Removed files that should not be there. I do not completely understand git

behavior.

include/hppBody.h

-/*
-  Research carried out within the scope of the Associated International Laboratory: Joint Japanese-French Robotics Laboratory (JRL)
-
-  Developed by Florent Lamiraux (LAAS-CNRS)
-
-*/
-
-#ifndef HPPBODY_H_
-#define HPPBODY_H_
-
-/*************************************
-INCLUDE
-**************************************/
-
-#include "KineoWorks2/kwsInterface.h"
-#include "KineoUtility/kitDefine.h"
-#include "KineoUtility/kitInterface.h"
-#include "kcd2/kcdInterface.h"
-#include "kwsKcd2/kwsKCDBody.h"
-
-#include "hppPolyhedron.h"
-
-
-KIT_PREDEF_CLASS(ChppBody);
-
-
-/*************************************
-CLASS
-**************************************/
-/**
- \brief This class represents bodies (solid components attached to a joint). It derives from 
- KineoWorks CkwsKCDBody class. In order to store more information, we have derived CkwsKCDBody class. 
- A name is given at the creation of the body (ChppBody::create(std::string inName)). 
- The constructor is protected and method create returns a shared pointer to the device.
-\sa Smart pointers documentation: http://www.boost.org/libs/smart_ptr/smart_ptr.htm 
-*/
-
-class ChppBody : public CkwsKCDBody
-{
-public:
-  std::string name();
-  static ChppBodyShPtr create(std::string inName);
-
-  
-  void 	setInnerObjects (const std::vector< CkcdObjectShPtr > &i_innerObjects);
-  void 	setInnerObjects (const std::vector< CkcdObjectShPtr > &i_innerObjects,  
-				const std::vector< CkitMat4 > &matList);
-
-  void 	setOuterObjects (const std::vector< CkcdObjectShPtr > &i_outerObjects);
-
-  void getInnerObjects (std::vector< CkcdObjectShPtr > & list);
-  void getOuterObjects (std::vector< CkcdObjectShPtr > & list);
-
-
-  ktStatus getExactDistance(double &dist, CkitPoint3& o_point1, CkitPoint3& o_point2,
-			    CkcdObjectShPtr &object1, CkcdObjectShPtr &object2);
-  ktStatus getEstimatedDistance(double &dist, 
-				CkcdObjectShPtr &object1, CkcdObjectShPtr &object2);
-   
-  bool getCollisionVec(unsigned int &nbCollisions, std::vector<CkcdObjectShPtr> &objectVec1, 
-		       std::vector<CkcdObjectShPtr> &objectVec2);
-  bool getCollision(unsigned int &nbCollisions,
-		    CkcdObjectShPtr &object1, CkcdObjectShPtr &object2);
-
-  bool printCollisionStatus(const bool& detailInfoFlag = false);
-  void printCollisionStatusFast();
- 
-  /**
-     \brief Functions for physical properties : Setting and getting mass.
-  */
-  void mass(double m);
-  double mass();
-
-  /**
-   \brief Setting and getting moments of inertia.
-  */
-  void intertia(std::vector<double> i);
-  std::vector<double> inertia();
-
-  /** 
-    \brief Setting and getting relative CoM vector.
-  */
-  void relComVec(double x, double y, double z);
-  void relComVec(const CkitVect3& vec);
-  const CkitVect3& relComVec() const;
-
-  /**
-   \brief Calculate absolute position of CoM from Joint information
-  */
-  ktStatus currentComPos(CkitPoint3 &pos);
-
-protected:
-
-  ChppBody(std::string inName) : bodyName(inName) {};
-  ktStatus init(const ChppBodyWkPtr bodyWkPtr);
-  
-private:
-
-  std::string bodyName;
-
-  CkcdAnalysisShPtr m_exact_analyzer;
-  std::vector< CkcdObjectShPtr > inner, outer;
-
-  /// physical properties
-  double _mass;
-  std::vector<double> _inertia;
-  CkitVect3 _relComVec;
-};
-
-
-#endif /*HPPBODY_H_*/

