From 76740a817b0880e14cf6ba1c177c14b0d704ebe7 Mon Sep 17 00:00:00 2001
From: Arnaud Degroote <arnaud.degroote@isae-supaero.fr>
Date: Fri, 16 Jan 2015 11:50:37 +0100
Subject: [PATCH] [wip/ompl] Upgrade to 1.0.0
MIME-Version: 1.0
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Changes since 0.14.2
--------------------
- Added many new planners:
- Linear Temporal Logical Planner (LTLPlanner): a planner that finds
solutions for kinodynamic motion planning problems where the goal is specified
by a Linear Temporal Logic (LTL) specification.
- Fast Marching Tree algorithm (FMT∗): a new asymptotically optimal
algorithm contributed by Marco Pavone's Autonomous Systems Laboratory at
Stanford.
- Coupled Forest of Random Engrafting Search Trees (CForest): a
meta-planner that runs several instances of asymptotically optimal planners in
different threads. When one thread finds a better solution path, the states
along the path are passed on to the other threads.
- Anytime Path Shortening: a generic wrapper around one or more
geometric motion planners that repeatedly applies shortcutting and
hybridization to a set of solution paths. Any number and combination of
planners can be specified, each is run in a separate thread.
- LazyPRM / LazyPRMstar: not entirely new, but completely re-implemented.
- RRT* has a new option to periodically prune parts of the tree that are
guaranteed not to contain the optimal solution. This idea was introduced in
CForest, but it useful independently of the CForest parallelization. Although
pruning is almost always useful, it is disabled by default to preserve the
original behavior.
- Created consistent behavior across all planners that can optimize paths.
Calls to the solve method of RRT*, PRM*, SPARS, SPARStwo, and LBTRRT will
terminate when (1) the planner termination condition is true or (2) the
optimization objective is satisfied. To make these planners terminate when any
solution is found, you can set the cost threshold for the optimization
objective to, e.g., OptimizationObjective::infiniteCost(). For most of these
planners, asymptotic (approximate) optimality is only guaranteed when using the
PathLengthOptimizationObjective class.
- Most control-based planners can now use steering functions. The user simply
needs to override ompl::control::StatePropagator::steer() and
ompl::control::StatePropagator::canSteer() in a derived class.
- Several improvements to benchmarking functionality:
- Planner Arena has been relaunched and can be used to interactively
visualize benchmark results.
- ompl_benchmark_statistics.py can now also parse MoveIt! benchmark log
files using the flag --moveit.
- Added ompl::tools::PlannerMonitor class, which periodically prints planner
progress properties in a separate thread. Useful for developing / debugging new
planners.
- Updated Py++ toolchain. If you previously installed Py++ and have trouble
generating the OMPL Python bindings, you may need to run "make
installpyplusplus" again.
- Minimum Boost version is now 1.48 and minimum CMake version is now 2.8.7.
- Bug fixes.
---
ompl/Makefile | 6 +++++-
ompl/PLIST | 27 ++++++++++++++++++++++++---
ompl/distinfo | 6 +++---
3 files changed, 32 insertions(+), 7 deletions(-)
diff --git a/ompl/Makefile b/ompl/Makefile
index 9607762c..fabc0a4c 100644
