Skip to content
Snippets Groups Projects

Compare revisions

Changes are shown as if the source revision was being merged into the target revision. Learn more about comparing revisions.

Source

Select target project
No results found

Target

Select target project
  • jchemin/hpp-bezier-com-traj
  • pfernbac/hpp-bezier-com-traj
  • gsaurel/hpp-bezier-com-traj
  • humanoid-path-planner/hpp-bezier-com-traj
4 results
Show changes
Commits on Source (94)
Hide whitespace changes
Inline Side-by-side
Showing
with 249 additions and 66 deletions
.github/workflows/nix.yml 0 → 100644
View file @ 02786ee6
name: "CI - Nix"
on:
push:
jobs:
tests:
name: "Nix build on ${{ matrix.os }}"
runs-on: "${{ matrix.os }}-latest"
strategy:
matrix:
os: [ubuntu]
steps:
- uses: actions/checkout@v4
- uses: cachix/install-nix-action@v27
- uses: cachix/cachix-action@v15
with:
name: gepetto
authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
- run: nix build -L
.gitlab-ci.yml
View file @ 02786ee6
include: http://rainboard.laas.fr/project/hpp-bezier-com-traj/.gitlab-ci.yml
include: https://rainboard.laas.fr/project/hpp-bezier-com-traj/.gitlab-ci.yml
.mergify.yml 0 → 100644
View file @ 02786ee6
pull_request_rules:
- name: merge automatically when CI passes and PR is approved
conditions:
- check-success = "gitlab-ci"
- check-success = "Nix build on ubuntu"
- check-success = "pre-commit.ci - pr"
- or:
- author = pre-commit-ci[bot]
- author = dependabot[bot]
actions:
merge:
.pre-commit-config.yaml
View file @ 02786ee6
ci:
autoupdate_branch: 'devel'
autoupdate_branch: devel
repos:
- repo: https://github.com/pre-commit/mirrors-clang-format
rev: v15.0.6
hooks:
- id: clang-format
args: [--style=Google]
- repo: https://github.com/pre-commit/pre-commit-hooks
rev: v4.4.0
hooks:
- id: check-added-large-files
- id: check-ast
- id: check-executables-have-shebangs
- id: check-json
- id: check-merge-conflict
- id: check-symlinks
- id: check-toml
- id: check-yaml
- id: debug-statements
- id: destroyed-symlinks
- id: detect-private-key
- id: end-of-file-fixer
- id: fix-byte-order-marker
- id: mixed-line-ending
- id: trailing-whitespace
- repo: https://github.com/psf/black
rev: 22.12.0
hooks:
- id: black
- repo: https://github.com/PyCQA/flake8
rev: 6.0.0
hooks:
- id: flake8
- repo: https://github.com/cheshirekow/cmake-format-precommit
rev: v0.6.13
hooks:
- id: cmake-format
- repo: https://github.com/astral-sh/ruff-pre-commit
rev: v0.8.1
hooks:
- id: ruff
args:
- --fix
- --exit-non-zero-on-fix
- id: ruff-format
- repo: https://github.com/cheshirekow/cmake-format-precommit
rev: v0.6.13
hooks:
- id: cmake-format
- repo: https://github.com/pappasam/toml-sort
rev: v0.24.2
hooks:
- id: toml-sort-fix
exclude: poetry.lock
- repo: https://github.com/pre-commit/mirrors-clang-format
rev: v19.1.4
hooks:
- id: clang-format
args:
- --style=Google
- repo: https://github.com/pre-commit/pre-commit-hooks
rev: v5.0.0
hooks:
- id: check-added-large-files
- id: check-ast
- id: check-executables-have-shebangs
- id: check-json
- id: check-merge-conflict
- id: check-symlinks
- id: check-toml
- id: check-yaml
- id: debug-statements
- id: destroyed-symlinks
- id: detect-private-key
- id: end-of-file-fixer
- id: fix-byte-order-marker
- id: mixed-line-ending
- id: trailing-whitespace
CMakeLists.txt
View file @ 02786ee6
cmake_minimum_required(VERSION 3.1)
cmake_minimum_required(VERSION 3.10)
# Project properties
set(PROJECT_NAME hpp-bezier-com-traj)
......@@ -16,9 +16,39 @@ set(PROJECT_USE_CMAKE_EXPORT TRUE)
set(CUSTOM_HEADER_DIR "hpp/bezier-com-traj")
set(CXX_DISABLE_WERROR TRUE)
# JRL-cmakemodule setup
include(cmake/hpp.cmake)
include(cmake/boost.cmake)
