[wip/MPC] Delete: not touched for 5 years

MPC/DESCR

-The MPC library propose several motion planning algorithms that may be devided
-into three parts :
-
-    - Local motion planning: real-time motion planning of a path or a trajectory
-      between two close end points.
-      Two main algorithms:
-        - A non-holonomic path generator using straight lines, circle bows and clothoids
-        - A variational trajectory generator by constraints optimization
-          designed to be used with arbitrary system dynamics 
-
-    - Global motion planning: deliberative motion planning to compute a
-      complete path or trajectory amidst static obstacles between two end
-      points.
-      Four main algorithms:
-        - A* search on a probabilitic roadmap
-        - A* search on a probabilistic occupancy grid using target and
-          obstacles potential fields
-        - Trajectory refinement thanks to the variational trajectory generator
-        - Path-velocity decomposition for arbitrary system dynamics 
-
-    - Reactive obstacle avoidance : Real-time algorithms allowing to move
-      safely amongst static and dynamic obstacles.
-      Three main algorithms :
-        - A trajectory selection algorithm computing several candidate motions
-          to execute and selecting the best one
-        -  A trajectory tracking algorithm aimed at following a reference
-           trajectory and avoiding obstacles without going out of a reference
-           corridor
-        - A trajectory deformation process aimed at anticipating the motion of
-          dynamic obstacles while keeping the convergence to the goal 

MPC/Makefile

-# robotpkg Makefile for:	path/MPC
-# Created:			Arnaud Degroote on Tue, 10 Jan 2012
-#
-
-DISTNAME=		MPC-${VERSION}
-VERSION=		1.0
-PKGREVISION=	2
-CATEGORIES=		path
-MASTER_SITES=		${MASTER_SITE_OPENROBOTS:=MPC/}
-MASTER_REPOSITORY=	${MASTER_REPOSITORY_OPENROBOTS_TRAC}MPC
-
-
-MAINTAINER=		openrobots@laas.fr
-COMMENT=		Libraries for outdoor robots navigation
-LICENSE=		isc
-
-
-CMAKE_ARG_PATH=		MPC/
-CMAKE_ARGS+=		-DBOOST_INCLUDEDIR=${PREFIX.boost-headers}/include
-CMAKE_ARGS+=		-DBOOST_LIBDIR=${PREFIX.boost-libs}/include
-
-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/sysdep/freeglut.mk
-include ../../mk/sysdep/glib2.mk
-include ../../mk/sysdep/glu.mk
-include ../../mk/sysdep/libX11.mk
-include ../../mk/sysdep/mesa.mk
-include ../../mk/language/c.mk
-include ../../mk/language/c++.mk
-include ../../mk/robotpkg.mk