include/hppBox.h

-/*
-  Research carried out within the scope of the Associated International Laboratory: Joint Japanese-French Robotics Laboratory (JRL)
-
-  Developed by Florent Lamiraux (LAAS-CNRS) Eiichi Yoshida (JRL/LAAS-CNRS/AIST)
-
-*/
-
-#ifndef HPPBOX_H_
-#define HPPBOX_H_
-
-
-
-/*************************************
-INCLUDE
-**************************************/
-
-#include "KineoKCDModel/kppKCDBox.h"
-//#include "KineoWorks2/kwsInterface.h"
-// #include "kitInterface.h"
-// #include "kcd2/kcdInterface.h"
-// #include "kwsKcd2/kwsKCDBody.h"
-// #include "hppNotification.h"
-
-
-KIT_PREDEF_CLASS(ChppBox);
-/**
- \brief This class represents polyhedra. It derives from KCD CkcdBox class. 
- In order to store more information, we have derived CkcdBox class. 
- A name is given at the creation of the polyhedron (ChppBox::create(std::string inName)). 
- The constructor is protected and method create returns a shared pointer to the device.
-\sa Smart pointers documentation: http://www.boost.org/libs/smart_ptr/smart_ptr.htm 
-*/
-class ChppBox : public CkppKCDBox {
-public: 
-  // already implemented   std::string name();
-  static ChppBoxShPtr create(const std::string &inName,
-			     const double i_xSize, const double i_ySize, const double i_zSize);
-protected:
-  ChppBox()  {};
-    void init(const ChppBoxWkPtr& inBoxWkPtr, const std::string &i_name,
-	      const double i_xSize, const double i_ySize, const double i_zSize);
-    //private:
-    // already implemented  std::string boxName;
-};
-
-
-#endif /*HPPBOX_H_*/

include/hppDevice.h

-/*
-  Research carried out within the scope of the Associated International Laboratory: Joint Japanese-French Robotics Laboratory (JRL)
-
-  Developed by Florent Lamiraux (LAAS-CNRS)
-           and Eiichi Yoshida (ISRI-AIST)
-*/
-
-#ifndef HPP_DEVICE_H
-#define HPP_DEVICE_H
-
-
-/*************************************
-INCLUDE
-**************************************/
-
-#include "KineoWorks2/kwsInterface.h"
-#include "KineoUtility/kitInterface.h"
-#include "KineoModel/kppDeviceComponent.h"
-
-#include "kcd2/kcdInterface.h"
-#include "kwsKcd2/kwsKCDBody.h"
-
-KIT_PREDEF_CLASS(ChppDevice);
-/**
- \brief This class represents devices (robots). It derives from KineoWorks CkwsDevice class. 
- In order to give a name to each robot, we have derived CkwsDevice class. The name is given at the creation of the device (ChppDevice::create()). The constructor is private and method create returns a shared pointer to the device.
-\sa Smart pointers documentation: http://www.boost.org/libs/smart_ptr/smart_ptr.htm 
-*/
-class ChppDevice : public CkppDeviceComponent {
-public: 
-
-
-  virtual ~ChppDevice();
-
-  static ChppDeviceShPtr create(const std::string inName);
-  static ChppDeviceShPtr	createCopy(const ChppDeviceShPtr& i_deviceComponent);
-
-  virtual CkwsDeviceShPtr	clone() const;
