diff --git a/Findquadarm_task_priority_ctrl.cmake b/Findquadarm_task_priority_ctrl.cmake
deleted file mode 100644
index f9ffe9091f1259fc5f2730678f577cf3ee9fb2b9..0000000000000000000000000000000000000000
--- a/Findquadarm_task_priority_ctrl.cmake
+++ /dev/null
@@ -1,21 +0,0 @@
-#edit the following line to add the librarie's header files
-FIND_PATH(quadarm_task_priority_ctrl_INCLUDE_DIR quadarm_task_priority_ctrl.h /usr/include/iridrivers /usr/local/include/iridrivers)
-
-FIND_LIBRARY(quadarm_task_priority_ctrl_LIBRARY
- NAMES quadarm_task_priority_ctrl
- PATHS /usr/lib /usr/lib/iridrivers /usr/local/lib /usr/local/lib/iridrivers)
-
-IF (quadarm_task_priority_ctrl_INCLUDE_DIR AND quadarm_task_priority_ctrl_LIBRARY)
- SET(quadarm_task_priority_ctrl_FOUND TRUE)
-ENDIF (quadarm_task_priority_ctrl_INCLUDE_DIR AND quadarm_task_priority_ctrl_LIBRARY)
-
-IF (quadarm_task_priority_ctrl_FOUND)
- IF (NOT quadarm_task_priority_ctrl_FIND_QUIETLY)
- MESSAGE(STATUS "Found quadarm_task_priority_ctrl: ${quadarm_task_priority_ctrl_LIBRARY}")
- ENDIF (NOT quadarm_task_priority_ctrl_FIND_QUIETLY)
-ELSE (quadarm_task_priority_ctrl_FOUND)
- IF (quadarm_task_priority_ctrl_FIND_REQUIRED)
- MESSAGE(FATAL_ERROR "Could not find quadarm_task_priority_ctrl")
- ENDIF (quadarm_task_priority_ctrl_FIND_REQUIRED)
-ENDIF (quadarm_task_priority_ctrl_FOUND)
-
diff --git a/Finduam_task_ctrl.cmake b/Finduam_task_ctrl.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..579bfd8bbb40c2d69fe1e81a4ee9d5af49b9802a
--- /dev/null
+++ b/Finduam_task_ctrl.cmake
@@ -0,0 +1,21 @@
+#edit the following line to add the librarie's header files
+FIND_PATH(uam_task_ctrl_INCLUDE_DIR uam_task_ctrl.h /usr/include/iridrivers /usr/local/include/iridrivers)
+
+FIND_LIBRARY(uam_task_ctrl_LIBRARY
+ NAMES uam_task_ctrl
+ PATHS /usr/lib /usr/lib/iridrivers /usr/local/lib /usr/local/lib/iridrivers)
+
+IF (uam_task_ctrl_INCLUDE_DIR AND uam_task_ctrl_LIBRARY)
+ SET(uam_task_ctrl_FOUND TRUE)
+ENDIF (uam_task_ctrl_INCLUDE_DIR AND uam_task_ctrl_LIBRARY)
+
+IF (uam_task_ctrl_FOUND)
+ IF (NOT uam_task_ctrl_FIND_QUIETLY)
+ MESSAGE(STATUS "Found uam_task_ctrl: ${uam_task_ctrl_LIBRARY}")
+ ENDIF (NOT uam_task_ctrl_FIND_QUIETLY)
+ELSE (uam_task_ctrl_FOUND)
+ IF (uam_task_ctrl_FIND_REQUIRED)
+ MESSAGE(FATAL_ERROR "Could not find uam_task_ctrl")
+ ENDIF (uam_task_ctrl_FIND_REQUIRED)
+ENDIF (uam_task_ctrl_FOUND)
+
diff --git a/ReadMe.txt b/ReadMe.txt
index 992576f1e65087659faf1265948302c6c322e72e..d09c42f55d3d35cb9b4f72ecebe41778eb4099ca 100644
--- a/ReadMe.txt
+++ b/ReadMe.txt
@@ -2,8 +2,8 @@ Copyright (C)
Author asantamaria (asantamaria@iri.upc.edu)
All rights reserved.
