Remove dependency to eigen3

CMakeLists.txt

@@ -33,7 +33,6 @@ SET(${PROJECT_NAME}_HEADERS
   include/gepetto/viewer/corba/windows-manager.hh
   include/gepetto/viewer/corba/server.hh
   include/gepetto/viewer/corba/client.hh
-  include/gepetto/viewer/corba/se3.hh
   include/gepetto/viewer/corba/fwd.hh
   )
 
@@ -47,7 +46,6 @@ ADD_REQUIRED_DEPENDENCY("omniORB4 >= 4.1.4")
 ADD_REQUIRED_DEPENDENCY("openthreads >= 2.6")
 ADD_REQUIRED_DEPENDENCY("gepetto-viewer")
 ADD_REQUIRED_DEPENDENCY("urdfdom")
-ADD_REQUIRED_DEPENDENCY("eigen3 >= v3.0.5")
 SEARCH_FOR_BOOST()
 
 PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})

README.md

@@ -24,7 +24,6 @@ have to be available on your machine.
  - Libraries:
    - omniORB4 (version >= 4.1.4)
    - openscenegraph (version >= 3.2)
-   - eigen3 (version >= 3.0.5) (only for C++ client)
    - urdfdom (version >= 0.3.0)
    - SceneViewer (Graphical Interface of Pinocchio and HPP)
  - System tools:

include/gepetto/viewer/corba/client.hh

@@ -12,7 +12,6 @@
 #include <iostream>
 #include <omniORB4/CORBA.h>
 #include <gepetto/viewer/corba/deprecated.hh>
-#include <gepetto/viewer/corba/se3.hh>
 #include <gepetto/viewer/corba/graphical-interface.hh>
 
 
@@ -38,81 +37,6 @@ namespace corbaServer {
 
       CORBA::ORB_var orb_;
   };
-
-/// \deprecated Use class Client instead.
-class ClientCpp
-{
-private:
-    CORBA::ORB_var orb_;
-  gepetto::corbaserver::GraphicalInterface_var manager_;
-
-    static void se3ToCorba(CORBA::Float* corbaPosition, const se3::SE3& se3position);
-
-protected:
-
-public:
-    typedef CORBA::ULong WindowID;
-    typedef float value_type;
-
-    // Default constructor
-    ClientCpp();
-    // Default destructor
-    ~ClientCpp();
-
-    void getNodeList();
-    void getWindowList();
-
-    bool setRate(int rate);
-    void refresh();
-
-    WindowID createWindow(const char* windowName);
-
-
-    //void createWindow(const char* name, CORBA::ULong x, CORBA::ULong y, CORBA::ULong width, CORBA::ULong height) ;
-
-    void createScene(const char* sceneName) ;
-    void createSceneWithFloor(const char* sceneName) ;
-    bool addSceneToWindow(const char* sceneName, const WindowID windowId) ;
-
-
-    bool addBox(const char* boxName, const float boxSize1, const float boxSize2, const float boxSize3, const value_type* color);
-    //bool addBox(const char* boxName, float boxSize1, float boxSize2, float boxSize3) ;
-
-    //bool addCapsule(const char* capsuleName, float radius, float height) ;
-    bool addCapsule(const char* capsuleName, const float radius, const float height, const value_type* color);
-
-    bool addMesh(const char* meshName, const char* meshPath) ;
-
-    //bool addCone(const char* coneName, float radius, float height) ;
-    bool addCone(const char* coneName, const float radius, const float height, const value_type* color);
-
-    //bool addCylinder(const char* cylinderName, float radius, float height) ;
-    bool addCylinder(const char* cylinderName, const float radius, const float height, const value_type* color);
-
-    //bool addSphere(const char* sphereName, float radius) ;
-    bool addSphere(const char* sphereName, const float radius, const value_type* color);
-
-    bool addLine(const char* lineName, const value_type* pos1, const value_type* pos2, const value_type* color);
-
-    bool addTriangleFace(const char* lineName, const value_type* pos1, const value_type* pos2, const value_type* pos3, const value_type* color);
-    bool addSquareFace(const char* lineName, const value_type* pos1, const value_type* pos2, const value_type* pos3, const value_type* pos4, const value_type* color);
-
-    bool addURDF(const char* urdfName, const char* urdfPath, const char* urdfPackagePath);
-
-    bool createGroup(const char* groupName) ;
-    bool addToGroup(const char* nodeName, const char* groupName) ;
-
-    bool applyConfiguration(const char* nodeName, const se3::SE3& se3position) ;
-
-    bool setVisibility(const char* nodeName, const char* visibilityMode) ;
-    bool setWireFrameMode(const char* nodeName, const char* wireFrameMode) ;
-    bool setLightingMode(const char* nodeName, const char* lightingMode) ;
-
-    bool startCapture (const WindowID windowId, const char* filename, const char* extension);
-    bool stopCapture (const WindowID windowId);
-    bool writeNodeFile (const WindowID windowId, const char* filename);
-} GEPETTO_VIEWER_CORBA_DEPRECATED; //end of class ClientCpp
-
 } //end of namespace corbaserver
 } //end of namespace graphics
 

src/CMakeLists.txt

@@ -20,13 +20,36 @@ SET(IDL_SOURCES
   graphical-interface
   )
 
