[wip/py-crocoddyl] Initial Import

Makefile

@@ -89,6 +89,7 @@ SUBDIR+=	prf-gazebo-ros-pkgs
 SUBDIR+=	prf-roboticsgroup-gazebo-plugins
 SUBDIR+=	prf-ros-control
 SUBDIR+=	prf-ros-controllers
+SUBDIR+=	py-crocoddyl
 SUBDIR+=	py-dynamic-graph-bridge-v3
 SUBDIR+=	py-dynamic-graph-tutorial
 SUBDIR+=	py-dynamic-graph-v3

py-crocoddyl/DESCR

+Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on an efficient Differential Dynamic Programming (DDP) algorithm. Crocoddyl computes optimal trajectories along to optimal feedback gains.

py-crocoddyl/Makefile

+# robotpkg Makefile for:	wip/py-crocoddyl-api
+# Created:			Guilhem Saurel on Wed, 03 Apr 2019
+#
+
+ORG=			loco-3d
+NAME=			crocoddyl
+VERSION=		0.1.0
+
+DISTNAME=		${NAME}-${VERSION}
+PKGNAME=		${PKGTAG.python-}${DISTNAME}
+
+MASTER_SITES=		${MASTER_SITE_OPENROBOTS:=${NAME}/}
+MASTER_REPOSITORY=	${MASTER_REPOSITORY_GITHUB}/${ORG}/${NAME}.git
+CHECKOUT_VCS_OPTS+=	--recursive
+
+CATEGORIES=		wip
+COMMENT=		Contact RObot COntrol by Differential DYnamic programming Library
+LICENSE=		2-clause-bsd
+MAINTAINER=		gepetto-soft@laas.fr
+
+CMAKE_ARGS+=		-DCMAKE_INSTALL_LIBDIR=lib
+
+DYNAMIC_PLIST_DIRS+=	share/doc/${NAME}
+
+include ../../wip/example-robot-data/depend.mk
+include ../../graphics/assimp/depend.mk
+include ../../graphics/urdfdom/depend.mk
+include ../../mapping/octomap/depend.mk
+include ../../math/eigen3/depend.mk
+include ../../math/py-eigenpy/depend.mk
+include ../../math/pinocchio/depend.mk
+include ../../math/py-pinocchio/depend.mk
+include ../../path/hpp-fcl/depend.mk
+include ../../devel/boost-headers/depend.mk
+include ../../devel/boost-libs/depend.mk
+include ../../pkgtools/pkg-config/depend.mk
+include ../../mk/sysdep/cmake.mk
+include ../../mk/language/c.mk
+include ../../mk/language/c++.mk
+
+include ../../mk/robotpkg.mk

py-crocoddyl/PLIST

+@comment Wed Apr 3 17:06:03 CEST 2019
+${PYTHON_SITELIB}/crocoddyl/__init__.py
+${PYTHON_SITELIB}/crocoddyl/action.py
+${PYTHON_SITELIB}/crocoddyl/activation.py
+${PYTHON_SITELIB}/crocoddyl/actuation.py
+${PYTHON_SITELIB}/crocoddyl/callbacks.py
+${PYTHON_SITELIB}/crocoddyl/contact.py
+${PYTHON_SITELIB}/crocoddyl/cost.py
+${PYTHON_SITELIB}/crocoddyl/ddp.py
+${PYTHON_SITELIB}/crocoddyl/diagnostic.py
+${PYTHON_SITELIB}/crocoddyl/differential_action.py
+${PYTHON_SITELIB}/crocoddyl/fddp.py
+${PYTHON_SITELIB}/crocoddyl/floating_contact.py
+${PYTHON_SITELIB}/crocoddyl/impact.py
+${PYTHON_SITELIB}/crocoddyl/integrated_action.py
+${PYTHON_SITELIB}/crocoddyl/kkt.py
+${PYTHON_SITELIB}/crocoddyl/robots.py
+${PYTHON_SITELIB}/crocoddyl/shooting.py
+${PYTHON_SITELIB}/crocoddyl/state.py
+${PYTHON_SITELIB}/crocoddyl/unicycle.py
+${PYTHON_SITELIB}/crocoddyl/utils.py

