Merge pull request #106 from jmirabel/devel

Bug fixes + CMake updates

CMakeLists.txt

@@ -18,25 +18,26 @@
 CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
 
 SET(CXX_DISABLE_WERROR TRUE)
-INCLUDE(cmake/base.cmake)
+SET(PROJECT_NAME hpp-pinocchio)
+SET(PROJECT_DESCRIPTION "Wrapping of the kinematic/dynamic chain Pinocchio for HPP.")
+SET(PROJECT_URL "https://github.com/humanoid-path-planner/hpp-pinocchio")
+OPTION(INSTALL_DOCUMENTATION "Generate and install the documentation" ON)
+
 INCLUDE(cmake/hpp.cmake)
 INCLUDE(cmake/boost.cmake)
 INCLUDE(cmake/ros.cmake)
 INCLUDE(cmake/apple.cmake)
 INCLUDE(cmake/test.cmake)
 
-SET(PROJECT_NAME hpp-pinocchio)
-SET(PROJECT_DESCRIPTION "Wrapping of the kinematic/dynamic chain Pinocchio for HPP.")
-SET(PROJECT_URL "https://github.com/humanoid-path-planner/hpp-pinocchio")
-OPTION(INSTALL_DOCUMENTATION "Generate and install the documentation" ON)
+# HMake that we compute the PROJECT_VERSION manually.
+CMAKE_POLICY(SET CMP0048 OLD)
+PROJECT(${PROJECT_NAME} CXX)
 
 # Handle APPLE Cmake policy
 IF(APPLE)
   APPLY_DEFAULT_APPLE_CONFIGURATION()
 ENDIF(APPLE)
 
-SETUP_HPP_PROJECT()
-
 # Activate hpp-util logging if requested
 SET (HPP_DEBUG FALSE CACHE BOOL "trigger hpp-util debug output")
 IF (HPP_DEBUG)
@@ -103,5 +104,3 @@ ADD_SUBDIRECTORY(src)
 ADD_SUBDIRECTORY(tests)
 
 PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
-
-SETUP_HPP_PROJECT_FINALIZE()

cmake @ df86256e

-Subproject commit c396102629bb04aad462124ef5b04e140deb1f5b
+Subproject commit df86256ef2b3e9420369d8749a719982ce6aeb14

src/configuration.cc

@@ -184,6 +184,11 @@ namespace hpp {
                          ConfigurationIn_t q2,
                          vectorOut_t result);
 
+    template void difference < RnxSOnLieGroupMap> (const DevicePtr_t& robot,
+                         ConfigurationIn_t q1,
+                         ConfigurationIn_t q2,
+                         vectorOut_t result);
+
     void difference (const DevicePtr_t& robot, ConfigurationIn_t q1,
                      ConfigurationIn_t q2, vectorOut_t result)
     {
@@ -212,7 +217,7 @@ namespace hpp {
       ::pinocchio::normalize(robot->model(), q);
     }
 
-    struct IsNormalizedStep : public ::pinocchio::fusion::JointVisitorBase<IsNormalizedStep>
+    struct IsNormalizedStep : public ::pinocchio::fusion::JointUnaryVisitorBase<IsNormalizedStep>
     {
       typedef boost::fusion::vector<ConfigurationIn_t,
                                     const value_type &,

src/device.cc

@@ -380,7 +380,7 @@ namespace hpp {
     /* --- Bounding box ----------------------------------------------------- */
     /* ---------------------------------------------------------------------- */
 
-    struct AABBStep : public ::pinocchio::fusion::JointVisitorBase<AABBStep>
+    struct AABBStep : public ::pinocchio::fusion::JointUnaryVisitorBase<AABBStep>
     {
       typedef boost::fusion::vector<const Model&,
                                     Configuration_t,

src/joint.cc

@@ -485,7 +485,7 @@ namespace hpp {
     }
 
     template <typename LieGroupMap_t>
-    struct ConfigSpaceVisitor : public ::pinocchio::fusion::JointVisitorBase<ConfigSpaceVisitor<LieGroupMap_t> >
+    struct ConfigSpaceVisitor : public ::pinocchio::fusion::JointUnaryVisitorBase<ConfigSpaceVisitor<LieGroupMap_t> >
     {
       typedef boost::fusion::vector<LiegroupSpace&> ArgsType;
 

src/joint/bound.hh

@@ -23,7 +23,7 @@
 
 namespace hpp {
   namespace pinocchio {
-      struct SetBoundStep : public ::pinocchio::fusion::JointVisitorBase<SetBoundStep>
+      struct SetBoundStep : public ::pinocchio::fusion::JointUnaryVisitorBase<SetBoundStep>
       {
         typedef boost::fusion::vector<ConfigurationIn_t,
                 Configuration_t &> ArgsType;

src/urdf/util.cc

@@ -263,7 +263,7 @@ namespace hpp {
           for (UrdfJointMap_t::const_iterator _joint = urdfTree->joints_.begin();
              _joint != urdfTree->joints_.end(); ++_joint) {
             const PINOCCHIO_URDF_SHARED_PTR(::urdf::Joint)& joint = _joint->second;
-            if (joint && joint->mimic) {
+            if (joint && joint->type != ::urdf::Joint::FIXED && joint->mimic) {
               Device::JointLinearConstraint constraint;
               constraint.joint     = robot->getJointByName (prefix + joint->name);
               constraint.reference = robot->getJointByName (prefix + joint->mimic->joint_name);

tests/device-sync.cc

@@ -24,6 +24,7 @@
 namespace bpt = boost::posix_time;
 
 #include <pinocchio/algorithm/joint-configuration.hpp>
+#include <pinocchio/multibody/data.hpp>
 
 #include <hpp/pinocchio/util.hh>
 #include <hpp/pinocchio/device-sync.hh>