-  virtual CkppComponentShPtr	cloneComponent() const;
-  virtual bool			isComponentClonable() const;
-
-  /**
-     \brief provide the total mass of the robot.
-   */
-  void updateTotalMass();
-  double totalMass() const;
-  
-  /**
-     \brief Compute the position of the center of mass of the robot in current configuration.
-     \todo Eiichi: write the function.
-  */
-  CkitPoint3 computeCenterOfMass();
-
-  /**
-     \brief Get a shared pointer on the joint corresponding to the robot gaze if any.
-  */
-  const CkwsJointShPtr& gazeJoint() const;
-
-  /**
-     \brief Set the joint corresponding to the robot gaze.
-  */
-  void gazeJoint(CkwsJointShPtr& inGazeJoint);
-
-  /** 
-      \brief Get initial gaze direction (in zero-configuration)
-  */
-  const CkitVect3& initGazeDir() const;
-
-  /** 
-      \brief Set initial gaze direction (in zero-configuration)
-  */
-  void initGazeDir(const CkitVect3& inInitGazeDir);
-
-
-  /**
-     \brief Compute the bounding box of the robot in current configuration.
-  */
-  ktStatus axisAlignedBoundingBox (double& xMin, double& yMin, double& zMin,
-				  double& xMax, double& yMax, double& zMax) const;
-
-  
-  /**
-     \brief put the device give in parameter in the IgnoredOuterObject of the hppDevice (this)
-     \param deviceIgnored : the device to be ignored
-  */
-  ktStatus ignoreDeviceForCollision (ChppDeviceShPtr deviceIgnored ) ;
-
-  /**
-   * \brief Add obstacle to the list.
-   * \param inObject a new object.
-   * \note Compute collision entities.
-   */
-  ktStatus addObstacle(const CkcdObjectShPtr& inObject);
-
-
-protected:
-  /**
-     \brief Joint corresponding to the robot gaze (head for HRP-2)
-  */
-  CkwsJointShPtr attGazeJoint;
-
-  /**
-     \brief Gaze direction in zero-configuration.
-  */
-  CkitVect3 attInitGazeDir;
-
-protected:
-  /**
-     \brief Initialization.
-  */
-
-  ktStatus init( const ChppDeviceWkPtr& i_weakPtr, const std::string& i_name);
-
-  /**
-     \brief Initialization with shared pointer.
-  */
-
-  ktStatus init( const ChppDeviceWkPtr& i_weakPtr, const ChppDeviceShPtr& i_device);
-
-  /**
-     \brief Constructor.
-  */
-
-  ChppDevice();
-
-  /**
-     \brief Copy constructor.
-  */
-
-  ChppDevice(const ChppDevice& i_device);
-
-private:
-
-  /**
-     \brief Name of the device.
-  */
-  // std::string deviceName;
-  ChppDeviceWkPtr m_weakPtr;
-
-  /**
-     \brief Total Mass.
-  */
-  double _totalMass;
-
-  void cksBodyBoundingBox(const CkwsKCDBodyShPtr& body, double& xMin, double& yMin, 
-                               double& zMin, double& xMax, double& yMax, double& zMax) const;
-
-  void ckcdObjectBoundingBox(const CkcdObjectShPtr& object, double& xMin, double& yMin, 
-                               double& zMin, double& xMax, double& yMax, double& zMax) const;
-
-};
-
-
-#endif

