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CMakeLists.txt

+# Pre-requisites about cmake itself
+CMAKE_MINIMUM_REQUIRED(VERSION 2.4)
+
+if(COMMAND cmake_policy)
+  cmake_policy(SET CMP0005 NEW) 
+  cmake_policy(SET CMP0003 NEW)
+   
+endif(COMMAND cmake_policy)
+
+# The project name and the type of project
+PROJECT(dynamixel-pan-tilt)
+
+SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/bin)
+SET(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib)
+SET(CMAKE_INSTALL_PREFIX /usr/local)
+
+IF (NOT CMAKE_BUILD_TYPE)
+ SET(CMAKE_BUILD_TYPE "DEBUG") 
+ENDIF (NOT CMAKE_BUILD_TYPE)
+
+SET(CMAKE_CXX_FLAGS_DEBUG "-g -Wall -D_REENTRANT")
+SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -D_REENTRANT")
+
+ADD_SUBDIRECTORY(src)
+
+FIND_PACKAGE(Doxygen)
+
+FIND_PATH(IRI_DOC_DIR doxygen.conf ${CMAKE_SOURCE_DIR}/doc/iri_doc/)
+IF (IRI_DOC_DIR)
+  ADD_CUSTOM_TARGET (doc ${DOXYGEN_EXECUTABLE} ${CMAKE_SOURCE_DIR}/doc/iri_doc/doxygen.conf)
+ELSE (IRI_DOC_DIR)
+  ADD_CUSTOM_TARGET (doc ${DOXYGEN_EXECUTABLE} ${CMAKE_SOURCE_DIR}/doc/doxygen.conf)
+ENDIF (IRI_DOC_DIR)
+
+ADD_CUSTOM_TARGET (distclean @echo cleaning cmake files)
+
+IF (UNIX)
+  ADD_CUSTOM_COMMAND(
+    COMMENT "distribution clean"
+    COMMAND make ARGS clean
+    COMMAND rm ARGS -rf ${CMAKE_SOURCE_DIR}/build/*
+
+    TARGET  distclean
+  )
+ELSE(UNIX)
+  ADD_CUSTOM_COMMAND(
+    COMMENT "distclean only implemented in unix"
+    TARGET  distclean
+  )
+ENDIF(UNIX)
+
+ADD_CUSTOM_TARGET (uninstall @echo uninstall package)
+
+IF (UNIX)
+  ADD_CUSTOM_COMMAND(
+    COMMENT "uninstall package"
+    COMMAND xargs ARGS rm < install_manifest.txt
+
+    TARGET  uninstall
+  )
+ELSE(UNIX)
+  ADD_CUSTOM_COMMAND(
+    COMMENT "uninstall only implemented in unix"
+    TARGET  uninstall
+  )
+ENDIF(UNIX)
+
+

Finddynamixel_pan_tilt.cmake

+#edit the following line to add the librarie's header files
+FIND_PATH(dynamixel_pan_tilt_INCLUDE_DIR dynamixel_pan_tilt.h /usr/include/iridrivers /usr/local/include/iridrivers)
+
+FIND_LIBRARY(dynamixel_pan_tilt_LIBRARY
+    NAMES dynamixel_pan_tilt
+    PATHS /usr/lib /usr/local/lib /usr/local/lib/iridrivers) 
+
+IF (dynamixel_pan_tilt_INCLUDE_DIR AND dynamixel_pan_tilt_LIBRARY)
+   SET(dynamixel_pan_tilt_FOUND TRUE)
+ENDIF (dynamixel_pan_tilt_INCLUDE_DIR AND dynamixel_pan_tilt_LIBRARY)
+
+IF (dynamixel_pan_tilt_FOUND)
+   IF (NOT dynamixel_pan_tilt_FIND_QUIETLY)
+      MESSAGE(STATUS "Found dynamixel_pan_tilt: ${dynamixel_pan_tilt_LIBRARY}")
+   ENDIF (NOT dynamixel_pan_tilt_FIND_QUIETLY)
+ELSE (dynamixel_pan_tilt_FOUND)
+   IF (dynamixel_pan_tilt_FIND_REQUIRED)
+      MESSAGE(FATAL_ERROR "Could not find dynamixel_pan_tilt")
+   ENDIF (dynamixel_pan_tilt_FIND_REQUIRED)
+ENDIF (dynamixel_pan_tilt_FOUND)
+

