeOscillator")
+ADD_EXECUTABLE(${EXAMPLE1} oscillator.cpp)
+SET(EXAMPLE2 "OncillaWalkOneLeg")
+ADD_EXECUTABLE(${EXAMPLE2} walkOneLeg.cpp)
+SET(EXAMPLE3 "OncillaWalkFourLegs")
+ADD_EXECUTABLE(${EXAMPLE3} walkFourLegs.cpp)
+SET(EXAMPLE4 "OncillaAnglesPlot")
+ADD_EXECUTABLE(${EXAMPLE4} anglesplot.cpp)
+SET(EXAMPLE5 "OncillaPlotCollectedAngles")
+ADD_EXECUTABLE(${EXAMPLE5} anglesstatusallplot.cpp)
+SET(EXAMPLE6 "OncillaWalkFourLegs2")
+ADD_EXECUTABLE(${EXAMPLE6} walkFourLegs2.cpp)
+
+include_directories(${WEBOTS_INCLUDE_CPP_DIR} ${PROJECT_SOURCE_DIR}/src)
+
+target_link_libraries(${EXAMPLE1} ${LIBNAME})
+target_link_libraries(${EXAMPLE2} ${LIBNAME})
+target_link_libraries(${EXAMPLE3} ${LIBNAME})
+target_link_libraries(${EXAMPLE4} ${LIBNAME})
+target_link_libraries(${EXAMPLE5} ${LIBNAME})
+target_link_libraries(${EXAMPLE6} ${LIBNAME})
+
+if(MY_LINK_FLAGS)
+ set(LINK_PROPERTIES LINK_FLAGS ${MY_LINK_FLAGS})
+elseif(MY_LINK_FLAGS)
+ set(LINK_PROPERTIES )
+endif(MY_LINK_FLAGS)
+
+INSTALL(TARGETS ${EXAMPLE1} ${EXAMPLE2} ${EXAMPLE3} ${EXAMPLE4} ${EXAMPLE5} ${EXAMPLE6}
+ RUNTIME DESTINATION bin
+ LIBRARY DESTINATION lib
+ ARCHIVE DESTINATION lib)
diff --git a/examples/anglesplot.cpp b/examples/anglesplot.cpp
new file mode 100644
index 0000000..1bbc382
--- /dev/null
+++ b/examples/anglesplot.cpp
@@ -0,0 +1,142 @@
+#include
+#include
+
+#include
+#include
+#include
+
+#include
+
+#include
+#include
+#include
+#include
+#include
+
+#include
+#include
+#include
+
+#include
+#include
+
+#include
+
+#include
+#include
+#include
+
+using namespace std;
+using namespace boost;
+namespace po = boost::program_options;
+
+using namespace rsc;
+using namespace rsc::logging;
+
+using namespace rsb;
+using namespace rsb::converter;
+using namespace rst::converter::rci;
+
+using namespace cca;
+using namespace cca::rci;
+using namespace cca::rci::driver;
+
+static std::string lfhipscope = "/oncilla/status/nodes/angles/lfhip/";
+static std::string rfhipscope = "/oncilla/status/nodes/angles/rfhip/";
+static std::string lhhipscope = "/oncilla/status/nodes/angles/lhhip/";
+static std::string rhhipscope = "/oncilla/status/nodes/angles/rhhip/";
+
+static std::string lfkneescope = "/oncilla/status/nodes/angles/lfknee/";
+static std::string rfkneescope = "/oncilla/status/nodes/angles/rfknee/";
+static std::string lhkneescope = "/oncilla/status/nodes/angles/lhknee/";
+static std::string rhkneescope = "/oncilla/status/nodes/angles/rhknee/";
+
+static JointAnglesPtr lfhip = JointAngles::fromValue(0.0);
+static JointAnglesPtr rfhip = JointAngles::fromValue(0.0);
+static JointAnglesPtr lhhip = JointAngles::fromValue(0.0);
+static JointAnglesPtr rhhip = JointAngles::fromValue(0.0);
+
+static JointAnglesPtr lfknee = JointAngles::fromValue(0.0);
+static JointAnglesPtr rfknee = JointAngles::fromValue(0.0);
+static JointAnglesPtr lhknee = JointAngles::fromValue(0.0);
+static JointAnglesPtr rhknee = JointAngles::fromValue(0.0);
+
+static unsigned int ecount = 0;
+
+void inputCallback(EventPtr event) {
+ // ++ecount;
+ // if (ecount > 20) {
+
+ JointAnglesPtr input = boost::static_pointer_cast(
+ event->getData());
+ std::string eventstr = event->getScopePtr()->toString();
+ if (eventstr.compare(lfhipscope) == 0) {
+ lfhip = input;
+ } else if (eventstr.compare(rfhipscope) == 0) {
+ rfhip = input;
+ } else if (eventstr.compare(lhhipscope) == 0) {
+ lhhip = input;
+ } else if (eventstr.compare(rhhipscope) == 0) {
+ rhhip = input;
+ } else if (eventstr.compare(lfkneescope) == 0) {
+ lfknee = input;
+ } else if (eventstr.compare(rfkneescope) == 0) {
+ rfknee = input;
+ } else if (eventstr.compare(lhkneescope) == 0) {
+ lhknee = input;
+ } else if (eventstr.compare(rhkneescope) == 0) {
+ rhknee = input;
+ }
+
+ std::cout << "Angles<";
+ std::cout.precision(3);
+ std::cout << lfhip->asDouble(0) << ", ";
+ std::cout << rfhip->asDouble(0) << ", ";
+ std::cout << lhhip->asDouble(0) << ", ";
+ std::cout << rhhip->asDouble(0) << "><";
+ std::cout << lfknee->asDouble(0) << ", ";
+ std::cout << rfknee->asDouble(0) << ", ";
+ std::cout << lhknee->asDouble(0) << ", ";
+ std::cout << rhknee->asDouble(0) << ">";
+ std::cout << std::endl;
+
+ // ecount = 0;
+ // }
+}
+
+int main() {
+
+ /**
+ * Register converters for Joint Angles
+ */
+ boost::shared_ptr converter(
+ new JointAnglesConverter());
+ stringConverterRepository()->registerConverter(converter);
+
+ // Participant configuration
+ rsb::ParticipantConfig config =
+ Factory::getInstance().getDefaultParticipantConfig();
+ ParticipantConfig::Transport inprocess = config.getTransport("inprocess");
+ inprocess.setEnabled(false);
+ config.addTransport(inprocess);
+ ParticipantConfig::Transport spread = config.getTransport("spread");
+ spread.setEnabled(true);
+ config.addTransport(spread);
+
+ LoggerFactory::getInstance().reconfigure(Logger::LEVEL_ERROR);
+
+ /**
+ * Listening to JointAngles
+ */
+ ListenerPtr listener = Factory::getInstance().createListener(Scope(
+ "/oncilla/status/nodes/angles"), config);
+ listener->addHandler(HandlerPtr(new EventFunctionHandler(bind(
+ &inputCallback, _1))));
+
+ std::cout << "Now listening to joint angles ..." << std::endl;
+ while (true) {
+ sleep(1);
+ }
+
+ return EXIT_SUCCESS;
+}
diff --git a/examples/anglesstatusallplot.cpp b/examples/anglesstatusallplot.cpp
new file mode 100644
index 0000000..57b71bf
--- /dev/null
+++ b/examples/anglesstatusallplot.cpp
@@ -0,0 +1,90 @@
+#include
+#include
+
+#include
+#include
+#include
+
+#include
+
+#include
+#include
+#include
+#include
+#include
+
+#include
+#include
+#include
+
+#include
+#include
+
+#include
+
+#include
+#include
+#include
+
+using namespace std;
+using namespace boost;
+namespace po = boost::program_options;
+
+using namespace rsc;
+using namespace rsc::logging;
+
+using namespace rsb;
+using namespace rsb::converter;
+using namespace rst::converter::rci;
+
+using namespace cca;
+using namespace cca::rci;
+using namespace cca::rci::driver;
+
+nemo::RealVector angles(nemo::dim(8), 0.0);
+static JointAnglesPtr angls = JointAnglesPtr(new JointAngles(angles));
+
+void inputCallback(EventPtr event) {
+
+ JointAnglesPtr input = boost::static_pointer_cast(
+ event->getData());
+
+ std::cout << *input << std::endl;
+}
+
+int main() {
+
+ /**
+ * Register converters for Joint Angles
+ */
+ boost::shared_ptr converter(
+ new JointAnglesConverter());
+ stringConverterRepository()->registerConverter(converter);
+
+ LoggerFactory::getInstance().reconfigure(Logger::LEVEL_ERROR);
+
+ // Participant configuration
+ rsb::ParticipantConfig config =
+ Factory::getInstance().getDefaultParticipantConfig();
+ ParticipantConfig::Transport inprocess = config.getTransport("inprocess");
+ inprocess.setEnabled(false);
+ config.addTransport(inprocess);
+ ParticipantConfig::Transport spread = config.getTransport("spread");
+ spread.setEnabled(true);
+ config.addTransport(spread);
+
+ /**
+ * Listening to JointAngles
+ */
+ ListenerPtr listener = Factory::getInstance().createListener(
+ Scope("/oncilla/status/nodes/angles/all"), config);
+ listener->addHandler(
+ HandlerPtr(new EventFunctionHandler(bind(&inputCallback, _1))));
+
+ std::cout << "Now listening to joint angles ..." << std::endl;
+ while (true) {
+ sleep(1);
+ }
+
+ return EXIT_SUCCESS;
+}
diff --git a/examples/oscillator.cpp b/examples/oscillator.cpp
new file mode 100644
index 0000000..2415e79
--- /dev/null
+++ b/examples/oscillator.cpp
@@ -0,0 +1,113 @@
+#include
+#include
+
+#include
+#include
+#include
+
+#include
+
+#include
+#include
+#include
+#include
+#include
+
+#include
+#include
+#include
+
+#include
+#include
+
+#include
+
+#include
+#include
+#include
+
+using namespace std;
+using namespace boost;
+namespace po = boost::program_options;
+
+using namespace rsc;
+using namespace rsc::logging;
+
+using namespace rsb;
+using namespace rsb::converter;
+using namespace rst::converter::rci;
+
+using namespace cca;
+using namespace cca::rci;
+using namespace cca::rci::driver;
+
+int main(int ac, char **av) {
+ double amplitude = 1.0;
+ double offset = 0.0;
+ unsigned int frequency = 1;
+
+ LoggerFactory::getInstance().reconfigure(Logger::LEVEL_ERROR);
+
+ // Declare the supported options.
