From ecfc3afdb62019b409a2fc356c4621a4dbfacdbe Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Tue, 11 Apr 2017 06:05:44 +0200
Subject: [PATCH] [wip/sot-hrp2-v3] Update to 2.0.1 Remove patches which are
now in 2.0.1 Detect sot-dynamic-pinocchio Update hrp2.py and load
sot-dynamic-pinocchio which has now a different namespace than sot-dynamics.
---
sot-hrp2-v3/Makefile | 3 +--
sot-hrp2-v3/PLIST | 1 -
sot-hrp2-v3/distinfo | 9 +++------
sot-hrp2-v3/patches/patch-aa | 12 ------------
sot-hrp2-v3/patches/patch-ab | 36 ------------------------------------
sot-hrp2-v3/patches/patch-ac | 13 -------------
6 files changed, 4 insertions(+), 70 deletions(-)
delete mode 100644 sot-hrp2-v3/patches/patch-aa
delete mode 100644 sot-hrp2-v3/patches/patch-ab
delete mode 100644 sot-hrp2-v3/patches/patch-ac
diff --git a/sot-hrp2-v3/Makefile b/sot-hrp2-v3/Makefile
index 917ce925..6805ed12 100644
--- a/sot-hrp2-v3/Makefile
+++ b/sot-hrp2-v3/Makefile
@@ -2,8 +2,7 @@
# Created: Rohan Budhiraja, on Wed. 14th April 2016
#
-VERSION= 2.0.0
-PKGREVISION= 2
+VERSION= 2.0.1
DISTNAME= sot-hrp2-v3-${VERSION}
PKGNAME= sot-hrp2-v3-${VERSION}
diff --git a/sot-hrp2-v3/PLIST b/sot-hrp2-v3/PLIST
index f50a31d4..581ab0a8 100644
--- a/sot-hrp2-v3/PLIST
+++ b/sot-hrp2-v3/PLIST
@@ -1,4 +1,3 @@
-include/sot-hrp2/config.h
include/sot-hrp2/config.hh
include/sot-hrp2/deprecated.hh
include/sot-hrp2/warning.hh
diff --git a/sot-hrp2-v3/distinfo b/sot-hrp2-v3/distinfo
index ef42facf..2843ff75 100644
--- a/sot-hrp2-v3/distinfo
+++ b/sot-hrp2-v3/distinfo
@@ -1,6 +1,3 @@
-SHA1 (sot-hrp2-v3-2.0.0.tar.gz) = c8e2385252c3b4959ee4f1be721544b66a492468
-RMD160 (sot-hrp2-v3-2.0.0.tar.gz) = 5ba7b88903cb5c92e96445ccce9b30253bedafe1
-Size (sot-hrp2-v3-2.0.0.tar.gz) = 733017 bytes
-SHA1 (patch-aa) = b1bd612b7d437c3f45e12942f401418f74e449ae
-SHA1 (patch-ab) = 04b5c857d81ea0728a5661c19534dc9fe58f47ed
-SHA1 (patch-ac) = 615a1e352a69eb61468ebf4547ceaec2d4eb89bc
+SHA1 (sot-hrp2-v3-2.0.1.tar.gz) = 3db050e4d69e64fd7ac24c48d9d21ac26ae6cbd5
+RMD160 (sot-hrp2-v3-2.0.1.tar.gz) = e43ea0efc2ac7c0eaedf70fcdca9e4488ca838ac
+Size (sot-hrp2-v3-2.0.1.tar.gz) = 771771 bytes
diff --git a/sot-hrp2-v3/patches/patch-aa b/sot-hrp2-v3/patches/patch-aa
deleted file mode 100644
index a3ee58fd..00000000
--- a/sot-hrp2-v3/patches/patch-aa
+++ /dev/null
@@ -1,12 +0,0 @@
-diff --git CMakeLists.txt CMakeLists.txt
-index 48545b5..abed4da 100644
---- CMakeLists.txt
-+++ CMakeLists.txt
-@@ -61,6 +61,7 @@ SEARCH_FOR_EIGEN()
-
- # Handle rpath necessary to handle ROS multiplace packages
- # libraries inclusion
-+SET(CMAKE_INSTALL_LIBDIR lib)
- SET(CMAKE_SKIP_BUILD_RPATH FALSE)
- SET(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
- SET(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}")
diff --git a/sot-hrp2-v3/patches/patch-ab b/sot-hrp2-v3/patches/patch-ab
deleted file mode 100644
index d74cc192..00000000
--- a/sot-hrp2-v3/patches/patch-ab
+++ /dev/null
@@ -1,36 +0,0 @@
-diff --git src/dynamic_graph/sot/hrp2/hrp2.py src/dynamic_graph/sot/hrp2/hrp2.py
-index b3506a7..944206c 100644
---- src/dynamic_graph/sot/hrp2/hrp2.py
-+++ src/dynamic_graph/sot/hrp2/hrp2.py
-@@ -21,7 +21,7 @@ import numpy as np
- #Don't change this order
- from dynamic_graph.sot.dynamics.humanoid_robot import AbstractHumanoidRobot
- from dynamic_graph.ros import RosRobotModel
--
-+import pinocchio as se3
- from rospkg import RosPack
-
-
-@@ -66,8 +66,7 @@ class Hrp2(AbstractHumanoidRobot):
- return res
-
- def __init__(self, name, robotnumber,
-- device = None,
-- tracer = None):
-+ device = None, tracer = None):
-
- AbstractHumanoidRobot.__init__ (self, name, tracer)
-
-@@ -101,8 +100,11 @@ class Hrp2(AbstractHumanoidRobot):
-
- rospack = RosPack()
- self.urdfPath = rospack.get_path('hrp2_{0}_description'.format(robotnumber)) + '/urdf/hrp2_{0}.urdf'.format(robotnumber)
-- self.dynamic.loadUrdf(self.urdfPath)
-
-+ self.pinocchioModel = se3.buildModelFromUrdf(self.urdfPath, se3.JointModelFreeFlyer())
-+ self.pinocchioData = self.pinocchioModel.createData()
-+ self.dynamic.setModel(self.pinocchioModel)
-+ self.dynamic.setData(self.pinocchioData)
- self.dimension = self.dynamic.getDimension()
- self.dynamic.displayModel()
- self.plugVelocityFromDevice = True
diff --git a/sot-hrp2-v3/patches/patch-ac b/sot-hrp2-v3/patches/patch-ac
deleted file mode 100644
index 087a1084..00000000
--- a/sot-hrp2-v3/patches/patch-ac
+++ /dev/null
@@ -1,13 +0,0 @@
-Use sot-dynamic-pinocchio. Change of package name from sot-dynamic
-
---- CMakeLists.txt 2016-04-14 14:41:27.000000000 +0200
-+++ CMakeLists.txt 2017-02-02 13:39:57.477133197 +0100
-@@ -48,7 +48,7 @@
-
- ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 3.0.0")
- ADD_REQUIRED_DEPENDENCY("sot-core >= 3.0.0")
--ADD_REQUIRED_DEPENDENCY("sot-dynamic >= 3.1")
-+ADD_REQUIRED_DEPENDENCY("sot-dynamic-pinocchio >= 3.1")
- ADD_REQUIRED_DEPENDENCY("dynamic-graph-python >= 3.0.0")
-
- ADD_REQUIRED_DEPENDENCY("dynamic_graph_bridge_msgs")
--
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