ReadMe.txt

+Copyright (C) 2009-2010 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+Author alopez (alopez@iri.upc.edu)
+All rights reserved.
+
+This file is part of It's the driver for a panproject_nametilt plataform made with dynamixel servos library
+It's the driver for a panproject_nametilt plataform made with dynamixel servos 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.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>
+
+

doc/doxygen.conf

+# Doxyfile 1.5.5
+
+@INCLUDE_PATH = ../doc/
+@INCLUDE = doxygen_project_name.conf
+
+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+DOXYFILE_ENCODING      = UTF-8
+PROJECT_NUMBER         = 
+OUTPUT_DIRECTORY       = ../doc
+CREATE_SUBDIRS         = NO
+OUTPUT_LANGUAGE        = English
+BRIEF_MEMBER_DESC      = YES
+REPEAT_BRIEF           = NO
+ABBREVIATE_BRIEF       = 
+ALWAYS_DETAILED_SEC    = NO
+INLINE_INHERITED_MEMB  = NO
+FULL_PATH_NAMES        = YES
+STRIP_FROM_PATH        = 
+STRIP_FROM_INC_PATH    = 
+SHORT_NAMES            = NO
+JAVADOC_AUTOBRIEF      = NO
+QT_AUTOBRIEF           = NO
+MULTILINE_CPP_IS_BRIEF = NO
+DETAILS_AT_TOP         = NO
+INHERIT_DOCS           = YES
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+TAB_SIZE               = 8
+ALIASES                = 
+OPTIMIZE_OUTPUT_FOR_C  = YES
+OPTIMIZE_OUTPUT_JAVA   = NO
+OPTIMIZE_FOR_FORTRAN   = NO
+OPTIMIZE_OUTPUT_VHDL   = NO
+BUILTIN_STL_SUPPORT    = NO
+CPP_CLI_SUPPORT        = NO
+SIP_SUPPORT            = NO
+DISTRIBUTE_GROUP_DOC   = NO
+SUBGROUPING            = YES
+TYPEDEF_HIDES_STRUCT   = NO
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+EXTRACT_ALL            = NO
+EXTRACT_PRIVATE        = NO
+EXTRACT_STATIC         = NO
+EXTRACT_LOCAL_CLASSES  = YES
+EXTRACT_LOCAL_METHODS  = NO
+EXTRACT_ANON_NSPACES   = NO
+HIDE_UNDOC_MEMBERS     = NO
+HIDE_UNDOC_CLASSES     = NO
+HIDE_FRIEND_COMPOUNDS  = NO
+HIDE_IN_BODY_DOCS      = NO
+INTERNAL_DOCS          = NO
+CASE_SENSE_NAMES       = YES
+HIDE_SCOPE_NAMES       = NO
+SHOW_INCLUDE_FILES     = YES
+INLINE_INFO            = YES
+SORT_MEMBER_DOCS       = NO
+SORT_BRIEF_DOCS        = NO
+SORT_GROUP_NAMES       = NO
+SORT_BY_SCOPE_NAME     = NO
+GENERATE_TODOLIST      = YES
+GENERATE_TESTLIST      = YES
+GENERATE_BUGLIST       = YES
+GENERATE_DEPRECATEDLIST= YES
+ENABLED_SECTIONS       = 
+MAX_INITIALIZER_LINES  = 30
+SHOW_USED_FILES        = YES
+SHOW_DIRECTORIES       = YES
+FILE_VERSION_FILTER    = 
+#---------------------------------------------------------------------------
+# configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+QUIET                  = YES
+WARNINGS               = YES
+WARN_IF_UNDOCUMENTED   = YES
+WARN_IF_DOC_ERROR      = YES
+WARN_NO_PARAMDOC       = NO
+WARN_FORMAT            = "$file:$line: $text"
+WARN_LOGFILE           = 
+#---------------------------------------------------------------------------
+# configuration options related to the input files
+#---------------------------------------------------------------------------
+INPUT                  = ../src \
+                         ../doc/main.dox
+INPUT_ENCODING         = UTF-8
+FILE_PATTERNS          = *.c \
+                         *.h \
+                         *.cpp
+RECURSIVE              = YES
+EXCLUDE                = 
+EXCLUDE_SYMLINKS       = NO
+EXCLUDE_PATTERNS       = *.tab.c \
+                         *.tab.h \
+                         lex* \
+                         *glr.h \
+                         *llr.h \
+                         *glr.c \
+                         *llr.c \
+                         *general.h
+EXCLUDE_SYMBOLS        = 
+EXAMPLE_PATH           = ../src/examples
+EXAMPLE_PATTERNS       = 
+EXAMPLE_RECURSIVE      = NO
+IMAGE_PATH             = ../doc/images
+INPUT_FILTER           = 
+FILTER_PATTERNS        = 
+FILTER_SOURCE_FILES    = NO
+#---------------------------------------------------------------------------
+# configuration options related to source browsing
+#---------------------------------------------------------------------------
+SOURCE_BROWSER         = YES
+INLINE_SOURCES         = NO
+STRIP_CODE_COMMENTS    = YES
+REFERENCED_BY_RELATION = YES
+REFERENCES_RELATION    = YES
+REFERENCES_LINK_SOURCE = YES
+USE_HTAGS              = NO
+VERBATIM_HEADERS       = YES
+#---------------------------------------------------------------------------
+# configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+ALPHABETICAL_INDEX     = YES
+COLS_IN_ALPHA_INDEX    = 5
+IGNORE_PREFIX          = 
+#---------------------------------------------------------------------------
+# configuration options related to the HTML output
+#---------------------------------------------------------------------------
+GENERATE_HTML          = YES