+ po::options_description desc("Allowed options");
+ desc.add_options()("help", "Produce help message")("frequency",
+ po::value(), "Frequency of oscillation in Hertz")("amplitude",
+ po::value(), "Amplitude of the sine")("offset",
+ po::value(), "Offset to the output value");
+ po::variables_map vm;
+ po::store(po::parse_command_line(ac, av, desc), vm);
+ po::notify(vm);
+ if (vm.count("help")) {
+ cout << desc << "\n";
+ return 1;
+ }
+ if (vm.count("frequency")) {
+ frequency = vm["frequency"].as ();
+ }
+ cout << "Frequency set to " << frequency << " Hertz.\n";
+ if (vm.count("amplitude")) {
+ amplitude = vm["amplitude"].as ();
+ }
+ cout << "Amplitude set to " << amplitude << ".\n";
+ if (vm.count("offset")) {
+ offset = vm["offset"].as ();
+ }
+ cout << "Offset set to " << offset << ".\n";
+
+ /**
+ * Register converters for Joint Angles
+ */
+ boost::shared_ptr converter(
+ new JointAnglesConverter());
+ stringConverterRepository()->registerConverter(converter);
+
+ // Participant configuration
+ rsb::ParticipantConfig config =
+ Factory::getInstance().getDefaultParticipantConfig();
+ ParticipantConfig::Transport inprocess = config.getTransport("inprocess");
+ inprocess.setEnabled(false);
+ config.addTransport(inprocess);
+ ParticipantConfig::Transport spread = config.getTransport("spread");
+ spread.setEnabled(true);
+ config.addTransport(spread);
+
+ /**
+ * Setup the main beat
+ */
+ GlobalBeatPtr heartbeat;
+ heartbeat = GlobalBeat::create(50);
+
+ CCANodePtr oscillator = SimpleOscillator::create(
+ "Knee Oscillator", frequency, amplitude, offset);
+ oscillator->configureOutputPort(0,
+ PortConfiguration::REMOTE("/oncilla/command/nodes/angles/lhknee"));
+
+ heartbeat->registerReceiver(oscillator);
+
+ std::cout << "Oscillating between " << (offset - amplitude) << " and "
+ << (offset + amplitude) << " with " << frequency << " Hertz ..."
+ << std::endl;
+ heartbeat->run();
+
+ return EXIT_SUCCESS;
+}
diff --git a/examples/walkFourLegs.cpp b/examples/walkFourLegs.cpp
new file mode 100644
index 0000000..195fcc2
--- /dev/null
+++ b/examples/walkFourLegs.cpp
@@ -0,0 +1,149 @@
+#include
+#include
+
+#include
+#include
+#include
+
+#include
+
+#include
+#include
+#include
+#include
+#include
+
+#include
+#include
+#include
+
+#include
+#include
+
+#include
+#include
+#include
+
+#include
+#include
+#include
+
+using namespace std;
+using namespace boost;
+using namespace boost::program_options;
+
+using namespace rsc;
+using namespace rsc::logging;
+
+using namespace rsb;
+using namespace rsb::converter;
+using namespace rst::converter::rci;
+
+using namespace cca;
+using namespace cca::rci;
+using namespace cca::rci::driver;
+
+/**
+ * This example needs AMARSi controller "cca"
+ */
+int main(int ac, char **av) {
+ double cycletime = 50;
+ double amplitude = 0.5;
+ double offset = 0.0;
+ double frequency = 1;
+
+ LoggerFactory::getInstance().reconfigure(Logger::LEVEL_ERROR);
+
+ /**
+ * Command line handling
+ */
+ options_description desc("Allowed options");
+ desc.add_options()("help", "Produce help message")("frequency",
+ value (), "Frequency of oscillation in Hertz")("amplitude",
+ value (), "Amplitude of the sine")("offset",
+ value (), "Offset to the output value");
+ variables_map vm;
+ store(parse_command_line(ac, av, desc), vm);
+ notify(vm);
+ if (vm.count("help")) {
+ cout << desc << "\n";
+ return 1;
+ }
+ if (vm.count("frequency")) {
+ frequency = vm["frequency"].as ();
+ }
+ cout << "Frequency set to " << frequency << " Hertz.\n";
+ if (vm.count("amplitude")) {
+ amplitude = vm["amplitude"].as ();
+ }
+ cout << "Amplitude set to " << amplitude << ".\n";
+ if (vm.count("offset")) {
+ offset = vm["offset"].as ();
+ }
+ cout << "Offset set to " << offset << ".\n";
+
+ /**
+ * Register converters for Joint Angles
+ */
+ boost::shared_ptr converter(
+ new JointAnglesConverter());
+ stringConverterRepository()->registerConverter(converter);
+
+ /**
+ * Setup the two oscillators
+ */
+ CCANodePtr oscillator1 = SimpleOscillator::create(
+ "Oscillator 1", 2 * frequency, amplitude, offset);
+ oscillator1->configureOutputPort(0,
+ PortConfiguration::LOCAL("/oscillate/1"));
+
+ CCANodePtr oscillator2 = SimpleOscillator::create(
+ "Oscillator 2", frequency, amplitude, offset, 0.5);
+ oscillator2->configureOutputPort(0,
+ PortConfiguration::LOCAL("/oscillate/2"));
+
+ /**
+ * Set up two junctions
+ */
+ CCANodePtr junction1 = Junction::create(4);
+ junction1->setProcessingStrategy(RestlessProcessing::create());
+ CCANodePtr junction2 = Junction::create(4);
+ junction2->setProcessingStrategy(RestlessProcessing::create());
+
+ /**
+ * Connect oscillators to junction
+ */
+ junction1->configureInputPort(0, PortConfiguration::LOCAL("/oscillate/1"));
+ junction1->configureOutputPort(0,
+ PortConfiguration::REMOTE("/oncilla/command/nodes/angles/lfhip"));
+ junction1->configureOutputPort(1,
+ PortConfiguration::REMOTE("/oncilla/command/nodes/angles/lhhip"));
+ junction1->configureOutputPort(2,
+ PortConfiguration::REMOTE("/oncilla/command/nodes/angles/lfknee"));
+ junction1->configureOutputPort(3,
+ PortConfiguration::REMOTE("/oncilla/command/nodes/angles/lhknee"));
+
+ junction2->configureInputPort(0, PortConfiguration::LOCAL("/oscillate/2"));
+ junction2->configureOutputPort(0,
+ PortConfiguration::REMOTE("/oncilla/command/nodes/angles/rfhip"));
+ junction2->configureOutputPort(1,
+ PortConfiguration::REMOTE("/oncilla/command/nodes/angles/rhhip"));
+ junction2->configureOutputPort(2,
+ PortConfiguration::REMOTE("/oncilla/command/nodes/angles/rfknee"));
+ junction2->configureOutputPort(3,
+ PortConfiguration::REMOTE("/oncilla/command/nodes/angles/rhknee"));
+
+ /**
+ * Setup and run main beat
+ */
+ GlobalBeatPtr heartbeat;
+ heartbeat = GlobalBeat::create(cycletime);
+ heartbeat->registerReceiver(oscillator1);
+ heartbeat->registerReceiver(oscillator2);
+ std::cout << std::endl << "Two oscillators oscillating between " << (offset
+ - amplitude) << " and " << (offset + amplitude) << " with "
+ << frequency << " Hertz ..." << std::endl;
+ heartbeat->run();
+
+ return EXIT_SUCCESS;
+}
diff --git a/examples/walkFourLegs2.cpp b/examples/walkFourLegs2.cpp
new file mode 100644
index 0000000..c927286
--- /dev/null
+++ b/examples/walkFourLegs2.cpp
@@ -0,0 +1,178 @@
+#include
+#include
+
+#include
+#include
+#include
+
+#include
+
+#include
+#include
+#include
+#include
+#include
+
+#include
+#include
+#include
+
+#include
+#include
+
+#include
+#include
+#include
+#include
+#include
+
+#include
+#include
+#include
+
+using namespace std;
+using namespace boost;
+using namespace boost::program_options;
+
+using namespace rsc;
+using namespace rsc::logging;
+
+using namespace rsb;
+using namespace rsb::converter;
+using namespace rst::converter::rci;
+
+using namespace cca;
+using namespace cca::rci;
+using namespace cca::rci::driver;
+
+/**
+ * This example needs AMARSi controller "cca2"
+ */
+int main(int ac, char **av) {
+ double cycletime = 10;