MPC/PLIST

-@comment Tue Jan 10 09:35:04 CET 2012
-include/MPC/avoidObs.hpp
-include/MPC/avoidObs/inc/AvoidTrajGen.hpp
-include/MPC/avoidObs/inc/CorridorZone.hpp
-include/MPC/avoidObs/inc/DD2AvoidTrajGen.hpp
-include/MPC/avoidObs/inc/GraphPassageway.hpp
-include/MPC/avoidObs/inc/Passageway.hpp
-include/MPC/avoidObs/inc/PassagewayTree.hpp
-include/MPC/avoidObs/inc/RefCorridor.hpp
-include/MPC/collisionCheck/inc/CollisionCheck.hpp
-include/MPC/common.hpp
-include/MPC/common/inc/BinTree.hpp
-include/MPC/common/inc/BoundingShape.hpp
-include/MPC/common/inc/Config.hpp
-include/MPC/common/inc/Control.hpp
-include/MPC/common/inc/ControlPoint.hpp
-include/MPC/common/inc/ControlTime.hpp
-include/MPC/common/inc/Graph.hpp
-include/MPC/common/inc/GraphInt.hpp
-include/MPC/common/inc/Object.hpp
-include/MPC/common/inc/Position.hpp
-include/MPC/common/inc/PositionTime.hpp
-include/MPC/common/inc/Speed.hpp
-include/MPC/common/inc/State.hpp
-include/MPC/common/inc/StateTime.hpp
-include/MPC/common/inc/StateTimeTree.hpp
-include/MPC/common/inc/Timer.hpp
-include/MPC/common/inc/Tree.hpp
-include/MPC/common/inc/Utils.hpp
-include/MPC/common/inc/Vec.hpp
-include/MPC/common/inc/Vector.hpp
-include/MPC/common/inc/utilsLuis.h
-include/MPC/controller.hpp
-include/MPC/controller/inc/ManaSimpleController.hpp
-include/MPC/controller/inc/SimpleController.hpp
-include/MPC/deformation.hpp
-include/MPC/deformation/inc/CLTrajDeform3.hpp
-include/MPC/deformation/inc/DDDeformation.hpp
-include/MPC/deformation/inc/DDTrajDeform.hpp
-include/MPC/deformation/inc/PMTrajDeform.hpp
-include/MPC/deformation/inc/STDeformIfc.hpp
-include/MPC/deformation/inc/STDeformation.hpp
-include/MPC/deformation/inc/STNHDeformation.hpp
-include/MPC/deformation/inc/TrajDeform.hpp
-include/MPC/deformation/inc/WCTrajDeform3.hpp
-include/MPC/environment.hpp
-include/MPC/environment/inc/BoolObsMap.hpp
-include/MPC/environment/inc/DEM.hpp
-include/MPC/environment/inc/DistObsMap.hpp
-include/MPC/environment/inc/Environment.hpp
-include/MPC/environment/inc/Map.hpp
-include/MPC/environment/inc/Map2D.hpp
-include/MPC/environment/inc/MapHugr.hpp
-include/MPC/environment/inc/Obs.hpp
-include/MPC/environment/inc/Pos.hpp
-include/MPC/environment/inc/RoadMap.hpp
-include/MPC/environment/inc/SlopeMap.hpp
-include/MPC/environment/inc/VarSlopeMap.hpp
-include/MPC/foxExtension.hpp
-include/MPC/gen-structs/structs_gen.h
-include/MPC/gnuplot.hpp
-include/MPC/gnuplot/inc/TrajPlot.hpp
-include/MPC/gnuplot/inc/gnuplot_i.hpp
-include/MPC/graphics/inc/RGBColor.hpp
-include/MPC/graphics/inc/RGBImage.hpp
-include/MPC/hugr.hpp
-include/MPC/math.hpp
-include/MPC/math/inc/CosFunc.hpp
-include/MPC/math/inc/Function.hpp
-include/MPC/math/inc/Interval.hpp
-include/MPC/math/inc/InvMatrix.hpp
-include/MPC/math/inc/ItgFunc.hpp
-include/MPC/math/inc/MathFunc.hpp
-include/MPC/math/inc/Matrix.hpp
-include/MPC/math/inc/MultFunc.hpp
-include/MPC/math/inc/MultiItvFunction.hpp
-include/MPC/math/inc/Operation.hpp
-include/MPC/math/inc/PascalTriangle.hpp
-include/MPC/math/inc/Polynomial.hpp
-include/MPC/math/inc/SinFunc.hpp
-include/MPC/math/inc/Variable.hpp
-include/MPC/math/inc/fresnel.hpp
-include/MPC/math/inc/matrix.h
-include/MPC/math/inc/nr.h
-include/MPC/math/inc/nrtypes.h
-include/MPC/math/inc/nrtypes_nr.h
-include/MPC/math/inc/nrutil.h
-include/MPC/math/inc/nrutil_nr.h
-include/MPC/math/inc/quadrature.h
-include/MPC/motion.hpp
-include/MPC/motion/inc/CTrajectory.hpp
-include/MPC/motion/inc/GeomPath.hpp
-include/MPC/motion/inc/PCTraj.hpp
-include/MPC/motion/inc/PSTraj.hpp
-include/MPC/motion/inc/Path.hpp
-include/MPC/motion/inc/STrajectory.hpp
-include/MPC/motion/inc/Shift.hpp
-include/MPC/motion/inc/ShiftRecord.hpp
-include/MPC/mpc-fox.hpp
-include/MPC/mpc-gen.hpp
-include/MPC/mpc-hugr.hpp
-include/MPC/mpc.hpp
-include/MPC/network.hpp
-include/MPC/network/inc/TCP_server.hpp
-include/MPC/planner.hpp
-include/MPC/planner/inc/CTrajPlanner.hpp
-include/MPC/planner/inc/ManaSimpleSTrajPlanner.hpp
-include/MPC/planner/inc/PFPathPlanner.hpp
-include/MPC/planner/inc/PVDTrajPlanner.hpp
-include/MPC/planner/inc/PathPlanner.hpp
-include/MPC/planner/inc/RoadMapPP.hpp
-include/MPC/planner/inc/RoadMapTP.hpp
-include/MPC/planner/inc/SimpleSTrajPlanner.hpp
-include/MPC/planner/inc/TrajPlanner.hpp
-include/MPC/planner/inc/utils.h
-include/MPC/robot.hpp
-include/MPC/sslattice.hpp
-include/MPC/sslattice/inc/CL_SSLattice.hpp
-include/MPC/sslattice/inc/SSLattice.hpp
-include/MPC/sslattice/inc/SS_SSLattice.hpp
-include/MPC/sslattice/inc/WC_SSLattice.hpp
-include/MPC/system.hpp
-include/MPC/system/inc/CarLikeSys.hpp
-include/MPC/system/inc/DiffDrive2Sys.hpp
-include/MPC/system/inc/DiffDriveSys.hpp
-include/MPC/system/inc/ManaSys.hpp
-include/MPC/system/inc/PointMass3DSys.hpp
-include/MPC/system/inc/PointMassSys.hpp
-include/MPC/system/inc/SpaceShipSys.hpp
-include/MPC/system/inc/SysComponent.hpp
-include/MPC/system/inc/System.hpp
-include/MPC/system/inc/WheelChairSys.hpp
-include/MPC/trajFollow.hpp
-include/MPC/trajFollow/inc/CCTrajFollow.hpp
-include/MPC/trajFollow/inc/CLTrajFollow.hpp
-include/MPC/trajFollow/inc/ManaTrajFollow.hpp
-include/MPC/trajFollow/inc/TrajFollow.hpp
-include/MPC/trajFollow/inc/WCTrajFollow.hpp
-include/MPC/trajGen.hpp
-include/MPC/trajGen/inc/CLInitialGuess.hpp
-include/MPC/trajGen/inc/CLTrajGen.hpp
-include/MPC/trajGen/inc/DDTrajGen.hpp
-include/MPC/trajGen/inc/InitialGuess.hpp
-include/MPC/trajGen/inc/ManaTrajGen.hpp
-include/MPC/trajGen/inc/SSTrajGen.hpp
-include/MPC/trajGen/inc/TrajGen.hpp
-include/MPC/trajGen/inc/UtilsTG.hpp
-include/MPC/trajGen/inc/WCInitialGuess.hpp
-include/MPC/trajGen/inc/WCTrajGen.hpp
-include/MPC/trajSel.hpp
-include/MPC/trajSel/inc/ManaTrajSel.hpp
-include/MPC/trajSel/inc/TrajSel.hpp
-lib/libMPC-core.so
-lib/pkgconfig/mpc-core.pc

