Add travis support

.travis.yml

+language: cpp
+sudo: required
+dist: trusty
+branches:
+  only:
+  - master
+  - devel
+compiler:
+- gcc
+addons:
+  apt:
+    packages:
+      - g++
+      - cmake
+      - libboost-dev
+      - libboost-filesystem-dev
+      - libboost-system-dev
+      - git
+      - flex
+      - bison
+      - asciidoc
+      - autoconf
+      - source-highlight
+      - doxygen
+      - libtinyxml-dev
+      - libltdl-dev
+      - liblog4cxx10-dev
+      - python2.7-dev
+      - doxygen-latex
+before_install:
+- git submodule update --init --recursive
+- sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+- sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net --recv-key 0xB01FA116
+- sudo apt-get update -qq
+- sudo apt-get install -qq liburdfdom-dev libassimp-dev ros-indigo-xacro ros-indigo-kdl-parser ros-indigo-common-msgs ros-indigo-tf ros-indigo-tf-conversions ros-indigo-libccd ros-indigo-octomap ros-indigo-resource-retriever ros-indigo-srdfdom ros-indigo-pr2-robot libomniorb4-dev omniorb-nameserver omniidl omniidl-python
+
+script: ./.travis/build
+# after_script: ./.travis/run

.travis/build

+#!/bin/bash
+set -ev
+
+# Directories.
+root_dir=`pwd`
+build_dir="$root_dir/_travis/build"
+install_dir="$root_dir/_travis/install"
+export DEVEL_DIR="$root_dir/_travis/"
+
+# Shortcuts.
+git_clone="git clone --recursive --quiet"
+git_branch=devel
+
+# Create layout.
+rm -rf "$build_dir" "$install_dir"
+mkdir -p "$build_dir"
+mkdir -p "$install_dir"
+
+# Setup environment variables.
+export LD_LIBRARY_PATH="$install_dir/lib:$LD_LIBRARY_PATH"
+export LD_LIBRARY_PATH="$install_dir/lib/`dpkg-architecture -qDEB_BUILD_MULTIARCH`:$LD_LIBRARY_PATH"
+export PKG_CONFIG_PATH="$install_dir/lib/pkgconfig:$PKG_CONFIG_PATH"
+export PKG_CONFIG_PATH="$install_dir/lib/`dpkg-architecture -qDEB_BUILD_MULTIARCH`/pkgconfig:$PKG_CONFIG_PATH"
+
+cmake_args="-DCMAKE_INSTALL_LIBDIR=lib -DCMAKE_INSTALL_PREFIX:STRING='$install_dir' -DCMAKE_BUILD_TYPE=Release"
+make_args="-s -j4"
+
+install_eigen3()
+{
+    echo "--> Compiling Eigen"
+    mkdir -p "$build_dir"
+    cd "$build_dir"
+    wget --quiet -O - "http://bitbucket.org/eigen/eigen/get/3.2.4.tar.bz2" | tar -xj
+    mv eigen-eigen-10219c95fe65 eigen3
+    cd "$build_dir/eigen3"
+    mkdir build
+    cd build
+    cmake $cmake_args -Dpkg_config_libdir="$install_dir/lib" ..
+    make $make_args install
+}
+
+install_doxygen()
+{
+    echo "--> Compiling Doxygen"
+    mkdir -p "$build_dir"
+    cd "$build_dir"
+    wget --quiet -O - "https://github.com/doxygen/doxygen/archive/Release_1_8_10.tar.gz" | tar -xz;
+    cd "$build_dir/doxygen-Release_1_8_10"
+    mkdir build
+    cd build
+    cmake $cmake_args ..
+    make $make_args install
+}
+
+check_dependency()
+{
+    echo "--> Compiling $1"
+    mkdir -p "$build_dir/$1"
+    cd "$build_dir"
+    $git_clone "git://github.com/$1" "$1"
+    cd "$build_dir/$1"
+    mkdir build
+    cd build
+    cmake $cmake_args ..
+    make $make_args
+}
+
+install_dependency()
+{
+    echo "--> Compiling $1"
+    mkdir -p "$build_dir/$1"
+    cd "$build_dir"
+    if [ "$#" -eq "2" ]; then
+      branch=$2
+    else
+      branch=$git_branch
+    fi
+    $git_clone --branch $branch "git://github.com/$1" "$1"
+    cd "$build_dir/$1"
+    mkdir build
+    cd build
+    cmake $cmake_args ..
+    make $make_args install
+}
+
+# Install dependencies
+
+install_eigen3
+pkg-config --exists "eigen3 >= 3.2.4" --print-errors
+if [ ! "$?" -eq "0" ]; then echo "Wrong eigen version"; exit 1; fi
+
+install_doxygen
+
+wget --quiet -O $DEVEL_DIR/config.sh https://raw.githubusercontent.com/humanoid-path-planner/hpp-doc/master/doc/config.sh
+source $DEVEL_DIR/config.sh
+
+install_dependency humanoid-path-planner/hpp-util               devel
+install_dependency humanoid-path-planner/hpp-fcl                devel
+
+install_dependency humanoid-path-planner/hpp-model              devel
+install_dependency humanoid-path-planner/qpOASES                master
+install_dependency humanoid-path-planner/hpp-constraints        devel
+install_dependency humanoid-path-planner/hpp-statistics         devel
+install_dependency humanoid-path-planner/hpp-core               devel
+install_dependency humanoid-path-planner/hpp-model-urdf         devel
+install_dependency humanoid-path-planner/hpp-corbaserver        devel
+install_dependency humanoid-path-planner/iai_maps               devel
+
+# Compile and run tests
+cd "$build_dir"
+cmake "$root_dir" -DCMAKE_INSTALL_PREFIX="$install_dir"		\
+		  -DCMAKE_INSTALL_PREFIX:STRING="$install_dir"
+make $make_args
+# make $make_args test
+make $make_args install

