From f3ab3d635d8fb86681926bb0a151c3bc9a4aa501 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Wed, 21 Dec 2016 17:11:41 +0100
Subject: [PATCH] [wip/sot-dynamic-pinocchio] Update to v3.1.3 Fix numerous
uncessary references to sot-dynamic
---
sot-dynamic-pinocchio-v3/Makefile | 5 +-
sot-dynamic-pinocchio-v3/PLIST | 118 +++++++++++-----------
sot-dynamic-pinocchio-v3/depend.mk | 5 +-
sot-dynamic-pinocchio-v3/distinfo | 9 +-
sot-dynamic-pinocchio-v3/patches/patch-aa | 13 ---
sot-dynamic-pinocchio-v3/patches/patch-ab | 37 -------
sot-dynamic-pinocchio-v3/patches/patch-ac | 116 ---------------------
7 files changed, 66 insertions(+), 237 deletions(-)
delete mode 100644 sot-dynamic-pinocchio-v3/patches/patch-aa
delete mode 100644 sot-dynamic-pinocchio-v3/patches/patch-ab
delete mode 100644 sot-dynamic-pinocchio-v3/patches/patch-ac
diff --git a/sot-dynamic-pinocchio-v3/Makefile b/sot-dynamic-pinocchio-v3/Makefile
index 0362a5d8..2fc91da3 100644
--- a/sot-dynamic-pinocchio-v3/Makefile
+++ b/sot-dynamic-pinocchio-v3/Makefile
@@ -2,11 +2,10 @@
# Created: Rohan Budhiraja on Fri, 8 Apr 2016
#
-VERSION= 3.1.1
-PKGREVISION= 2
+VERSION= 3.1.3
DISTNAME= sot-dynamic-pinocchio-v3-${VERSION}
MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=sot-dynamic-pinocchio-v3/}
-MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}proyan/sot-dynamic/
+MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}stack-of-tasks/sot-dynamic-pinocchio/
MAINTAINER= gepetto@laas.fr
diff --git a/sot-dynamic-pinocchio-v3/PLIST b/sot-dynamic-pinocchio-v3/PLIST
index 75cad63d..43e87b4b 100644
--- a/sot-dynamic-pinocchio-v3/PLIST
+++ b/sot-dynamic-pinocchio-v3/PLIST
@@ -1,62 +1,62 @@
@comment Fri Dec 6 09:25:38 CET 2013
-include/sot-dynamic/angle-estimator.h
-include/sot-dynamic/config.hh
-include/sot-dynamic/deprecated.hh
-include/sot-dynamic/dynamic.h
-include/sot-dynamic/force-compensation.h
-include/sot-dynamic/integrator-force-exact.h
-include/sot-dynamic/integrator-force-rk4.h
-include/sot-dynamic/integrator-force.h
-include/sot-dynamic/mass-apparent.h
-include/sot-dynamic/matrix-inertia.h
-include/sot-dynamic/waist-attitude-from-sensor.h
-include/sot-dynamic/warning.hh
-include/sot-dynamic/zmpreffromcom.h
-lib/libsot-dynamic.so
-lib/pkgconfig/sot-dynamic.pc
-lib/plugin/angle-estimator.so
-lib/plugin/angle-estimator.so.${PKGVERSION}
-lib/plugin/dynamic.so
-lib/plugin/dynamic.so.${PKGVERSION}
-lib/plugin/force-compensation.so
-lib/plugin/force-compensation.so.${PKGVERSION}
-lib/plugin/integrator-force-exact.so
-lib/plugin/integrator-force-exact.so.${PKGVERSION}
-lib/plugin/integrator-force-rk4.so
-lib/plugin/integrator-force-rk4.so.${PKGVERSION}
-lib/plugin/integrator-force.so
-lib/plugin/integrator-force.so.${PKGVERSION}
-lib/plugin/mass-apparent.so
-lib/plugin/mass-apparent.so.${PKGVERSION}
-lib/plugin/waist-attitude-from-sensor.so
-lib/plugin/waist-attitude-from-sensor.so.${PKGVERSION}
-lib/plugin/zmp-from-forces.so
-lib/plugin/zmp-from-forces.so.${PKGVERSION}
-lib/plugin/zmpreffromcom.so
-lib/plugin/zmpreffromcom.so.${PKGVERSION}
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/angle_estimator/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/angle_estimator/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/dynamic/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/dynamic/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/force_compensation/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/force_compensation/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/humanoid_robot.py
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/integrator_force/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/integrator_force/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/integrator_force_exact/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/integrator_force_exact/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/integrator_force_rk4/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/integrator_force_rk4/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/mass_apparent/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/mass_apparent/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/parser.py