-This file is part of quadarm_task_priority_ctrl library
-quadarm_task_priority_ctrl library is free software: you can redistribute it and/or modify
+This file is part of uam_task_ctrl library
+uam_task_ctrl library is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
at your option) any later version.
diff --git a/doc/doxygen_project_name.conf b/doc/doxygen_project_name.conf
index 941d791ab1199b066e9b5aa670df114de6989ec5..19348b7ee89b59cce8d2887ba8f11f16362cb534 100644
--- a/doc/doxygen_project_name.conf
+++ b/doc/doxygen_project_name.conf
@@ -1 +1 @@
-PROJECT_NAME = "quadarm_task_priority_ctrl"
+PROJECT_NAME = "uam_task_ctrl"
diff --git a/doc/main.dox b/doc/main.dox
index e3bfbc9eba01f7c8b3b766b2e1dae088785f9ae6..4c3f206176c2b042f482d9bd859ed24800fc5b1c 100644
--- a/doc/main.dox
+++ b/doc/main.dox
@@ -1,4 +1,4 @@
-/*! \mainpage quadarm_task_priority_ctrl
+/*! \mainpage uam_task_ctrl
\section Introduction
@@ -84,16 +84,16 @@
To build a new application using these library, first it is necessary to locate if the library
has been installed or not using the following command
- - FIND_PACKAGE(quadarm_task_priority_ctrl REQUIRED)
+ - FIND_PACKAGE(uam_task_ctrl REQUIRED)
In the case that the package is present, it is necessary to add the header files directory to
the include directory path by using
- - INCLUDE_DIRECTORIES(${quadarm_task_priority_ctrl_INCLUDE_DIR})
+ - INCLUDE_DIRECTORIES(${uam_task_ctrl_INCLUDE_DIR})
Finally, it is also nevessary to link with the desired libraries by using the following command
- - TARGET_LINK_LIBRARIES(<executable name> ${quadarm_task_priority_ctrl_LIBRARY})
+ - TARGET_LINK_LIBRARIES(<executable name> ${uam_task_ctrl_LIBRARY})
.
\section License
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 6802e02ca4537851a3e4904f4ed99d615c046be3..8a6280a80b3245ccb1708ec70ebc7c91bbfbeeee 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,8 +1,8 @@
# driver source files
-SET(sources quadarm_task_priority_ctrl.cpp)
+SET(sources uam_task_ctrl.cpp)
# application header files
-SET(headers quadarm_task_priority_ctrl.h)
+SET(headers uam_task_ctrl.h)
# locate the necessary dependencies
@@ -28,20 +28,20 @@ SET(CMAKE_BUILD_TYPE release)
INCLUDE_DIRECTORIES(. ${EIGEN3_INCLUDE_DIR} ${Boost_INCLUDE_DIRS})
# create the shared library
-ADD_LIBRARY(quadarm_task_priority_ctrl SHARED ${sources})
+ADD_LIBRARY(uam_task_ctrl SHARED ${sources})
-#TARGET_LINK_LIBRARIES(quadarm_task_priority_ctrl ${EIGEN_LIBRARY} ${Boost_LIBRARIES} orocos-kdl)
-TARGET_LINK_LIBRARIES(quadarm_task_priority_ctrl ${EIGEN3_LIBRARY} ${Boost_LIBRARIES})
+#TARGET_LINK_LIBRARIES(uam_task_ctrl ${EIGEN_LIBRARY} ${Boost_LIBRARIES} orocos-kdl)
+TARGET_LINK_LIBRARIES(uam_task_ctrl ${EIGEN3_LIBRARY} ${Boost_LIBRARIES})
# link necessary libraries
-INSTALL(TARGETS quadarm_task_priority_ctrl
+INSTALL(TARGETS uam_task_ctrl
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib/iridrivers
ARCHIVE DESTINATION lib/iridrivers)
INSTALL(FILES ${headers} DESTINATION include/iridrivers)
-INSTALL(FILES ../Findquadarm_task_priority_ctrl.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
+INSTALL(FILES ../Finduam_task_ctrl.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
#ADD_SUBDIRECTORY(examples)
diff --git a/src/quadarm_task_priority_ctrl.cpp b/src/uam_task_ctrl.cpp
similarity index 99%
rename from src/quadarm_task_priority_ctrl.cpp
rename to src/uam_task_ctrl.cpp
index d442bab4d7e7d0747ac3dd0b0b545b1c169af578..9c4ba2f54846804a3f0c3ef6fe725d3fad03dc55 100644
--- a/src/quadarm_task_priority_ctrl.cpp
+++ b/src/uam_task_ctrl.cpp
@@ -1,4 +1,4 @@
-#include "quadarm_task_priority_ctrl.h"
+#include "uam_task_ctrl.h"
#include<Eigen/StdVector>
diff --git a/src/quadarm_task_priority_ctrl.h b/src/uam_task_ctrl.h
similarity index 99%
rename from src/quadarm_task_priority_ctrl.h
rename to src/uam_task_ctrl.h
index f52dae868ff808a6a2e3d8721688a5351537f5f1..f993d4f9c81fefd1de9f801649486aaa2a08ca27 100644
--- a/src/quadarm_task_priority_ctrl.h
+++ b/src/uam_task_ctrl.h
@@ -1,5 +1,5 @@
-#ifndef _QUADARM_TASK_PRIORITY_CTRL_H
-#define _QUADARM_TASK_PRIORITY_CTRL_H
+#ifndef _UAM_TASK_CTRL_H
+#define _UAM_TASK_CTRL_H
#include <stdio.h>
#include <iostream>