[math/pinocchio] Import pinochio-2.7.1r1 (from wip/)

Pinocchio is a C++ library for dynamic computations focusing on robotic,
computer animation and biomechanical applications. It is based on the dynamic
multi-body computations formalized by Featherstone in his book.
The software comes with a python wrapping and vizualisation tool, available
separately in the py-pinocchio package.

math/Makefile

@@ -20,6 +20,7 @@ SUBDIR+=	lapack
 SUBDIR+=	libccd
 SUBDIR+=	liblbfgs
 SUBDIR+=	meschach
+SUBDIR+=	pinocchio
 SUBDIR+=	py-eigenpy
 SUBDIR+=	ros-angles
 SUBDIR+=	ros-eigen-stl-containers

math/pinocchio/DESCR

+Pinocchio is a C++ library for dynamic computations focusing on robotic,
+computer animation and biomechanical applications. It is based on the dynamic
+multi-body computations formalized by Featherstone in his book.
+The software comes with a python wrapping and vizualisation tool, available
+separately in the py-pinocchio package.
+
+The following algorithms are implemented.
+ * Recursive Newton-Euler algorithm (RNEA, i.e inverse dynamics)
+ * Composite Rigid Body algorithm (CRBA, i.e generalized inertia matrix)
+ * Sparse Cholsky decomposition of the inertia matrix (for constrained
+   forward-dynamics resolution)
+ * Placement Jacobians (i.e application from configuration velocities to
+   end-effector spatial velocities), along with computation of body placements,
+   velocities and accelerations.
+ * Center of mass and its Jacobian
+
+The model can be parsed from a URDF format. The following joint models are
+implemented.
+ * Revolute X, Y, Z (optimized) and unaligned with Cartesian directions
+ * Prismatic X, Y, Z
+ * Sperical (quaternion representation)
+ * Free (i.e. no constraint, for mobile robots like humanoids -- using
+   quaternion representation for the rotation)

math/pinocchio/Makefile

+# robotpkg Makefile for:	math/pinocchio
+# Created:			Olivier Stasse on Thu, 4 Feb 2016
+#
+
+PKGREVISION=		1
+VERSION=		1.2.7
+DISTNAME=		pinocchio-${VERSION}
+MASTER_SITES=\
+  ${MASTER_SITE_BASE:=${PKGBASE}/releases/download/v${VERSION}/}
+MASTER_REPOSITORY=	${MASTER_REPOSITORY_GITHUB}/stack-of-tasks/${PKGBASE}
+CHECKOUT_VCS_OPTS=	--recursive
+
+CATEGORIES=		math
+COMMENT=		Efficient rigid body dynamics
+HOMEPAGE=		http://stack-of-tasks.github.io/pinocchio/
+MAINTAINER=		gepetto@laas.fr
+LICENSE=		gnu-lgpl-v3
+
+CMAKE_ARGS+=		-DCMAKE_INSTALL_LIBDIR=lib
+
+CMAKE_ARGS+=		-DBUILD_BENCHMARK=OFF
+CMAKE_ARGS+=		-DBUILD_UNIT_TESTS=OFF
+CMAKE_ARGS+=		-DBUILD_UTILS=OFF
+CMAKE_ARGS+=		-DBUILD_TESTS_WITH_HPP=OFF
+CMAKE_ARGS+=		-DBUILD_PYTHON_INTERFACE=OFF
+CMAKE_ARGS+=		-DINSTALL_DOCUMENTATION=OFF
+
+USE_BOOST_LIBS=		system filesystem
+
+include ../../devel/boost-headers/depend.mk
+include ../../devel/boost-libs/depend.mk
+include ../../graphics/urdfdom/depend.mk
+include ../../math/eigen3/depend.mk
+include ../../path/hpp-fcl/depend.mk
+include ../../pkgtools/pkg-config/depend.mk
+include ../../mk/sysdep/cmake.mk
+include ../../mk/language/c.mk
+include ../../mk/language/c++.mk
+
+DEPEND_ABI.urdfdom +=	urdfdom>=0.2.3
+
+include ../../mk/robotpkg.mk

