[wip/py-crocoddyl] Update to v1.2.0

Changes since v1.1.0:
- templatized all the classes and structures with the scalar (for codegen and autodiff).
- fixed a bug in the formulation for the quadrupedal problem (state bounds).
- reduced the compilation time in Python bindings (re-structured the code).
- fixed error in the expected improvement computation for terminal action in SolverFDDP.
- added unittest code for cost classes (included cost factory).
- reorganized the various factories used for c++ unittesting.
- developed the pinocchio model factory for c++ unittesting.
- added unittest code for contact classes (included the contact factory).
- described cost items through shared_ptr.
- described contact items through shared_ptr.
- described impulse items through shared_ptr.
- fixed Gauss-Newton approach for cost num-diff.
- added contact num-diff class.
- used virtual keyword in declaration of derived functions.
- added the unittest code for free forward dynamics action model.
- added the unittest code for contact forward dynamics action model.
- included the cost status in cost sum for global memory allocation.
- included the contact status in cost sum for global memory allocation.
- included the impulse status in cost sum for global memory allocation.
- removed duplication function for retrieving models and datas in solvers (now we do only through shooting problem interface).
- allowed to write internal data of Numpy-EigenPy objects.
- added a general method for setting and getting cost reference.
- added squashing function abstraction.
- added unittest code for testing cost, contact and impulse status.
- moved to CMake exports

py-crocoddyl/Makefile

@@ -4,7 +4,7 @@
 
 ORG=			loco-3d
 NAME=			crocoddyl
-VERSION=		1.1.0
+VERSION=		1.2.0
 
 CATEGORIES=		wip
 COMMENT=		Contact RObot COntrol by Differential DYnamic programming Library

