Unverified Commit c356b8e3 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by GitHub
Browse files

Merge pull request #106 from jmirabel/devel

Bug fixes + CMake updates
parents f526ab27 acb74967
......@@ -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()
Subproject commit c396102629bb04aad462124ef5b04e140deb1f5b
Subproject commit df86256ef2b3e9420369d8749a719982ce6aeb14
......@@ -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 &,
......
......@@ -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,
......
......@@ -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;
......
......@@ -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;
......
......@@ -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);
......
......@@ -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>
......
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