ChangeLog

CHANGELOG
----------------------


[v2.9.0]
 * Correct the exception catching
 * Fixes issue #19 : Remove wrong commands of python metatask FeaturePosition
 * Remove useless header.
 * Added type and dimension case for reference vector
 * Added possible posture ranges
 * Merge pull request #20 from francesco-morsillo/master
 * Correct documentation generation by adding sphinx.
 * Correct LD_LIBRARY_PATH for test and remove hard-coded 'plugin'
 * Synchronize.
 * Correct doxygen installation.
 * Correct sphinx documentation.
 * Add trajectory.hh in the installation scheme.
 * Add trajectory data structure.
 * First workable version of trajectories.
 * [cmake] Synchronize
 * Taking into account Thomas comments
 * Improved coding style.
 * Merge pull request #21 from olivier-stasse/master
 * Replace signals in/out by sin/sout to avoid python error.
 * Correct documentation.
 * [trajectory] Add waist signal + squash several commits.
 * Fix bug in reading initial trajectory from command line + minor fixes.
 * [tools] Add queue of trajectories in joint-trajectory-entity.
 * [cmake] Remove debug message in src/CMakeLists.txt

[v2.8.0]
 * Update CMakeLists.txt
 * Synchronize
 * Update lib installation path (multiarch portability).
 * Fix exportation of graph in a file
 * Fix a bug in FeaturePoint6dRelative
 * Add a command to clear features in Task class.
 * Merge pull request #12 from francesco-morsillo/master
 * Remove blank line at beggining of comment in command.
 * class MetaTaskRelative added to library with goto functions redefinition
 * Added tuple-matrix to generic6dReference conversion
 * Fixed bug in last commit
 * Added tuple-matrix to generic6dReference conversion
 * Merge branch 'master' of github.com:francesco-morsillo/sot-core
 * second order integration added in device
 * Working second order integration on device.cpp
 * Control in acceleration mode added in Device
 * Merge branch 'master' of git://github.com/jrl-umi3218/sot-core
 * Indentation adjustments
 * dummy commit
 * Changed command name from setNbDofs to setSize in sot.cpp
 * Working control on robot but dirty
 * Working 2nd_ord integration with command to set of velocity size
 * Deleted command to set velocity size (automatically set by setState)
 * Corrected commentary in thread_interruptible_loop.py
 * Added explicit set of velocity in device.cpp
 * [travis] Add Travis and coveralls.io support
 * [travis] Fix push URL
 * Update README.md
 * Remove unwanted files.
 * [travis] Add push token
 * Synchronize
 * Rename test traces into test_traces.
 * Fix test_traces dependencies
 * Merge pull request #11 from pal-robotics/master
 * Synchronize
 * Remove useless code (copy-pasted and unreachable).
 * Update Reader: add the python interface, remove the old one.
 * Update GripperControl: add the python interface, remove the old one.
 * Reintroduce WeightAdder.
 * Correct the path to the plugin directory of dynamic-graph.
 * Synchronize

[v2.7.0]
 * Do not import SE3, SO3 and R3 anymore
 * Move se3.py to sot-tools.
 * Add left multiplication by a float
 * Modify posture feature
 * Synchronize.
 * New python scripts.
 * Added the point 2d projecter in the python init list.
 * Minor modif of Meta task.
 * Added the oppoint modifier in the metatask 6d.
 * Added the quaternion among the python operator.
 * IVIGIT: added visual point projecter entity.
 * Fix bug in computation of error derivative when flags are not all set to 1.
 * Synchronize.
 * Add computation of error time derivative wrt to reference velocity
 * Fix sign of feedforward term in Task::computeTaskExponentialDecrease.
 * Import entity Add_of_vector.
 * Fix some assertion in operator.cpp
 * Initialize state estimation signal with initial state provided by command
 * Refactor Kalman filter
 * Add signal cast registerer for types VectorUTheta and VectorRollPitchYaw.
 * Rename FIRFilter signals to fix syntax error in python
 * Refactor FIRFilter template class
 * Fix Ubuntu 12.04 (64 bits) portability issues.
 * Enhance Adder operator
 * Fix documentation of Component_of_vector.
 * Add documentation in the operators.
 * Add a unary operator to select a component of vector as output of type double.
 * Do not create entities at module importation.
 * Optimize code to avoid dynamic allocation in control loop.
 * Fix force signal update.
 * Move signals errordotSIN and errordotSOUT up to class FeatureAbstract.