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/tools.py
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/waist_attitude_from_sensor/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/waist_attitude_from_sensor/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/zmp_from_forces/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/zmp_from_forces/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/zmpreffromcom/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/zmpreffromcom/wrap.so
+include/sot-dynamic-pinocchio/angle-estimator.h
+include/sot-dynamic-pinocchio/config.hh
+include/sot-dynamic-pinocchio/deprecated.hh
+include/sot-dynamic-pinocchio/dynamic-pinocchio.h
+include/sot-dynamic-pinocchio/force-compensation.h
+include/sot-dynamic-pinocchio/integrator-force-exact.h
+include/sot-dynamic-pinocchio/integrator-force-rk4.h
+include/sot-dynamic-pinocchio/integrator-force.h
+include/sot-dynamic-pinocchio/mass-apparent.h
+include/sot-dynamic-pinocchio/matrix-inertia.h
+include/sot-dynamic-pinocchio/waist-attitude-from-sensor.h
+include/sot-dynamic-pinocchio/warning.hh
+include/sot-dynamic-pinocchio/zmpreffromcom.h
+lib/libsot-dynamic-pinocchio.so
+lib/pkgconfig/sot-dynamic-pinocchio.pc
+lib/plugin/dp-angle-estimator.so
+lib/plugin/dp-angle-estimator.so.${PKGVERSION}
+lib/plugin/dp-dynamic.so
+lib/plugin/dp-dynamic.so.${PKGVERSION}
+lib/plugin/dp-force-compensation.so
+lib/plugin/dp-force-compensation.so.${PKGVERSION}
+lib/plugin/dp-integrator-force-exact.so
+lib/plugin/dp-integrator-force-exact.so.${PKGVERSION}
+lib/plugin/dp-integrator-force-rk4.so
+lib/plugin/dp-integrator-force-rk4.so.${PKGVERSION}
+lib/plugin/dp-integrator-force.so
+lib/plugin/dp-integrator-force.so.${PKGVERSION}
+lib/plugin/dp-mass-apparent.so
+lib/plugin/dp-mass-apparent.so.${PKGVERSION}
+lib/plugin/dp-waist-attitude-from-sensor.so
+lib/plugin/dp-waist-attitude-from-sensor.so.${PKGVERSION}
+lib/plugin/dp-zmp-from-forces.so
+lib/plugin/dp-zmp-from-forces.so.${PKGVERSION}
+lib/plugin/dp-zmpreffromcom.so
+lib/plugin/dp-zmpreffromcom.so.${PKGVERSION}
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/angle_estimator/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/angle_estimator/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/dynamic/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/dynamic/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/force_compensation/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/force_compensation/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/humanoid_robot.py
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/integrator_force/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/integrator_force/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/integrator_force_exact/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/integrator_force_exact/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/integrator_force_rk4/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/integrator_force_rk4/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/mass_apparent/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/mass_apparent/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/parser.py
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/tools.py
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/waist_attitude_from_sensor/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/waist_attitude_from_sensor/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/zmp_from_forces/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/zmp_from_forces/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/zmpreffromcom/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/zmpreffromcom/wrap.so
