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  • jchemin/hpp-bezier-com-traj
  • pfernbac/hpp-bezier-com-traj
  • gsaurel/hpp-bezier-com-traj
  • humanoid-path-planner/hpp-bezier-com-traj
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.git-blame-ignore-revs
View file @ c281d02a
...@@ -3,3 +3,5 @@ ...@@ -3,3 +3,5 @@
# [Python] allow Python 3 & fix format (Guilhem Saurel, 2019-09-25) # [Python] allow Python 3 & fix format (Guilhem Saurel, 2019-09-25)
c9d5314ca82524d5aab0dffd75c40564262495b1 c9d5314ca82524d5aab0dffd75c40564262495b1
# pre-commit run -a (Guilhem Saurel, 2022-10-05)
5bac51b3232c27d606faeaa6746de9a04de149d6
.pre-commit-config.yaml
View file @ c281d02a
...@@ -2,12 +2,12 @@ ci: ...@@ -2,12 +2,12 @@ ci:
autoupdate_branch: 'devel' autoupdate_branch: 'devel'
repos: repos:
- repo: https://github.com/pre-commit/mirrors-clang-format - repo: https://github.com/pre-commit/mirrors-clang-format
rev: v13.0.1 rev: v14.0.6
hooks: hooks:
- id: clang-format - id: clang-format
args: [-i, --style=Google] args: [--style=Google]
- repo: https://github.com/pre-commit/pre-commit-hooks - repo: https://github.com/pre-commit/pre-commit-hooks
rev: v4.2.0 rev: v4.3.0
hooks: hooks:
- id: check-added-large-files - id: check-added-large-files
- id: check-ast - id: check-ast
...@@ -25,10 +25,14 @@ repos: ...@@ -25,10 +25,14 @@ repos:
- id: mixed-line-ending - id: mixed-line-ending
- id: trailing-whitespace - id: trailing-whitespace
- repo: https://github.com/psf/black - repo: https://github.com/psf/black
rev: 22.3.0 rev: 22.8.0
hooks: hooks:
- id: black - id: black
- repo: https://github.com/PyCQA/flake8 - repo: https://github.com/PyCQA/flake8
rev: 4.0.1 rev: 5.0.4
hooks: hooks:
- id: flake8 - id: flake8
- repo: https://github.com/cheshirekow/cmake-format-precommit
rev: v0.6.13
hooks:
- id: cmake-format
CMakeLists.txt
View file @ c281d02a
cmake_minimum_required(VERSION 3.1) cmake_minimum_required(VERSION 3.1)
# Project properties # Project properties
SET(PROJECT_NAME hpp-bezier-com-traj) set(PROJECT_NAME hpp-bezier-com-traj)
SET(PROJECT_DESCRIPTION "Multi contact trajectory generation for the COM using Bezier curves") set(PROJECT_DESCRIPTION
"Multi contact trajectory generation for the COM using Bezier curves")
# Project options # Project options
OPTION(BUILD_PYTHON_INTERFACE "Build the python bindings" ON) option(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
OPTION(USE_GLPK "Use sparse lp solver" OFF) option(USE_GLPK "Use sparse lp solver" OFF)
OPTION(PRINT_QHULL_INEQ "generate text file containing last inequality computed" OFF) option(PRINT_QHULL_INEQ
"generate text file containing last inequality computed" OFF)
# Project configuration # Project configuration
SET(PROJECT_USE_CMAKE_EXPORT TRUE) set(PROJECT_USE_CMAKE_EXPORT TRUE)
SET(CUSTOM_HEADER_DIR "hpp/bezier-com-traj") set(CUSTOM_HEADER_DIR "hpp/bezier-com-traj")
SET(CXX_DISABLE_WERROR TRUE) set(CXX_DISABLE_WERROR TRUE)
# JRL-cmakemodule setup # JRL-cmakemodule setup
INCLUDE(cmake/hpp.cmake) include(cmake/hpp.cmake)
INCLUDE(cmake/boost.cmake) include(cmake/boost.cmake)
INCLUDE(cmake/python.cmake)
# Project definition # Project definition
COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX) compute_project_args(PROJECT_ARGS LANGUAGES CXX)
PROJECT(${PROJECT_NAME} ${PROJECT_ARGS}) project(${PROJECT_NAME} ${PROJECT_ARGS})
IF(BUILD_PYTHON_INTERFACE) if(BUILD_PYTHON_INTERFACE)
FINDPYTHON() string(REGEX REPLACE "-" "_" PY_NAME ${PROJECT_NAME})
FIND_NUMPY() add_project_dependency(eigenpy 2.7.12 REQUIRED)
STRING(REGEX REPLACE "-" "_" PY_NAME ${PROJECT_NAME}) endif(BUILD_PYTHON_INTERFACE)
SEARCH_FOR_BOOST_PYTHON(REQUIRED)
ADD_PROJECT_DEPENDENCY(eigenpy REQUIRED)
ENDIF(BUILD_PYTHON_INTERFACE)
# Project dependencies # Project dependencies
ADD_PROJECT_DEPENDENCY(hpp-centroidal-dynamics REQUIRED) add_project_dependency(hpp-centroidal-dynamics REQUIRED)
ADD_PROJECT_DEPENDENCY(ndcurves 1.0.0 REQUIRED) add_project_dependency(ndcurves 1.0.0 REQUIRED)
IF(USE_GLPK) if(USE_GLPK)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/cmake/find-external/glpk") set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH}
