Commit d48485e8 authored by Thomas Moulard's avatar Thomas Moulard
Browse files

Import private repository.

parents
Makefile.in
aclocal.m4
autom4te.cache
config.guess
config.sub
configure
doc/Makefile.in
include/Makefile.in
src/Makefile.in
unitTesting/Makefile.in
ltmain.sh
plugin/CollisionDetector.h
plugin/CollisionDetectorSK.cc
plugin/DynamicsSimulator.h
plugin/DynamicsSimulatorSK.cc
plugin/HRPcontroller.h
plugin/HRPcontrollerSK.cc
plugin/ModelLoader.h
plugin/ModelLoaderSK.cc
plugin/OpenHRPCommon.h
plugin/OpenHRPCommonSK.cc
plugin/SequencePlayer.h
plugin/SequencePlayerSK.cc
plugin/ViewSimulator.h
plugin/ViewSimulatorSK.cc
plugin/walkpluginJRL.h
plugin/walkpluginJRLSK.cc
build/
,svn-log
+committed/
*~
#
# This list is used by git-shortlog to fix a few botched name translations
# in the git archive, either because the author's full name was messed up
# and/or not always written the same way, making contributions from the
# same person appearing not to be so or badly displayed.
Anthony Mallet <anthony.mallet@laas.fr>
Olivier Stasse <grxuser@jrl005.a01.aist.go.jp>
Olivier Stasse <olivier.stasse@aist.go.jp>
Olivier Stasse <stasse@dhcpt1243.a02.aist.go.jp>
Olivier Stasse <stasse@jrl005.a01.aist.go.jp>
Olivier Stasse <olivier.stasse@aist.go.jp>
Olivier Stasse <stasse@stasse-laptop.(none)>
Olivier Stasse <olivier.stasse@aist.go.jp>
Olivier Stasse <stasse@dhcpt1059.a02.aist.go.jp>
Olivier Stasse <stasse@jrl005.a01.aist.go.jp>
Olivier Stasse <stasse@jrl005.a02.aist.go.jp>
Olivier Stasse <olivier.stasse@aist.go.jp>
Olivier Stasse <stasse@jrl006.(none)>
Olivier Stasse <stasse@stasse-laptop.(none)>
Nicolas Mansard <nmansard@devgiri.(none)>
Nicolas Mansard <nmansard@jorasse.(none)>
Nicolas Mansard <nmansard@laas.fr>
Florent Lamiraux <florent@big-laptop.(none)>
Florent Lamiraux <florent@dhcpt1253.a02.aist.go.jp>
Florent Lamiraux <florent@florent-laptop.laas.fr>
Florent Lamiraux <florent@florent-laptop.(none)>
Florent Lamiraux <florent@laas.fr>
Florent Lamiraux <Florent Lamiraux florent@laas.fr>
Florent Lamiraux <florent@florent-laptop.(none)>
Florent Lamiraux <Florent Lamiraux florent@laas.fr>
Florent Lamiraux <florent@localhost.localdomain>
Florent Lamiraux <florent@poullenc.laas.fr>
Florent Lamiraux <florent@poullenc.(none)>
Andrei Herdt <andrei@andrei-laptop.(none)>
Andrei Herdt <andrei.herdt@aist.go.jp>
Andrei Herdt <andrei.herdt@inrialpes.fr>
Andrei Herdt <andrei.herdt@gmail.com>