+ double amplitude = 0.5;
+ double offset = 0.0;
+ double frequency = 1;
+
+ LoggerFactory::getInstance().reconfigure(Logger::LEVEL_ERROR);
+
+ /**
+ * Command line handling
+ */
+ options_description desc("Allowed options");
+ desc.add_options()("help", "Produce help message")("frequency",
+ value (), "Frequency of oscillation in Hertz")("amplitude",
+ value (), "Amplitude of the sine")("offset",
+ value (), "Offset to the output value");
+ variables_map vm;
+ store(parse_command_line(ac, av, desc), vm);
+ notify(vm);
+ if (vm.count("help")) {
+ cout << desc << "\n";
+ return 1;
+ }
+ if (vm.count("frequency")) {
+ frequency = vm["frequency"].as ();
+ }
+ cout << "Frequency set to " << frequency << " Hertz.\n";
+ if (vm.count("amplitude")) {
+ amplitude = vm["amplitude"].as ();
+ }
+ cout << "Amplitude set to " << amplitude << ".\n";
+ if (vm.count("offset")) {
+ offset = vm["offset"].as ();
+ }
+ cout << "Offset set to " << offset << ".\n";
+
+ /**
+ * Setup main beat
+ */
+ GlobalBeatPtr heartbeat;
+ heartbeat = GlobalBeat::create(cycletime);
+
+ /**
+ * Setup the two oscillators
+ */
+ CCANodePtr oscillator1 = SimpleOscillator::create(
+ "Oscillator 1", 2 * frequency, amplitude, offset);
+ oscillator1->configureOutputPort(0,
+ PortConfiguration::LOCAL("/oscillate/1"));
+ oscillator1->setProcessingStrategy(TimedProcessing::create(1));
+ heartbeat->registerReceiver(oscillator1);
+
+ CCANodePtr oscillator2 = SimpleOscillator::create(
+ "Oscillator 2", frequency, amplitude, offset, 0.5);
+ oscillator2->configureOutputPort(0,
+ PortConfiguration::LOCAL("/oscillate/2"));
+ oscillator2->setProcessingStrategy(TimedProcessing::create(1));
+ heartbeat->registerReceiver(oscillator2);
+
+ /**
+ * Set up two junctions
+ */
+ CCANodePtr junction1 = Junction::create(4);
+ junction1->setProcessingStrategy(RestlessProcessing::create());
+ CCANodePtr junction2 = Junction::create(4);
+ junction2->setProcessingStrategy(RestlessProcessing::create());
+
+ /**
+ * Register converters for Joint Angles
+ */
+ boost::shared_ptr converter(
+ new JointAnglesConverter());
+ stringConverterRepository()->registerConverter(converter);
+
+ /**
+ * Connect oscillators to junction
+ */
+ junction1->configureInputPort(0, PortConfiguration::LOCAL("/oscillate/1"));
+ junction1->configureOutputPort(0,
+ PortConfiguration::LOCAL("/oncilla/command/nodes/angles/lfhip"));
+ junction1->configureOutputPort(1,
+ PortConfiguration::LOCAL("/oncilla/command/nodes/angles/lhhip"));
+ junction1->configureOutputPort(2,
+ PortConfiguration::LOCAL("/oncilla/command/nodes/angles/rfknee"));
+ junction1->configureOutputPort(3,
+ PortConfiguration::LOCAL("/oncilla/command/nodes/angles/rhknee"));
+
+ junction2->configureInputPort(0, PortConfiguration::LOCAL("/oscillate/2"));
+ junction2->configureOutputPort(0,
+ PortConfiguration::LOCAL("/oncilla/command/nodes/angles/rfhip"));
+ junction2->configureOutputPort(1,
+ PortConfiguration::LOCAL("/oncilla/command/nodes/angles/rhhip"));
+ junction2->configureOutputPort(2,
+ PortConfiguration::LOCAL("/oncilla/command/nodes/angles/lfknee"));
+ junction2->configureOutputPort(3,
+ PortConfiguration::LOCAL("/oncilla/command/nodes/angles/lhknee"));
+
+ /**
+ * Collect all joint angles to send them at once
+ */
+ CCANodePtr collector = Collector::create(8);
+ collector->setProcessingStrategy(ModerateProcessing::create());
+ collector->configureInputPort(0,
+ PortConfiguration::LOCAL("/oncilla/command/nodes/angles/lfhip"));
+ collector->configureInputPort(1,
+ PortConfiguration::LOCAL("/oncilla/command/nodes/angles/rfhip"));
+ collector->configureInputPort(2,
+ PortConfiguration::LOCAL("/oncilla/command/nodes/angles/lhhip"));
+ collector->configureInputPort(3,
+ PortConfiguration::LOCAL("/oncilla/command/nodes/angles/rhhip"));
+ collector->configureInputPort(4,
+ PortConfiguration::LOCAL("/oncilla/command/nodes/angles/lfknee"));
+ collector->configureInputPort(5,
+ PortConfiguration::LOCAL("/oncilla/command/nodes/angles/rfknee"));
+ collector->configureInputPort(6,
+ PortConfiguration::LOCAL("/oncilla/command/nodes/angles/lhknee"));
+ collector->configureInputPort(7,
+ PortConfiguration::LOCAL("/oncilla/command/nodes/angles/rhknee"));
+ collector->configureOutputPort(0,
+ PortConfiguration::REMOTE("/oncilla/command/nodes/angles/all"));
+
+ std::cout << std::endl << "Two oscillators oscillating between " << (offset
+ - amplitude) << " and " << (offset + amplitude) << " with "
+ << frequency << " Hertz ..." << std::endl;
+ heartbeat->run();
+
+ return EXIT_SUCCESS;
+}
diff --git a/examples/walkOneLeg.cpp b/examples/walkOneLeg.cpp
new file mode 100644
index 0000000..ce09d1f
--- /dev/null
+++ b/examples/walkOneLeg.cpp
@@ -0,0 +1,107 @@
+#include
+#include
+
+#include
+#include
+#include
+
+#include
+
+#include
+#include
+#include
+#include
+#include
+
+#include
+#include
+#include
+
+#include
+#include
+
+#include
+
+#include
+#include
+#include
+
+using namespace std;
+using namespace boost;
+using namespace boost::program_options;
+
+using namespace rsc;
+using namespace rsc::logging;
+
+using namespace rsb;
+using namespace rsb::converter;
+using namespace rst::converter::rci;
+
+using namespace cca;
+using namespace cca::rci;
+using namespace cca::rci::driver;
+
+int main(int ac, char **av) {
+ unsigned int cycleTimeMs = 50;
+ double amplitude = 1.0;
+ double offset = 0.0;
+ double frequency = 1;
+
+ LoggerFactory::getInstance().reconfigure(Logger::LEVEL_ERROR);
+
+ /**
+ * Handle command line options
+ */
+ options_description desc("Allowed options");
+ desc.add_options()("help", "Produce help message")("frequency",
+ value (), "Frequency of oscillation in Hertz")("amplitude",
+ value (), "Amplitude of the sine")("offset",
+ value (), "Offset to the output value");
+ variables_map vm;
+ store(parse_command_line(ac, av, desc), vm);
+ notify(vm);
+ if (vm.count("help")) {
+ cout << desc << "\n";
+ return 1;
+ }
+ if (vm.count("frequency")) {
+ frequency = vm["frequency"].as ();
+ }
+ cout << "Frequency set to " << frequency << " Hertz.\n";
+ if (vm.count("amplitude")) {
+ amplitude = vm["amplitude"].as ();
+ }
+ cout << "Amplitude set to " << amplitude << ".\n";
+ if (vm.count("offset")) {
+ offset = vm["offset"].as ();
+ }
+ cout << "Offset set to " << offset << ".\n";
+
+ /**
+ * Register converters for Joint Angles
+ */
+ boost::shared_ptr converter(
+ new JointAnglesConverter());
+ stringConverterRepository()->registerConverter(converter);
+
+ /**
+ * Create Oscillator Node
+ */
+ CCANodePtr oscillator = SimpleOscillator::create(
+ "Knee Oscillator", frequency, amplitude, offset);
+ oscillator->configureOutputPort(0,
+ PortConfiguration::REMOTE("/oncilla/command/nodes/angles/lhknee"));
+
+ /**
+ * Setup and run the main beat
+ */
+ GlobalBeatPtr heartbeat;
+ heartbeat = GlobalBeat::create(cycleTimeMs);
+ heartbeat->registerReceiver(oscillator);
+ std::cout << "Oscillating between " << (offset - amplitude) << " and "
+ << (offset + amplitude) << " with " << frequency << " Hertz ..."