ADD_PROJECT_DEPENDENCY(glpk REQUIRED) "${PROJECT_SOURCE_DIR}/cmake/find-external/glpk")
add_definitions ( -DUSE_GLPK_SOLVER=1) add_project_dependency(glpk REQUIRED)
ENDIF(USE_GLPK) add_definitions(-DUSE_GLPK_SOLVER=1)
endif(USE_GLPK)
# Main Library # Main Library
SET(${PROJECT_NAME}_HEADERS set(${PROJECT_NAME}_HEADERS
include/${CUSTOM_HEADER_DIR}/common_solve_methods.hh include/${CUSTOM_HEADER_DIR}/common_solve_methods.hh
include/${CUSTOM_HEADER_DIR}/common_solve_methods.inl include/${CUSTOM_HEADER_DIR}/common_solve_methods.inl
include/${CUSTOM_HEADER_DIR}/cost/costfunction_definition.hh include/${CUSTOM_HEADER_DIR}/cost/costfunction_definition.hh
include/${CUSTOM_HEADER_DIR}/data.hh include/${CUSTOM_HEADER_DIR}/data.hh
include/${CUSTOM_HEADER_DIR}/definitions.hh include/${CUSTOM_HEADER_DIR}/definitions.hh
include/${CUSTOM_HEADER_DIR}/flags.hh include/${CUSTOM_HEADER_DIR}/flags.hh
include/${CUSTOM_HEADER_DIR}/local_config.hh include/${CUSTOM_HEADER_DIR}/local_config.hh
include/${CUSTOM_HEADER_DIR}/solve_end_effector.hh include/${CUSTOM_HEADER_DIR}/solve_end_effector.hh
include/${CUSTOM_HEADER_DIR}/solve.hh include/${CUSTOM_HEADER_DIR}/solve.hh
include/${CUSTOM_HEADER_DIR}/solver/eiquadprog-fast.hpp # TODO: use stack-of-task/eiquadprog include/${CUSTOM_HEADER_DIR}/solver/eiquadprog-fast.hpp # TODO: use
include/${CUSTOM_HEADER_DIR}/solver/glpk-wrapper.hpp # stack-of-task/eiquadprog
include/${CUSTOM_HEADER_DIR}/solver/solver-abstract.hpp include/${CUSTOM_HEADER_DIR}/solver/glpk-wrapper.hpp
include/${CUSTOM_HEADER_DIR}/utils.hh include/${CUSTOM_HEADER_DIR}/solver/solver-abstract.hpp
include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_c1.hh include/${CUSTOM_HEADER_DIR}/utils.hh
include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_dc1_c1.hh include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_c1.hh
include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_dc1.hh include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_dc1_c1.hh
include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_c1.hh include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_dc1.hh
include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_dc1_c1.hh include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_c1.hh
include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_ddc1_dc1_c1.hh include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_dc1_c1.hh
include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0.hh include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_ddc1_dc1_c1.hh
include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_j0_j1_ddc1_dc1_c1.hh include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0.hh
include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_j0_x3_j1_ddc1_dc1_c1.hh include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_j0_j1_ddc1_dc1_c1.hh
include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_j0_x5_j1_ddc1_dc1_c1.hh include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_j0_x3_j1_ddc1_dc1_c1.hh
include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_definition.hh include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_j0_x5_j1_ddc1_dc1_c1.hh
) include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_definition.hh)
SET(${PROJECT_NAME}_SOURCES set(${PROJECT_NAME}_SOURCES
src/common_solve_methods.cpp src/common_solve_methods.cpp
src/costfunction_definition.cpp src/costfunction_definition.cpp
src/solver-abstract.cpp src/solver-abstract.cpp
src/eiquadprog-fast.cpp src/eiquadprog-fast.cpp
src/computeCOMTraj.cpp src/computeCOMTraj.cpp
src/solve_0_step.cpp src/solve_0_step.cpp
src/utils.cpp src/utils.cpp
src/waypoints_definition.cpp src/waypoints_definition.cpp)
)
if(USE_GLPK) if(USE_GLPK)
SET(${PROJECT_NAME}_SOURCES ${${PROJECT_NAME}_SOURCES} set(${PROJECT_NAME}_SOURCES ${${PROJECT_NAME}_SOURCES} src/glpk-wrapper.cpp)
src/glpk-wrapper.cpp
)
endif(USE_GLPK) endif(USE_GLPK)
