get rid of dependency to hpp-util

CMakeLists.txt

@@ -53,7 +53,6 @@ SET(${PROJECT_NAME}_HEADERS
 SEARCH_FOR_BOOST()
 
 ADD_REQUIRED_DEPENDENCY("eigen3 >= 3.2")
-ADD_REQUIRED_DEPENDENCY("hpp-util >= 0.7")
 ADD_REQUIRED_DEPENDENCY("hpp-fcl >= 0.2.9")
 
 ## Add dependency toward hpp-affordance library in pkg-config file.

include/hpp/affordance/fwd.hh

@@ -21,19 +21,19 @@
 
 #include <vector>
 #include <map>
-#include <hpp/util/pointer.hh>
+#include <boost/smart_ptr.hpp>
 #include <hpp/fcl/fwd.hh>
 #include <hpp/fcl/BVH/BVH_model.h>
 #include <hpp/fcl/math/vec_3f.h>
 
 namespace hpp {
   namespace affordance {
-    HPP_PREDEF_CLASS (AffordanceExtraction);
-    HPP_PREDEF_CLASS (SemanticsData);
-    HPP_PREDEF_CLASS (Affordance);
-    HPP_PREDEF_CLASS (OperationBase);
-    HPP_PREDEF_CLASS (SupportOperation);
-    HPP_PREDEF_CLASS (LeanOperation);
+    class AffordanceExtraction;
+    class SemanticsData;
+    class Affordance;
+    class OperationBase;
+    class SupportOperation;
+    class LeanOperation;
 
     typedef fcl::BVHModel<fcl::OBBRSS> BVHModelOB;
     typedef boost::shared_ptr<BVHModelOB> BVHModelOB_Ptr_t;

tests/test4.py

+# Importing helper class for setting up a reachability planning problem
+from hpp.corbaserver.rbprm.rbprmbuilder import Builder
+from hpp.gepetto import Viewer
+
+rootJointType = 'freeflyer'
+packageName = 'hpp-rbprm-corba'
+meshPackageName = 'hpp-rbprm-corba'
+urdfName = 'hyq_trunk_large'
+urdfNameRom = ['hyq_lhleg_rom','hyq_lfleg_rom','hyq_rfleg_rom','hyq_rhleg_rom']
+urdfSuffix = ""
+srdfSuffix = ""
+
+rbprmBuilder = Builder ()
+rbprmBuilder.loadModel(urdfName, urdfNameRom, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
+rbprmBuilder.setJointBounds ("base_joint_xyz", [-2,5, -1, 1, 0.3, 4])
+
+rbprmBuilder.setFilter(['hyq_lhleg_rom', 'hyq_lfleg_rom','hyq_rfleg_rom','hyq_rhleg_rom']) 
+rbprmBuilder.setAffordanceFilter('hyq_rhleg_rom', ['Support', 'Lean'])
+rbprmBuilder.setAffordanceFilter('hyq_rfleg_rom', ['Support',])
+rbprmBuilder.setAffordanceFilter('hyq_lhleg_rom', ['Support', 'Lean'])
+rbprmBuilder.setAffordanceFilter('hyq_lfleg_rom', ['Support',])
+# We also bound the rotations of the torso.
+rbprmBuilder.boundSO3([-0.4,0.4,-3,3,-3,3])
+
+# Creating an instance of HPP problem solver and the viewer
+from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
+ps = ProblemSolver( rbprmBuilder )
+r = Viewer (ps)
+
+# Setting initial and goal configurations
+q_init = rbprmBuilder.getCurrentConfig ();
+q_init [0:3] = [-2, 0, 0.63]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
+q_goal = q_init [::]
+q_goal [0:3] = [3, 0, 0.63]; r (q_goal)
+
+ps.setInitialConfig (q_init)
+ps.addGoalConfig (q_goal)
+
+import random
+from hpp.corbaserver.affordance.affordance import AffordanceTool
+afftool = AffordanceTool ()
+afftool.loadObstacleModel (packageName, "darpa", "planning", r)
+afftool.visualiseAffordances('Support', r, 'planning', [0.25, 0.5, 0.5])
+
+# Choosing RBPRM shooter and path validation methods.
+# Note that the standard RRT algorithm is used.
+ps.client.problem.selectConFigurationShooter("RbprmShooter")
+ps.client.problem.selectPathValidation("RbprmPathValidation",0.05)
+
+# Solve the problem
+t = ps.solve ()
+
+# Playing the computed path
+from hpp.gepetto import PathPlayer
+pp = PathPlayer (rbprmBuilder.client.basic, r)
+pp (0)