py-crocoddyl/depend.mk

+# robotpkg depend.mk for:	wip/py-crocoddyl
+# Created:			Guilhem Saurel on Wed, 4 Apr 2019
+#
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH}+
+PY_CROCODDYL_DEPEND_MK:=	${PY_CROCODDYL_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=		py-crocoddyl
+endif
+
+ifeq (+,$(PY_CROCODDYL_DEPEND_MK)) # ------------------------------------------
+
+PREFER.py-crocoddyl?=	robotpkg
+
+SYSTEM_SEARCH.py-crocoddyl=\
+  '${PYTHON_SYSLIBSEARCH}/crocoddyl/__init__.py'
+
+DEPEND_USE+=				py-crocoddyl
+
+DEPEND_ABI.py-crocoddyl?=		${PKGTAG.python-}crocoddyl>=0.1.0
+DEPEND_DIR.py-crocoddyl?=		../../wip/py-crocoddyl
+
+include ../../mk/sysdep/python.mk
+
+endif # PY_CROCODDYL_DEPEND_MK ------------------------------------------------
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}

py-crocoddyl/distinfo

+SHA1 (crocoddyl-0.1.0.tar.gz) = 558a210caa38ba6f1fa79c8c2158ab09b711e069
+RMD160 (crocoddyl-0.1.0.tar.gz) = a453fe95e909f255e96b8120cc95a776b343369c
+Size (crocoddyl-0.1.0.tar.gz) = 3099832 bytes
+SHA1 (patch-ab) = 83aeb011c56e1d2a9d4da3efae6d2904b207cf06
+SHA1 (patch-ad) = 9731f90f2c33abec026a1d34cfaa653316b84427

py-crocoddyl/patches/patch-ab

+Don't install the .pc file, which is already installed by main package
+
+--- cmake/base.cmake.orig	2018-07-11 10:41:37.000000000 +0200
++++ cmake/base.cmake	2018-12-13 14:15:46.772836002 +0100
+@@ -226,7 +226,7 @@
+ #   finalize the project setup.
+ #
+ MACRO(SETUP_PROJECT_FINALIZE)
+-  _SETUP_PROJECT_PKG_CONFIG_FINALIZE()
++  #_SETUP_PROJECT_PKG_CONFIG_FINALIZE()
+   _SETUP_PROJECT_DOCUMENTATION_FINALIZE()
+   _SETUP_PROJECT_HEADER_FINAlIZE()
+   _SETUP_DEBIAN()

py-crocoddyl/patches/patch-ad

+Don't install main headers
+
+--- cmake/header.cmake~	2017-10-26 15:25:19.000000000 +0200
++++ cmake/header.cmake	2018-04-26 18:37:42.582417765 +0200
+@@ -92,11 +92,6 @@
+     ${CMAKE_CURRENT_BINARY_DIR}/include/${HEADER_DIR}/deprecated.${PROJECT_CUSTOM_HEADER_EXTENSION}
+     @ONLY
+     )
+-  INSTALL(FILES
+-    ${CMAKE_CURRENT_BINARY_DIR}/include/${HEADER_DIR}/deprecated.${PROJECT_CUSTOM_HEADER_EXTENSION}
+-    DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${HEADER_DIR}
+-    PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
+-    )
+   # Generate warning.hh header.
+   CONFIGURE_FILE(
+     ${PROJECT_SOURCE_DIR}/cmake/warning.hh.cmake
+@@ -104,11 +99,6 @@
+     @ONLY
+     )
+ 
+-  INSTALL(FILES
+-    ${CMAKE_CURRENT_BINARY_DIR}/include/${HEADER_DIR}/warning.${PROJECT_CUSTOM_HEADER_EXTENSION}
+-    DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${HEADER_DIR}
+-    PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
+-    )
+ 
+ 
+   # Generate config.h header.
+@@ -150,11 +140,6 @@
+     @ONLY
+     )
+   # Install it.
+-  INSTALL(FILES
+-    ${CMAKE_CURRENT_BINARY_DIR}/include/${HEADER_DIR}/${FILENAME}
+-    DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${HEADER_DIR}
+-    PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
+-    )
+ ENDFUNCTION(GENERATE_CONFIGURATION_HEADER)
+ 
+