Paul Evrard <evrard@evrard-desktop.(none)>
Torea Foissotte <torea.foissotte@aist.go.jp>
This package was written by and with the assistance of
* Mehdi Benallegue FIXME
* Paul Evrard evrard.paul@aist.go.jp
* Pierre Gergondet FIXME
* Andrei Herdt andrei.herdt@inrialpes.fr
* Fumio Kanehiro f-kanehiro@aist.go.jp
* François Keith francois.keith@aist.go.jp
* Florent Lamiraux florent@laas.fr
* Nicolas Mansard nmansard@laas.fr
* Thomas Moulard thomas.moulard@gmail.com
* Alireza Nakhaei Sarvedani FIXME
* Nicolas Perrin FIXME
* Mathieu Poirier FIXME
* Ramzi Sellouati FIXME
* Olivier Stasse olivier.stasse@aist.go.jp
* Pierre-Brice Wieber Pierre-Brice.Wieber@inria.fr
* Eiichi Yoshida e.yoshida@aist.go.jp
# Copyright 2010, Olivier Stasse, JRL, CNRS/AIST
#
# This file is part of jrl-walkgen.
# jrl-walkgen 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.
#
# jrl-walkgen 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
# jrl-walkgen. If not, see <http://www.gnu.org/licenses/>.
cmake_minimum_required(VERSION 2.6)
enable_language(CXX)
enable_testing()
# Name of the project
#--------------------
SET(PROJECT_NAME walkGenJrl)
SET(PROJECT_CONTACT olivier.stasse@aist.go.jp)
SET(PROJECT_DESCRIPTION "Humanoid Walking Pattern Generator (JRL)")
# Counter CMake mesures
#----------------------
IF(WIN32)
SET(CMAKE_STATIC_LIBRARY_PREFIX "")
SET(CMAKE_SHARED_LIBRARY_PREFIX "")
SET(CMAKE_SHARED_MODULE_PREFIX "")
ENDIF(WIN32)
# Debug mode for cmake.
#----------------------
SET(CMAKE_VERBOSE_MAKEFILE ON)
# Set version
#------------
set(CPACK_PACKAGE_VERSION_MAJOR 3)
set(CPACK_PACKAGE_VERSION_MINOR 1)
set(CPACK_PACKAGE_VERSION_PATCH 1)
SET(PROJECT_VERSION ${CPACK_PACKAGE_VERSION_MAJOR}.${CPACK_PACKAGE_VERSION_MINOR}.${CPACK_PACKAGE_VERSION_PATCH}.99)
# Deal with OS specificities
#---------------------------
IF(WIN32)
SET(LIBDIR_KW "/LIBPATH:")
SET(LIBINCLUSION_KW "")
SET(LIBINCLUSION_EXT ".lib")
ENDIF(WIN32)
IF(UNIX)
SET(LIBDIR_KW "-L")
SET(LIBDIR_RP "-Wl,-R")
SET(LIBINCLUSION_KW "-l")
SET(LIBINCLUSION_EXT "")
SET(${PROJECT_NAME}_CXXFLAGS "-DUNIX ")
ENDIF(UNIX)
project(${PROJECT_NAME})
# Impose shared libraries
#------------------------
OPTION(BUILD_SHARED_LIBS "Build walkGenJrl with shared libraries." ON)
# where are located specific cmake modules
#-----------------------------------------
SET(CMAKE_MODULE_PATH ${${PROJECT_NAME}_SOURCE_DIR}/CMakeModules)
# Check for required packages
# -------------------------
INCLUDE(FindPkgConfig)