+ << std::endl;
+ heartbeat->run();
+
+ return EXIT_SUCCESS;
+}
diff --git a/rcioncilla.pc.in b/rcioncilla.pc.in
new file mode 100644
index 0000000..1f1021f
--- /dev/null
+++ b/rcioncilla.pc.in
@@ -0,0 +1,6 @@
+Name: @RCIONCILLA_NAME@
+Description: ONCILLA Device Driver for the AMARSi Robot Control Interface
+Version: @RCIONCILLA_VERSION@
+Requires: rci viewer LWRControl
+Libs: -L@CMAKE_INSTALL_PREFIX@/lib -l@RCIONCILLA_NAME@
+Cflags: -I@CMAKE_INSTALL_PREFIX@/include
diff --git a/sim/CMakeLists.txt b/sim/CMakeLists.txt
new file mode 100644
index 0000000..2feb387
--- /dev/null
+++ b/sim/CMakeLists.txt
@@ -0,0 +1 @@
+ADD_SUBDIRECTORY(webots)
diff --git a/sim/webots/CMakeLists.txt b/sim/webots/CMakeLists.txt
new file mode 100644
index 0000000..9238bbd
--- /dev/null
+++ b/sim/webots/CMakeLists.txt
@@ -0,0 +1,3 @@
+SET(WEBOTS_TEMPLATE_DIR ${CMAKE_INSTALL_PREFIX}/share/libamarsi-quad/templates)
+
+ADD_SUBDIRECTORY(controller)
\ No newline at end of file
diff --git a/sim/webots/README.txt b/sim/webots/README.txt
new file mode 100644
index 0000000..452ac07
--- /dev/null
+++ b/sim/webots/README.txt
@@ -0,0 +1,5 @@
+# RCI Oncilla Driver
+
+This is a driver for the Oncilla model in Webots, streaming sensor data and
+receiving commands via CCA.
+Note: This driver uses libamarsi-quad, courtesy of EPFL, Lausanne.
\ No newline at end of file
diff --git a/sim/webots/controller/CCAController.cpp b/sim/webots/controller/CCAController.cpp
new file mode 100644
index 0000000..9732d9c
--- /dev/null
+++ b/sim/webots/controller/CCAController.cpp
@@ -0,0 +1,233 @@
+#include
+
+#include
+
+#include
+#include
+#include
+
+#include
+#include
+#include
+
+#include
+#include
+
+#include
+
+#include "libamarsi-quad/libamarsi-quad.h"
+#include "WebotsSynchronizer.h"
+
+using namespace std;
+using namespace boost;
+
+using namespace rsc;
+using namespace rsc::logging;
+
+using namespace rsb;
+using namespace rsb::converter;
+using namespace rst::converter::rci;
+
+using namespace cca;
+using namespace cca::rci;
+using namespace cca::rci::driver;
+
+/**
+ * - Interface are the Resource Nodes
+ * - Resource Nodes set up in main program (if possible
+ * - Either Synchronizer or ResourceNodes connected to Webots
+ * -- Resource Nodes is probably faster, but may be more
+ * duplicate code
+ * -- Synchronizer seems too much, but is all in one place and
+ * closer to the real hardware driver.
+ */
+int main(int argc, char* argv[]) {
+ prctl(PR_SET_DUMPABLE, 1, 0, 0, 0);
+
+ LoggerFactory::getInstance()->reconfigure(Logger::LEVEL_WARN);
+
+ /**
+ * Register converters for Joint Angles
+ */
+ boost::shared_ptr converter(
+ new JointAnglesConverter());
+ stringConverterRepository()->registerConverter(converter);
+ boost::shared_ptr tconverter(
+ new TranslationConverter());
+ stringConverterRepository()->registerConverter(tconverter);
+
+ /**
+ * Setup the main beat
+ */
+ GlobalBeatPtr heartbeat;
+ heartbeat = GlobalBeat::create(10);
+ std::cout << heartbeat->print();
+ std::cout << "Initializing main beat ..." << std::endl;
+ sleep(1);
+
+ /**
+ * Set up resource nodes
+ * Knee, hip, trunk and ankle nodes.
+ */
+ cca::CCANodePtr lfhip, rfhip, lhhip, rhhip;
+ cca::CCANodePtr lfknee, rfknee, lhknee, rhknee;
+ cca::CCANodePtr lfankle, rfankle, lhankle, rhankle;
+ cca::CCANodePtr trunk;
+
+ /* Hip Nodes */
+ lfhip = OncillaHip::create("LEFT_FORE_HIP");
+ rfhip = OncillaHip::create("RIGHT_FORE_HIP");
+ lhhip = OncillaHip::create("LEFT_HIND_HIP");
+ rhhip = OncillaHip::create("RIGHT_HIND_HIP");
+ lfhip->setProcessingStrategy(RestlessProcessing::create());
+ rfhip->setProcessingStrategy(RestlessProcessing::create());
+ lhhip->setProcessingStrategy(RestlessProcessing::create());
+ rhhip->setProcessingStrategy(RestlessProcessing::create());
+
+ /* Knee Nodes */
+ lfknee = OncillaKnee::create("LEFT_FORE_KNEE");
+ rfknee = OncillaKnee::create("RIGHT_FORE_KNEE");
+ lhknee = OncillaKnee::create("LEFT_HIND_KNEE");
+ rhknee = OncillaKnee::create("RIGHT_HIND_KNEE");
+ lfknee->setProcessingStrategy(TimedProcessing::create());
+ rfknee->setProcessingStrategy(TimedProcessing::create());
+ lhknee->setProcessingStrategy(TimedProcessing::create());
+ rhknee->setProcessingStrategy(TimedProcessing::create());
+
+ /* Ankle Nodes */
+ lfankle = OncillaAnkle::create("LEFT_FORE_ANKLE");
+ rfankle = OncillaAnkle::create("RIGHT_FORE_ANKLE");
+ lhankle = OncillaAnkle::create("LEFT_HIND_ANKLE");
+ rhankle = OncillaAnkle::create("RIGHT_HIND_ANKLE");
+ lfankle->setProcessingStrategy(RestlessProcessing::create());
+ rfankle->setProcessingStrategy(RestlessProcessing::create());
+ lhankle->setProcessingStrategy(RestlessProcessing::create());
+ rhankle->setProcessingStrategy(RestlessProcessing::create());
+
+ /* Trunk Node */
+ trunk = OncillaTrunk::create("TRUNK");
+ trunk->setProcessingStrategy(RestlessProcessing::create());
+
+ /**
+ * Set up remote interface to Webots simulator
+ */
+ CCANodePtr sync = WebotsSynchronizer::create(argc, argv);
+ sync->setProcessingStrategy(TimedProcessing::create(1));
+ std::cout << "Simulator created ... " << std::endl;
+
+ heartbeat->registerReceiver(sync);
+ heartbeat->registerReceiver(lfknee);
+ heartbeat->registerReceiver(rfknee);
+ heartbeat->registerReceiver(lhknee);
+ heartbeat->registerReceiver(rhknee);
+ std::cout << "Simulator now connected to the bus ... " << std::endl;
+
+ /**
+ * Connect nodes
+ * @todo Also via CCA?
+ * LEFT_FORE_HIP, //!< LEFT_FORE_HIP Actuator that drive the left fore hip joint.
+ * RIGHT_FORE_HIP, //!< RIGHT_FORE_HIP Actuator that drive the right fore hip joint.
+ * LEFT_HIND_HIP, //!< LEFT_HIND_HIP Actuator that drive the left hind hip joint.
+ * RIGHT_HIND_HIP, //!< RIGHT_HIND_HIP Actuator that drive the right hind hip joint.
+ * LEFT_FORE_KNEE, //!< LEFT_FORE_KNEE Actuator that drive the left fore knee joint.
+ * RIGHT_FORE_KNEE, //!< RIGHT_FORE_KNEE Actuator that drive the right fore knee joint.
+ * LEFT_HIND_KNEE, //!< LEFT_HIND_KNEE Actuator that drive the left hind knee joint.
+ * RIGHT_HIND_KNEE, //!< RIGHT_HIND_KNEE Actuator that drive the right hind knee joint.
