Commit 81ee63f2 authored by Olivier Stasse's avatar Olivier Stasse
Browse files

[Naveau2015] PR to fix the USE_QUAPROG issue #10

parent a84c6dab
......@@ -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})
......
/*
* 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
......@@ -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() {}
......
/*
* 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
......@@ -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>
......
......@@ -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)
......
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