# Look for abstract robot dynamics.
SET(ABSTRACTROBOTDYNAMICS_REQUIRED_VERSION 1.15)
pkg_check_modules(ABSTRACTROBOTDYNAMICS REQUIRED abstractRobotDynamics>=${ABSTRACTROBOTDYNAMICS_REQUIRED_VERSION})
SET(PROJECT_REQUIREMENTS "abstractRobotDynamics >= ${ABSTRACTROBOTDYNAMICS_REQUIRED_VERSION}")
EXEC_PROGRAM(${PKG_CONFIG_EXECUTABLE} ARGS --variable=docdir abstractRobotDynamics
OUTPUT_VARIABLE _abstractRobotDynamics_DOCDIR)
SET(${PROJECT_NAME}_src_CXXFLAGS "${${PROJECT_NAME}_src_CXXFLAGS} -I${${PROJECT_NAME}_SOURCE_DIR}")
IF(UNIX)
SET(${PROJECT_NAME}_src_CXXFLAGS "-Wall ${${PROJECT_NAME}_src_CXXFLAGS}")
ENDIF(UNIX)
IF(WIN32)
SET(WIN32_CXXFLAGS "-D_SCL_SECURE_NO_WARNINGS -D_CRT_SECURE_NO_WARNINGS -D_CRT_SECURE_NO_DEPRECATE /wd4250 /wd4251 /wd4996")
SET(WIN32_CXXFLAGS "${WIN32_CXXFLAGS} /wd4244 /wd4305") # warning: double to float conversion
SET(WIN32_CXXFLAGS "${WIN32_CXXFLAGS} /wd4275") # warning: non-dll interface used in dynJRLJapan
SET(${PROJECT_NAME}_src_CXXFLAGS "/D__STDC__ ${${PROJECT_NAME}_src_CXXFLAGS} ${WIN32_CXXFLAGS}")
ENDIF(WIN32)
FOREACH(option_cxxflags ${ABSTRACTROBOTDYNAMICS_CFLAGS})
SET(${PROJECT_NAME}_src_CXXFLAGS "${${PROJECT_NAME}_src_CXXFLAGS} ${option_cxxflags} ")
ENDFOREACH(option_cxxflags)
FOREACH(option_ldflags ${ABSTRACTROBOTDYNAMICS_LDFLAGS})
SET(${PROJECT_NAME}_src_LDFLAGS "${option_ldflags} ${${PROJECT_NAME}_src_LDFLAGS}")
ENDFOREACH(option_ldflags)
IF(UNIX)
SET(${PROJECT_NAME}_LDFLAGS "${LIBDIR_KW}${CMAKE_PREFIX_INSTALL}/lib/ ${LIBINCLUSION_KW}${PROJECT_NAME} ${${PROJECT_NAME}_LDFLAGS}")
ENDIF(UNIX)
IF(WIN32)
SET(${PROJECT_NAME}_LDFLAGS "${LIBDIR_KW}${CMAKE_PREFIX_INSTALL}/lib/ ${LIBINCLUSION_KW}${PROJECT_NAME}${LIBINCLUSION_EXT} ${${PROJECT_NAME}_LDFLAGS}")
ENDIF(WIN32)
# Optimisation flags when building with RELEASE
#----------------------------------------------
IF(CMAKE_BUILD_TYPE MATCHES "RELEASE")
IF(CMAKE_COMPILER_IS_GNUCXX)
SET (${PROJECT_NAME}_CXXFLAGS "-O3 -funroll-loops -frerun-loop-opt -fschedule-insns2 -frerun-cse-after-loop -falign-functions -falign-labels -falign-loops -falign-jumps -fexpensive-optimizations ${${PROJECT_NAME}_CXXFLAGS}")
ENDIF(CMAKE_COMPILER_IS_GNUCXX)
ENDIF(CMAKE_BUILD_TYPE MATCHES "RELEASE")
# To deal with the headers.
#--------------------------
add_subdirectory(src)
add_subdirectory(unitTesting)
# Prepare the documentation
# -------------------------
OPTION(GENERATE_DOC "Generate html documentation" ON)
IF (GENERATE_DOC)
INCLUDE(FindDoxygen)
IF(DOXYGEN_FOUND)
MESSAGE(STATUS "Doxygen found")
ADD_SUBDIRECTORY(doc)
ENDIF(DOXYGEN_FOUND)
ENDIF (GENERATE_DOC)
# Prepare description file for pkg-config.
#-----------------------------------------
SET(install_pkg_prefix "\${prefix}")
SET(install_pkg_exec_prefix "\${exec_prefix}")
SET(install_pkg_libdir "\${libdir}")
SET(install_pkg_include_dir "\${includedir}")
SET(install_pkg_datarootdir "\${datarootdir}")
