[Python][Doc] Add optional dep to python-xml + Use same Python executable everywhere.

package.xml

@@ -14,7 +14,9 @@
 
   <build_depend>git</build_depend>
   <build_depend>doxygen</build_depend>
+  <build_depend>python-lxml</build_depend>
   <doc_depend>doxygen</doc_depend>
+  <doc_depend>python-lxml</doc_depend>
   <depend>python</depend>
   <depend>python-numpy</depend>
   <depend>eigen</depend>

python/CMakeLists.txt

@@ -51,13 +51,22 @@ IF(NOT DOXYGEN_FOUND OR (APPLE AND PYTHON_VERSION_MAJOR LESS 3))
   SET(ENABLE_DOXYGEN_AUTODOC FALSE)
 ELSE()
   SET(ENABLE_DOXYGEN_AUTODOC TRUE)
-  IF(APPLE)
-    SET(PY_PREFIX ${PYTHON_EXECUTABLE})
+
+  EXECUTE_PROCESS(COMMAND ${PYTHON_EXECUTABLE} -c "import lxml"
+    RESULT_VARIABLE _lxml_found
+    OUTPUT_QUIET
+    ERROR_QUIET)
+  IF(_lxml_found EQUAL 0)
+    MESSAGE(STATUS "Found Python package lxml.")
+  ELSE()
+    SET(ENABLE_DOXYGEN_AUTODOC FALSE)
+    MESSAGE(STATUS "Python package lxml not found. Python bindings will not be documented.")
   ENDIF()
+  UNSET(_lxml_found)
 ENDIF()
 IF(ENABLE_DOXYGEN_AUTODOC)
   ADD_CUSTOM_TARGET(generate_doxygen_cpp_doc
-    COMMAND ${PY_PREFIX} ${CMAKE_SOURCE_DIR}/doc/python/doxygen_xml_parser.py
+    COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/doc/python/doxygen_xml_parser.py
     ${CMAKE_BINARY_DIR}/doc/doxygen-xml/index.xml
     ${CMAKE_CURRENT_BINARY_DIR}/doxygen_autodoc > ${CMAKE_CURRENT_BINARY_DIR}/doxygen_autodoc.log
     BYPRODUCTS

test/eigen.cpp

-/*
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2011-2014, Willow Garage, Inc.
- *  Copyright (c) 2014-2015, Open Source Robotics Foundation
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of Open Source Robotics Foundation nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
-#define BOOST_TEST_MODULE FCL_EIGEN
-#define BOOST_TEST_DYN_LINK
-#include <boost/test/unit_test.hpp>
-#include <boost/utility/binary.hpp>
-
-#include <hpp/fcl/eigen/vec_3fx.h>
-
-using namespace hpp::fcl;
-
-#define PRINT_VECTOR(a) std::cout << #a": " << a.base().transpose() << std::endl;
-#define PRINT_MATRIX(a) std::cout << #a": " << a << std::endl;
-
-BOOST_AUTO_TEST_CASE(fcl_eigen_vec3fx)
-{
-  typedef Eigen::FclMatrix <double, 1, 0> Vec3f;
-  Vec3f a (0, 1, 2);
-  Vec3f b (1, 2, 3);
-
-  std::cout << (Vec3f::Base&) a - (Vec3f::Base&) b << std::endl;
-  std::cout << a - b << std::endl;
-  Vec3f c = a - b;
-  std::cout << c << std::endl;
-  c.normalize ();
-
-  Vec3f l = (a - b).normalize ();
-
-  std::cout << l << std::endl;
-  std::cout << c << std::endl;
-
-  Vec3f d = -b;
-  std::cout << d << std::endl;
-
-  d += b;
-  std::cout << d << std::endl;
-
-  d += 1;
-  std::cout << d << std::endl;
-
-  d *= b;
-  std::cout << d << std::endl;
-
-  // std::cout << d * b << std::endl;
-  // std::cout << d / b << std::endl;
-  // std::cout << d + 3.4 << std::endl;
-  // std::cout << d - 3.4 << std::endl;
-  // std::cout << d * 2 << std::endl;
-  // std::cout << d / 3 << std::endl;
-  // std::cout << (d - 3.4).abs().squaredNorm() << std::endl;
-
-  // std::cout << (((d - 3.4).abs() + 1) + 3).squaredNorm() << std::endl;
-  PRINT_VECTOR(a)
-  PRINT_VECTOR(b)
-  PRINT_VECTOR(min(a,b))
-  PRINT_VECTOR(max(a,b))
-}
-
-BOOST_AUTO_TEST_CASE(fcl_eigen_matrix3fx)
-{
-  typedef Eigen::FclMatrix <double, 3, 0> Matrix3fX;
-  Matrix3fX a (0, 1, 2, 3, 4, 5, 6, 7, 8);
-
-  PRINT_MATRIX(a);
-  a.transpose ();
-  PRINT_MATRIX(a);
-  a += a;
-  PRINT_MATRIX(a);
-  a *= a;
-  PRINT_MATRIX(a);
-
-  Matrix3fX b = a.inverse();
-  a += a + a * b;
-  PRINT_MATRIX(a);
-
-  b = a.inverse();
-  a.transpose ();
-  PRINT_MATRIX(a);
-  PRINT_MATRIX(a.transposeTimes (b));
-  PRINT_MATRIX(a.timesTranspose (b));
-  PRINT_MATRIX(a.tensorTransform (b));
-}