ADD_LIBRARY(${PROJECT_NAME} SHARED add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES}
${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS}) ${${PROJECT_NAME}_HEADERS})
TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>) target_include_directories(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
TARGET_LINK_LIBRARIES(${PROJECT_NAME} ndcurves::ndcurves hpp-centroidal-dynamics::hpp-centroidal-dynamics) target_link_libraries(${PROJECT_NAME} ndcurves::ndcurves
hpp-centroidal-dynamics::hpp-centroidal-dynamics)
if(USE_GLPK) if(USE_GLPK)
TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PUBLIC ${glpk_INCLUDE_DIR}) target_include_directories(${PROJECT_NAME} PUBLIC ${glpk_INCLUDE_DIR})
TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${glpk_LIBRARY}) target_link_libraries(${PROJECT_NAME} ${glpk_LIBRARY})
endif(USE_GLPK) endif(USE_GLPK)
INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib) install(
TARGETS ${PROJECT_NAME}
EXPORT ${TARGETS_EXPORT_NAME}
DESTINATION lib)
ADD_SUBDIRECTORY(tests) add_subdirectory(tests)
IF(BUILD_PYTHON_INTERFACE) if(BUILD_PYTHON_INTERFACE)
ADD_SUBDIRECTORY(python) add_subdirectory(python)
ENDIF(BUILD_PYTHON_INTERFACE) endif(BUILD_PYTHON_INTERFACE)
INSTALL(FILES package.xml DESTINATION share/${PROJECT_NAME}) install(FILES package.xml DESTINATION share/${PROJECT_NAME})
cmake @ 08c2c18b
Compare e77c9c32...08c2c18b
Subproject commit e77c9c32b1d69b21e447cf64f1ad1590aab61159 Subproject commit 08c2c18b9033c2f0a86b885b589f4fa63a163caf
package.xml
View file @ c281d02a
<?xml version='1.0'?> <?xml version='1.0'?>
<package format='2'> <package format='2'>
<name>hpp-bezier-com-traj</name> <name>hpp-bezier-com-traj</name>
<version>4.13.0</version> <version>4.14.0</version>
<description>Multi contact trajectory generation for the COM using Bezier curves</description> <description>Multi contact trajectory generation for the COM using Bezier curves</description>
<maintainer email='guilhem.saurel@laas.fr'>Guilhem Saurel</maintainer> <maintainer email='guilhem.saurel@laas.fr'>Guilhem Saurel</maintainer>
......
python/CMakeLists.txt
View file @ c281d02a
# Define the wrapper library that wraps our library # Define the wrapper library that wraps our library
add_library(${PY_NAME} SHARED bezier_com_traj.cpp ) add_library(${PY_NAME} SHARED bezier_com_traj.cpp)
target_link_libraries(${PY_NAME} ${PROJECT_NAME} eigenpy::eigenpy) target_link_libraries(${PY_NAME} ${PROJECT_NAME} eigenpy::eigenpy)
# don't prepend wrapper library name with lib # don't prepend wrapper library name with lib
set_target_properties(${PY_NAME} PROPERTIES PREFIX "") set_target_properties(${PY_NAME} PROPERTIES PREFIX "")
IF(APPLE) if(APPLE)
# We need to change the extension for python bindings # We need to change the extension for python bindings
SET_TARGET_PROPERTIES(${PY_NAME} PROPERTIES SUFFIX ".so") set_target_properties(${PY_NAME} PROPERTIES SUFFIX ".so")
ENDIF(APPLE) endif(APPLE)
INSTALL(TARGETS ${PY_NAME} DESTINATION ${PYTHON_SITELIB}) install(TARGETS ${PY_NAME} DESTINATION ${PYTHON_SITELIB})
SET(${PROJECT_NAME}_PYTHON_TESTS set(${PROJECT_NAME}_PYTHON_TESTS
binding_tests.py binding_tests.py
#compare_pin_inv_dyn.py requires pinocchio_inv_dyn # compare_pin_inv_dyn.py requires pinocchio_inv_dyn
) )
FOREACH(test ${${PROJECT_NAME}_PYTHON_TESTS}) foreach(test ${${PROJECT_NAME}_PYTHON_TESTS})
ADD_PYTHON_UNIT_TEST(${test} "python/test/${test}" "python") add_python_unit_test(${test} "python/test/${test}" "python")
ENDFOREACH(test) endforeach(test)
tests/CMakeLists.txt
View file @ c281d02a
SET(${PROJECT_NAME}_TESTS set(${PROJECT_NAME}_TESTS transition-quasi-static transition bezier-symbolic
transition-quasi-static # zero-step-capturability # hangs forever ?
transition )
bezier-symbolic
#zero-step-capturability # hangs forever ?
)
FOREACH(test ${${PROJECT_NAME}_TESTS}) foreach(test ${${PROJECT_NAME}_TESTS})
ADD_UNIT_TEST("${test}" "test-${test}.cpp") add_unit_test("${test}" "test-${test}.cpp")
TARGET_LINK_LIBRARIES(${test} ${PROJECT_NAME}) target_link_libraries(${test} ${PROJECT_NAME})
ENDFOREACH(test) endforeach(test)