+ * LEFT_FORE_TOE, //!< LEFT_FORE_TOE disabled, here for eventual improvement
+ * RIGHT_FORE_TOE, //!< RIGHT_FORE_TOE disabled, here for eventual improvement
+ * LEFT_HIND_TOE, //!< LEFT_HIND_TOE disabled, here for eventual improvement
+ * RIGHT_HIND_TOE, //!< RIGHT_HIND_TOE disabled, here for eventual improvement
+ */
+ WebotsSynchronizerPtr s = static_pointer_cast (sync);
+ s->registerQuadNode(lfhip, amarsi::LEFT_FORE_HIP);
+ s->registerQuadNode(rfhip, amarsi::RIGHT_FORE_HIP);
+ s->registerQuadNode(lhhip, amarsi::LEFT_HIND_HIP);
+ s->registerQuadNode(rhhip, amarsi::RIGHT_HIND_HIP);
+ s->registerQuadNode(lfknee, amarsi::LEFT_FORE_KNEE);
+ s->registerQuadNode(rfknee, amarsi::RIGHT_FORE_KNEE);
+ s->registerQuadNode(lhknee, amarsi::LEFT_HIND_KNEE);
+ s->registerQuadNode(rhknee, amarsi::RIGHT_HIND_KNEE);
+ s->registerQuadNode(lfankle, amarsi::LEFT_FORE_TOE);
+ s->registerQuadNode(rfankle, amarsi::RIGHT_FORE_TOE);
+ s->registerQuadNode(lhankle, amarsi::LEFT_HIND_TOE);
+ s->registerQuadNode(rhankle, amarsi::RIGHT_HIND_TOE);
+
+ /**
+ * Connect resource nodes to the outside world
+ */
+ std::cout << "Connecting resource nodes to the bus ... " << std::endl;
+ try {
+ // Knee inputs
+ lfknee->configureInputPort(
+ 0,
+ PortConfiguration::REMOTE(
+ "/oncilla/command/nodes/angles/lfknee"));
+ rfknee->configureInputPort(
+ 0,
+ PortConfiguration::REMOTE(
+ "/oncilla/command/nodes/angles/rfknee"));
+ lhknee->configureInputPort(
+ 0,
+ PortConfiguration::REMOTE(
+ "/oncilla/command/nodes/angles/lhknee"));
+ rhknee->configureInputPort(
+ 0,
+ PortConfiguration::REMOTE(
+ "/oncilla/command/nodes/angles/rhknee"));
+
+ // Hip inputs
+ lfhip->configureInputPort(
+ 0,
+ PortConfiguration::REMOTE("/oncilla/command/nodes/angles/lhhip"));
+ rfhip->configureInputPort(
+ 0,
+ PortConfiguration::REMOTE("/oncilla/command/nodes/angles/rfhip"));
+ lhhip->configureInputPort(
+ 0,
+ PortConfiguration::REMOTE("/oncilla/command/nodes/angles/lhhip"));
+ rhhip->configureInputPort(
+ 0,
+ PortConfiguration::REMOTE("/oncilla/command/nodes/angles/rhhip"));
+
+ // Knee outputs
+ lfknee->configureOutputPort(
+ 0,
+ PortConfiguration::REMOTE("/oncilla/status/nodes/angles/lfknee"));
+ rfknee->configureOutputPort(
+ 0,
+ PortConfiguration::REMOTE("/oncilla/status/nodes/angles/rfknee"));
+ lhknee->configureOutputPort(
+ 0,
+ PortConfiguration::REMOTE("/oncilla/status/nodes/angles/lhknee"));
+ rhknee->configureOutputPort(
+ 0,
+ PortConfiguration::REMOTE("/oncilla/status/nodes/angles/rhknee"));
+
+ // Hip outputs
+ lfhip->configureOutputPort(0,
+ PortConfiguration::REMOTE("/oncilla/status/nodes/angles/lfhip"));
+ rfhip->configureOutputPort(0,
+ PortConfiguration::REMOTE("/oncilla/status/nodes/angles/rfhip"));
+ lhhip->configureOutputPort(0,
+ PortConfiguration::REMOTE("/oncilla/status/nodes/angles/lhhip"));
+ rhhip->configureOutputPort(0,
+ PortConfiguration::REMOTE("/oncilla/status/nodes/angles/rhhip"));
+ } catch (std::runtime_error e) {
+ std::cout << "[RemoteWebots] Caught RSB exception!" << std::endl;
+ std::cout << e.what() << std::endl;
+ sleep(10);
+ } catch (std::exception e) {
+ std::cout << "[RemoteWebots] Caught exception!" << std::endl;
+ std::cout << e.what() << std::endl;
+ sleep(10);
+ }
+
+ /**
+ * Run the whole thing
+ */
+ boost::thread beating(bind(&GlobalBeat::run, heartbeat));
+ dynamic_pointer_cast (sync)->run();
+ beating.join();
+
+ return EXIT_SUCCESS;
+}
diff --git a/sim/webots/controller/CMakeLists.txt b/sim/webots/controller/CMakeLists.txt
new file mode 100644
index 0000000..127ed4f
--- /dev/null
+++ b/sim/webots/controller/CMakeLists.txt
@@ -0,0 +1,30 @@
+set(SOURCES WebotsSynchronizer.cpp CCAController.cpp)
+set(HEADERS WebotsSynchronizer.h)
+set(CCA_SOURCES_LIST " ")
+foreach(file ${SOURCES})
+ set(CCA_SOURCES_LIST "${CCA_SOURCES_LIST} ${file}")
+endforeach(file)
+LINK_DIRECTORIES(${CMAKE_INSTALL_PREFIX}/lib ${CMAKE_INSTALL_PREFIX})
+add_executable(cca ${SOURCES} ${HEADERS})
+include_directories(${WEBOTS_INCLUDE_CPP_DIR} ${PROJECT_SOURCE_DIR}/src)
+target_link_libraries(cca rci rcioncilla libamarsi-quad ${WEBOTS_LIBRARIES})
+
+
+if(MY_LINK_FLAGS)
+ set(LINK_PROPERTIES LINK_FLAGS ${MY_LINK_FLAGS})
+elseif(MY_LINK_FLAGS)
+ set(LINK_PROPERTIES )
+endif(MY_LINK_FLAGS)
+
+set_target_properties(cca PROPERTIES ${LINK_PROPERTIES} VERSION "1.0.0")
+
+set(INSTALL_DESTINATION ${libamarsi-quad_TEMPLATE_DIR}/project/controllers/cca)
+install(TARGETS cca RUNTIME DESTINATION ${INSTALL_DESTINATION})
+install(FILES ${SOURCES} ${HEADERS} DESTINATION ${INSTALL_DESTINATION})
+
+configure_file(${PROJECT_SOURCE_DIR}/data/controllers/cca/Makefile.install.in
+ ${PROJECT_BINARY_DIR}/data/controllers/cca/Makefile.install)
+
+install(FILES ${PROJECT_BINARY_DIR}/data/controllers/cca/Makefile.install
+ DESTINATION ${INSTALL_DESTINATION}
+ RENAME Makefile)
diff --git a/sim/webots/controller/Makefile.install.in b/sim/webots/controller/Makefile.install.in
new file mode 100644
index 0000000..a7ac1d2
--- /dev/null
+++ b/sim/webots/controller/Makefile.install.in
@@ -0,0 +1,52 @@
+### -*-mode:Makefile-*-
+### Standard Makefile for Webots controllers for the AMARSI Quadrupedal model
+###
+### Platform: Windows, Mac OS X, Linux
+### Language: C, C++ and Java
+###
+### Authors: Olivier Michel - www.cyberbotics.com
+### Revised: Yvan Bourquin - September 30th, 2009.
