Merge tag 'v4.5.0'

Release of version 4.5.0.

CMakeLists.txt

@@ -53,7 +53,10 @@ else()
   add_definitions(-DCLP_FOUND)
 endif()
 
-INCLUDE_DIRECTORIES(${qpOASES_INCLUDE_DIRS})
+IF(CLP_FOUND)
+    ADD_DEFINITIONS(-DCLP_FOUND)
+    INCLUDE_DIRECTORIES(SYSTEM "${CLP_INCLUDE_DIR}")
+ENDIF()
 
 
 ADD_SUBDIRECTORY (include/${CUSTOM_HEADER_DIR})

include/hpp/centroidal-dynamics/Stdafx.hh

+#ifndef HPP_CENTROIDAL_DYNAMICS_STDAFX_HH
+#define HPP_CENTROIDAL_DYNAMICS_STDAFX_HH
+
 /*
 Copyright (c) 2010-2013 Tommaso Urli
 
@@ -30,3 +33,5 @@ WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 #include <map>
 #include <ctime>
 #include <sstream>
+
+#endif

include/hpp/centroidal-dynamics/centroidal_dynamics.hh

@@ -3,8 +3,8 @@
  * Author: Andrea Del Prete
  */
 
-#ifndef CENTROIDAL_DYNAMICS_LIB_STATIC_EQUILIBRIUM_H
-#define CENTROIDAL_DYNAMICS_LIB_STATIC_EQUILIBRIUM_H
+#ifndef HPP_CENTROIDAL_DYNAMICS_CENTROIDAL_DYNAMICS_HH
+#define HPP_CENTROIDAL_DYNAMICS_CENTROIDAL_DYNAMICS_HH
 
 #include <Eigen/Dense>
 #include <hpp/centroidal-dynamics/local_config.hh>

include/hpp/centroidal-dynamics/local_config.hh

@@ -3,8 +3,8 @@
  * Author: Andrea Del Prete
  */
 
-#ifndef _CENTROIDAL_DYNAMICS_LIB_CONFIG_HH
-#define _CENTROIDAL_DYNAMICS_LIB_CONFIG_HH
+#ifndef HPP_CENTROIDAL_DYNAMICS_LOCAL_CONFIG_HH
+#define HPP_CENTROIDAL_DYNAMICS_LOCAL_CONFIG_HH
 
 // Package version (header).
 # define CENTROIDAL_DYNAMICS_VERSION "UNKNOWN"
@@ -54,4 +54,4 @@
 #  define CENTROIDAL_DYNAMICS_LOCAL CENTROIDAL_DYNAMICS_DLLLOCAL
 # endif // CENTROIDAL_DYNAMICS_STATIC
 
-#endif //_CENTROIDAL_DYNAMICS_LIB_CONFIG_HH
+#endif  // HPP_CENTROIDAL_DYNAMICS_LOCAL_CONFIG_HH

include/hpp/centroidal-dynamics/logger.hh

@@ -3,8 +3,8 @@
  * Author: Andrea Del Prete
  */
 
-#ifndef __centroidal_dynamics_lib_logger_H__
-#define __centroidal_dynamics_lib_logger_H__
+#ifndef HPP_CENTROIDAL_DYNAMICS_LOGGER_HH
+#define HPP_CENTROIDAL_DYNAMICS_LOGGER_HH
 
 /* --------------------------------------------------------------------- */
 /* --- INCLUDE --------------------------------------------------------- */
@@ -185,4 +185,4 @@ namespace centroidal_dynamics
 
 } // namespace centroidal_dynamics
 
-#endif // #ifndef __sot_torque_control_trajectory_generators_H__
+#endif  // HPP_CENTROIDAL_DYNAMICS_LOGGER_HH

include/hpp/centroidal-dynamics/solver_LP_abstract.hh

@@ -3,8 +3,8 @@
  * Author: Andrea Del Prete
  */
 
-#ifndef CENTROIDAL_DYNAMICS_LIB_SOLVER_LP_ABSTRACT_HH
-#define CENTROIDAL_DYNAMICS_LIB_SOLVER_LP_ABSTRACT_HH
+#ifndef HPP_CENTROIDAL_DYNAMICS_SOLVER_LP_ABSTRACT_HH
+#define HPP_CENTROIDAL_DYNAMICS_SOLVER_LP_ABSTRACT_HH
 
 #include <Eigen/Dense>
 #include <hpp/centroidal-dynamics/local_config.hh>
@@ -149,4 +149,4 @@ public:
 
 } // end namespace centroidal_dynamics
 
-#endif //CENTROIDAL_DYNAMICS_LIB_SOLVER_LP_ABSTRACT_HH
+#endif  // HPP_CENTROIDAL_DYNAMICS_SOLVER_LP_ABSTRACT_HH

include/hpp/centroidal-dynamics/solver_LP_qpoases.hh

@@ -3,8 +3,8 @@
  * Author: Andrea Del Prete
  */
 
-#ifndef CENTROIDAL_DYNAMICS_LIB_SOLVER_QPOASES_HH
-#define CENTROIDAL_DYNAMICS_LIB_SOLVER_QPOASES_HH
+#ifndef HPP_CENTROIDAL_DYNAMICS_SOLVER_LP_QPOASES_HH
+#define HPP_CENTROIDAL_DYNAMICS_SOLVER_LP_QPOASES_HH
 