py-crocoddyl/PLIST

 @comment Fri Aug 30 17:54:29 CEST 2019
 include/crocoddyl/config.hh
 include/crocoddyl/core/action-base.hpp
+include/crocoddyl/core/action-base.hxx
 include/crocoddyl/core/actions/diff-lqr.hpp
+include/crocoddyl/core/actions/diff-lqr.hxx
 include/crocoddyl/core/actions/lqr.hpp
+include/crocoddyl/core/actions/lqr.hxx
 include/crocoddyl/core/actions/unicycle.hpp
+include/crocoddyl/core/actions/unicycle.hxx
 include/crocoddyl/core/activation-base.hpp
 include/crocoddyl/core/activations/quadratic-barrier.hpp
 include/crocoddyl/core/activations/quadratic.hpp
@@ -11,16 +15,27 @@ include/crocoddyl/core/activations/smooth-abs.hpp
 include/crocoddyl/core/activations/weighted-quadratic-barrier.hpp
 include/crocoddyl/core/activations/weighted-quadratic.hpp
 include/crocoddyl/core/actuation-base.hpp
+include/crocoddyl/core/actuation/squashing-base.hpp
+include/crocoddyl/core/actuation/squashing/smooth-sat.hpp
 include/crocoddyl/core/data-collector-base.hpp
 include/crocoddyl/core/data/actuation.hpp
 include/crocoddyl/core/diff-action-base.hpp
+include/crocoddyl/core/diff-action-base.hxx
+include/crocoddyl/core/fwd.hpp
 include/crocoddyl/core/integrator/euler.hpp
+include/crocoddyl/core/integrator/euler.hxx
 include/crocoddyl/core/integrator/rk4.hpp
+include/crocoddyl/core/mathbase.hpp
 include/crocoddyl/core/numdiff/action.hpp
+include/crocoddyl/core/numdiff/action.hxx
 include/crocoddyl/core/numdiff/activation.hpp
+include/crocoddyl/core/numdiff/activation.hxx
 include/crocoddyl/core/numdiff/diff-action.hpp
+include/crocoddyl/core/numdiff/diff-action.hxx
 include/crocoddyl/core/numdiff/state.hpp
+include/crocoddyl/core/numdiff/state.hxx
 include/crocoddyl/core/optctrl/shooting.hpp
+include/crocoddyl/core/optctrl/shooting.hxx
 include/crocoddyl/core/solver-base.hpp
 include/crocoddyl/core/solvers/box-ddp.hpp
 include/crocoddyl/core/solvers/box-fddp.hpp
@@ -31,8 +46,9 @@ include/crocoddyl/core/solvers/fddp.hpp
 include/crocoddyl/core/solvers/kkt.hpp
 include/crocoddyl/core/solvers/qp.hpp
 include/crocoddyl/core/state-base.hpp
+include/crocoddyl/core/state-base.hxx
 include/crocoddyl/core/states/euclidean.hpp
-include/crocoddyl/core/states/unicycle.hpp
+include/crocoddyl/core/states/euclidean.hxx
 include/crocoddyl/core/utils/callbacks.hpp
 include/crocoddyl/core/utils/exception.hpp
 include/crocoddyl/core/utils/math.hpp
@@ -44,43 +60,86 @@ include/crocoddyl/core/utils/to-string.hpp
 include/crocoddyl/core/utils/version.hpp
 include/crocoddyl/deprecated.hh
 include/crocoddyl/multibody/actions/contact-fwddyn.hpp
+include/crocoddyl/multibody/actions/contact-fwddyn.hxx
 include/crocoddyl/multibody/actions/free-fwddyn.hpp
+include/crocoddyl/multibody/actions/free-fwddyn.hxx
 include/crocoddyl/multibody/actions/impulse-fwddyn.hpp
+include/crocoddyl/multibody/actions/impulse-fwddyn.hxx
 include/crocoddyl/multibody/actuations/floating-base.hpp
 include/crocoddyl/multibody/actuations/full.hpp
 include/crocoddyl/multibody/contact-base.hpp
+include/crocoddyl/multibody/contact-base.hxx
 include/crocoddyl/multibody/contacts/contact-3d.hpp
+include/crocoddyl/multibody/contacts/contact-3d.hxx
 include/crocoddyl/multibody/contacts/contact-6d.hpp
+include/crocoddyl/multibody/contacts/contact-6d.hxx
 include/crocoddyl/multibody/contacts/multiple-contacts.hpp
+include/crocoddyl/multibody/contacts/multiple-contacts.hxx
 include/crocoddyl/multibody/cost-base.hpp
+include/crocoddyl/multibody/cost-base.hxx
 include/crocoddyl/multibody/costs/centroidal-momentum.hpp
+include/crocoddyl/multibody/costs/centroidal-momentum.hxx
 include/crocoddyl/multibody/costs/com-position.hpp
+include/crocoddyl/multibody/costs/com-position.hxx
 include/crocoddyl/multibody/costs/contact-force.hpp
+include/crocoddyl/multibody/costs/contact-force.hxx
 include/crocoddyl/multibody/costs/contact-friction-cone.hpp
+include/crocoddyl/multibody/costs/contact-friction-cone.hxx
 include/crocoddyl/multibody/costs/control.hpp
+include/crocoddyl/multibody/costs/control.hxx
 include/crocoddyl/multibody/costs/cost-sum.hpp
+include/crocoddyl/multibody/costs/cost-sum.hxx
 include/crocoddyl/multibody/costs/frame-placement.hpp
+include/crocoddyl/multibody/costs/frame-placement.hxx
 include/crocoddyl/multibody/costs/frame-rotation.hpp
+include/crocoddyl/multibody/costs/frame-rotation.hxx
 include/crocoddyl/multibody/costs/frame-translation.hpp
+include/crocoddyl/multibody/costs/frame-translation.hxx
 include/crocoddyl/multibody/costs/frame-velocity.hpp
+include/crocoddyl/multibody/costs/frame-velocity.hxx
 include/crocoddyl/multibody/costs/impulse-com.hpp
-include/crocoddyl/multibody/costs/impulse.hpp
+include/crocoddyl/multibody/costs/impulse-com.hxx
 include/crocoddyl/multibody/costs/state.hpp
+include/crocoddyl/multibody/costs/state.hxx
 include/crocoddyl/multibody/data/contacts.hpp
 include/crocoddyl/multibody/data/impulses.hpp
 include/crocoddyl/multibody/data/multibody.hpp
 include/crocoddyl/multibody/frames.hpp
 include/crocoddyl/multibody/friction-cone.hpp
+include/crocoddyl/multibody/friction-cone.hxx
+include/crocoddyl/multibody/fwd.hpp
 include/crocoddyl/multibody/impulse-base.hpp
+include/crocoddyl/multibody/impulse-base.hxx
 include/crocoddyl/multibody/impulses/impulse-3d.hpp
+include/crocoddyl/multibody/impulses/impulse-3d.hxx
 include/crocoddyl/multibody/impulses/impulse-6d.hpp
+include/crocoddyl/multibody/impulses/impulse-6d.hxx
 include/crocoddyl/multibody/impulses/multiple-impulses.hpp
+include/crocoddyl/multibody/impulses/multiple-impulses.hxx
+include/crocoddyl/multibody/numdiff/contact.hpp
+include/crocoddyl/multibody/numdiff/contact.hxx
+include/crocoddyl/multibody/numdiff/cost.hpp
+include/crocoddyl/multibody/numdiff/cost.hxx
 include/crocoddyl/multibody/states/multibody.hpp
+include/crocoddyl/multibody/states/multibody.hxx
 include/crocoddyl/multibody/utils/quadruped-gaits.hpp
 include/crocoddyl/warning.hh
 lib/libcrocoddyl.so
 lib/pkgconfig/crocoddyl.pc
 ${PYTHON_SITELIB}/crocoddyl/__init__.py
+${PYTHON_SITELIB}/crocoddyl/examples/__init__.py
+${PYTHON_SITELIB}/crocoddyl/examples/arm_manipulation.py
+${PYTHON_SITELIB}/crocoddyl/examples/bipedal_walk.py
+${PYTHON_SITELIB}/crocoddyl/examples/bipedal_walk_ubound.py
+${PYTHON_SITELIB}/crocoddyl/examples/boxfddp_vs_boxddp.py
+${PYTHON_SITELIB}/crocoddyl/examples/double_pendulum.py
+${PYTHON_SITELIB}/crocoddyl/examples/humanoid_manipulation.py
+${PYTHON_SITELIB}/crocoddyl/examples/humanoid_manipulation_ubound.py
+${PYTHON_SITELIB}/crocoddyl/examples/humanoid_taichi.py
+${PYTHON_SITELIB}/crocoddyl/examples/quadrotor.py
+${PYTHON_SITELIB}/crocoddyl/examples/quadrotor_ubound.py
+${PYTHON_SITELIB}/crocoddyl/examples/quadrupedal_gaits.py
+${PYTHON_SITELIB}/crocoddyl/examples/quadrupedal_walk_ubound.py
 ${PYTHON_SITELIB}/crocoddyl/libcrocoddyl_pywrap${PYTHON_EXT_SUFFIX}
 ${PYTHON_SITELIB}/crocoddyl/utils/__init__.py
 ${PYTHON_SITELIB}/crocoddyl/utils/biped.py

