[Naveau2015] PR to fix the USE_QUAPROG issue #10

CMakeLists.txt

@@ -59,7 +59,7 @@ IF(CMAKE_COMPILER_IS_GNUCXX)
 ENDIF(CMAKE_COMPILER_IS_GNUCXX)
 
 # Main Library
-CONFIGURE_FILE(src/configJRLWPG.hh.in src/configJRLWPG.hh)
+
 SET(${PROJECT_NAME}_HEADERS
   include/jrl/walkgen/patterngeneratorinterface.hh
   include/jrl/walkgen/pgtypes.hh
@@ -143,6 +143,10 @@ TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PRIVATE
   $<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/src/FootTrajectoryGeneration>
   PUBLIC $<INSTALL_INTERFACE:include>)
 TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${LAPACK_LIBRARIES} pinocchio::pinocchio)
+IF(USE_QUADPROG)
+  TARGET_COMPILE_DEFINITIONS(${PROJECT_NAME} PUBLIC
+    USE_QUADPROG=1)
+ENDIF(USE_QUADPROG)
 
 IF(SUFFIX_SO_VERSION)
   SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})

include/jrl/walkgen/configJRLWPG.hh

-/*
- * Copyright 2007, 2008, 2009, 2010,
- *
- * Olivier    Stasse
- *
- * JRL, CNRS/AIST
- *
- * This file is part of walkGenJrl.
- * walkGenJrl is free software: you can redistribute it and/or modify
- * it under the terms of the GNU Lesser General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * walkGenJrl is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Lesser Public License for more details.
- * You should have received a copy of the GNU Lesser General Public License
- * along with walkGenJrl.  If not, see <http://www.gnu.org/licenses/>.
- *
- *  Research carried out within the scope of the
- *  Joint Japanese-French Robotics Laboratory (JRL)
- */
-
-/*! Uses the default implementation for the small 4x4 matrices */
-#define _DEFAULT_MATRIX4x4_ 1
-
-/*! Uses the default implementation for the small 3x3 matrices */
-#define _DEFAULT_MATRIX3x3_ 1
-
-/*! Uses the default implementation for the small 3d vector */
-#define _DEFAULT_VECTOR3D_ 1
-
-/*! Uses the default implementation for the small 3d vector */
-#define _DEFAULT_VECTOR4D_ 1

src/GlobalStrategyManagers/CoMAndFootOnlyStrategy.cpp

@@ -37,8 +37,10 @@ using namespace PatternGeneratorJRL;
 
 CoMAndFootOnlyStrategy::CoMAndFootOnlyStrategy(
     SimplePluginManager *aSimplePluginManager)
-    : GlobalStrategyManager(aSimplePluginManager) {
-  m_BufferSizeLimit = 0;
+    : GlobalStrategyManager(aSimplePluginManager),
+      m_NbOfHitBottom(0),
+      m_BufferSizeLimit(0)
+{
 }
 
 CoMAndFootOnlyStrategy::~CoMAndFootOnlyStrategy() {}

src/configJRLWPG.hh.in

-/*
- * Copyright 2007, 2008, 2009, 2010,
- *
- * Olivier    Stasse
- *
- * JRL, CNRS/AIST
- *
- * This file is part of walkGenJrl.
- * walkGenJrl is free software: you can redistribute it and/or modify
- * it under the terms of the GNU Lesser General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * walkGenJrl is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Lesser Public License for more details.
- * You should have received a copy of the GNU Lesser General Public License
- * along with walkGenJrl.  If not, see <http://www.gnu.org/licenses/>.
- *
- *  Research carried out within the scope of the
- *  Joint Japanese-French Robotics Laboratory (JRL)
- */
-#define USE_QUADPROG @QUADPROG_COMPILE_FLAG @
-
-/*! Uses the default implementation for the small 4x4 matrices */
-#define _DEFAULT_MATRIX4x4_ 1
-
-/*! Uses the default implementation for the small 3x3 matrices */
-#define _DEFAULT_MATRIX3x3_ 1
-
-/*! Uses the default implementation for the small 3d vector */
-#define _DEFAULT_VECTOR3D_ 1
-
-/*! Uses the default implementation for the small 3d vector */
-#define _DEFAULT_VECTOR4D_ 1

src/patterngeneratorinterfaceprivate.hh

@@ -39,7 +39,6 @@
 
 #include <PreviewControl/PreviewControl.hh>
 #include <PreviewControl/ZMPPreviewControlWithMultiBodyZMP.hh>
-#include <jrl/walkgen/configJRLWPG.hh>
 
 #include <ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.hh>
 #include <ZMPRefTrajectoryGeneration/ZMPConstrainedQPFastFormulation.hh>

tests/CMakeLists.txt

@@ -157,16 +157,16 @@ ENDMACRO(ADD_JRL_WALKGEN_EXE)
 
 ## These test is disabled for now as it fails.
 ## FIXME: fix the test and/or the implementation
-#CONFIG_FILES_CMAKE(TestKajita2003StraightWalking${BITS}TestFGPI.datref)
-#CONFIG_FILES_CMAKE(TestKajita2003Circle${BITS}TestFGPI.datref)
-#CONFIG_FILES_CMAKE(TestKajita2003PbFlorentSeq1${BITS}TestFGPI.datref)
-#CONFIG_FILES_CMAKE(TestKajita2003PbFlorentSeq2${BITS}TestFGPI.datref)
-#CONFIG_FILES_CMAKE(TestKajita2003WalkingOnSpot${BITS}TestFGPI.datref)
-#ADD_JRL_WALKGEN_EXE(TestKajita2003StraightWalking TestKajita2003.cpp)
-#ADD_JRL_WALKGEN_EXE(TestKajita2003Circle          TestKajita2003.cpp)
-#ADD_JRL_WALKGEN_EXE(TestKajita2003PbFlorentSeq1   TestKajita2003.cpp)
-#ADD_JRL_WALKGEN_EXE(TestKajita2003PbFlorentSeq2   TestKajita2003.cpp)
-#ADD_JRL_WALKGEN_EXE(TestKajita2003WalkingOnSpot   TestKajita2003.cpp)
+CONFIG_FILES_CMAKE(TestKajita2003StraightWalking${BITS}TestFGPI.datref)
+CONFIG_FILES_CMAKE(TestKajita2003Circle${BITS}TestFGPI.datref)
+CONFIG_FILES_CMAKE(TestKajita2003PbFlorentSeq1${BITS}TestFGPI.datref)
+CONFIG_FILES_CMAKE(TestKajita2003PbFlorentSeq2${BITS}TestFGPI.datref)
+CONFIG_FILES_CMAKE(TestKajita2003WalkingOnSpot${BITS}TestFGPI.datref)
+ADD_JRL_WALKGEN_EXE(TestKajita2003StraightWalking TestKajita2003.cpp)
+ADD_JRL_WALKGEN_EXE(TestKajita2003Circle          TestKajita2003.cpp)
+ADD_JRL_WALKGEN_EXE(TestKajita2003PbFlorentSeq1   TestKajita2003.cpp)
+ADD_JRL_WALKGEN_EXE(TestKajita2003PbFlorentSeq2   TestKajita2003.cpp)
+ADD_JRL_WALKGEN_EXE(TestKajita2003WalkingOnSpot   TestKajita2003.cpp)
 
 #IF(BUILD_TESTING)
 #  ADD_JRL_WALKGEN_TEST(TestKajita2003StraightWalking TestKajita2003.cpp)