.travis/run

+#!/bin/bash
+set -ev
+
+# Directories.
+root_dir=`pwd`
+build_dir="$root_dir/_travis/build"
+install_dir="$root_dir/_travis/install"
+
+export DEVEL_DIR=$install_dir
+# wget -O $DEVEL_DIR/config.sh https://raw.githubusercontent.com/humanoid-path-planner/hpp-doc/master/doc/config.sh
+source $DEVEL_DIR/config.sh
+
+hppcorbaserver &
+
+python $build_dir/.travis/script.py

.travis/script.py

+from hpp.corbaserver.pr2 import Robot
+robot = Robot ('pr2')
+robot.setJointBounds ("base_joint_xy", [-4, -3, -5, -3])
+
+from hpp.corbaserver import ProblemSolver
+ps = ProblemSolver (robot)
+
+from hpp.gepetto import Viewer
+r = Viewer (ps)
+
+q_init = robot.getCurrentConfig ()
+q_goal = q_init [::]
+q_init [0:2] = [-3.2, -4]
+rank = robot.rankInConfiguration ['torso_lift_joint']
+q_init [rank] = 0.2
+r (q_init)
+
+q_goal [0:2] = [-3.2, -4]
+rank = robot.rankInConfiguration ['l_shoulder_lift_joint']
+q_goal [rank] = 0.5
+rank = robot.rankInConfiguration ['l_elbow_flex_joint']
+q_goal [rank] = -0.5
+rank = robot.rankInConfiguration ['r_shoulder_lift_joint']
+q_goal [rank] = 0.5
+rank = robot.rankInConfiguration ['r_elbow_flex_joint']
+q_goal [rank] = -0.5
+r (q_goal)
+
+r.loadObstacleModel ("iai_maps", "kitchen_area", "kitchen")
+
+ps.setInitialConfig (q_init)
+ps.addGoalConfig (q_goal)
+
+ps.addPathOptimizer ("RandomShortcut")
+
+ps.solve ()