+HTML_OUTPUT            = html
+HTML_FILE_EXTENSION    = .html
+HTML_HEADER            = 
+HTML_FOOTER            = 
+HTML_STYLESHEET        = 
+HTML_ALIGN_MEMBERS     = YES
+GENERATE_HTMLHELP      = NO
+GENERATE_DOCSET        = NO
+DOCSET_FEEDNAME        = "Doxygen generated docs"
+DOCSET_BUNDLE_ID       = org.doxygen.Project
+HTML_DYNAMIC_SECTIONS  = NO
+CHM_FILE               = 
+HHC_LOCATION           = 
+GENERATE_CHI           = NO
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+TOC_EXPAND             = NO
+DISABLE_INDEX          = NO
+ENUM_VALUES_PER_LINE   = 4
+GENERATE_TREEVIEW      = NO
+TREEVIEW_WIDTH         = 250
+#---------------------------------------------------------------------------
+# configuration options related to the LaTeX output
+#---------------------------------------------------------------------------
+GENERATE_LATEX         = NO
+LATEX_OUTPUT           = latex
+LATEX_CMD_NAME         = latex
+MAKEINDEX_CMD_NAME     = makeindex
+COMPACT_LATEX          = NO
+PAPER_TYPE             = a4
+EXTRA_PACKAGES         = 
+LATEX_HEADER           = 
+PDF_HYPERLINKS         = YES
+USE_PDFLATEX           = NO
+LATEX_BATCHMODE        = NO
+LATEX_HIDE_INDICES     = NO
+#---------------------------------------------------------------------------
+# configuration options related to the RTF output
+#---------------------------------------------------------------------------
+GENERATE_RTF           = NO
+RTF_OUTPUT             = rtf
+COMPACT_RTF            = NO
+RTF_HYPERLINKS         = NO
+RTF_STYLESHEET_FILE    = 
+RTF_EXTENSIONS_FILE    = 
+#---------------------------------------------------------------------------
+# configuration options related to the man page output
+#---------------------------------------------------------------------------
+GENERATE_MAN           = NO
+MAN_OUTPUT             = man
+MAN_EXTENSION          = .3
+MAN_LINKS              = NO
+#---------------------------------------------------------------------------
+# configuration options related to the XML output
+#---------------------------------------------------------------------------
+GENERATE_XML           = NO
+XML_OUTPUT             = xml
+XML_SCHEMA             = 
+XML_DTD                = 
+XML_PROGRAMLISTING     = YES
+#---------------------------------------------------------------------------
+# configuration options for the AutoGen Definitions output
+#---------------------------------------------------------------------------
+GENERATE_AUTOGEN_DEF   = NO
+#---------------------------------------------------------------------------
+# configuration options related to the Perl module output
+#---------------------------------------------------------------------------
+GENERATE_PERLMOD       = NO
+PERLMOD_LATEX          = NO
+PERLMOD_PRETTY         = YES
+PERLMOD_MAKEVAR_PREFIX = 
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor   
+#---------------------------------------------------------------------------
+ENABLE_PREPROCESSING   = YES
+MACRO_EXPANSION        = NO
+EXPAND_ONLY_PREDEF     = NO
+SEARCH_INCLUDES        = YES
+INCLUDE_PATH           = 
+INCLUDE_FILE_PATTERNS  = 
+PREDEFINED             = _USE_MPI=1
+EXPAND_AS_DEFINED      = 
+SKIP_FUNCTION_MACROS   = YES
+#---------------------------------------------------------------------------
+# Configuration::additions related to external references   
+#---------------------------------------------------------------------------
+TAGFILES               = 
+GENERATE_TAGFILE       = 
+ALLEXTERNALS           = NO
+EXTERNAL_GROUPS        = YES
+PERL_PATH              = /usr/bin/perl
+#---------------------------------------------------------------------------
+# Configuration options related to the dot tool   
+#---------------------------------------------------------------------------
+CLASS_DIAGRAMS         = YES
+MSCGEN_PATH            = 
+HIDE_UNDOC_RELATIONS   = YES
+HAVE_DOT               = YES
+CLASS_GRAPH            = YES
+COLLABORATION_GRAPH    = YES
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+TEMPLATE_RELATIONS     = NO
+INCLUDE_GRAPH          = NO
+INCLUDED_BY_GRAPH      = NO
+CALL_GRAPH             = YES
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+DOT_IMAGE_FORMAT       = png
+DOT_PATH               = 
+DOTFILE_DIRS           = 
+DOT_GRAPH_MAX_NODES    = 50
+MAX_DOT_GRAPH_DEPTH    = 2
+DOT_TRANSPARENT        = YES
+DOT_MULTI_TARGETS      = NO
+GENERATE_LEGEND        = YES
+DOT_CLEANUP            = YES
+#---------------------------------------------------------------------------
+# Configuration::additions related to the search engine   
+#---------------------------------------------------------------------------
+SEARCHENGINE           = NO

