From 3f4ca7481eec87550436564c057d7712ac5478a3 Mon Sep 17 00:00:00 2001
From: Steve Tonneau <stonneau@laas.fr>
Date: Wed, 8 Mar 2017 14:21:56 +0100
Subject: [PATCH] 1 : library and folder changed, not filenames

---
 CMakeLists.txt                                | 20 +++++++++----------
 .../Stdafx.hh                                 |  0
 .../config.hh                                 |  0
 .../logger.hh                                 |  0
 .../solver_LP_abstract.hh                     |  4 ++--
 .../solver_LP_clp.hh                          |  6 +++---
 .../solver_LP_qpoases.hh                      |  6 +++---
 .../static_equilibrium.hh                     |  6 +++---
 .../stop-watch.hh                             |  2 +-
 .../util.hh                                   |  2 ++
 src/CMakeLists.txt                            | 12 +++++------
 src/logger.cpp                                |  2 +-
 src/solver_LP_abstract.cpp                    |  8 ++++----
 src/solver_LP_clp.cpp                         |  2 +-
 src/solver_LP_qpoases.cpp                     |  4 ++--
 src/static_equilibrium.cpp                    |  6 +++---
 src/stop-watch.cpp                            |  4 ++--
 src/util.cpp                                  | 15 +++++++++++++-
 test/CMakeLists.txt                           |  6 +++---
 test/test_LP_solvers.cpp                      |  6 +++---
 test/test_static_equilibrium.cpp              |  8 ++++----
 21 files changed, 67 insertions(+), 52 deletions(-)
 rename include/{robust-equilibrium-lib => centroidal-dynamics-lib}/Stdafx.hh (100%)
 rename include/{robust-equilibrium-lib => centroidal-dynamics-lib}/config.hh (100%)
 rename include/{robust-equilibrium-lib => centroidal-dynamics-lib}/logger.hh (100%)
 rename include/{robust-equilibrium-lib => centroidal-dynamics-lib}/solver_LP_abstract.hh (98%)
 rename include/{robust-equilibrium-lib => centroidal-dynamics-lib}/solver_LP_clp.hh (89%)
 rename include/{robust-equilibrium-lib => centroidal-dynamics-lib}/solver_LP_qpoases.hh (90%)
 rename include/{robust-equilibrium-lib => centroidal-dynamics-lib}/static_equilibrium.hh (98%)
 rename include/{robust-equilibrium-lib => centroidal-dynamics-lib}/stop-watch.hh (96%)
 rename include/{robust-equilibrium-lib => centroidal-dynamics-lib}/util.hh (96%)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 361bc52..e4cfe82 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,9 +3,9 @@ INCLUDE(cmake/base.cmake)
 INCLUDE(cmake/cpack.cmake)
 INCLUDE(cmake2/FindqpOASES.cmake)
 
-SET(PROJECT_NAME robust-equilibrium-lib)
+SET(PROJECT_NAME centroidal-dynamics-lib)
 SET(PROJECT_DESCRIPTION
-   "Utility classes for testing (robust) static equilibrium of a system in contact with the environment"
+	 "Utility classes for testing (robust) equilibrium of a system in contact with the environment, and other centroidal dynamics methods."
  )
 SET(PROJECT_URL "")
 
@@ -33,14 +33,14 @@ MESSAGE( STATUS "CMAKE_CXX_FLAGS: " ${CMAKE_CXX_FLAGS} )
 
 # Declare Headers
 SET(${PROJECT_NAME}_HEADERS
-    include/robust-equilibrium-lib/config.hh
-    include/robust-equilibrium-lib/util.hh
-    include/robust-equilibrium-lib/logger.hh
-    include/robust-equilibrium-lib/solver_LP_abstract.hh
-    include/robust-equilibrium-lib/solver_LP_qpoases.hh
-    include/robust-equilibrium-lib/solver_LP_clp.hh
-    include/robust-equilibrium-lib/static_equilibrium.hh
-    include/robust-equilibrium-lib/stop-watch.hh
+		include/centroidal-dynamics-lib/config.hh
+		include/centroidal-dynamics-lib/util.hh
+		include/centroidal-dynamics-lib/logger.hh
+		include/centroidal-dynamics-lib/solver_LP_abstract.hh
+		include/centroidal-dynamics-lib/solver_LP_qpoases.hh
+		include/centroidal-dynamics-lib/solver_LP_clp.hh
+		include/centroidal-dynamics-lib/static_equilibrium.hh
+		include/centroidal-dynamics-lib/stop-watch.hh
   )
 