# Install the file in the appropriate place.
#-------------------------------------------
SET(install_libdir_pkgconfig lib/pkgconfig)
CONFIGURE_FILE(${${PROJECT_NAME}_SOURCE_DIR}/${PROJECT_NAME}.pc.cmake
${${PROJECT_NAME}_BINARY_DIR}/${PROJECT_NAME}.pc )
INSTALL(FILES ${${PROJECT_NAME}_BINARY_DIR}/${PROJECT_NAME}.pc
DESTINATION ${install_libdir_pkgconfig}
PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
)
# Uninstall target
CONFIGURE_FILE(
"${CMAKE_CURRENT_SOURCE_DIR}/cmake_uninstall.cmake.in"
"${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
IMMEDIATE @ONLY)
ADD_CUSTOM_TARGET(uninstall
"${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
#---------------
# Package target
#---------------
set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "walkGenJrl - Walking Pattern Generator for LIPM-like humanoid robots")
set(CPACK_PACKAGE_VENDOR "JRL CNRS/AIST")
set(CPACK_PACKAGE_DESCRIPTION_FILE ${CMAKE_CURRENT_SOURCE_DIR}/README.md)
set(CPACK_PACKAGE_CONTACT "Olivier Stasse (olivier.stasse@aist.go.jp)")
set(
CPACK_SOURCE_PACKAGE_FILE_NAME
"walkgenjrl-src-${PROJECT_VERSION}"
CACHE INTERNAL "tarball basename"
)
set(CPACK_PACKAGE_NAME "walkgenjrl")
set(CPACK_DEBIAN_PACKAGE_DEPENDS "dynamicsjrljapan (>=1.17.0)")
set(CPACK_SOURCE_GENERATOR "TGZ")
set(CPACK_GENERATOR DEB)
# The following components are regex's to match anywhere (unless anchored)
# in absolute path + filename to find files or directories to be excluded
# from source tarball.
set(CPACK_SOURCE_IGNORE_FILES
"~$"
"^${PROJECT_SOURCE_DIR}/build/"
"^${PROJECT_SOURCE_DIR}/.git/"
)
set(CPACK_PACKAGING_INSTALL_PREFIX "/usr/openrobots")
#message("CPACK_SOURCE_IGNORE_FILES = ${CPACK_SOURCE_IGNORE_FILES}")
include(CPack)
GNU LESSER GENERAL PUBLIC LICENSE
Version 3, 29 June 2007
Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
This version of the GNU Lesser General Public License incorporates
the terms and conditions of version 3 of the GNU General Public
License, supplemented by the additional permissions listed below.
0. Additional Definitions.
As used herein, "this License" refers to version 3 of the GNU Lesser
General Public License, and the "GNU GPL" refers to version 3 of the GNU
General Public License.
"The Library" refers to a covered work governed by this License,
other than an Application or a Combined Work as defined below.
An "Application" is any work that makes use of an interface provided
by the Library, but which is not otherwise based on the Library.
Defining a subclass of a class defined by the Library is deemed a mode
of using an interface provided by the Library.
A "Combined Work" is a work produced by combining or linking an
Application with the Library. The particular version of the Library
with which the Combined Work was made is also called the "Linked
Version".
The "Minimal Corresponding Source" for a Combined Work means the
Corresponding Source for the Combined Work, excluding any source code
for portions of the Combined Work that, considered in isolation, are
based on the Application, and not on the Linked Version.
The "Corresponding Application Code" for a Combined Work means the
object code and/or source code for the Application, including any data
and utility programs needed for reproducing the Combined Work from the
Application, but excluding the System Libraries of the Combined Work.
1. Exception to Section 3 of the GNU GPL.
You may convey a covered work under sections 3 and 4 of this License
without being bound by section 3 of the GNU GPL.
2. Conveying Modified Versions.
If you modify a copy of the Library, and, in your modifications, a
facility refers to a function or data to be supplied by an Application
that uses the facility (other than as an argument passed when the
facility is invoked), then you may convey a copy of the modified
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a) under this License, provided that you make a good faith effort to
ensure that, in the event an Application does not supply the
function or data, the facility still operates, and performs
whatever part of its purpose remains meaningful, or
b) under the GNU GPL, with none of the additional permissions of
this License applicable to that copy.