include/hppPlanner.h

-/*
-  Research carried out within the scope of the Associated International Laboratory: Joint Japanese-French Robotics Laboratory (JRL)
-
-  Developed by Florent Lamiraux (LAAS-CNRS)
-
-*/
-
-#ifndef HPP_PLANNER_H
-#define HPP_PLANNER_H
-
-/*************************************
-INCLUDE
-**************************************/
-#include <deque>
-
-#include "KineoWorks2/kwsPathOptimizer.h"
-#include "KineoWorks2/kwsRoadmapBuilder.h"
-#include "KineoUtility/kitNotificator.h"
-
-#include "hppProblem.h"
-
-#ifndef WITHOUT_CHPPDEVICE
-KIT_PREDEF_CLASS( ChppBody );
-#endif
-
-
-using namespace std ;
-
-/*************************************
-CLASS
-**************************************/
-/**
-   \brief Motion planning strategies for humanoid robots among obstacles.
-
-   This abstract class defines motion planning strategies for a humanoid robot in an environment with obstacles. 
-   Different strategies can be implemented by deriving this class.
-
-   Several strategies instantiate several robots and classical path planning problems. Therefore, this class contains a vector of ChppProblem describing basic motion planning problems. 
-*/
-class ChppPlanner {
-
-
- public: 
-  /**
-     \brief Allocate a KineoWorks CkitNotificator object.
-  */
-  ChppPlanner();
-  
-  virtual ~ChppPlanner();
-
-  /**
-     \name Problem definition
-     @{
-   */
-
-  /**
-     \brief Add a Problem to the Problem vector with the associed robot.
- 
-     \param robot : a shared pointer to a robot
-     \return a int
-     \xrefitem <send-notif> "Notification" "Send Notification" Send ID_HPP_ADD_ROBOT.
-  */
-  ktStatus addHppProblem(CkppDeviceComponentShPtr robot);
-
-  /**
-     \brief Add a Problem at beginning of the Problem vector with the associed robot.
- 
-     \param robot : a shared pointer to a robot
-     \return a int
-     \xrefitem <send-notif> "Notification" "Send Notification" Send ID_HPP_ADD_ROBOT.
-  */
-  ktStatus addHppProblemAtBeginning(CkppDeviceComponentShPtr robot);
-
-  /**
-     \brief Get the number of problems in vector.
-     \return the number of problems in the vector
-  */
-  unsigned int getNbHppProblems() const { return (unsigned int)hppProblemVector.size();};
-
-
-  /**
-     \brief Get robot at given rank in the Problem vector.
-     \param rank 
-     \return the shared pointer on the robot
-  */
-  const CkppDeviceComponentShPtr robotIthProblem(unsigned int rank) const;
-
-  /**
-     \brief Get current configuration of i-th robot.
-     \param rank : Id of problem in vector.
-     \return : return a copy of the current configuration of robot.
-  */
-  CkwsConfigShPtr robotCurrentConfIthProblem(unsigned int rank) const;
-
-  /**
-     \brief Set current configuration of i-th robot.
-     \param rank Id of robot in vector.
-     \param config A new config is allocated and placed into current config of robot.
-     \return KD_OK or KD_ERROR
-     \xrefitem <send-notif> "Notification" "Send Notification" Send ID_HPP_SET_CURRENT_CONFIG.
-  */
-  ktStatus robotCurrentConfIthProblem(unsigned int rank,
-				      const CkwsConfigShPtr& config);
-  ktStatus robotCurrentConfIthProblem(unsigned int rank,
-				      const CkwsConfig& config);
-  
-  /**
-     \brief Get initial configuration of i-th robot.
-     \param rank : Id of problem in vector.
-     \return initial configuration of robot.
-     \return KD_OK or KD_ERROR
-  */
-   CkwsConfigShPtr initConfIthProblem(unsigned int rank) const;
-
-  /**
-     \brief Set initial configuration of i-th robot.
-     \param rank Id of robot in vector.
-     \param config A new config is allocated and placed into initial config of robot.
-     \return KD_OK or KD_ERROR
-  */
-  ktStatus initConfIthProblem(unsigned int rank, 
-			      const CkwsConfigShPtr config);
-
-  /**
-     \brief Get goal configuration of i-th robot.
-     \param rank : Id of problem in vector.
-     \return the goal configuration of robot.
-     \return KD_OK or KD_ERROR
-  */
-  CkwsConfigShPtr goalConfIthProblem(unsigned int rank) const;
-  
-  /**
-     \brief Set goal configuration of i-th robot.
-     \param rank Id of robot in vector.
-     \param config A new config is allocated and placed into goal config of robot.
-     \return KD_OK or KD_ERROR
-  */
-  ktStatus goalConfIthProblem(unsigned int rank,
-			      const CkwsConfigShPtr config);
-
-
-  /** 
-    \brief Set roadmap builder of i-th problem.
-    \param rank Rank of problem in ChppPlanner::hppProblemVector.
-    \param inRoadmapBuilder roadmap builder.
-  */
-  ktStatus roadmapBuilderIthProblem(unsigned int rank, CkwsRoadmapBuilderShPtr inRoadmapBuilder);
-
-  /** 
-    \brief Get roadmap builder of i-th problem.
-    \param rank Rank of problem in ChppPlanner::hppProblemVector.
-    \return shared pointer to roadmap builder.
-  */
-  CkwsRoadmapBuilderShPtr roadmapBuilderIthProblem(unsigned int rank);
-