 find_package(Eigen3)
diff --git a/include/robust-equilibrium-lib/Stdafx.hh b/include/centroidal-dynamics-lib/Stdafx.hh
similarity index 100%
rename from include/robust-equilibrium-lib/Stdafx.hh
rename to include/centroidal-dynamics-lib/Stdafx.hh
diff --git a/include/robust-equilibrium-lib/config.hh b/include/centroidal-dynamics-lib/config.hh
similarity index 100%
rename from include/robust-equilibrium-lib/config.hh
rename to include/centroidal-dynamics-lib/config.hh
diff --git a/include/robust-equilibrium-lib/logger.hh b/include/centroidal-dynamics-lib/logger.hh
similarity index 100%
rename from include/robust-equilibrium-lib/logger.hh
rename to include/centroidal-dynamics-lib/logger.hh
diff --git a/include/robust-equilibrium-lib/solver_LP_abstract.hh b/include/centroidal-dynamics-lib/solver_LP_abstract.hh
similarity index 98%
rename from include/robust-equilibrium-lib/solver_LP_abstract.hh
rename to include/centroidal-dynamics-lib/solver_LP_abstract.hh
index ce98400..b28cbd4 100644
--- a/include/robust-equilibrium-lib/solver_LP_abstract.hh
+++ b/include/centroidal-dynamics-lib/solver_LP_abstract.hh
@@ -7,8 +7,8 @@
 #define ROBUST_EQUILIBRIUM_LIB_SOLVER_LP_ABSTRACT_HH
 
 #include <Eigen/Dense>
-#include <robust-equilibrium-lib/config.hh>
-#include <robust-equilibrium-lib/util.hh>
+#include <centroidal-dynamics-lib/config.hh>
+#include <centroidal-dynamics-lib/util.hh>
 
 namespace robust_equilibrium
 {
diff --git a/include/robust-equilibrium-lib/solver_LP_clp.hh b/include/centroidal-dynamics-lib/solver_LP_clp.hh
similarity index 89%
rename from include/robust-equilibrium-lib/solver_LP_clp.hh
rename to include/centroidal-dynamics-lib/solver_LP_clp.hh
index 04e44a1..a4729ce 100644
--- a/include/robust-equilibrium-lib/solver_LP_clp.hh
+++ b/include/centroidal-dynamics-lib/solver_LP_clp.hh
@@ -8,9 +8,9 @@
 #ifndef ROBUST_EQUILIBRIUM_LIB_SOLVER_LP_CLP_HH
 #define ROBUST_EQUILIBRIUM_LIB_SOLVER_LP_CLP_HH
 
-#include <robust-equilibrium-lib/config.hh>
-#include <robust-equilibrium-lib/util.hh>
-#include <robust-equilibrium-lib/solver_LP_abstract.hh>
+#include <centroidal-dynamics-lib/config.hh>
+#include <centroidal-dynamics-lib/util.hh>
+#include <centroidal-dynamics-lib/solver_LP_abstract.hh>
 #include "ClpSimplex.hpp"
 
 namespace robust_equilibrium
diff --git a/include/robust-equilibrium-lib/solver_LP_qpoases.hh b/include/centroidal-dynamics-lib/solver_LP_qpoases.hh
similarity index 90%
rename from include/robust-equilibrium-lib/solver_LP_qpoases.hh
rename to include/centroidal-dynamics-lib/solver_LP_qpoases.hh
index 09ad258..5b46c70 100644
--- a/include/robust-equilibrium-lib/solver_LP_qpoases.hh
+++ b/include/centroidal-dynamics-lib/solver_LP_qpoases.hh
@@ -6,9 +6,9 @@
 #ifndef ROBUST_EQUILIBRIUM_LIB_SOLVER_QPOASES_HH
 #define ROBUST_EQUILIBRIUM_LIB_SOLVER_QPOASES_HH
 
-#include <robust-equilibrium-lib/config.hh>
-#include <robust-equilibrium-lib/util.hh>
-#include <robust-equilibrium-lib/solver_LP_abstract.hh>
+#include <centroidal-dynamics-lib/config.hh>
+#include <centroidal-dynamics-lib/util.hh>
+#include <centroidal-dynamics-lib/solver_LP_abstract.hh>
 #include <qpOASES.hpp>
 
 namespace robust_equilibrium
diff --git a/include/robust-equilibrium-lib/static_equilibrium.hh b/include/centroidal-dynamics-lib/static_equilibrium.hh
similarity index 98%
rename from include/robust-equilibrium-lib/static_equilibrium.hh
rename to include/centroidal-dynamics-lib/static_equilibrium.hh
index 4107207..dcdab41 100644
--- a/include/robust-equilibrium-lib/static_equilibrium.hh
+++ b/include/centroidal-dynamics-lib/static_equilibrium.hh
@@ -7,9 +7,9 @@
 #define ROBUST_EQUILIBRIUM_LIB_STATIC_EQUILIBRIUM_H
 