3. Object Code Incorporating Material from Library Header Files.
The object code form of an Application may incorporate material from
a header file that is part of the Library. You may convey such object
code under terms of your choice, provided that, if the incorporated
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(ten or fewer lines in length), you do both of the following:
a) Give prominent notice with each copy of the object code that the
Library is used in it and that the Library and its use are
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b) Accompany the object code with a copy of the GNU GPL and this license
document.
4. Combined Works.
You may convey a Combined Work under terms of your choice that,
taken together, effectively do not restrict modification of the
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engineering for debugging such modifications, if you also do each of
the following:
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the Library is used in it and that the Library and its use are
covered by this License.
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document.
c) For a Combined Work that displays copyright notices during
execution, include the copyright notice for the Library among
these notices, as well as a reference directing the user to the
copies of the GNU GPL and this license document.
d) Do one of the following:
0) Convey the Minimal Corresponding Source under the terms of this
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the Linked Version to produce a modified Combined Work, in the
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be required to provide such information under section 6 of the
GNU GPL, and only to the extent that such information is
necessary to install and execute a modified version of the
Combined Work produced by recombining or relinking the
Application with a modified version of the Linked Version. (If
you use option 4d0, the Installation Information must accompany
the Minimal Corresponding Source and Corresponding Application
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for conveying Corresponding Source.)
5. Combined Libraries.
You may place library facilities that are a work based on the
Library side by side in a single library together with other library
facilities that are not Applications and are not covered by this
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choice, if you do both of the following:
a) Accompany the combined library with a copy of the same work based
on the Library, uncombined with any other library facilities,
conveyed under the terms of this License.
b) Give prominent notice with the combined library that part of it
is a work based on the Library, and explaining where to find the
accompanying uncombined form of the same work.
6. Revised Versions of the GNU Lesser General Public License.
The Free Software Foundation may publish revised and/or new versions
of the GNU Lesser General Public License from time to time. Such new
versions will be similar in spirit to the present version, but may
differ in detail to address new problems or concerns.
Each version is given a distinguishing version number. If the
Library as you received it specifies that a certain numbered version
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applies to it, you have the option of following the terms and
conditions either of that published version or of any later version
published by the Free Software Foundation. If the Library as you
received it does not specify a version number of the GNU Lesser
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If the Library as you received it specifies that a proxy can decide
whether future versions of the GNU Lesser General Public License shall
apply, that proxy's public statement of acceptance of any version is
permanent authorization for you to choose that version for the
Library.
-*- outline -*-
New in X.Y, XXXX-YY-ZZ:
* FIXME
New in 3.0, 2009-11-15:
* Add OpenHRP-3 compatibility.
* Reorganize package to increase modularity.
New in 2.1, 2007-07-14:
* Now compatible with different linear algebra libraries through an
abstraction layer.
* Add a new untested analytical method based on Morisawa.
tested.
jrl-walkgen
===========
This software provides a pattern generator for biped robots.
It relies on the [abstract-robot-dynamics][abstract-robot-dynamics]
specification to realize dynamics computation.
Setup
-----
To compile this package, it is recommended to create a separate build
directory:
mkdir _build
cd _build
cmake [OPTIONS] ..
make install
Please note that CMake produces a `CMakeCache.txt` file which should
be deleted to reconfigure a package from scratch.
### Dependencies
The matrix abstract layer depends on several packages which
have to be available on your machine.
- Libraries:
- [abstract-robot-dynamics][abstract-robot-dynamics] (>= 1.16)
The pattern generator uses dynamics provided by the abstract interface.
- System tools:
- CMake (>=2.6)
- pkg-config
- usual compilation tools (GCC/G++, make, etc.)
Additional notes regarding compilation on Microsoft Windows
-----------------------------------------------------------
This package has been tested using Microsoft Visual Studio 8.
- Install MinGW
- Make sure all environment variables are set up properly.
- Generate the Makefile using the NMake Makefile generator.