${PYTHON_SITELIB}/dynamic_graph/tutorial/kine_romeo.py
${PYTHON_SITELIB}/dynamic_graph/tutorial/kine_romeo_small.py
diff --git a/sot-dynamic-pinocchio-v3/depend.mk b/sot-dynamic-pinocchio-v3/depend.mk
index 78d13421..73cb09ad 100644
--- a/sot-dynamic-pinocchio-v3/depend.mk
+++ b/sot-dynamic-pinocchio-v3/depend.mk
@@ -14,9 +14,8 @@ ifeq (+,$(SOT_DYNAMIC_PINOCCHIO_V3_DEPEND_MK)) # -------------------------------
PREFER.sot-dynamic-pinocchio-v3?= robotpkg
SYSTEM_SEARCH.sot-dynamic-pinocchio-v3=\
- include/sot-dynamic/dynamic.h \
- 'lib/pkgconfig/sot-dynamic.pc:Version/s/[^0-9.]//gp' \
- lib/plugin/dynamic.so
+ include/sot-dynamic-pinocchio/dynamic-pinocchio.h \
+ 'lib/pkgconfig/sot-dynamic-pinocchio.pc:Version/s/[^0-9.]//gp'
DEPEND_USE+= sot-dynamic-pinocchio-v3
diff --git a/sot-dynamic-pinocchio-v3/distinfo b/sot-dynamic-pinocchio-v3/distinfo
index 124cca11..3b5d6782 100644
--- a/sot-dynamic-pinocchio-v3/distinfo
+++ b/sot-dynamic-pinocchio-v3/distinfo
@@ -1,6 +1,3 @@
-SHA1 (sot-dynamic-pinocchio-v3-3.1.1.tar.gz) = e715bffba1a6d2d973243862a6e473ca577fa1c8
-RMD160 (sot-dynamic-pinocchio-v3-3.1.1.tar.gz) = beddcd9fae060cbf371b80075978e200da88a581
-Size (sot-dynamic-pinocchio-v3-3.1.1.tar.gz) = 922041 bytes
-SHA1 (patch-aa) = c57a914a6fc1140f348dec8c1cd2627c79a4de7d
-SHA1 (patch-ab) = 70878ef8071dfce1eddb895b35e3cdb4942a848f
-SHA1 (patch-ac) = deb468df72d57de00d079edfbec8725f292fd8b5
+SHA1 (sot-dynamic-pinocchio-v3-3.1.3.tar.gz) = b917d547b2c66d27257ebf4eb29d292b6142cd93
+RMD160 (sot-dynamic-pinocchio-v3-3.1.3.tar.gz) = a5019968c5e019dbdc52ca2f6847af987dccdbee
+Size (sot-dynamic-pinocchio-v3-3.1.3.tar.gz) = 833935 bytes
diff --git a/sot-dynamic-pinocchio-v3/patches/patch-aa b/sot-dynamic-pinocchio-v3/patches/patch-aa
deleted file mode 100644
index 42725c2a..00000000
--- a/sot-dynamic-pinocchio-v3/patches/patch-aa
+++ /dev/null
@@ -1,13 +0,0 @@
-diff --git src/python-module-py.cpp src/python-module-py.cpp
-index b19e611..2525ae2 100644
---- src/python-module-py.cpp
-+++ src/python-module-py.cpp
-@@ -18,7 +18,7 @@
- #include <boost/python.hpp>
- #include <typeinfo>
- #include <cstdio>
--#include <pinocchio/bindings/python/model.hpp>
-+#include <pinocchio/bindings/python/multibody/model.hpp>
- #include <pinocchio/bindings/python/data.hpp>
- #include <pinocchio/bindings/python/handler.hpp>
-
diff --git a/sot-dynamic-pinocchio-v3/patches/patch-ab b/sot-dynamic-pinocchio-v3/patches/patch-ab
deleted file mode 100644
index 7d8e06e1..00000000
--- a/sot-dynamic-pinocchio-v3/patches/patch-ab
+++ /dev/null
@@ -1,37 +0,0 @@
-diff --git src/python-module-py.cpp src/python-module-py.cpp
-index 2525ae2..b0ed6d7 100644
---- src/python-module-py.cpp
-+++ src/python-module-py.cpp
-@@ -19,8 +19,8 @@
- #include <typeinfo>
- #include <cstdio>
- #include <pinocchio/bindings/python/multibody/model.hpp>
--#include <pinocchio/bindings/python/data.hpp>
--#include <pinocchio/bindings/python/handler.hpp>
-+#include <pinocchio/bindings/python/multibody/data.hpp>
-+#include <pinocchio/bindings/python/utils/handler.hpp>
-
-
- namespace dynamicgraph{
-@@ -87,8 +87,8 @@ namespace dynamicgraph{
- Dynamic* dyn_entity = (Dynamic*) pointer1;
-
- try {
-- se3::python::ModelHandler cppModelHandle =
-- boost::python::extract<se3::python::ModelHandler>(pyPinocchioObject);
-+ se3::python::Handler<se3::Model> cppModelHandle =
-+ boost::python::extract< se3::python::Handler<se3::Model> >(pyPinocchioObject);
- dyn_entity->setModel(cppModelHandle.ptr());
- //dyn_entity->m_model = cppModelHandle.ptr();
- }
-@@ -127,8 +127,8 @@ namespace dynamicgraph{
- Dynamic* dyn_entity = (Dynamic*) pointer1;
-
- try {
-- se3::python::DataHandler cppDataHandle =
-- boost::python::extract<se3::python::DataHandler>(pyPinocchioObject);
-+ se3::python::Handler<se3::Data> cppDataHandle =