+# search for python
+FINDPYTHON(2.7 EXACT REQUIRED)
+
 OMNIIDL_INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/idl)
 INCLUDE_DIRECTORIES(${CMAKE_BINARY_DIR}/src)
+
 FOREACH(IDL ${IDL_SOURCES})
   GENERATE_IDL_CPP (gepetto/viewer/corba/${IDL}
     ${CMAKE_SOURCE_DIR}/idl/gepetto/viewer)
+  GENERATE_IDL_PYTHON (gepetto/viewer/corba/${IDL}
+    ${CMAKE_SOURCE_DIR}/idl/gepetto/viewer)
+
+  INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/gepetto/viewer/corba/${IDL}.hh
+    DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gepetto/viewer/corba)
+
+  STRING(REGEX REPLACE "-" "_" IDL_UNDERSCORE "${IDL}")
+  IF(NOT ${IDL} EQUAL ${IDL_UNDERSCORE})
+    ADD_CUSTOM_COMMAND(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/gepetto/viewer/corba/${IDL_UNDERSCORE}_idl.py
+      COMMAND ${CMAKE_COMMAND}
+      ARGS -E copy ${CMAKE_CURRENT_BINARY_DIR}/gepetto/viewer/corba/${IDL}_idl.py
+      )
+  ENDIF(NOT ${IDL} EQUAL ${IDL_UNDERSCORE})
+
+  INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/gepetto/viewer/corba/${IDL_UNDERSCORE}_idl.py
+    DESTINATION ${PYTHON_SITELIB}/gepetto/corbaserver)
 ENDFOREACH()
 
+ADD_CUSTOM_TARGET(generate_idl_cpp DEPENDS ${ALL_IDL_CPP_STUBS})
+ADD_CUSTOM_TARGET(generate_idl_python DEPENDS ${ALL_IDL_PYTHON_STUBS})
+
 ADD_LIBRARY(${LIBRARY_NAME}
   SHARED
   graphical-interface.impl.cpp
@@ -36,12 +59,13 @@ ADD_LIBRARY(${LIBRARY_NAME}
   client.cc
   server-private.cc
   server-private.hh
-  client-cpp.cc
-  ${CMAKE_CURRENT_BINARY_DIR}/gepetto/viewer/corba/graphical-interface_idl.py
   ${CMAKE_CURRENT_BINARY_DIR}/gepetto/viewer/corba/graphical-interface.hh
   ${CMAKE_CURRENT_BINARY_DIR}/gepetto/viewer/corba/graphical-interfaceSK.cc
 )
 
+ADD_DEPENDENCIES (${LIBRARY_NAME} generate_idl_cpp)
+ADD_DEPENDENCIES (${LIBRARY_NAME} generate_idl_python)
+
 PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} omniORB4)
 PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} gepetto-viewer)
 PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} urdfdom)
@@ -49,38 +73,8 @@ TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${Boost_LIBRARIES})
 
 INSTALL(TARGETS ${LIBRARY_NAME} DESTINATION lib)
 
-# search for python
-FINDPYTHON()
-
 MAKE_DIRECTORY(${CMAKE_CURRENT_BINARY_DIR}/gepetto/viewer/corba)
 
-FOREACH (IDL ${IDL_SOURCES})
-  ADD_CUSTOM_COMMAND(
-    OUTPUT
-    ${CMAKE_CURRENT_BINARY_DIR}/gepetto/viewer/corba/${IDL}_idl.py
-    COMMAND ${OMNIIDL}
-    ARGS -bpython -Wbpackage="" -I${CMAKE_SOURCE_DIR}/idl
-    ${CMAKE_SOURCE_DIR}/idl/gepetto/viewer/${IDL}.idl
-    MAIN_DEPENDENCY
-    ${CMAKE_SOURCE_DIR}/idl/gepetto/viewer/${IDL}.idl
-    )
-  SET_SOURCE_FILES_PROPERTIES(
-    ${CMAKE_CURRENT_BINARY_DIR}/gepetto/viewer/corba/${IDL}_idl.py
-    PROPERTIES GENERATED ON
-    )
-  INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/gepetto/viewer/corba/${IDL}.hh
-    DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gepetto/viewer/corba)
-
-  STRING(REGEX REPLACE "-" "_"
-    IDL_UNDERSCORE "${IDL}")
-
-  INSTALL(
-    FILES
-    ${CMAKE_CURRENT_BINARY_DIR}/${IDL_UNDERSCORE}_idl.py
-    DESTINATION ${PYTHON_SITELIB}/gepetto/corbaserver
-    )
-ENDFOREACH()
-
 INSTALL(
   FILES
   ${CMAKE_CURRENT_SOURCE_DIR}/gepetto/__init__.py
@@ -123,8 +117,4 @@ ADD_EXECUTABLE (gepetto-viewer-server corbaserver.cc)
 TARGET_LINK_LIBRARIES(gepetto-viewer-server ${LIBRARY_NAME})
 #TARGET_LINK_LIBRARIES(gepetto-viewer-server ${Boost_LIBRARIES})
 
-ADD_EXECUTABLE (client-test test-client-cpp.cc)
-TARGET_LINK_LIBRARIES(client-test ${LIBRARY_NAME})
-PKG_CONFIG_USE_DEPENDENCY(client-test gepetto-viewer)
-
 INSTALL (TARGETS gepetto-viewer-server DESTINATION bin)