-  /** 
-    \brief Set path optimizer of i-th problem.
-    \param rank Rank of problem in ChppPlanner::hppProblemVector.
-    \param inPathOptimizer path optimizer.
-  */
-  ktStatus pathOptimizerIthProblem(unsigned int rank, CkwsPathOptimizerShPtr inPathOptimizer);
-
-  /** 
-    \brief Get path optimizer of i-th problem.
-    \param rank Rank of problem in ChppPlanner::hppProblemVector.
-    \return shared pointer to path optimizer.
-  */
-  CkwsPathOptimizerShPtr pathOptimizerIthProblem(unsigned int rank);
-   /** 
-    \brief Set steering Method of i-th problem.
-    \param rank Rank of problem in ChppPlanner::hppProblemVector.
-    \param inSM steering Method.
-  */
-  ktStatus steeringMethodIthProblem(unsigned int rank, CkwsSteeringMethodShPtr inSM);
-
-  /** 
-    \brief Get steering Method of i-th problem.
-    \param rank Rank of problem in ChppPlanner::hppProblemVector.
-    \return shared pointer to steering Method.
-  */
-  CkwsSteeringMethodShPtr steeringMethodIthProblem(unsigned int rank);
- 
-  /**
-   * \brief Initialize the list of obstacles.
-   * \param collisionList list of obstacles.
-   * \xrefitem <send-notif> "Notification" "Send Notification" Send ID_HPP_REMOVE_OBSTACLES.
-   * \xrefitem <send-notif> "Notification" "Send Notification" Send ID_HPP_SET_OBSTACLE_LIST.
-   *
-   * Replaces previous list of obstacle if any. Copy the list of obstacle in each problem of the object.
-   */
-  virtual ktStatus obstacleList(std::vector< CkcdObjectShPtr > collisionList);
-  /**
-   * \brief return a shared pointer to the obstacle list
-   */
-  const std::vector< CkcdObjectShPtr > obstacleList();
-  /**
-   * \brief Add obstacle to the list.
-   * \param object a new object.
-   * \xrefitem <send-notif> "Notification" "Send Notification" Send ID_HPP_ADD_OBSTACLE.
-   *
-   * Add the obstacle to each problem of the object.
-   */
-  virtual ktStatus addObstacle(CkcdObjectShPtr object);
-
-  /** 
-   *@}
-   */
-
-  /**
-     \name Initialization
-     @{
-  */
-
-  /**
-     \brief Initialization of the path planning problem
-  */
-  virtual ktStatus initializeProblem() {return KD_OK;};
-
-  /** 
-   *@}
-   */
-
-  /**
-     \name Problem resolution
-     @{
-  */
-    /**
-       \brief Compute a solution path for each problem.
-       \return KD_OK or KD_ERROR
-    */
-    virtual ktStatus solve();
-
-    /**
-       \brief Solve a problem in the vector.
-       \param problemId the rank of the problem in vector.
-       \return KD_OK or KD_ERROR
-       
-       If successful, the function stores the resulting path in the hppProblem (hppProblemVector[problemId].addPath()).
-    */
-    ktStatus solveOneProblem(unsigned int problemId);
-
-    /**
-       \brief Optimize a given path
-       \param inProblemId Id of the problem owning the path.
-       \param inPathId Id of the path in this problem.
-    */
-    ktStatus optimizePath(unsigned int inProblemId, unsigned int inPathId);
-
-    /** 
-      \brief Get number of paths in given problem.
-    */
-    unsigned int getNbPaths(unsigned int problemId) const;
-    /** 
-      \brief Get path of given rank in given problem.
-    */
-    CkwsPathShPtr getPath(unsigned int problemId, unsigned int pathId) const;
-    /** 
-      \brief Add a path to a given problem.
-      \param problemId rank of problem in vector.
-      \param kwsPath the path to add.
-      \return KD_ERROR if problemId too big, KD_OK otherwise.
-      
-    */
-  ktStatus addPath(unsigned int problemId, CkwsPathShPtr kwsPath);
-
-  /** 
-   *@}* 
-   */
-  /**
-     \name Drawing the roadmap
-     @{
-  */
-  /**
-     \brief Draws the roadmap of given problem in interface.
-     \param inProblemId the rank of the problem in vector.
- 
-     Works only if the roadmap builder of corresponding problem has been initialized with 
-     a CkwsPlusRoadmap.
-
-  */
-  ktStatus drawRoadmap(unsigned int inProblemId);
-
-  /**
-     \brief Stop drawing the roadmap of given problem in interface.
-     \param inProblemId the rank of the problem in vector.
- 
-     Works only if the roadmap builder of corresponding problem has been initialized with 
-     a CkwsPlusRoadmap.
-
-  */
-  ktStatus stopdrawingRoadmap(unsigned int inProblemId);
-
-  /** 
-   *@}* 
-   */
-  /**
-     \name Search functions
-     @{
-  */
-
-  /** 
-   * \brief Find a body by name.
-   * \param inBodyName name of the body
-   * \return const shared pointer to the body
-   *
-      Look among all the bodies of the robot of each problem for a given name.
-
-   */
-  ChppBodyConstShPtr findBodyByName(std::string inBodyName) const;
-
-  /** 
-   *@}* 
-   */
-  /**
-     \name Notification management
-     @{
-  */
-  /**
-     \brief Subscribe to an event by calling kwsNotificator->subscribe;
-  */
-  // CkitNotificator::eventRegisterPair subscribe(int inEventType, ktStatus(*inCallback)(void*,void*),void* inPt);
-
-  /**