# Check if the submodule cmake have been initialized
set(JRL_CMAKE_MODULES "${CMAKE_CURRENT_LIST_DIR}/cmake")
if(EXISTS "${JRL_CMAKE_MODULES}/base.cmake")
message(STATUS "JRL cmakemodules found in 'cmake/' git submodule")
else()
find_package(jrl-cmakemodules QUIET CONFIG)
if(jrl-cmakemodules_FOUND)
get_property(
JRL_CMAKE_MODULES
TARGET jrl-cmakemodules::jrl-cmakemodules
PROPERTY INTERFACE_INCLUDE_DIRECTORIES)
message(STATUS "JRL cmakemodules found on system at ${JRL_CMAKE_MODULES}")
elseif(${CMAKE_VERSION} VERSION_LESS "3.14.0")
message(
FATAL_ERROR
"\nCan't find jrl-cmakemodules. Please either:\n"
" - use git submodule: 'git submodule update --init'\n"
" - or install https://github.com/jrl-umi3218/jrl-cmakemodules\n"
" - or upgrade your CMake version to >= 3.14 to allow automatic fetching\n"
)
else()
message(STATUS "JRL cmakemodules not found. Let's fetch it.")
include(FetchContent)
FetchContent_Declare(
"jrl-cmakemodules"
GIT_REPOSITORY "https://github.com/jrl-umi3218/jrl-cmakemodules.git")
FetchContent_MakeAvailable("jrl-cmakemodules")
FetchContent_GetProperties("jrl-cmakemodules" SOURCE_DIR JRL_CMAKE_MODULES)
endif()
endif()
include("${JRL_CMAKE_MODULES}/hpp.cmake")
include("${JRL_CMAKE_MODULES}/boost.cmake")
# Project definition
compute_project_args(PROJECT_ARGS LANGUAGES CXX)
......@@ -32,12 +62,10 @@ endif(BUILD_PYTHON_INTERFACE)
# Project dependencies
add_project_dependency(hpp-centroidal-dynamics REQUIRED)
add_project_dependency(ndcurves 1.0.0 REQUIRED)
add_project_dependency(ndcurves REQUIRED)
if(USE_GLPK)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH}
"${PROJECT_SOURCE_DIR}/cmake/find-external/glpk")
add_project_dependency(glpk REQUIRED)
add_project_dependency(glpk REQUIRED FIND_EXTERNAL glpk)
add_definitions(-DUSE_GLPK_SOLVER=1)
endif(USE_GLPK)
......@@ -85,7 +113,8 @@ endif(USE_GLPK)
add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES}
${${PROJECT_NAME}_HEADERS})
target_include_directories(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
target_include_directories(
${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
target_link_libraries(${PROJECT_NAME} ndcurves::ndcurves
hpp-centroidal-dynamics::hpp-centroidal-dynamics)
......
cmake @ 29c0eb4e
Compare 94032260...29c0eb4e
Subproject commit 9403226002b930d592ca83b50d3cd714a1c2dc01
Subproject commit 29c0eb4e659304f44d55a0389e2749812d858659
flake.lock 0 → 100644
View file @ 02786ee6
{
"nodes": {
"flake-parts": {
"inputs": {
"nixpkgs-lib": [
"nixpkgs"
]
},
"locked": {
"lastModified": 1719877454,
"narHash": "sha256-g5N1yyOSsPNiOlFfkuI/wcUjmtah+nxdImJqrSATjOU=",
"owner": "hercules-ci",
"repo": "flake-parts",
"rev": "4e3583423212f9303aa1a6337f8dffb415920e4f",
"type": "github"
},
"original": {
"owner": "hercules-ci",
"repo": "flake-parts",
"type": "github"
}
},
"nixpkgs": {
"locked": {
"lastModified": 1727174734,
"narHash": "sha256-xa3TynMF5vaWonmTOg/Ejc1Fmo0GkQnCaVRVkBc3z2I=",
"owner": "gepetto",
"repo": "nixpkgs",
"rev": "0ad139a0e4372abc12320c8c92ee90e0e5e296e1",
"type": "github"
},
"original": {
"owner": "gepetto",
"repo": "nixpkgs",
"type": "github"
}
},
"root": {
"inputs": {
"flake-parts": "flake-parts",
"nixpkgs": "nixpkgs"
}
}
},
"root": "root",
"version": 7
}
flake.nix 0 → 100644
View file @ 02786ee6
{
description = "Multi contact trajectory generation for the COM using Bezier curves";
nixConfig = {
extra-substituters = [ "https://gepetto.cachix.org" ];
extra-trusted-public-keys = [ "gepetto.cachix.org-1:toswMl31VewC0jGkN6+gOelO2Yom0SOHzPwJMY2XiDY=" ];
};
inputs = {
nixpkgs.url = "github:gepetto/nixpkgs";
flake-parts = {
url = "github:hercules-ci/flake-parts";
inputs.nixpkgs-lib.follows = "nixpkgs";
};
};
outputs =
inputs:
inputs.flake-parts.lib.mkFlake { inherit inputs; } {