 * Add documentation for Task and Features.
 * Synchronize cmake submodule.
 * ivigit.
 * Enhance exception reporting in device.
 * Synchronize.
 * Correct the link with boost on Ubuntu 11.04.
 * Remouve output to standard output.
 * Fix gripper control
 * Add a wrapper around FeaturePoint6dRelative
 * Catch exceptions thrown by periodic calls.
 * Add selectDof method to FeaturePosture, install header.
 * Use DYNAMIC_GRAPH_ENTITY_DECL() when needed.
 * Synchronize python submodule.
 * Do not create entities at module importation.
 * Remove patch aimed at ensuring backward compatibility in sot/core/__init__.py.
 * Synchronize.
 * Completion of commit 2719691b816cc87.
 * GripperControl is not an entity.
 * Add copy constructor and make the destructor virtual for matrices/vectors.
 * Remove extra semi-colon
 * Remove warning
 * Correct a typo
 * Create a library for the integrators
 * Win32: force the creation of a library for the class fir-filter.
 * Win32: force the creation of a library for the class derivator
 * Correct solver-h-in for win32: correct header name and remove warnings
 * Correct sotMailBox for win32
 * Win32 comp: Correct the API of feature-posture.h
 * Correct the handling of python modules
 * Correct dependency of the unittests
 * Correct the link with boost
 * Some plugins can not be compiled with win32 for now...
 * Add missing symbol exportation
 * Correct the link with boost for Mac systems
 * Correct the suffix of the dynamic lib loaded according to the OS
 * For MacOsX and win32, use the definition of isnan provided by boost
 * Correct the link flags for mac OS X
 * Correct the Python_module handling
 * Clean cmake files by using the routines in cmake/python.cmake
 * Win32: Add missing header inclusion
 * Add missing using namespace
 * Win32: add the missing symbol import/export for some plugins
 * Do not cast signal into value, use accessCopy ().
 * Add boost-options to specify robot-controller library for testing purposes.
 * Test the intialization of a loadable library.

[v2.6.0]
 * Update FeaturePosition to recent changes in Entity class.
 * Do not generate files in the source directory.
 * Fix dummy test.
 * Update NEWS.
 * Explicit increment of the state signal to keep a safe behavior in problematic situation.  #Please enter the commit message for your changes. Lines starting
 * Minor correction on the graph dependency for error dot computation.
 * Added a patch to keep the previous behavior of the sdes signal.
 * Added a derivative term into the classical P.
 * Applied the withErrorDot pattern to the error generic.
 * Add the abstraction to get the errordotin from a heritance.
 * Added the WITH_ERRORDOT syntaxt for the generic features.
 * Account for the modif in feature.sdes.
 * Propagate the modif in the tasks and the solver.
 * Account for the modif in the feature.
 * Account for the modifs in the feature.
 * Modify the task and solver to account for the new policy of the feature.
 * Modify the policy to handle reference feature.
 * Rebase conflicts.
 * Synchronize cmake submodule.
 * Do not link to gfortran.
 * Do not define PYTHON_SITELIB.
 * Fix compilation issues on x86_64 architectures.
 * Install headers in include/sot/core.
 * Change vector to map, and make more general the control part.
 * Add abstract SoT external interface for robot/simulator specific implementation.
 * Remove PYTHON-SITE computation (now in cmake/python.cmake)
 * Synchronize
 * Remove feature-posture from the inclusion with python.
 * Revert "The suffix for dynamic libraries for mac is .dylib"
 * Revert "Correct the link flags for mac OS X"
 * Revert "std::min(unsigned, size_t) is not standard: forcing the cast in std:min(unsigned, unsigned)"
 * Revert "isnan is not defined for mac, defining one"
 * Revert "Temporary patch: deactivate some tests for mac for link reasons"
 * Revert "Correct the link with Boost for Apple"
 * Revert "Correct the definition of isnan for not unix systems: use Boost's one"
 * Revert "Mac: Reintroduce the two deactivated unit tests"
 * ivigit.
 * Fix temporary the tools/smooth-reach issue.
 * Mac: Reintroduce the two deactivated unit tests
 * Correct the definition of isnan for not unix systems: use Boost's one
 * Correct the link with Boost for Apple
 * Temporary patch: deactivate some tests for mac for link reasons
 * isnan is not defined for mac, defining one
 * std::min(unsigned, size_t) is not standard: forcing the cast in std:min(unsigned, unsigned)
 * Correct the link flags for mac OS X
 * The suffix for dynamic libraries for mac is .dylib
 * [debian] Correct the librarie name for installing.
