[wip/py-hpp-rbprm-corba] Update to v4.9.0:

Changes in v4.9.0:
- Update README.md
- fix setStartState/setEndState for 3D contacts
- fix surface extraction from guide
- Add no-viewer mode and tests
- Re-initialize startState_ and endState_
- Add parameter for context in rbprm builder and fullbody
- Major refactoring of scripts organization
- Refactoring hpp-spline -> Curves
- [scripts] update to packaging changes in talos_rbprm
- Update tools and add scenario
- Fix bug introduced by the PR 55
- Allow bypassing the name service.
- CMake Exports

Packaging changes:
- add patch-aa, for python 2 backward compatibility

py-hpp-rbprm-corba/Makefile

@@ -25,6 +25,7 @@ include ../../math/eigen3/depend.mk
 include ../../path/hpp-core/depend.mk
 include ../../path/py-hpp-corbaserver/depend.mk
 include ../../path/hpp-util/depend.mk
+include ../../graphics/py-qt-hpp-gepetto-viewer/depend.mk
 include ../../mapping/octomap/depend.mk
 
 include ../../middleware/omniORB/depend.mk

py-hpp-rbprm-corba/PLIST

@@ -5,26 +5,101 @@ include/hpp/corbaserver/rbprm/deprecated.hh
 include/hpp/corbaserver/rbprm/rbprmbuilder-idl.hh
 include/hpp/corbaserver/rbprm/server.hh
 include/hpp/corbaserver/rbprm/warning.hh
+lib/cmake/hpp-rbprm-corba/hpp-rbprm-corbaConfig.cmake
+lib/cmake/hpp-rbprm-corba/hpp-rbprm-corbaConfigVersion.cmake
+lib/cmake/hpp-rbprm-corba/hpp-rbprm-corbaTargets-release.cmake
+lib/cmake/hpp-rbprm-corba/hpp-rbprm-corbaTargets.cmake
 lib/hppPlugins/rbprm-corba.so
 lib/pkgconfig/hpp-rbprm-corba.pc
 ${PYTHON_SITELIB}/hpp/corbaserver/rbprm/__init__.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/__main__.py
 ${PYTHON_SITELIB}/hpp/corbaserver/rbprm/client.py
 ${PYTHON_SITELIB}/hpp/corbaserver/rbprm/fewstepsplanner.py
 ${PYTHON_SITELIB}/hpp/corbaserver/rbprm/rbprmbuilder.py
 ${PYTHON_SITELIB}/hpp/corbaserver/rbprm/rbprmfullbody.py
 ${PYTHON_SITELIB}/hpp/corbaserver/rbprm/rbprmstate.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/__init__.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/abstract_contact_generator.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/abstract_path_planner.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/anymal_contact_generator.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/anymal_path_planner.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/demos/__init__.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/demos/hrp2_flatGround.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/demos/hrp2_flatGround_path.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/demos/hrp2_plateformes.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/demos/hrp2_plateformes_path.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/demos/hyq_darpa.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/demos/hyq_darpa_path.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/demos/hyq_slalom_debris.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/demos/hyq_slalom_debris_path.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/demos/talos_flatGround.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/demos/talos_flatGround_path.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/demos/talos_navBauzil.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/demos/talos_navBauzil_hard.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/demos/talos_navBauzil_hard_path.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/demos/talos_navBauzil_obstacles.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/demos/talos_navBauzil_obstacles_path.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/demos/talos_navBauzil_path.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/demos/talos_plateformes.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/demos/talos_plateformes_path.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/demos/talos_stairs10.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/demos/talos_stairs10_path.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/hrp2_contact_generator.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/hrp2_path_planner.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/hyq_contact_generator.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/hyq_path_planner.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/memmo/__init__.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/memmo/anymal_circle.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/memmo/anymal_circle_oriented.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/memmo/anymal_circle_oriented_path.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/memmo/anymal_circle_path.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/memmo/anymal_contact_generator.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/memmo/anymal_platform_random.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/memmo/anymal_platform_random_path.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/memmo/talos_bauzil_with_stairs_path.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/memmo/talos_circle.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/memmo/talos_circle_oriented.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/memmo/talos_circle_oriented_path.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/memmo/talos_circle_path.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/memmo/talos_contact_generator.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/memmo/talos_mazeEas_oriented_path.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/memmo/talos_mazeEas_path.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/memmo/talos_moveEffector_flat.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/memmo/talos_moveEffector_stairs_m10.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/memmo/talos_moveEffector_stairs_m15.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/memmo/talos_moveEffector_stairs_p10.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/memmo/talos_moveEffector_stairs_p15.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/memmo/talos_navBauzil.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/memmo/talos_navBauzil_oriented_path.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/memmo/talos_navBauzil_path.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/memmo/talos_platform_random.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/memmo/talos_platform_random_path.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/memmo/talos_randomMove_flat.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/memmo/talos_randomMove_path.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/memmo/talos_stairs10_random.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/memmo/talos_stairs10_random_path.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/talos_contact_generator.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/scenarios/talos_path_planner.py
 ${PYTHON_SITELIB}/hpp/corbaserver/rbprm/state_alg.py
 ${PYTHON_SITELIB}/hpp/corbaserver/rbprm/tools/__init__.py
 ${PYTHON_SITELIB}/hpp/corbaserver/rbprm/tools/affordance_centroids.py
 ${PYTHON_SITELIB}/hpp/corbaserver/rbprm/tools/com_constraints.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/tools/constraint_to_dae.py
 ${PYTHON_SITELIB}/hpp/corbaserver/rbprm/tools/cwc_trajectory.py
 ${PYTHON_SITELIB}/hpp/corbaserver/rbprm/tools/cwc_trajectory_helper.py
 ${PYTHON_SITELIB}/hpp/corbaserver/rbprm/tools/display_tools.py
 ${PYTHON_SITELIB}/hpp/corbaserver/rbprm/tools/generateROMs.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/tools/getSurfaceExtremumPoints.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/tools/narrow_convex_hull.py
 ${PYTHON_SITELIB}/hpp/corbaserver/rbprm/tools/obj_to_constraints.py
 ${PYTHON_SITELIB}/hpp/corbaserver/rbprm/tools/path_to_trajectory.py
 ${PYTHON_SITELIB}/hpp/corbaserver/rbprm/tools/plot_analytics.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/tools/sampleRotation.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/tools/sample_random_transition.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/tools/sample_root_config.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/tools/surfaces_from_path.py
 ${PYTHON_SITELIB}/hpp/corbaserver/rbprm/tools/time_out.py
+${PYTHON_SITELIB}/hpp/corbaserver/rbprm/utils.py
 ${PYTHON_SITELIB}/hpp_idl/hpp/corbaserver/rbprm/__init__.py
 ${PYTHON_SITELIB}/hpp_stubs/rbprm/__init__.py
 ${PYTHON_SITELIB}/hpp_stubs/rbprm/rbprmbuilder_idl.py