 #include <Eigen/Dense>
-#include <robust-equilibrium-lib/config.hh>
-#include <robust-equilibrium-lib/util.hh>
-#include <robust-equilibrium-lib/solver_LP_abstract.hh>
+#include <centroidal-dynamics-lib/config.hh>
+#include <centroidal-dynamics-lib/util.hh>
+#include <centroidal-dynamics-lib/solver_LP_abstract.hh>
 
 namespace robust_equilibrium
 {
diff --git a/include/robust-equilibrium-lib/stop-watch.hh b/include/centroidal-dynamics-lib/stop-watch.hh
similarity index 96%
rename from include/robust-equilibrium-lib/stop-watch.hh
rename to include/centroidal-dynamics-lib/stop-watch.hh
index b86cfeb..4c406f3 100644
--- a/include/robust-equilibrium-lib/stop-watch.hh
+++ b/include/centroidal-dynamics-lib/stop-watch.hh
@@ -28,7 +28,7 @@ WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 #ifndef WBR_STOPWATCH_H
 #define WBR_STOPWATCH_H
 
-#include "robust-equilibrium-lib/Stdafx.hh"
+#include "centroidal-dynamics-lib/Stdafx.hh"
 
 #ifndef WIN32
 	/* The classes below are exported */
diff --git a/include/robust-equilibrium-lib/util.hh b/include/centroidal-dynamics-lib/util.hh
similarity index 96%
rename from include/robust-equilibrium-lib/util.hh
rename to include/centroidal-dynamics-lib/util.hh
index f6c35c3..d735325 100644
--- a/include/robust-equilibrium-lib/util.hh
+++ b/include/centroidal-dynamics-lib/util.hh
@@ -118,6 +118,8 @@ namespace robust_equilibrium
 
   void release_cdd_library();
 
+  // in some distribution the conversion Ref_matrixXX to Ref_vector3 does not compile
+  void uniform3(Cref_vector3 lower_bounds, Cref_vector3 upper_bounds, Ref_vector3 out);
   void uniform(Cref_matrixXX lower_bounds, Cref_matrixXX upper_bounds, Ref_matrixXX out);
 
   void euler_matrix(double roll, double pitch, double yaw, Ref_rotation R);
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index f8d4e55..e06587b 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -14,12 +14,12 @@ endif()
 SET(LIBRARY_NAME ${PROJECT_NAME})
 
 SET(${LIBRARY_NAME}_SOURCES
-    ${INCLUDE_DIR}/robust-equilibrium-lib/config.hh
-    ${INCLUDE_DIR}/robust-equilibrium-lib/util.hh
-    ${INCLUDE_DIR}/robust-equilibrium-lib/solver_LP_abstract.hh
-    ${INCLUDE_DIR}/robust-equilibrium-lib/solver_LP_qpoases.hh
-    ${INCLUDE_DIR}/robust-equilibrium-lib/solver_LP_clp.hh
-    ${INCLUDE_DIR}/robust-equilibrium-lib/static_equilibrium.hh
+		${INCLUDE_DIR}/centroidal-dynamics-lib/config.hh
+		${INCLUDE_DIR}/centroidal-dynamics-lib/util.hh
+		${INCLUDE_DIR}/centroidal-dynamics-lib/solver_LP_abstract.hh
+		${INCLUDE_DIR}/centroidal-dynamics-lib/solver_LP_qpoases.hh
+		${INCLUDE_DIR}/centroidal-dynamics-lib/solver_LP_clp.hh
+		${INCLUDE_DIR}/centroidal-dynamics-lib/static_equilibrium.hh
     static_equilibrium.cpp
     solver_LP_abstract.cpp
     solver_LP_qpoases.cpp
diff --git a/src/logger.cpp b/src/logger.cpp
index 6f325a6..bd4a491 100644
--- a/src/logger.cpp
+++ b/src/logger.cpp
@@ -13,7 +13,7 @@
 #include <iostream>
 #include <iomanip>      // std::setprecision
 #include <boost/algorithm/string.hpp>
-#include <robust-equilibrium-lib/logger.hh>
+#include <centroidal-dynamics-lib/logger.hh>
 
 namespace robust_equilibrium
 {
diff --git a/src/solver_LP_abstract.cpp b/src/solver_LP_abstract.cpp
index 56aa9ba..2c80e0a 100644
--- a/src/solver_LP_abstract.cpp
+++ b/src/solver_LP_abstract.cpp
@@ -3,13 +3,13 @@
  * Author: Andrea Del Prete
  */
 