 #include <hpp/centroidal-dynamics/local_config.hh>
 #include <hpp/centroidal-dynamics/util.hh>
@@ -49,4 +49,4 @@ public:
 
 } // end namespace centroidal_dynamics
 
-#endif //CENTROIDAL_DYNAMICS_LIB_SOLVER_QPOASES_HH
+#endif  // HPP_CENTROIDAL_DYNAMICS_SOLVER_LP_QPOASES_HH

include/hpp/centroidal-dynamics/stop-watch.hh

@@ -24,9 +24,8 @@ WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 
 */
 
-
-#ifndef WBR_STOPWATCH_H
-#define WBR_STOPWATCH_H
+#ifndef HPP_CENTROIDAL_DYNAMICS_STOP_WATCH_HH
+#define HPP_CENTROIDAL_DYNAMICS_STOP_WATCH_HH
 
 #include "hpp/centroidal-dynamics/Stdafx.hh"
 

include/hpp/centroidal-dynamics/util.hh

@@ -2,8 +2,8 @@
  * Copyright 2015, LAAS-CNRS
  * Author: Andrea Del Prete
  */
-#ifndef _CENTROIDAL_DYNAMICS_LIB_UTIL_HH
-#define _CENTROIDAL_DYNAMICS_LIB_UTIL_HH
+#ifndef HPP_CENTROIDAL_DYNAMICS_UTIL_HH
+#define HPP_CENTROIDAL_DYNAMICS_UTIL_HH
 
 #include <iostream>
 #include <fstream>
@@ -174,25 +174,20 @@ namespace centroidal_dynamics
  * @return nchoosek by k long matrix where each row is a unique k-size
  * the first one, with all zeros.
  */
-  template < typename DerivedV, typename DerivedU>
-  void nchoosek(
-    const Eigen::MatrixBase<DerivedV> & V,
-    const int k,
-    Eigen::PlainObjectBase<DerivedU> & U)
-    {
-        using namespace Eigen;
-        if(V.size() == 0)
-        {
-            U.resize(0,k);
-            return;
-        }
-        assert((V.cols() == 1 || V.rows() == 1) && "V must be a vector");
-        U.resize(nchoosek((int)(V.size()),k),k);
-        int running_i  = 0;
-        int running_j = 0;
-        Matrix<typename DerivedU::Scalar,1,Dynamic> running(1,k);
-        doCombs(running, running_i, running_j, U, V,0,k);
-    }
-} //namespace centroidal_dynamics
-
-#endif //_CENTROIDAL_DYNAMICS_LIB_UTIL_HH
+template <typename DerivedV, typename DerivedU>
+void nchoosek(const Eigen::MatrixBase<DerivedV>& V, const int k, Eigen::PlainObjectBase<DerivedU>& U) {
+  using namespace Eigen;
+  if (V.size() == 0) {
+    U.resize(0, k);
+    return;
+  }
+  assert((V.cols() == 1 || V.rows() == 1) && "V must be a vector");
+  U.resize(nchoosek((int)(V.size()), k), k);
+  int running_i = 0;
+  int running_j = 0;
+  Matrix<typename DerivedU::Scalar, 1, Dynamic> running(1, k);
+  doCombs(running, running_i, running_j, U, V, 0, k);
+}
+}  // namespace centroidal_dynamics
+
+#endif  // HPP_CENTROIDAL_DYNAMICS_UTIL_HH

src/CMakeLists.txt

@@ -20,7 +20,7 @@ SET(${LIBRARY_NAME}_SOURCES
 ADD_LIBRARY(${LIBRARY_NAME} SHARED ${${LIBRARY_NAME}_SOURCES})
 
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${CDD_LIBRARIES} ${qpOASES_LIBRARY})
-TARGET_INCLUDE_DIRECTORIES(${LIBRARY_NAME} PUBLIC ${CDD_INCLUDE_DIRS})
+TARGET_INCLUDE_DIRECTORIES(${LIBRARY_NAME} SYSTEM PUBLIC ${CDD_INCLUDE_DIRS})
 PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} eigen3)
 
 if(CLP_FOUND)

src/util.cpp

@@ -3,9 +3,7 @@
  * Author: Andrea Del Prete
  */
 
-#ifndef _CENTROIDAL_DYNAMICS_LIB_CONFIG_HH
-#define _CENTROIDAL_DYNAMICS_LIB_CONFIG_HH
-
+#include <ctime>
 #include <hpp/centroidal-dynamics/util.hh>
 #include <ctime>
 
@@ -208,6 +206,4 @@ value_type nchoosek(const int n, const int k)
     }
 }
 
-} //namespace centroidal_dynamics
-
-#endif //_CENTROIDAL_DYNAMICS_LIB_CONFIG_HH
+}  // namespace centroidal_dynamics