py-hpp-rbprm-corba/distinfo

-SHA1 (hpp-rbprm-corba-4.8.0.tar.gz) = b368841b2fc1c6a2643d788410451c88bf797290
-RMD160 (hpp-rbprm-corba-4.8.0.tar.gz) = 3860fd2286bc40c383611ff7c2c0222fbd66f59d
-Size (hpp-rbprm-corba-4.8.0.tar.gz) = 31661898 bytes
+SHA1 (hpp-rbprm-corba-4.9.0.tar.gz) = c8603af3e59ad8b76eaa1981776af39d9e42425b
+RMD160 (hpp-rbprm-corba-4.9.0.tar.gz) = 8a11c41c2bdbcd2786e84cb07e24a25b6056319e
+Size (hpp-rbprm-corba-4.9.0.tar.gz) = 6648563 bytes
+SHA1 (patch-aa) = ec74bbada1ef9ca2e4db956ddca7d493b077b415

py-hpp-rbprm-corba/patches/patch-aa

+python 2 compatibility
+ref https://github.com/humanoid-path-planner/hpp-rbprm-corba/issues/70
+
+--- src/hpp/corbaserver/rbprm/tools/surfaces_from_path.py.orig	2020-04-28 23:43:11.000000000 +0200
++++ src/hpp/corbaserver/rbprm/tools/surfaces_from_path.py	2020-04-29 13:01:22.153306460 +0200
+@@ -96,7 +96,7 @@
+ def computeRootYawAngleBetwwenConfigs(q0, q1):
+     quat0 = Quaternion(q0[6], q0[3], q0[4], q0[5])
+     quat1 = Quaternion(q1[6], q1[3], q1[4], q1[5])
+-    v_angular = np.array(log3(quat0.matrix() @ quat1.matrix()))
++    v_angular = np.array(log3(quat0.matrix().dot(quat1.matrix())))
+     #print ("q_prev : ",q0)
+     #print ("q      : ",q1)
+     #print ("v_angular = ",v_angular)