 * [debian] Change version number needed for libsotcore
 * [debian] Fix pb of dependencies version.
 * [debian] Update de shlibs.
 * Modify changelog.
 * Update rules for debian binaries.
 * [debian] Fix shlibs, rules, install directives and version for package generation.
 * Uses DYNAMIC_GRAPH_ENTITY_DECL() when needed.
 * Add selectDof method to FeaturePosture, install header.
 * Changes feature-posture.h to feature-posture.hh
 * Synchronize from the state time rather than the control time.
 * Added a getter for reading the frame type.
 * Corrected the call to the former syntax of the pool.
 * Added smooth reach.
 * ivigit.
 * Synchronize submodule.

[v2.5]
 * Removing trailing ws.
 * Account for the Entity::getClassName becoming pure virtual.
 * dynamicgraph::sot is now a singleton
 * Merge unary-op and binary op in the same plug-in
 * Fix inclusion guards.
 * Do not import unary-op and binary-op at python module initialization
 * PoolStorage and FactoryStorage are now singletons.
 * Make valgrind happier
 * Pass tests with success
 * Specialize MatrixHomogeneous::inverse and add test.
 * Overload MatrixHomogeneous::operator*.
 * Fix test matrix-twist.
 * Outline constructor of MatrixHomogeneous.
 * Add FeaturePosture to control robot posture.
 * Fix computation of joint limitator
 * Port joint-limitator to Python.
 * Add clear command to sot.
 * Add display command
 * IVIGIT.
 * Passed tsak-pd to sot-py.
 * Added new-style commands.
 * Corrected small-math entities after previous modifs.
 * Correction of capital letter in matrixHomo name.
 * Corrected indentation.
 * Removed trailing white spaces.
 * Minor rewriting.
 * Reforge for new-style command.
 * Add commands "remove", "up" and "down" in SOT entity.
 * Added some doc.
 * Corrected a big bug for multiple-feature task.
 * Op-point modifior for world-ref jacobian modif(oJA, aMb) = oJb.
 * Temptative with world-ref jacobian as input.
 * Corrected the world-ref jacobian modification.
 * Added a modifior for world-ref jacobian.
 * Added a tracer for matrix homo.
 * Added an initializer from passing point.
 * Refactoring of the unitary ops.
 * Passed 'integration' as virtual.
 * Added construction from matrix (conversion).
 * Correct typo: select -> selec.
 * Add cross product for R3.
 * Add a member to store the free flyer pose in Device.
 * Add method to output vector and matrices as tuples.
 * Replace . by _ in signal and entity names.
 * Add periodic calls in Device.
 * Add debug output.
 * Fix namespace issue: sot:: -> dynamicgraph::sot::.
 * Add missing dynamicgraph:: in debug.hh.
 * Add support for debug output (sotDEBUG).
 * Fix Entity.__setattr___ and feature_position crash.
 * Fix OpPointModifier and add test cases.
 * Passed the periodic call class to python new-style command.
 * Use namespace dynamicgraph::sot where required.
 * Upgrade to previous changes.
 * Include new headers.
 * Insert new classes in dynamicgraph::sot.
 * Add test cases for MatrixTwist.
 * Fix MatrixTwist inversion implementation.
 * sot-core/periodic-call[-entity].h -> sot/core/periodic-call[-entity].hh
 * Remove remaining >>>>> in include/CMakeLists.
 * Move headers in new directories.
 * Device::state -> Device.state_.
 * Move headers in include/sot/core and rename .h into .hh.
 * Reintroduce robot-simu.cpp.
 * Reintroduce robotSimu.
 * Make Device destructor virual.
 * Use api.hh.
 * Insert classes into dynamicgraph::sot namespace
 * Rename class RobotSimu into Device.
 * Add tests for MatrixTwist.
 * Link against Boost unit test framework.
 * Export FeatureVisualPoint entity in Python.
 * Specify full namespace ::sot::sotDEBUGFLOW for compatibility with dg::sot.
 * Put back the dirty removal of periodic call, that is usefull indeed.
 * Removed signal-cast.h from the cmakelist.
 * Removed noew unecessary header.
 * Added ignore on matlab bak files.
 * Reforge the implementation of the standards sot-core cast.
 * Solve a #include problem with new-style command.