+### Revised. Alexandre Tuleu, added cmake scripting
+###
+### Uncomment the variables to customize the Makefile
+
+### -----C Sources-----
+###
+### if your controller uses several C sources files:
+# C_SOURCES = my_controller.c my_clever_algo.c my_gui.c
+
+### -----C++ Sources-----
+###
+### if your controller uses several C++ sources files:
+# CPP_SOURCES = my_controller.cpp my_clever_algo.cpp my_gui.cpp
+### or
+# CC_SOURCES = my_controller.cc my_clever_algo.cc my_gui.cc
+
+### -----C/C++ Options-----
+###
+### if special CFLAGS are necessary, for example to set optimization level or
+### to find include files:
+# CFLAGS=-O3 -I/my_library_path/include
+###
+### if your controller needs additional libraries:
+# LIBRARIES=-L/path/to/my/library -lmy_library -lmy_other_library
+###
+### you may want, for example, to use the C API in your C++ program by adding:
+# CFLAGS=-I"$(WEBOTS_HOME)/include/controller/c"
+
+### -----Java Options-----
+###
+### if your Java controller needs additional libraries, you should define
+### the CLASSPATH environment variable as explained in the Webots User Guide
+# CLASSPATH=relative/mylib.jar
+
+### Do not modify: this includes Webots global Makefile.include
+
+
+CPP_SOURCES=@CCA_SOURCES_LIST@
+LIBRARIES=-L@CMAKE_INSTALL_PREFIX@/lib -lamarsi-quad -lamarsi-bench -lrsc -lrsbcore -lcca -lrci -lrcioncilla -lrst
+CFLAGS=-O3 -I"@CMAKE_INSTALL_PREFIX@/@libamarsi-quad_INCLUDE_DIR@" -I"@LIBAMARSI-BENCH_INCLUDE_DIR@" -I"@RSC_INCLUDE_DIRS@" -I"@RSB_INCLUDE_DIRS@" -I"@CCA_INCLUDE_DIRS@" -I"@RCI_INCLUDE_DIRS@" -I"@NemoMath_INCLUDE_DIRS@" -I"@BOOSTUUID_INCLUDE_DIRS@"
+space :=
+space +=
+WEBOTS_HOME_PATH=$(subst $(space),\ ,$(strip $(subst \,/,$(WEBOTS_HOME))))
+include @WEBOTS_TEMPLATE_DIR@/controllers/Makefile.include
diff --git a/sim/webots/controller/WebotsSynchronizer.cpp b/sim/webots/controller/WebotsSynchronizer.cpp
new file mode 100644
index 0000000..c4660b1
--- /dev/null
+++ b/sim/webots/controller/WebotsSynchronizer.cpp
@@ -0,0 +1,174 @@
+/**
+ * \file WebotsSynchronizer.cpp
+ *
+ * \date Aug 22, 2010
+ * \author tuleu
+ * \author anordman
+ */
+
+//#define TEST_ACTUATOR_IH_PRESENCE
+
+#include
+
+#include "WebotsSynchronizer.h"
+
+#include
+#include
+#include
+
+#define PI 3.1415265
+
+using namespace std;
+using namespace boost;
+using namespace amarsi;
+
+namespace cca {
+namespace rci {
+namespace driver {
+
+WebotsSynchronizer::WebotsSynchronizer(int& argc, char** argv) :
+ Synchronizer("Webots Synchronizer"), Controller(argc, argv),
+ _running(true), d_amplitudeHip(0.3), d_offsetHip(0),
+ d_amplitudeKnee(0.4), d_offsetKnee(0.6), d_frequency(0.5),
+ _actuatorNames(amarsi::NUMBER_OF_ACTUATORS),
+ _servoNames(amarsi::NUMBER_OF_ACTUATORS) {
+
+ // FIXME: 1000* is nonsense
+ this->_nodes.reserve(1000 * (unsigned int) amarsi::NUMBER_OF_ACTUATORS); // Number of actuators is number of nodes in general
+ this->prepareNodeWebotsMapping();
+
+ _primpleAmarsi
+ = static_cast (Controller::pimpController_);
+
+ // Initialize simulation
+ Supervisor::instance().initSimulation();
+ cout << "[WebotsSynchronizer] Webots simulator initialized." << endl;
+}
+
+WebotsSynchronizer::~WebotsSynchronizer() {
+ Supervisor::instance().simulationQuit();
+ cout << "[WebotsSynchronizer] Ended simulation" << endl;
+}
+
+void WebotsSynchronizer::userInitSimulation() {
+ //add some motion restriction
+ Supervisor::instance().configureMotionRestriction(
+ "0.0:SAGITAL_FIXED_PITCH|2.0:SAGITAL_FREE_PITCH|4.0:FREE");
+
+ Supervisor::instance().setTrackingOn();
+ Supervisor::instance().setDisplayMode(amarsi::SHOW_GROUND_REACTION_FORCES);
+}
+void WebotsSynchronizer::userInitEnvironment() {
+ //put the robot on a slope of angle d_angle in the front direction.
+ Supervisor::instance().setSlope(true, d_angle);
+}
+
+int WebotsSynchronizer::run() {
+ while (true) {
+ step();
+ }
+ return 0;
+}
+
+/* CCA-specific */
+CCANodePtr WebotsSynchronizer::create(int &argc, char** argv) {
+ return CCANodePtr(new WebotsSynchronizer(argc, argv));
+}
+
+std::string WebotsSynchronizer::print() const {
+ format fmter("");
+ fmter % this->getName();
+ return fmter.str();
+}
+
+void WebotsSynchronizer::send() {
+ double value;
+
+ if (this->_running) {
+ // Sending commands to the hip servos
+ for (unsigned int index = (unsigned int) amarsi::LEFT_FORE_HIP; index
+ <= (unsigned int) amarsi::RIGHT_HIND_HIP; ++index) {
+
+ value
+ = static_pointer_cast (
+ this->_nodes[(unsigned int) index])->getLastPositionCommand()->asDouble(
+ 0);
+ actuator(static_cast (index)).setCommand(value);
+ }
+ // Sending commands to the knee servos
+ for (unsigned int index = (unsigned int) amarsi::LEFT_FORE_KNEE; index
+ <= (unsigned int) amarsi::RIGHT_HIND_KNEE; ++index) {
+
+ value
+ = static_pointer_cast (
+ this->_nodes[(unsigned int) index])->getLastPositionCommand()->asDouble(
+ 0);
+ actuator(static_cast (index)).setCommand(value);
+ }
+ }
+}
+
+void WebotsSynchronizer::receive() {
+ double value;
+
+ if (this->_running) {
+ // Reading encoder values from the hips
+ for (unsigned int index = (unsigned int) amarsi::LEFT_FORE_HIP; index
+ <= (unsigned int) amarsi::RIGHT_HIND_HIP; ++index) {
+
+ value = this->_primpleAmarsi->getWebotsServo(
+ this->_servoNames[(unsigned int) index])->getPosition();
+
+ static_pointer_cast (
+ this->_nodes[(unsigned int) index])->updateJointPosition(
+ JointAngles::fromValue(value));
+ }
+ // Reading encoder values from the knees
+ for (unsigned int index = (unsigned int) amarsi::LEFT_FORE_KNEE; index
+ <= (unsigned int) amarsi::RIGHT_HIND_KNEE; ++index) {
+
+ value = this->_primpleAmarsi->getWebotsServo(
+ this->_servoNames[(unsigned int) index])->getPosition();
+
+ static_pointer_cast (
+ this->_nodes[(unsigned int) index])->updateJointPosition(
+ JointAngles::fromValue(value));
+ }
+ }
+}
+
+void WebotsSynchronizer::registerQuadNode(CCANodePtr node, ActuatorID index) {
+ // Try to register node
+ ResourceNodePtr rn = static_pointer_cast (node);
+ std::cout << "[WebotsSynchronizer] Register node " << node->getName()
+ << " at position #" << (unsigned int) index << std::endl;
+ this->registerNode(rn, (unsigned int) index);
+}
+
+void WebotsSynchronizer::prepareNodeWebotsMapping() {
+ this->_actuatorNames.reserve((unsigned int) amarsi::NUMBER_OF_ACTUATORS);
+ this->_servoNames.reserve((unsigned int) amarsi::NUMBER_OF_ACTUATORS);
+
+ // Hip Servos
+ this->_servoNames[(unsigned int) amarsi::LEFT_FORE_HIP]
+ = "LEFT_FORE_hip_servo";
+ this->_servoNames[(unsigned int) amarsi::RIGHT_FORE_HIP]
+ = "RIGHT_FORE_hip_servo";
+ this->_servoNames[(unsigned int) amarsi::LEFT_HIND_HIP]
+ = "LEFT_HIND_hip_servo";
+ this->_servoNames[(unsigned int) amarsi::RIGHT_HIND_HIP]
+ = "RIGHT_HIND_hip_servo";
+ // Knee Servos
+ this->_servoNames[(unsigned int) amarsi::LEFT_FORE_KNEE]
+ = "LEFT_FORE_FRONT_KNEE_SERVO";
+ this->_servoNames[(unsigned int) amarsi::RIGHT_FORE_KNEE]
+ = "RIGHT_FORE_FRONT_KNEE_SERVO";
+ this->_servoNames[(unsigned int) amarsi::LEFT_HIND_KNEE]
+ = "LEFT_HIND_FRONT_KNEE_SERVO";
+ this->_servoNames[(unsigned int) amarsi::RIGHT_HIND_KNEE]
+ = "RIGHT_HIND_FRONT_KNEE_SERVO";
+}
+
+}
+}
+}
diff --git a/sim/webots/controller/WebotsSynchronizer.h b/sim/webots/controller/WebotsSynchronizer.h
new file mode 100644
index 0000000..0fd157d
--- /dev/null
+++ b/sim/webots/controller/WebotsSynchronizer.h
@@ -0,0 +1,73 @@
+/**
+ * \file WebotsSynchronizer.h
+ *
+ * \date Aug 22, 2010
+ * \author tuleu
+ * \author anordman
+ */
+#pragma once
+
+#include
+
+#include
+
+#include
+#include "libamarsi-quad/controller/internals/ControllerPrimpleAmarsi.h"
+
+#include
+#include
+#include
+#include
+
+namespace cca {
+namespace rci {
+namespace driver {
+
+class WebotsSynchronizer;
+typedef boost::shared_ptr WebotsSynchronizerPtr;
+
+/**
+ * @todo Use amarsi::Clock?
+ */
+class WebotsSynchronizer: public Synchronizer, public amarsi::Controller {
+public:
+ WebotsSynchronizer(int &argc, char** argv);
+ virtual ~WebotsSynchronizer();
+
+ virtual int run();
+
+ virtual void userInitSimulation();
+ virtual void userInitEnvironment();
+
+ /* CCA-specific */
+ static CCANodePtr create(int &argc, char** argv);
+ virtual std::string print() const;
+ virtual void send();
+ virtual void receive();
+ void registerQuadNode(CCANodePtr node, amarsi::ActuatorID index);
+ bool _running;
+protected:
+ amarsi::ControllerPrimpleAmarsi *_primpleAmarsi;
+private:
+ //amplitude of oscillation for the Hip joints.
+ double d_amplitudeHip;
+ //offset of the oscillations for the Hip Joint.