MPC/depend.mk

-# robotpkg depend.mk for:	path/MPC
-# Created:			Arnaud Degroote on Tue, 10 Jan 2012
-#
-
-DEPEND_DEPTH:=		${DEPEND_DEPTH}+
-LIBMPC_DEPEND_MK:=${LIBMPC_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+=		MPC
-endif
-
-ifeq (+,$(LIBMPC_DEPEND_MK))
-PREFER.MPC?=	robotpkg
-
-DEPEND_USE+=		MPC
-
-DEPEND_ABI.MPC?=	MPC>=1.0
-DEPEND_DIR.MPC?=	../../wip/MPC
-
-SYSTEM_SEARCH.MPC=\
-	include/MPC/mpc.hpp	\
-	lib/libMPC-core.so	\
-	lib/pkgconfig/mpc-core.pc
-endif
-
-include ../../mk/sysdep/mesa.mk
-include ../../mk/sysdep/glu.mk
-
-DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}

MPC/distinfo

-SHA1 (MPC-1.0.tar.gz) = a45fe2e16fb0d93673b014ddff38c074218a0517
-RMD160 (MPC-1.0.tar.gz) = 0383006d9f413d201b7b3dc6da8d6169beaf5a4e
-Size (MPC-1.0.tar.gz) = 803443 bytes
-SHA1 (patch-aa) = 66e1c649e6adbb86e6c49256ce8abcc4293f2bc5
-SHA1 (patch-ab) = 6883ab33b9e2e1a469c872d6cbb05ca6c5dc43e3
-SHA1 (patch-ac) = 73377d9e85241b4256a87cce1a1dcbb7614a147d
-SHA1 (patch-ad) = 15664bd8b97bd3f8b2c2941cd2bc9ccd5cc4b65a