systems = [
"x86_64-linux"
"aarch64-linux"
"aarch64-darwin"
"x86_64-darwin"
];
perSystem =
{ pkgs, self', ... }:
{
devShells.default = pkgs.mkShell { inputsFrom = [ self'.packages.default ]; };
packages = {
default = self'.packages.hpp-bezier-com-traj;
hpp-bezier-com-traj = pkgs.hpp-bezier-com-traj.overrideAttrs (_: {
src = pkgs.lib.fileset.toSource {
root = ./.;
fileset = pkgs.lib.fileset.unions [
./CMakeLists.txt
./include
./package.xml
./python
./src
./tests
];
};
});
};
};
};
}
package.xml
View file @ 02786ee6
<?xml version='1.0'?>
<package format='2'>
<name>hpp-bezier-com-traj</name>
<version>4.15.1</version>
<version>6.0.0</version>
<description>Multi contact trajectory generation for the COM using Bezier curves</description>
<maintainer email='guilhem.saurel@laas.fr'>Guilhem Saurel</maintainer>
......
pyproject.toml
View file @ 02786ee6
[tool.black]
exclude = "cmake"
[build-system]
build-backend = "cmeel.build"
requires = [
"cmeel-boost[build] ~= 1.83.0",
"cmeel-glpk[build]",
"cmeel[build]",
"hpp-centroidal-dynamics[build]",
"ndcurves[build]"
]
[project]
dependencies = [
"cmeel-boost ~= 1.83.0",
"cmeel-glpk",
"hpp-centroidal-dynamics",
"ndcurves"
]
description = "Multi contact trajectory generation for the COM using Bezier curves"
license = "BSD-2-Clause"
name = "hpp-bezier-com-traj"
version = "6.0.0"
[tool.cmeel]
configure-args = ["-DUSE_GLPK=ON"]
[tool.ruff]
extend-exclude = ["cmake"]
[tool.ruff.lint]
extend-select = ["I", "NPY", "RUF", "UP", "W"]
[tool.tomlsort]
all = true
python/test/binding_tests.py
View file @ 02786ee6
import ndcurves # noqa - necessary to register ndcurves::bezier_curve
import numpy as np
from numpy import array
from hpp_centroidal_dynamics import Equilibrium, EquilibriumAlgorithm, SolverLP
from hpp_bezier_com_traj import (
SOLVER_QUADPROG,
ConstraintFlag,
......@@ -11,6 +9,8 @@ from hpp_bezier_com_traj import (
computeCOMTraj,
zeroStepCapturability,
)
from hpp_centroidal_dynamics import Equilibrium, EquilibriumAlgorithm, SolverLP
from numpy import array
# testing constructors
eq = Equilibrium("test", 54.0, 4)
......
python/test/compare_pin_inv_dyn.py
View file @ 02786ee6
# -*- coding: utf-8 -*-
"""
Created on Thu Sep 1 16:54:39 2016
@author: stonneau
"""
from __future__ import print_function
from math import atan, pi
import numpy as np
from numpy import array, asarray, asmatrix
from numpy import cross as X
from numpy import matrix, zeros
from centroidal_dynamics import Equilibrium, EquilibriumAlgorithm
from curves import bezier
from numpy import array, asarray, asmatrix, matrix, zeros
from numpy import cross as X
from pinocchio_inv_dyn.multi_contact.bezier.bezier_0_step_capturability import (
BezierZeroStepCapturability,
compute_CWC,
......@@ -24,7 +20,6 @@ from pinocchio_inv_dyn.multi_contact.utils import (
find_static_equilibrium_com,
generate_contacts,
)
from curves import bezier
__EPS = 1e-5
np.set_printoptions(precision=2, suppress=True, linewidth=100)
......@@ -116,7 +111,6 @@ def __check_trajectory(p0, p1, p2, p3, T, H, mass, g, time_step=0.1, dL=allZeros
def test_continuous_cpp_vs_continuous_py(N_CONTACTS=2, solver="qpoases", verb=0):
mu = 0.5
# friction coefficient
lx = 0.1
......@@ -163,7 +157,8 @@ def test_continuous_cpp_vs_continuous_py(N_CONTACTS=2, solver="qpoases", verb=0)
mass, [X_LB, Y_LB, Z_LB], [X_UB, Y_UB, Z_UB], H, h
)
dc0 = np.random.uniform(-1, 1, size=3)
rng = np.random.default_rng()
dc0 = rng.uniform(-1, 1, size=3)
Z_MIN = np.max(p[:, 2]) - 0.1
Ineq_kin = zeros([3, 3])
......
setup.cfg deleted 100644 → 0
View file @ 0c119fb7
[flake8]
exclude = cmake
max-line-length = 88
ignore = E226, E704, E24, E121, W504, E126, E123, W503, E203