-+ boost::python::extract< se3::python::Handler<se3::Data> >(pyPinocchioObject);
- dyn_entity->setData(cppDataHandle.ptr());
- //dyn_entity->m_data = cppDataHandle.ptr();
- }
diff --git a/sot-dynamic-pinocchio-v3/patches/patch-ac b/sot-dynamic-pinocchio-v3/patches/patch-ac
deleted file mode 100644
index 201abe2e..00000000
--- a/sot-dynamic-pinocchio-v3/patches/patch-ac
+++ /dev/null
@@ -1,116 +0,0 @@
---- src/python-module-py.cpp 2016-11-08 11:38:20.163431833 +0100
-+++ src/python-module-py.cpp 2016-11-08 11:14:03.243064192 +0100
-@@ -26,54 +26,11 @@
- namespace dynamicgraph{
- namespace sot{
-
-- /* PyObject* getPinocchioModel(PyObject* // self
-- ,PyObject* args) {
-- PyObject* object = NULL;
-- void* pointer = NULL;
--
-- if (!PyArg_ParseTuple(args, "O", &object))
-- return NULL;
--
-- if (!PyCObject_Check(object)) {
-- PyErr_SetString(PyExc_TypeError,
-- "function takes a PyCObject as argument");
-- return NULL;
-- }
--
-- pointer = PyCObject_AsVoidPtr(object);
-- Dynamic* dyn_entity = (Dynamic*) pointer;
--
-- se3::Model* model_ptr = NULL;
--
-- try {
-- model_ptr = dyn_entity->m_model;
-- se3::python::ModelHandler& _model(& (dyn_entity->m_model));
-- }
-- catch (const std::exception& exc) {
-- PyErr_SetString(dgpyError, exc.what());
-- return NULL;
-- }
-- catch (const char* s) {
-- PyErr_SetString(dgpyError, s);
-- return NULL;
-- }
-- catch (...) {
-- PyErr_SetString(dgpyError, "Unknown exception");
-- return NULL;
-- }
-- //CATCH_ALL_EXCEPTIONS();
--
-- // Return the pointer to the signal without destructor since the signal
-- // is not owned by the calling object but by the Entity.
-- //return boost::python::incref();
-- return PyCObject_FromVoidPtr((void*)model_ptr, NULL);
-- }
-- */
--
- PyObject* setPinocchioModel(PyObject* /* self */,PyObject* args) {
- PyObject* object = NULL;
- PyObject* pyPinocchioObject;
- void* pointer1 = NULL;
-+ se3::Model* pointer2 = NULL;
- if (!PyArg_ParseTuple(args, "OO", &object, &pyPinocchioObject))
- return NULL;
-
-@@ -87,10 +44,9 @@
- Dynamic* dyn_entity = (Dynamic*) pointer1;
-
- try {
-- se3::python::Handler<se3::Model> cppModelHandle =
-- boost::python::extract< se3::python::Handler<se3::Model> >(pyPinocchioObject);
-- dyn_entity->setModel(cppModelHandle.ptr());
-- //dyn_entity->m_model = cppModelHandle.ptr();
-+ boost::python::extract<se3::Model&> cppHandle(pyPinocchioObject);
-+ pointer2 = (se3::Model*) &cppHandle();
-+ dyn_entity->setModel(pointer2);
- }
- catch (const std::exception& exc) {
- //PyErr_SetString(dgpyError, exc.what());
-@@ -104,9 +60,7 @@
- //PyErr_SetString(dgpyError, "Unknown exception");
- return NULL;
- }
-- // Return the pointer to the signal without destructor since the signal
-- // is not owned by the calling object but by the Entity.
-- //return boost::python::incref();
-+
- return Py_BuildValue("");
- }
-
-@@ -114,6 +68,7 @@
- PyObject* object = NULL;
- PyObject* pyPinocchioObject;
- void* pointer1 = NULL;
-+ se3::Data* pointer2 = NULL;
- if (!PyArg_ParseTuple(args, "OO", &object, &pyPinocchioObject))
- return NULL;
-
-@@ -127,10 +82,9 @@
- Dynamic* dyn_entity = (Dynamic*) pointer1;
-
- try {
-- se3::python::Handler<se3::Data> cppDataHandle =
-- boost::python::extract< se3::python::Handler<se3::Data> >(pyPinocchioObject);
-- dyn_entity->setData(cppDataHandle.ptr());
-- //dyn_entity->m_data = cppDataHandle.ptr();
-+ boost::python::extract<se3::Data&> cppHandle(pyPinocchioObject);
-+ pointer2 = (se3::Data*) &cppHandle();
-+ dyn_entity->setData(pointer2);
- }
- catch (const std::exception& exc) {
- // PyErr_SetString(dgpyError, exc.what());
-@@ -144,9 +98,7 @@
- // PyErr_SetString(dgpyError, "Unknown exception");
- return NULL;
- }
-- // Return the pointer to the signal without destructor since the signal
-- // is not owned by the calling object but by the Entity.
-- //return boost::python::incref();
-+
- return Py_BuildValue("");
- }
- }
--
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