--- a/ompl/Makefile
+++ b/ompl/Makefile
@@ -3,7 +3,7 @@
#
DISTNAME= ompl-${PKGVERSION_NOREV}-Source
-PKGVERSION= 0.14.1
+PKGVERSION= 1.0.0
PKGNAME= ompl-${PKGVERSION}
CATEGORIES= motion
@@ -18,6 +18,9 @@ LICENSE= modified-bsd
CMAKE_ARGS+= -DBOOST_INCLUDEDIR=${PREFIX.boost-headers}/include
CMAKE_ARGS+= -DBOOST_LIBDIR=${PREFIX.boost-libs}/include
CMAKE_ARGS+= -DOMPL_REGISTRATION=OFF
+CMAKE_ARGS+= -DCMAKE_INSTALL_LIBDIR:PATH=${CMAKE_CONFIGURE_PREFIX}/lib
+
+DEPEND_ABI.cmake= cmake>=2.8.7
PKG_SUPPORTED_OPTIONS+= python
PKG_OPTION_DESCR.python= Enable python bindings
@@ -43,6 +46,7 @@ define PKG_OPTION_UNSET.morse
CMAKE_ARGS+= -DOMPL_EXTENSION_MORSE=OFF
endef
+
include ../../devel/boost-headers/depend.mk
include ../../devel/boost-libs/depend.mk
include ../../mk/sysdep/cmake.mk
diff --git a/ompl/PLIST b/ompl/PLIST
index 619aee59..fcf8c4bf 100644
--- a/ompl/PLIST
+++ b/ompl/PLIST
@@ -1,4 +1,4 @@
-@comment Wed Apr 30 12:27:00 CEST 2014
+@comment Fri Jan 16 11:29:25 CET 2015
bin/ompl_benchmark_statistics.py
include/ompl/base/Cost.h
include/ompl/base/DiscreteMotionValidator.h
@@ -68,9 +68,17 @@ include/ompl/control/SimpleDirectedControlSampler.h
include/ompl/control/SimpleSetup.h
include/ompl/control/SpaceInformation.h
include/ompl/control/StatePropagator.h
+include/ompl/control/SteeredControlSampler.h
include/ompl/control/planners/PlannerIncludes.h
include/ompl/control/planners/est/EST.h
include/ompl/control/planners/kpiece/KPIECE1.h
+include/ompl/control/planners/ltl/Automaton.h
+include/ompl/control/planners/ltl/LTLPlanner.h
+include/ompl/control/planners/ltl/LTLProblemDefinition.h
+include/ompl/control/planners/ltl/LTLSpaceInformation.h
+include/ompl/control/planners/ltl/ProductGraph.h
+include/ompl/control/planners/ltl/PropositionalDecomposition.h
+include/ompl/control/planners/ltl/World.h
include/ompl/control/planners/pdst/PDST.h
include/ompl/control/planners/rrt/RRT.h
include/ompl/control/planners/syclop/Decomposition.h
@@ -106,6 +114,7 @@ include/ompl/extensions/opende/OpenDESimpleSetup.h
include/ompl/extensions/opende/OpenDEStatePropagator.h
include/ompl/extensions/opende/OpenDEStateSpace.h
include/ompl/extensions/opende/OpenDEStateValidityChecker.h
+include/ompl/extensions/triangle/PropositionalTriangularDecomposition.h
include/ompl/extensions/triangle/TriangularDecomposition.h
include/ompl/geometric/GeneticSearch.h
include/ompl/geometric/HillClimbing.h
@@ -113,8 +122,13 @@ include/ompl/geometric/PathGeometric.h
include/ompl/geometric/PathHybridization.h
include/ompl/geometric/PathSimplifier.h
include/ompl/geometric/SimpleSetup.h
+include/ompl/geometric/planners/AnytimePathShortening.h
include/ompl/geometric/planners/PlannerIncludes.h
+include/ompl/geometric/planners/cforest/CForest.h
+include/ompl/geometric/planners/cforest/CForestStateSampler.h
+include/ompl/geometric/planners/cforest/CForestStateSpaceWrapper.h
include/ompl/geometric/planners/est/EST.h
+include/ompl/geometric/planners/fmt/FMT.h
include/ompl/geometric/planners/kpiece/BKPIECE1.h
include/ompl/geometric/planners/kpiece/Discretization.h
include/ompl/geometric/planners/kpiece/KPIECE1.h
@@ -122,6 +136,7 @@ include/ompl/geometric/planners/kpiece/LBKPIECE1.h
include/ompl/geometric/planners/pdst/PDST.h
include/ompl/geometric/planners/prm/ConnectionStrategy.h