 * Removed unnecessary header.
 * Correct "caps" error.
 * Modify the indentation.
 * Modify the writting of new-style commands.
 * Revert "Set version number as 1.99."
 * Added all small entities to python initial loading.
 * remove "<>" style of entities name.
 * Remove warning "empty macro args."
 * Rename the signals for all small math entities: in/out -> sin/sout.
 * Removed trailing white space.
 * Changed the name of the small math entity "derivator": in/out -> sin/sout.
 * Modified the initialiazor of python, to add various small math entities such as Derivator_matrix.
 * IVIGIT.
 * Simplify the command.
 * Set version number as 1.99.
 * Remove tools/periodic-call from src/CMakeLists.txt
 * Remove periodic call related files.
 * Corrected op-point-modifier to fit the new command rules.
 * Put back periodic call inside the lib, to avoid undefined symbols.
 * Update with recent changes in dynamic-graph
 * Removed trailing white spaces.
 * Removed trailing white spaces.
 * Added the OpPointModifier in the python initialisation.
 * Changed the name of the factory constructor, to comply with the name of the c++ objects and files.
 * Added the servoCurrentPosition method, and the associated command.
 * Added an accessor on the feature list.
 * Make FeaturePosition derive from Entity.
 * Fix error in OpPointModifier constructor.
 * Upgrade FeaturePosition
 * Synchronize cmake submodule.
 * By default all DOFs are on in feature_position.py.
 * Add feature_position.py.
 * Synchronize.
 * Add BOOST_ROOT/lib to the CTest LD_LIBRARY_PATH environment variable.
 * When solver has no contraint, control vector and state vector have same size.
 * Cosmetic changes: add comments here and there.
 * If constructor of SO3 is empty, return identity matrix.
 * Document and install se3.py file
 * Import MatrixHomoToPoseRollPitchYaw entity class at initialization.
 * Implement homogeneous matrix in python.
 * Add signal cast registration for matrix rotation.
 * Cosmetic change.
 * Replace const FeatureAbstract*& by FeatureAbstract*
 * Do not register function setflag anymore.
 * Expand some macros for better readablility.
 * Comment some more python bindings.
 * Add documentation for python bindings.
 * Add and bind commands addConstraint, setNumberDofs and push to Sot Entity class.
 * Add and bind command addJacobian to Constraint entity class.
 * Add and bind command actuate to FeatureJointLimits.
 * Add and bind command frame to FeaturePoint6d.
 * Add commands SetConstant and Set to GainAdaptive
 * Add command AddFeature in sot::Task
 * Declare MatrixHomogeneous as signal compatible type
 * Remove declaration of maal matrix and vector types -> moved into dynamic-graph.
 * Remove AdditionalFunctions::cmdMatrixDisplay.
 * Replace SOT_FACTORY_TASK_PLUGIN by DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN.
 * Merge feature and task factory with entity factory.
 * Rename entity classes that have bracket in the name.
 * Add a namespace in front of command class name.
 * Bind class MatrixConstant
 * Synchronize cmake submodule.
 * Build python modules in the same directory hierarchy as when installed
 * Add a command to set the value of a constant vector signal
 * Bind tools/robot-simu.
 * Bind matrix/vector-constant
 * Synchronize
 * Install one python module for sot-core and one submodule per plugin
 * Remove trailing whitespaces.
 * Add namespace command before class Increment.
 * Bind RobotSimu in python
 * Synchronize

[v1.1.1]
 * Add BOOST_ROOT/lib to the CTest LD_LIBRARY_PATH environment variable.
 * Synchronize.
 * Replace #ifdef DEBUG by #ifndef NDEBUG
 * Fix cmake url.
 * Change cmake url.
 * Synchronize
 * Synchronize
 * Synchronize
 * Synchronize
 * Synchronize
 * Add index switching for proper interaction matrix initialization.
 * Correct wrong initialization of the 6D interaction matrix.
 * Set LD_LIBRARY_PATH when being in cmake mode.
 * Changed plugin paths.
 * Add missing SETUP_PROJECT_CPACK()
 * Corrected search for boost.
 * Synchronize.
 * Remove unnecessary folder
 * Correct the suffix for the link with an external library
 * Start cleaning the submodules
 * Fix unused parameters warnings
 * Fix unwanted race condition in test_mailbox
 * Fix warnings
 * Remove HAVE_LIBBOOST_THREAD
 * Remove useless ;
 * Remove the macro HAVE_LIBBOOST_THREAD
 * Add cmake submodule.