+ double d_offsetHip;
+ //amplitude of the extension/contraction of the leg
+ double d_amplitudeKnee;
+ //offset of the knee command
+ double d_offsetKnee;
+ //frequency of the oscillations
+ double d_frequency;
+ // angle of the slope
+ double d_angle;
+
+ std::vector _actuatorNames;
+ std::vector _servoNames;
+
+ void prepareNodeWebotsMapping();
+};
+
+}
+}
+}
diff --git a/sim/webots/controller/template/CMakeLists.txt b/sim/webots/controller/template/CMakeLists.txt
new file mode 100644
index 0000000..8109ab1
--- /dev/null
+++ b/sim/webots/controller/template/CMakeLists.txt
@@ -0,0 +1,46 @@
+# Adjust Webots Project template to include CCA Controller
+SET(OLDCONTROLLER "basic")
+
+SET(OLDWORLD "Amarsi-Quadrupedal")
+SET(NEWWORLD "AMARSiOncilla")
+
+# Alter Makefile from default controller
+FILE(READ ${WEBOTS_TEMPLATE_DIR}/project/controllers/${OLDCONTROLLER}/Makefile OLDMAKEFILE)
+
+# Change source files
+SET(SOURCE_FILES "WebotsSynchronizer.cpp CCAController.cpp")
+STRING(REGEX REPLACE "CPP_SOURCES=" "CPP_SOURCES=${SOURCE_FILES} #" NEWMAKEFILE ${OLDMAKEFILE})
+
+# Add libraries and libraries path
+SET(ADDITIONAL_LIBRARIES "-L${CMAKE_INSTALL_PREFIX}/lib")
+SET(ADDITIONAL_LIBRARIES "${ADDITIONAL_LIBRARIES} -l${RST_LIBRARIES}")
+SET(ADDITIONAL_LIBRARIES "${ADDITIONAL_LIBRARIES} -l${LIBNAME}")
+SET(ADDITIONAL_LIBRARIES "${ADDITIONAL_LIBRARIES} ${RSC_LIBRARIES}")
+SET(ADDITIONAL_LIBRARIES "${ADDITIONAL_LIBRARIES} ${RSB_LIBRARIES}")
+SET(ADDITIONAL_LIBRARIES "${ADDITIONAL_LIBRARIES} ${SPREAD_LIBRARIES}")
+SET(ADDITIONAL_LIBRARIES "${ADDITIONAL_LIBRARIES} ${CCA_LIBRARIES}")
+SET(ADDITIONAL_LIBRARIES "${ADDITIONAL_LIBRARIES} ${RCI_LIBRARIES}")
+SET(ADDITIONAL_LIBRARIES "${ADDITIONAL_LIBRARIES} ${PROTOBUF_LIBRARY}")
+STRING(REGEX REPLACE "LIBRARIES=" "LIBRARIES=${ADDITIONAL_LIBRARIES} " NEWMAKEFILE ${NEWMAKEFILE})
+
+# Add includes
+SET(ADDITIONAL_FLAGS "-I${CMAKE_INSTALL_PREFIX}/include/rcioncilla")
+SET(ADDITIONAL_FLAGS "${ADDITIONAL_FLAGS} ${RST_CFLAGS}")
+SET(ADDITIONAL_FLAGS "${ADDITIONAL_FLAGS} -I${RST_INCLUDE_DIRS}")
+SET(ADDITIONAL_FLAGS "${ADDITIONAL_FLAGS} -I${CMAKE_CURRENT_BINARY_DIR}/src")
+SET(ADDITIONAL_FLAGS "${ADDITIONAL_FLAGS} -I${RSC_INCLUDE_DIRS}")
+SET(ADDITIONAL_FLAGS "${ADDITIONAL_FLAGS} -I${RSB_INCLUDE_DIRS}")
+SET(ADDITIONAL_FLAGS "${ADDITIONAL_FLAGS} -I${SPREAD_INCLUDE_DIRS}")
+SET(ADDITIONAL_FLAGS "${ADDITIONAL_FLAGS} -I${CCA_INCLUDE_DIRS}")
+SET(ADDITIONAL_FLAGS "${ADDITIONAL_FLAGS} -I${RCI_INCLUDE_DIRS}")
+SET(ADDITIONAL_FLAGS "${ADDITIONAL_FLAGS} -I${NemoMath_INCLUDE_DIRS}")
+SET(ADDITIONAL_FLAGS "${ADDITIONAL_FLAGS} -I${Boost_INCLUDE_DIRS}")
+SET(ADDITIONAL_FLAGS "${ADDITIONAL_FLAGS} -I${BOOSTUUID_INCLUDE_DIRS}")
+STRING(REGEX REPLACE "CFLAGS=" "CFLAGS=${ADDITIONAL_FLAGS} " NEWMAKEFILE ${NEWMAKEFILE})
+
+FILE(WRITE ${WEBOTS_TEMPLATE_DIR}/project/controllers/${CONTROLLERNAME}/Makefile ${NEWMAKEFILE})
+
+# Alter world file to use CCA controller by default
+FILE(READ ${WEBOTS_TEMPLATE_DIR}/project/worlds/${OLDWORLD}.wbt OLDWORLDFILE)
+STRING(REGEX REPLACE "\"${OLDCONTROLLER}\"" "\"${CONTROLLERNAME}\"" NEWWORLDFILE ${OLDWORLDFILE})
+FILE(WRITE ${WEBOTS_TEMPLATE_DIR}/project/worlds/${NEWWORLD}.wbt ${NEWWORLDFILE})
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
new file mode 100644
index 0000000..e68e10a
--- /dev/null
+++ b/src/CMakeLists.txt
@@ -0,0 +1,41 @@
+INCLUDE_DIRECTORIES(BEFORE SYSTEM ${CMAKE_CURRENT_BINARY_DIR})
+INCLUDE_DIRECTORIES(BEFORE SYSTEM ${CMAKE_CURRENT_SOURCE_DIR})
+INCLUDE_DIRECTORIES(BEFORE ${CMAKE_CURRENT_SOURCE_DIR}/..)
+
+# Configure config header
+CONFIGURE_FILE("config.h.in" "${PROJECTNAME}Config.h")
+
+SET(ONCILLAHEADERS
+ OncillaTrunk.h
+ OncillaHip.h
+ OncillaKnee.h
+ OncillaAnkle.h
+ OncillaFoot.h)
+
+SET(ONCILLASOURCES
+ OncillaTrunk.cpp
+ OncillaHip.cpp
+ OncillaKnee.cpp
+ OncillaAnkle.cpp
+ OncillaFoot.cpp)
+
+ADD_LIBRARY(${RCIONCILLA_NAME} SHARED ${ONCILLASOURCES})
+TARGET_LINK_LIBRARIES(${RCIONCILLA_NAME}
+ ${RSC_LIBRARIES}
+ ${RSB_LIBRARIES}
+ ${RST_LIBRARIES}
+ ${SPREAD_LIBRARIES}
+ ${CCA_LIBRARIES}
+ ${RCI_LIBRARIES}
+ ${PROTOBUF_LIBRARY}
+ ${PROTOLIB}
+ ${LIBRARIES_LIBRARIES})
+SET_TARGET_PROPERTIES(${RCIONCILLA_NAME}
+ PROPERTIES
+ VERSION ${RCIONCILLA_VERSION})
+
+INSTALL(TARGETS ${RCIONCILLA_NAME}
+ RUNTIME DESTINATION bin
+ LIBRARY DESTINATION lib
+ ARCHIVE DESTINATION lib)
+INSTALL_FILES_RECURSIVE(include/${LIBNAME} ONCILLAHEADERS)
diff --git a/src/OncillaAnkle.cpp b/src/OncillaAnkle.cpp
new file mode 100644
index 0000000..eb8fae5
--- /dev/null
+++ b/src/OncillaAnkle.cpp
@@ -0,0 +1,40 @@
+#include "OncillaAnkle.h"
+
+using namespace std;
+
+namespace cca {
+namespace rci {
+namespace driver {
+
+OncillaAnkle::OncillaAnkle(std::string name) :
+ rci::ResourceNode(name), rci::Sensing(), rci::PositionSensing() {
+ this->_dimension = 1;
+
+ this->addOutputPort ();
+}
+
+JointAnglesPtr OncillaAnkle::getJointPosition() const {
+ throw std::runtime_error("Not yet implemented.");
+}
+
+OncillaAnkle::~OncillaAnkle() {
+}
+
+void OncillaAnkle::onProcess() {
+}
+
+std::string OncillaAnkle::print() const {
+ ostringstream outstream(ostringstream::out);
+ outstream.precision(3); // Precision when printing double values
+ outstream << "" << endl;
+ return outstream.str();
+}
+
+CCANodePtr OncillaAnkle::create(string name) {
+ CCANodePtr node(new OncillaAnkle(name));
+ return node;
+}
+
+}
+}
+}
diff --git a/src/OncillaAnkle.h b/src/OncillaAnkle.h
new file mode 100644
index 0000000..29e000e
--- /dev/null
+++ b/src/OncillaAnkle.h
@@ -0,0 +1,62 @@
+#pragma once
+
+#include
+#include
+
+#include
+
+#include
+#include
+#include
+#include
+
+#include
+
+namespace cca {
+namespace rci {
+namespace driver {
+
+class OncillaAnkle;
+typedef boost::shared_ptr OncillaAnklePtr;
+
+/**
+ * Node class, representing the foot/ankle of the quadruped robot. Not actuated,
+ * but force sensing.