-#include <robust-equilibrium-lib/solver_LP_abstract.hh>
-#include <robust-equilibrium-lib/solver_LP_qpoases.hh>
-#include <robust-equilibrium-lib/logger.hh>
+#include <centroidal-dynamics-lib/solver_LP_abstract.hh>
+#include <centroidal-dynamics-lib/solver_LP_qpoases.hh>
+#include <centroidal-dynamics-lib/logger.hh>
 #include <iostream>
 
 #ifdef CLP_FOUND
-#include <robust-equilibrium-lib/solver_LP_clp.hh>
+#include <centroidal-dynamics-lib/solver_LP_clp.hh>
 #endif
 
 
diff --git a/src/solver_LP_clp.cpp b/src/solver_LP_clp.cpp
index 3088ecd..ae7789c 100644
--- a/src/solver_LP_clp.cpp
+++ b/src/solver_LP_clp.cpp
@@ -5,7 +5,7 @@
 
 #ifdef CLP_FOUND
 
-#include <robust-equilibrium-lib/solver_LP_clp.hh>
+#include <centroidal-dynamics-lib/solver_LP_clp.hh>
 #include "CoinBuild.hpp"
 
 namespace robust_equilibrium
diff --git a/src/solver_LP_qpoases.cpp b/src/solver_LP_qpoases.cpp
index 39f4581..20e85bb 100644
--- a/src/solver_LP_qpoases.cpp
+++ b/src/solver_LP_qpoases.cpp
@@ -3,8 +3,8 @@
  * Author: Andrea Del Prete
  */
 
-#include <robust-equilibrium-lib/solver_LP_qpoases.hh>
-#include <robust-equilibrium-lib/logger.hh>
+#include <centroidal-dynamics-lib/solver_LP_qpoases.hh>
+#include <centroidal-dynamics-lib/logger.hh>
 
 USING_NAMESPACE_QPOASES
 
diff --git a/src/static_equilibrium.cpp b/src/static_equilibrium.cpp
index a16f30e..6787847 100644
--- a/src/static_equilibrium.cpp
+++ b/src/static_equilibrium.cpp
@@ -3,9 +3,9 @@
  * Author: Andrea Del Prete
  */
 
-#include <robust-equilibrium-lib/static_equilibrium.hh>
-#include <robust-equilibrium-lib/logger.hh>
-#include <robust-equilibrium-lib/stop-watch.hh>
+#include <centroidal-dynamics-lib/static_equilibrium.hh>
+#include <centroidal-dynamics-lib/logger.hh>
+#include <centroidal-dynamics-lib/stop-watch.hh>
 #include <iostream>
 #include <vector>
 #include <ctime>
diff --git a/src/stop-watch.cpp b/src/stop-watch.cpp
index 624ec3f..502c00e 100644
--- a/src/stop-watch.cpp
+++ b/src/stop-watch.cpp
@@ -24,7 +24,7 @@ WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 
 */
 
-#include "robust-equilibrium-lib/Stdafx.hh"
+#include "centroidal-dynamics-lib/Stdafx.hh"
 
 #ifndef WIN32
 	#include <sys/time.h>
@@ -34,7 +34,7 @@ WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 #endif
 
 #include <iomanip>      // std::setprecision
-#include "robust-equilibrium-lib/stop-watch.hh"
+#include "centroidal-dynamics-lib/stop-watch.hh"
 
 using std::map;
 using std::string;
diff --git a/src/util.cpp b/src/util.cpp
index 9b0770d..e10ac96 100644
--- a/src/util.cpp
+++ b/src/util.cpp
@@ -6,7 +6,7 @@
 #ifndef _ROBUST_EQUILIBRIUM_LIB_CONFIG_HH
 #define _ROBUST_EQUILIBRIUM_LIB_CONFIG_HH
 
-#include <robust-equilibrium-lib/util.hh>
+#include <centroidal-dynamics-lib/util.hh>
 #include <ctime>
 
 namespace robust_equilibrium
@@ -66,6 +66,18 @@ void release_cdd_library()
   //dd_free_global_constants();
 }
 