py-crocoddyl/depend.mk

@@ -2,26 +2,27 @@
 # Created:			Guilhem Saurel on Wed, 4 Apr 2019
 #
 
-DEPEND_DEPTH:=		${DEPEND_DEPTH}+
+DEPEND_DEPTH:=			${DEPEND_DEPTH}+
 PY_CROCODDYL_DEPEND_MK:=	${PY_CROCODDYL_DEPEND_MK}+
 
 ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+=		py-crocoddyl
+DEPEND_PKG+=			py-crocoddyl
 endif
 
 ifeq (+,$(PY_CROCODDYL_DEPEND_MK)) # ------------------------------------------
 
-PREFER.py-crocoddyl?=	robotpkg
+PREFER.py-crocoddyl?=		robotpkg
 
-SYSTEM_SEARCH.py-crocoddyl=\
-  'include/crocoddyl/config.hh:/CROCODDYL_VERSION/s/[^0-9.]//gp' \
-  'lib/pkgconfig/crocoddyl.pc:/Version/s/[^0-9.]//gp' \
+SYSTEM_SEARCH.py-crocoddyl=								\
+  'include/crocoddyl/config.hh:/CROCODDYL_VERSION/s/[^0-9.]//gp'			\
+  'lib/cmake/crocoddyl/crocoddylConfigVersion.cmake:/PACKAGE_VERSION/s/[^0-9.]//gp'	\
+  'lib/pkgconfig/crocoddyl.pc:/Version/s/[^0-9.]//gp'					\
   '${PYTHON_SYSLIBSEARCH}/crocoddyl/__init__.py'
 
-DEPEND_USE+=				py-crocoddyl
+DEPEND_USE+=			py-crocoddyl
 
-DEPEND_ABI.py-crocoddyl?=		${PKGTAG.python-}crocoddyl>=0.9.0
-DEPEND_DIR.py-crocoddyl?=		../../wip/py-crocoddyl
+DEPEND_ABI.py-crocoddyl?=	${PKGTAG.python-}crocoddyl>=0.9.0
+DEPEND_DIR.py-crocoddyl?=	../../wip/py-crocoddyl
 
 include ../../mk/sysdep/python.mk
 

py-crocoddyl/distinfo

-SHA1 (crocoddyl-1.1.0.tar.gz) = 49e1256b936da906b6b34546aaae5f77cda5a64b
-RMD160 (crocoddyl-1.1.0.tar.gz) = 3c2c9351a2788325968873022a44e032d97e96a1
-Size (crocoddyl-1.1.0.tar.gz) = 1832977 bytes
+SHA1 (crocoddyl-1.2.0.tar.gz) = bb3afd486db747561c2324be5ff80932c612f2b5
+RMD160 (crocoddyl-1.2.0.tar.gz) = 5ec1ce2b308d7a9dd3d1e0a22a442c8f03a035ac
+Size (crocoddyl-1.2.0.tar.gz) = 1885745 bytes