+ */
+class OncillaAnkle: public rci::ResourceNode,
+ public rci::Sensing,
+ public rci::PositionSensing {
+
+public:
+
+ OncillaAnkle(std::string name = "Oncilla Ankle");
+
+ virtual ~OncillaAnkle();
+
+ /**
+ * Returns contact forces
+ */
+ JointAnglesPtr getJointPosition() const;
+
+ /**
+ * Main data-flow process method
+ * Main data-flow process method. Every time called, when a new data-flow
+ * item arrives.
+ * @todo marshalling and calling control methods
+ */
+ void onProcess();
+
+ /**
+ * Print
+ */
+ std::string print() const;
+
+ /**
+ * Shared Pointer Factory
+ */
+ static CCANodePtr create(std::string name = "Oncilla Ankle");
+};
+
+}
+}
+}
diff --git a/src/OncillaFoot.cpp b/src/OncillaFoot.cpp
new file mode 100644
index 0000000..2198a42
--- /dev/null
+++ b/src/OncillaFoot.cpp
@@ -0,0 +1,40 @@
+#include "OncillaFoot.h"
+
+using namespace std;
+
+namespace cca {
+namespace rci {
+namespace driver {
+
+OncillaFoot::OncillaFoot(std::string name) :
+ rci::ResourceNode(name), rci::Sensing(), rci::ForceSensing() {
+ this->_dimension = 1;
+
+ this->addOutputPort ();
+}
+
+ForcesPtr OncillaFoot::getForces() const {
+ throw std::runtime_error("Not yet implemented.");
+}
+
+OncillaFoot::~OncillaFoot() {
+}
+
+void OncillaFoot::onProcess() {
+}
+
+std::string OncillaFoot::print() const {
+ ostringstream outstream(ostringstream::out);
+ outstream.precision(3); // Precision when printing double values
+ outstream << "" << endl;
+ return outstream.str();
+}
+
+CCANodePtr OncillaFoot::create(string name) {
+ CCANodePtr node(new OncillaFoot(name));
+ return node;
+}
+
+}
+}
+}
diff --git a/src/OncillaFoot.h b/src/OncillaFoot.h
new file mode 100644
index 0000000..4c84b5a
--- /dev/null
+++ b/src/OncillaFoot.h
@@ -0,0 +1,62 @@
+#pragma once
+
+#include
+#include
+
+#include
+
+#include
+#include
+#include
+#include
+
+#include
+
+namespace cca {
+namespace rci {
+namespace driver {
+
+class OncillaFoot;
+typedef boost::shared_ptr OncillaFootPtr;
+
+/**
+ * Node class, representing the foot of the quadruped robot. Not actuated,
+ * but force sensing.
+ */
+class OncillaFoot: public rci::ResourceNode,
+ public rci::Sensing,
+ public rci::ForceSensing {
+
+public:
+
+ OncillaFoot(std::string name = "Oncilla Foot");
+
+ virtual ~OncillaFoot();
+
+ /**
+ * Returns contact forces
+ */
+ ForcesPtr getForces() const;
+
+ /**
+ * Main data-flow process method
+ * Main data-flow process method. Every time called, when a new data-flow
+ * item arrives.
+ * @todo marshalling and calling control methods
+ */
+ void onProcess();
+
+ /**
+ * Print
+ */
+ std::string print() const;
+
+ /**
+ * Shared Pointer Factory
+ */
+ static CCANodePtr create(std::string name = "Oncilla Foot");
+};
+
+}
+}
+}
diff --git a/src/OncillaHip.cpp b/src/OncillaHip.cpp
new file mode 100644
index 0000000..aae9c6c
--- /dev/null
+++ b/src/OncillaHip.cpp
@@ -0,0 +1,145 @@
+#include "OncillaHip.h"
+
+using namespace std;
+using namespace rsb;
+
+namespace cca {
+namespace rci {
+namespace driver {
+
+OncillaHipSagittal::OncillaHipSagittal(std::string name) :
+ ResourceNode(name), Controlled(), Sensing(), PositionControlled(),
+ PositionSensing(), TorqueControlled(), ImpedanceControlled() {
+ this->_dimension = 2; // Two encoder values - should always be the same
+
+ this->addInputPort (); // PositionControlled
+ this->addInputPort (); // VelocityControlled
+ this->addInputPort (); // TorqueControlled
+ this->addInputPort (); // ImpedanceControlled
+
+ this->addOutputPort (); // PositionSensing
+}
+
+bool OncillaHipSagittal::isConverged() const {
+ throw std::runtime_error("Not yet implemented.");
+}
+
+bool OncillaHipSagittal::setJointPosition(JointAnglesPtr position) {
+ // Successfull
+ this->_lastCommandedPosition = position;
+ return true;
+}
+
+JointAnglesPtr OncillaHipSagittal::getJointPosition() const {
+ return this->_latestJointPosition;
+}
+
+bool OncillaHipSagittal::setJointVelocity(JointVelocitiesPtr vel) {
+ throw std::runtime_error("Not yet implemented.");
+}
+
+bool OncillaHipSagittal::setJointTorque(JointTorquesPtr torque) {
+ throw std::runtime_error("Not yet implemented.");
+}
+
+bool OncillaHipSagittal::setJointImpedance(JointImpedancePtr imped) {
+ throw std::runtime_error("Not yet implemented.");
+}
+
+JointAnglesPtr OncillaHipSagittal::getLastPositionCommand() const {
+ // TODO: The second part f this condition shouldn`t be necessary
+ if (this->_lastCommandedPosition && this->_lastCommandedPosition.get()) {
+ //std::cout << this->_lastCommandedPosition->print();
+ return this->_lastCommandedPosition;
+ }
+ // No command set yet. Returning current joint values instead
+ return this->_latestJointPosition;
+}
+
+OncillaHipSagittal::~OncillaHipSagittal() {
+}
+
+void OncillaHipSagittal::onProcess() {
+ // std::cout << "[Node " << this->getName() << "] Processing ..." << std::endl;
+ if (!this->inputs[0]->empty() && this->inputs[0]->newItem()) {
+ // Cache new value
+ this->setJointPosition(
+ boost::static_pointer_cast(
+ this->inputs[0]->tryGet()));
+ }
+
+ // Publish value
+ if ((this->_latestJointPosition != NULL)
+ && (this->_latestJointPosition.get() != NULL)) {
+ Informer::DataPtr status(
+ new JointAngles(this->_latestJointPosition->asDouble(0)));
+ this->publish(0, status);
+ }
+}
+
+std::string OncillaHipSagittal::print() const {
+ ostringstream outstream(ostringstream::out);
+ outstream.precision(3); // Precision when printing double values
+ outstream << "" << endl;
+ return outstream.str();
+}
+
+CCANodePtr OncillaHipSagittal::create(string name) {
+ CCANodePtr hipnode(new OncillaHipSagittal(name));
+ return hipnode;
+}
+
+/** Oncilla Hip Transverse **/
+
+OncillaHipTransverse::OncillaHipTransverse(std::string name) :
+ ResourceNode(name), Controlled(), PositionControlled() {
+
+ this->addInputPort (); // PositionControlled
+}
+
+bool OncillaHipTransverse::isConverged() const {
+ return false;
+}
+
+bool OncillaHipTransverse::setJointPosition(JointAnglesPtr position) {
+ // Successfull
+ this->_lastCommandedPosition = position;
+ return true;
+}
+
+JointAnglesPtr OncillaHipTransverse::getLastPositionCommand() const {
+ // TODO: The second part f this condition shouldn`t be necessary
+ if (this->_lastCommandedPosition && this->_lastCommandedPosition.get()) {
+ //std::cout << this->_lastCommandedPosition->print();
+ return this->_lastCommandedPosition;
+ }
+}
+
+OncillaHipTransverse::~OncillaHipTransverse() {
+}
+
+void OncillaHipTransverse::onProcess() {
+ // std::cout << "[Node " << this->getName() << "] Processing ..." << std::endl;
+ if (!this->inputs[0]->empty() && this->inputs[0]->newItem()) {
+ // Cache new value
+ this->setJointPosition(
+ boost::static_pointer_cast(
+ this->inputs[0]->tryGet()));
+ }
+}
+
+std::string OncillaHipTransverse::print() const {
+ ostringstream outstream(ostringstream::out);
+ outstream.precision(3); // Precision when printing double values
+ outstream << "" << endl;
+ return outstream.str();
+}
+
+CCANodePtr OncillaHipTransverse::create(string name) {
+ CCANodePtr hipnode(new OncillaHipTransverse(name));
+ return hipnode;
+}
+
+}
+}
+}
diff --git a/src/OncillaHip.h b/src/OncillaHip.h
new file mode 100644
index 0000000..456b5cc
--- /dev/null
+++ b/src/OncillaHip.h
@@ -0,0 +1,174 @@
+#pragma once
+
+#include
+#include
+
+#include
+
+#include
+#include
+#include
+#include