+void uniform3(Cref_vector3 lower_bounds, Cref_vector3 upper_bounds, Ref_vector3 out)
+{
+
+  assert(lower_bounds.rows()==out.rows());
+  assert(upper_bounds.rows()==out.rows());
+  assert(lower_bounds.cols()==out.cols());
+  assert(upper_bounds.cols()==out.cols());
+  for(int i=0; i<out.rows(); i++)
+    for(int j=0; j<out.cols(); j++)
+      out(i,j) = (rand()/ value_type(RAND_MAX))*(upper_bounds(i,j)-lower_bounds(i,j)) + lower_bounds(i,j);
+}
+
 void uniform(Cref_matrixXX lower_bounds, Cref_matrixXX upper_bounds, Ref_matrixXX out)
 {
 
@@ -78,6 +90,7 @@ void uniform(Cref_matrixXX lower_bounds, Cref_matrixXX upper_bounds, Ref_matrixX
       out(i,j) = (rand()/ value_type(RAND_MAX))*(upper_bounds(i,j)-lower_bounds(i,j)) + lower_bounds(i,j);
 }
 
+
 void euler_matrix(double roll, double pitch, double yaw, Ref_rotation R)
 {
   const int i = 0;
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 7399b3e..6f19088 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -9,7 +9,7 @@ if(CLP_FOUND)
   include_directories("${CLP_INCLUDE_DIR}")
 endif()
 
-PROJECT(robust-equilibrium-lib)
+PROJECT(centroidal-dynamics-lib)
 
 if ( MSVC )
 	SET(CMAKE_DEBUG_POSTFIX d)
@@ -18,6 +18,6 @@ endif ( MSVC )
 add_executable(test_static_equilibrium test_static_equilibrium.cpp)
 add_executable(test_LP_solvers test_LP_solvers.cpp)
 
-TARGET_LINK_LIBRARIES(test_LP_solvers robust-equilibrium-lib)
-TARGET_LINK_LIBRARIES(test_static_equilibrium robust-equilibrium-lib)
+TARGET_LINK_LIBRARIES(test_LP_solvers centroidal-dynamics-lib)
+TARGET_LINK_LIBRARIES(test_static_equilibrium centroidal-dynamics-lib)
 #~ TARGET_LINK_LIBRARIES(polytopetest polytope ${SRC_DIR}/../external/cddlib-094b/lib-src/libcdd.a)
diff --git a/test/test_LP_solvers.cpp b/test/test_LP_solvers.cpp
index 72e35c8..d5cca37 100644
--- a/test/test_LP_solvers.cpp
+++ b/test/test_LP_solvers.cpp
@@ -8,12 +8,12 @@
 #include "CoinTime.hpp"
 #include "CoinBuild.hpp"
 #include "CoinModel.hpp"
-#include <robust-equilibrium-lib/solver_LP_clp.hh>
+#include <centroidal-dynamics-lib/solver_LP_clp.hh>
 #endif
 
 #include <qpOASES.hpp>
-#include <robust-equilibrium-lib/solver_LP_qpoases.hh>
-#include <robust-equilibrium-lib/logger.hh>
+#include <centroidal-dynamics-lib/solver_LP_qpoases.hh>
+#include <centroidal-dynamics-lib/logger.hh>
 
 #include <iostream>
 #include <iomanip>
diff --git a/test/test_static_equilibrium.cpp b/test/test_static_equilibrium.cpp
index 15d1fa9..7c90550 100644
--- a/test/test_static_equilibrium.cpp
+++ b/test/test_static_equilibrium.cpp
@@ -5,9 +5,9 @@
 
 #include <vector>
 #include <iostream>
-#include <robust-equilibrium-lib/static_equilibrium.hh>
-#include <robust-equilibrium-lib/logger.hh>
-#include <robust-equilibrium-lib/stop-watch.hh>
+#include <centroidal-dynamics-lib/static_equilibrium.hh>
+#include <centroidal-dynamics-lib/logger.hh>
+#include <centroidal-dynamics-lib/stop-watch.hh>
 
 using namespace robust_equilibrium;
 using namespace Eigen;
@@ -169,7 +169,7 @@ int test_findExtremumOverLine(StaticEquilibrium *solver_to_test, StaticEquilibri
   double desired_robustness, robustness;
   for(unsigned int i=0; i<N_TESTS; i++)
   {
-    uniform(-1.0*Vector3::Ones(), Vector3::Ones(), a);
+    uniform3(-1.0*Vector3::Ones(), Vector3::Ones(), a);
     if(e_max>=0.0)
       desired_robustness = (rand()/ value_type(RAND_MAX))*e_max;
     else
-- 
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