doc/doxygen_project_name.conf

+PROJECT_NAME = "It's the driver for a panproject_nametilt plataform made with dynamixel servos"

doc/html/annotated.html

+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.8"/>
+<title>It&#39;s the driver for a panproject_nametilt plataform made with dynamixel servos: Data Structures</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td style="padding-left: 0.5em;">
+   <div id="projectname">It&#39;s the driver for a panproject_nametilt plataform made with dynamixel servos
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.8 -->
+  <div id="navrow1" class="tabs">
+    <ul class="tablist">
+      <li><a href="index.html"><span>Main&#160;Page</span></a></li>
+      <li class="current"><a href="annotated.html"><span>Data&#160;Structures</span></a></li>
+      <li><a href="files.html"><span>Files</span></a></li>
+      <li><a href="examples.html"><span>Examples</span></a></li>
+    </ul>
+  </div>
+  <div id="navrow2" class="tabs2">
+    <ul class="tablist">
+      <li class="current"><a href="annotated.html"><span>Data&#160;Structures</span></a></li>
+      <li><a href="classes.html"><span>Data&#160;Structure&#160;Index</span></a></li>
+      <li><a href="functions.html"><span>Data&#160;Fields</span></a></li>
+    </ul>
+  </div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Data Structures</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock">Here are the data structures with brief descriptions:</div><div class="directory">
+<table class="directory">
+<tr id="row_0_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classCDynamixel__Pan__Tilt.html" target="_self">CDynamixel_Pan_Tilt</a></td><td class="desc"></td></tr>
+<tr id="row_1_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classCDynamyxel__Pan__Tilt.html" target="_self">CDynamyxel_Pan_Tilt</a></td><td class="desc">Class to control a Pan-Tilt plataform with two Dynamixel servos </td></tr>
+<tr id="row_2_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structControl__mode__pan__tilt.html" target="_self">Control_mode_pan_tilt</a></td><td class="desc">A struct to save the control mode of the servos </td></tr>
+<tr id="row_3_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structDynamixel__pan__tilt__compliance.html" target="_self">Dynamixel_pan_tilt_compliance</a></td><td class="desc">A struct to save the compliance control information </td></tr>
+<tr id="row_4_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structDynamixel__pan__tilt__config.html" target="_self">Dynamixel_pan_tilt_config</a></td><td class="desc">A struct to save the configuration information </td></tr>
+<tr id="row_5_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structDynamixel__pan__tilt__data.html" target="_self">Dynamixel_pan_tilt_data</a></td><td class="desc">A general struct to save data </td></tr>
+<tr id="row_6_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structDynamixel__pan__tilt__info.html" target="_self">Dynamixel_pan_tilt_info</a></td><td class="desc">A struct to save the Pan_Tilt information </td></tr>
+<tr id="row_7_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structDynamixel__pan__tilt__pid.html" target="_self">Dynamixel_pan_tilt_pid</a></td><td class="desc">A struct to save the pid control information </td></tr>
+<tr id="row_8_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structTorque__pan__tilt__moving__state.html" target="_self">Torque_pan_tilt_moving_state</a></td><td class="desc">A struct to save the torque moving state of the servos </td></tr>
+</table>
+</div><!-- directory -->
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated on Thu Feb 25 2016 15:42:32 for It&#39;s the driver for a panproject_nametilt plataform made with dynamixel servos by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.8
+</small></address>
+</body>
+</html>

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