include/ompl/geometric/planners/prm/LazyPRM.h
+include/ompl/geometric/planners/prm/LazyPRMstar.h
include/ompl/geometric/planners/prm/PRM.h
include/ompl/geometric/planners/prm/PRMstar.h
include/ompl/geometric/planners/prm/SPARS.h
@@ -140,6 +155,7 @@ include/ompl/tools/benchmark/Benchmark.h
include/ompl/tools/benchmark/MachineSpecs.h
include/ompl/tools/config/MagicConstants.h
include/ompl/tools/config/SelfConfig.h
+include/ompl/tools/debug/PlannerMonitor.h
include/ompl/tools/debug/Profiler.h
include/ompl/tools/multiplan/OptimizePlan.h
include/ompl/tools/multiplan/ParallelPlan.h
@@ -152,8 +168,10 @@ include/ompl/util/RandomNumbers.h
include/ompl/util/Time.h
lib/libompl.so
lib/libompl.so.${PKGVERSION}
-lib/libompl.so.9
+lib/libompl.so.10
lib/pkgconfig/ompl.pc
+share/man/man1/ompl_benchmark_statistics.1
+share/ompl/demos/CForestCircleGridBenchmark.cpp
share/ompl/demos/GeometricCarPlanning.cpp
share/ompl/demos/HybridSystemPlanning.cpp
share/ompl/demos/HypercubeBenchmark.cpp
@@ -176,6 +194,7 @@ share/ompl/demos/Koules/KoulesStatePropagator.cpp
share/ompl/demos/Koules/KoulesStatePropagator.h
share/ompl/demos/Koules/KoulesStateSpace.cpp
share/ompl/demos/Koules/KoulesStateSpace.h
+share/ompl/demos/LTLWithTriangulation.cpp
share/ompl/demos/OpenDERigidBodyPlanning.cpp
share/ompl/demos/OptimalPlanning.cpp
share/ompl/demos/OptimalPlanning.py
@@ -196,7 +215,6 @@ share/ompl/demos/RigidBodyPlanningWithODESolverAndControls.py
share/ompl/demos/StateSampling.cpp
share/ompl/demos/StateSampling.py
share/ompl/demos/TriangulationDemo.cpp
-share/ompl/ompl-config-version.cmake
share/ompl/ompl-config.cmake
@pkgdir include/ompl/CMakeFiles/ompl.dir/util
@pkgdir include/ompl/CMakeFiles/ompl.dir/tools/multiplan
@@ -209,12 +227,15 @@ share/ompl/ompl-config.cmake
@pkgdir include/ompl/CMakeFiles/ompl.dir/geometric/planners/prm
@pkgdir include/ompl/CMakeFiles/ompl.dir/geometric/planners/pdst
@pkgdir include/ompl/CMakeFiles/ompl.dir/geometric/planners/kpiece
+@pkgdir include/ompl/CMakeFiles/ompl.dir/geometric/planners/fmt
@pkgdir include/ompl/CMakeFiles/ompl.dir/geometric/planners/est
+@pkgdir include/ompl/CMakeFiles/ompl.dir/geometric/planners/cforest
@pkgdir include/ompl/CMakeFiles/ompl.dir/extensions/morse
@pkgdir include/ompl/CMakeFiles/ompl.dir/control/spaces
@pkgdir include/ompl/CMakeFiles/ompl.dir/control/planners/syclop
@pkgdir include/ompl/CMakeFiles/ompl.dir/control/planners/rrt
@pkgdir include/ompl/CMakeFiles/ompl.dir/control/planners/pdst
+@pkgdir include/ompl/CMakeFiles/ompl.dir/control/planners/ltl
@pkgdir include/ompl/CMakeFiles/ompl.dir/control/planners/kpiece
@pkgdir include/ompl/CMakeFiles/ompl.dir/control/planners/est
@pkgdir include/ompl/CMakeFiles/ompl.dir/base/spaces
diff --git a/ompl/distinfo b/ompl/distinfo
index 43ba7ae9..b59a67b4 100644
--- a/ompl/distinfo
+++ b/ompl/distinfo
@@ -1,3 +1,3 @@
-SHA1 (ompl-0.14.1-Source.tar.gz) = 4772b9d3442f910d4d7bd3aa6e3615e8397fab88
-RMD160 (ompl-0.14.1-Source.tar.gz) = 6deeb1a4664a49051961498cd0027d07936ab4cc
-Size (ompl-0.14.1-Source.tar.gz) = 14502493 bytes
+SHA1 (ompl-1.0.0-Source.tar.gz) = 9d89dd0e9c358ddfc5c0b3c0aa92b4d101c72756
+RMD160 (ompl-1.0.0-Source.tar.gz) = f85e4f1b501306c08f72f110d61c805ae2668b73
+Size (ompl-1.0.0-Source.tar.gz) = 16024359 bytes
--
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