[abstract-robot-dynamics]: http://github.com/laas/abstract-robot-dynamics
STATUS: 18/11/2009
Morisawa:Validated through experiments and the Stack of Tasks.
Kajita:Validation through experiements and the Stack of Tasks.
Wieber2006: Untested.
Dimitar2009: Untested.
# Template for uninstalling the files
# provided by this package.
#
# This file is coming straight from
# http://www.cmake.org/Wiki/CMake_FAQ
# O. Stasse, JRL, CNRS, 2010
#
IF(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
MESSAGE(FATAL_ERROR "Cannot find install manifest: \"@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt\"")
ENDIF(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
FILE(READ "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt" files)
STRING(REGEX REPLACE "\n" ";" files "${files}")
FOREACH(file ${files})
MESSAGE(STATUS "Uninstalling \"$ENV{DESTDIR}${file}\"")
IF(EXISTS "$ENV{DESTDIR}${file}")
EXEC_PROGRAM(
"@CMAKE_COMMAND@" ARGS "-E remove \"$ENV{DESTDIR}${file}\""
OUTPUT_VARIABLE rm_out
RETURN_VALUE rm_retval
)
IF(NOT "${rm_retval}" STREQUAL 0)
MESSAGE(FATAL_ERROR "Problem when removing \"$ENV{DESTDIR}${file}\"")
ENDIF(NOT "${rm_retval}" STREQUAL 0)
ELSE(EXISTS "$ENV{DESTDIR}${file}")
MESSAGE(STATUS "File \"$ENV{DESTDIR}${file}\" does not exist.")
ENDIF(EXISTS "$ENV{DESTDIR}${file}")
ENDFOREACH(file)
jrl-walkgen (1.0.0.99-1) lucid; urgency=low
* Initial work.
-- Thomas Moulard <thomas.moulard@gmail.com> Wed, 29 Sep 2010 19:52:00 +0200
Source: jrl-walkgen
Priority: extra
Maintainer: Thomas Moulard <thomas.moulard@gmail.com>
Build-Depends: debhelper (>= 7.0.50~), cmake (>= 2.6),
doxygen (>= 1.6.3),
pkg-config (>= 0.22),
perl (>= 5.10.1),
libboost-dev (>= 1.33.1),
libboost-thread-dev (>= 1.33.1)
Standards-Version: 3.8.4
#Vcs-Git:
#Vcs-browser:
Section: libs
#Homepage:
Package: libjrl-walkgen-dev
Section: libdevel
Architecture: any
Depends: libboost-dev (>= 1.33.1), libboost-thread-dev (>= 1.33.1), libjrl-walkgen3.1.1.99 (= ${binary:Version}), ${misc:Depends}
Suggests: libjrl-walkgen-doc
Description: the JRL walking pattern generator development package
The JRL walking pattern generator generates a whole-body movement
allowing biped robot to walk safely.
It relies on abstract-robot-dynamics to realize dynamics computation.
.
This package contains development files (headers and pkg-config file).
Package: libjrl-walkgen3.1.1.99
Architecture: any
Depends: ${shlibs:Depends}, ${misc:Depends}
Description: the JRL walking pattern generator C++ library
The JRL walking pattern generator generates a whole-body movement
allowing biped robot to walk safely.
It relies on abstract-robot-dynamics to realize dynamics computation.
.
This package contains the unversioned shared libraries.
Package: libjrl-walkgen-doc
Section: doc
Architecture: all
Depends: ${misc:Depends}
Suggests: libabstract-robot-dynamics-doc
Description: documentation for the JRL walking pattern generator
The JRL walking pattern generator generates a whole-body movement
allowing biped robot to walk safely.
It relies on abstract-robot-dynamics to realize dynamics computation.
.
This package contains the Doxygen documentation.
This work was packaged for Debian by:
Thomas Moulard <thomas.moulard@gmail.com> on Wed, 29 Sep 2010 19:57:00 +0200
It was downloaded from <not yet available>
Upstream Author(s):