 * Remove cmake directory.
 * Remove useless ;
 * Synchronize
 * Corrected wrong library suffix for plugins (by definition, always *shared* libraries)
 * Fix warnings.
 * Correct the links for the tests
 * Synchronize.
 * Fix header path.
 * Set PROJECT_URL in CMakeListst.txt.
 * Fix TAGFILES in Doxyfile.extra.in.
 * Fix pkg-config file: add -lsot-core to libs.
 * Updated documentation; corrected the output location of package.dox
 * Updated documentation.
 * Synchronize.
 * Fix plug-in dependencies.
 * Rename MatrixAbstractLayer to jrl-mal, enhance documentation.
 * Synchronize.
 * Synchronize.
 * Switch to submodule.
 * Updated documentation.
 * Reintroduction of the patch for fortran/win32/cmake
 * Added default option for documentation generation (temporary, will disappear with the standardized cmake submodule)
 * Added documentation (ha ha).
 * Correct the generation of the documentation
 * Added missing link library.
 * Revert "Fix linking and compilation to fix undefined symbols problems." - the undefined symbols problems warrant further investigation.
 * Fix linking and compilation to fix undefined symbols problems.
 * Removed import commands from sot-core.
 * Add missing dependencies.
 * Update build number of the debian package.

[v1.1.0]
 * Release 1.1
 * Add missing build dependencies.
 * Extend description of Debian package.
 * Packages libraries in Debian package.
 * Fix debian package.
 * Fix debian rules file.
 * Fix documentation generation.
 * Disable test and enable doc while building debian package.
 * Fix dependency version number in Debian package.
 * Update version number to 1.0.0.99.
 * Clean documentation CMakeLists.txt
 * Debianize package.
 * Add license header.
 * Add mailmap file.
 * Add license file.
 * Enhance README using Markdown syntax.
 * Uniformize NEWS file.
 * Rewrite AUTHORS file.
 * Remove obsolete autogen.sh file.

[v1.1]

[release-1-1]
 * Made exceptions derive from std::exception
 * Win32: LoadLibrary loads *dynamic* libraries.
 * Removed all references to new entities.
 * Re-added accidentally deleted entity.
 * Re-added deleted overload of Matrixhomo::extract
 * - Added new test test_ptrcast to try (and fail) to reproduce signal casting issue in simulation - Added 2 new entities, HomoToRotation/Twist2 whose output is a ('standard') ml::Matrix
 * Added helper entity "MatrixRotToMatrix" to convert types where the dynamic type verification system fails.
 * Removed debug trace initiator which caused a segfault.
 * Changed MatrixRotation in signal cast.
 * Namespace missing.
 * Namespace missing.
 * Corrected opening of trace files.
 * Removed VP_DEBUG references.
 * Added doxytag reference to dynamic-graph.
 * Added documentation to sot-core
 * - Removed last occurences of CMAKE_INSTALL_PREFIX - Updated documentation pictures
 * Removed CMAKE_INSTALL_PREFIX in INSTALL directive.
 * Added gfortran CMake linking.
 * Added gfortran as a link library.
 * Changed import-default-paths configuration to generate the file in source include directory *then* install.
 * sotFeatureTask depends on sotTask, not sotAbstractTask
 * Revert "Ported commit 53ef45d27b77 from StackOfTasks."
 * Ported commit 53ef45d27b77 from StackOfTasks.
 * Renamed sotVectorRotation
 * Removed distant shell (now in dg-middleware)
 * Fix Mailbox once and for all
 * Clean the code
 * There is no reason to define mailvect in the template file
 * Settled down the case of mailbox.
 * Add missing CXX flags for the unit tests.
 * More tests for test_mailbox
 * Split the declaration and the imnplementation in mailbox
 * Still fighting with mailbox
 * Correct macro name
 * Settle the case of Mailbox
 * Win32: the command link_directories has a wrong behaviour
 * Removed redundant definition -pthread
 * Added pthread definition on UNIX.
 * Added pthread *compilation* flag; for UNIX.
 * Modified pthread linking following compilation error with boost::thread.
 * Made sure pthreads were included. Simplified the unit test test_mailbox that previously *required user input*.
 * Added boost thread library. Added pthread library and compilation & link flags. Corrected multiple small bugs. Added CMakeModules for pthread and boost numeric bindings. Corrected some tests.