MPC/patches/patch-aa

-Add GLIB_LIBDIR to link_directories
-
-GLIB2_LIBRARIES does not contain the full path to the library, so we need to
-make sure that the linker will search in the right directories. It will fix the
-link phase in the case where glib2 is not in standard prefix (eg in NetBSD).
-
---- MPC/core/CMakeLists.txt
-+++ MPC/core/CMakeLists.txt
-@@ -159,6 +159,7 @@ project ( MPC-core )
- 
- 
- # --- build the MPC core library
-+  link_directories(${GLIB2_LIBDIR})
- 
-   add_library ( MPC-core SHARED ${COMMON_SRC} ${SYSTEM_SRC} ${MATH_SRC} ${MOTION_SRC} ${ENVIRONMENT_SRC} ${COLLISION_CHECK_SRC} ${PLANNER_SRC} ${TRAJGEN_SRC} ${DEFORMATION_SRC} ${CONTROLLER_SRC} ${TRAJFOLLOW_SRC} ${SSLATTICE_SRC} ${TRAJSEL_SRC} ${AVOIDOBS_SRC} ${GRAPHICS_SRC} ${GNUPLOT_SRC} ${NETWORK_SRC} )
- 

MPC/patches/patch-ab

-[CMakeLists.txt] Fix it for cmake < 2.8
-
-cmake 2.8 allows a length of -1 in substring, but not previous
-version.  So do manually the size computation before calling
-substring !
-
---- MPC/CMakeLists.txt
-+++ MPC/CMakeLists.txt
-@@ -5,7 +5,9 @@ set(PACKAGE_VERSION 1.0)
- 
- macro(GET_LIBRARY_NAME LIBRARY_FULL LIBRARY_NAME)
- 	get_filename_component(LIBRARY_BASE ${LIBRARY_FULL} NAME_WE)
--	string(SUBSTRING ${LIBRARY_BASE} 3 -1 PIPO)
-+	string(LENGTH ${LIBRARY_BASE} LEN)
-+	math(EXPR SUB_LEN "${LEN} - 3")
-+	string(SUBSTRING ${LIBRARY_BASE} 3 ${SUB_LEN} PIPO)
- 	set(${LIBRARY_NAME} ${PIPO})
- endmacro()
- 

MPC/patches/patch-ac

-Use Boost_SYSTEM_LIBRARY_RELEASE instead of Boost_SYSTEM_LIBRARY to compute the
-name of the library because Boost_SYSTEM_LIBRARY can contain a list of library
-path with the associated configuration (debug, release ...)
-
---- MPC/CMakeLists.txt.orig	2012-01-16 11:02:23.674438395 +0100
-+++ MPC/CMakeLists.txt	2012-01-16 11:02:48.022437629 +0100
-@@ -85,7 +85,7 @@
- 
-   include_directories(${Boost_INCLUDE_DIRS})
- 
--  get_library_name(${Boost_SYSTEM_LIBRARY} Boost_SYSTEM_LIBRARY_NAME)
-+  get_library_name(${Boost_SYSTEM_LIBRARY_RELEASE} Boost_SYSTEM_LIBRARY_NAME)
- 
- # --- search for optional libraries
- 

MPC/patches/patch-ad

-Fix build on Fedora
-
---- ./MPC/core/network/CMakeLists.txt.orig	2013-03-14 10:37:59.171078851 +0100
-+++ ./MPC/core/network/CMakeLists.txt	2013-03-14 10:38:09.531078593 +0100
-@@ -11,8 +11,8 @@
- 
- 
- # --- link all executables with needed libraries
--   target_link_libraries ( server_test MPC-core ${X11_LIBRARIES} ${OPENGL_LIBRARIES} ${GLUT_LIBRARIES} ${Boost_LIBRARIES} )
--   target_link_libraries ( client_test  ${X11_LIBRARIES} ${OPENGL_LIBRARIES} ${GLUT_LIBRARIES} ${Boost_LIBRARIES} )
-+   target_link_libraries ( server_test MPC-core pthread ${X11_LIBRARIES} ${OPENGL_LIBRARIES} ${GLUT_LIBRARIES} ${Boost_LIBRARIES} )
-+   target_link_libraries ( client_test pthread ${X11_LIBRARIES} ${OPENGL_LIBRARIES} ${GLUT_LIBRARIES} ${Boost_LIBRARIES} )
- 
- 
- # --- install rules

Makefile

@@ -50,7 +50,6 @@ SUBDIR+=	morse-pocolibs
 SUBDIR+=	morse-ros
 SUBDIR+=	move3d-assets
 SUBDIR+=	move3d-studio
-SUBDIR+=	MPC
 SUBDIR+=	msgconnector
 SUBDIR+=	mumps
 SUBDIR+= 	octovis