 * Clean the unitTesting/CMakeLists
 * Correct inclusions for win32
 * Correct the inclusion of utils-windows.h
 * Correct the inclusion of utils-windows.h
 * Correct the declaration of operator <<
 * Added control entities to sot-core.
 * Made boost_thread inclusion optional and dependent on HAVE_LIBBOOST_THREAD
 * Removed wrong include in CMakeLists.
 * Added three tests for tools and renamed one.
 * Remove warnings (during conversion unsigned -> bool)
 * Remove warning (fabsf -> fabs)
 * Revert "kalman must use the API of sot-core"
 * Revert "joint-limitator must use the API of sot-core"
 * Revert "Gripper-control must use the API of sot-core"
 * Revert "Distant-shell must use the API of sot-core"
 * Revert "com-freezer must use the API of sot-core"
 * Revert "clamp must use the API of sot-core"
 * Added some necessary comments in Cmakelists
 * Got some tools out of the main library and into plugins, as they should have been.
 * kalman must use the API of sot-core
 * joint-limitator must use the API of sot-core
 * Gripper-control must use the API of sot-core
 * Distant-shell must use the API of sot-core
 * com-freezer must use the API of sot-core
 * clamp must use the API of sot-core
 * Add a gitignore file.
 * The dependency in tracer is OS specific
 * These commands are unix specific
 * Win32: Correct link flags for unittesting
 * Win32: correct the linkage
 * Added forgotten file.
 * Inter-plugins dependency: set the compilation order
 * Added plugins and exceptions.
 * Add dependencies between plugins
 * In this specific case, link_directories is only for UNIX
 * The boost library 'system' is also required
 * Win32: add definitions that disable verbose warnings
 * Remove a header generated by cmake from git repository
 * Correct the inclusion and use of utils-windows.h
 * Correct typo in macro name
 * SHI must use the API of sot-core
 * Correct typo in macro name
 * Rotation-simple must use the API of sot-core
 * Correct typo in macro name
 * Correct typo in macro name
 * Memory-task must use the API of sot-API
 * Contiifstream must use the API of sot-API
 * Added MotionPeriod, NeckLimitation and PeriodicCallEntity plugins.
 * Added three tools.
 * Added uninstall.
 * Added 3 tools. Some minor corrections (such as correctly exporting classes in plugins)
 * Modified CMakeLists.txt to remove multiple definitions and include dirs.
 * Task-related unit tests and corrections.
 * Corrected a bug that stemmed from the renaming of GainAdaptive (thanks unit testing!) Added unit tests for filesystem and tracing.
 * Added plugin "Reader" to read files generated by "Tracer".
 * Fix dependancy to dependency
 * Corrected typo in gain-adaptative and related names.
 * Corrected typo in op-point-modifier.
 * Changed all instances of 'dependancy' to 'dependency'
 * Corrected an error in test_factory
 * Added new test test_factory
 * Added two unit tests, removed a tool
 * Removed "using dynamicgraph" directives in headers, implemented resulting changes.
 * Added forgotten test file test_ptr.cpp
 * Added forgotten test file test_depend.cpp
 * Added forgotten test file test_dep.cpp
 * Added tools in sot-core
 * Added tools/ directory for... tools. Some corrections in the unit testing facility.
 * Corrected installation path and name of plugins. Some minor bugfixes.
 * Added plugins compilation and installation to CMakeFiles. Started separating plugins from sot-core.
 * Added LAPACK library dependencies in FORTRAN. Adjusted for a change in singletons names from dynamicgraph.
 * More refactoring. Removed undertermination between sot::Pool and dynamicgraph::Pool in pool.cpp. Added cmake configure for import-default-paths.
 * Finished renaming of SOT objects.
 * Removed test test_shell which was already included in dynamic graph.
 * Only generate documentation if GENERATE_DOC is ON.
 * Added forgotten file test_signal.cpp
 * Added forgotten cpp files.
 * Changed order of compilation of some .cpp files to prevent mysterious Segmentation Fault(s) from appearing.
 * Some bug fixes.
 * Put everything in namespace sot (global objects included). Corrected some resulting bugs.
 * Begin renamind classes and putting them into namespace sot.
 * Renaming of sot and tasks (renaming complete).
 * Renamed math and matrix files. Added files forgotten in last commit.
 * Renamed factory files
 * Renamed exceptions, signals and debug to conform to new naming convention.
 * Added source files for library sot-core taken from sot.
 * Created package sot-core.