math/pinocchio/PLIST

+@comment Thu Apr 26 14:36:40 CEST 2018
+include/pinocchio/algorithm/aba.hpp
+include/pinocchio/algorithm/aba.hxx
+include/pinocchio/algorithm/center-of-mass.hpp
+include/pinocchio/algorithm/center-of-mass.hxx
+include/pinocchio/algorithm/check.hpp
+include/pinocchio/algorithm/check.hxx
+include/pinocchio/algorithm/cholesky.hpp
+include/pinocchio/algorithm/cholesky.hxx
+include/pinocchio/algorithm/compute-all-terms.hpp
+include/pinocchio/algorithm/copy.hpp
+include/pinocchio/algorithm/crba.hpp
+include/pinocchio/algorithm/crba.hxx
+include/pinocchio/algorithm/default-check.hpp
+include/pinocchio/algorithm/dynamics.hpp
+include/pinocchio/algorithm/energy.hpp
+include/pinocchio/algorithm/finite-differences.hpp
+include/pinocchio/algorithm/finite-differences.hxx
+include/pinocchio/algorithm/frames.hpp
+include/pinocchio/algorithm/frames.hxx
+include/pinocchio/algorithm/geometry.hpp
+include/pinocchio/algorithm/geometry.hxx
+include/pinocchio/algorithm/jacobian.hpp
+include/pinocchio/algorithm/jacobian.hxx
+include/pinocchio/algorithm/joint-configuration.hpp
+include/pinocchio/algorithm/joint-configuration.hxx
+include/pinocchio/algorithm/kinematics.hpp
+include/pinocchio/algorithm/kinematics.hxx
+include/pinocchio/algorithm/regressor.hpp
+include/pinocchio/algorithm/regressor.hxx
+include/pinocchio/algorithm/rnea.hpp
+include/pinocchio/algorithm/rnea.hxx
+include/pinocchio/assert.hpp
+include/pinocchio/config.hh
+include/pinocchio/container/aligned-vector.hpp
+include/pinocchio/deprecated.hh
+include/pinocchio/exception.hpp
+include/pinocchio/macros.hpp
+include/pinocchio/math/fwd.hpp
+include/pinocchio/math/matrix.hpp
+include/pinocchio/math/quaternion.hpp
+include/pinocchio/math/sincos.hpp
+include/pinocchio/multibody/constraint.hpp
+include/pinocchio/multibody/fcl.hpp
+include/pinocchio/multibody/fcl.hxx
+include/pinocchio/multibody/force-set.hpp
+include/pinocchio/multibody/frame.hpp
+include/pinocchio/multibody/fwd.hpp
+include/pinocchio/multibody/geometry.hpp
+include/pinocchio/multibody/geometry.hxx
+include/pinocchio/multibody/joint/fwd.hpp
+include/pinocchio/multibody/joint/joint-base.hpp
+include/pinocchio/multibody/joint/joint-basic-visitors.hpp
+include/pinocchio/multibody/joint/joint-basic-visitors.hxx
+include/pinocchio/multibody/joint/joint-composite.hpp
+include/pinocchio/multibody/joint/joint-free-flyer.hpp
+include/pinocchio/multibody/joint/joint-planar.hpp
+include/pinocchio/multibody/joint/joint-prismatic-unaligned.hpp
+include/pinocchio/multibody/joint/joint-prismatic.hpp
+include/pinocchio/multibody/joint/joint-revolute-unaligned.hpp
+include/pinocchio/multibody/joint/joint-revolute-unbounded.hpp
+include/pinocchio/multibody/joint/joint-revolute.hpp
+include/pinocchio/multibody/joint/joint-spherical-ZYX.hpp
+include/pinocchio/multibody/joint/joint-spherical.hpp
+include/pinocchio/multibody/joint/joint-translation.hpp
+include/pinocchio/multibody/joint/joint-variant.hpp
+include/pinocchio/multibody/joint/joint.hpp
+include/pinocchio/multibody/liegroup/cartesian-product.hpp
+include/pinocchio/multibody/liegroup/liegroup.hpp
+include/pinocchio/multibody/liegroup/operation-base.hpp
+include/pinocchio/multibody/liegroup/operation-base.hxx
+include/pinocchio/multibody/liegroup/special-euclidean.hpp
+include/pinocchio/multibody/liegroup/special-orthogonal.hpp
+include/pinocchio/multibody/liegroup/vector-space.hpp
+include/pinocchio/multibody/model.hpp
+include/pinocchio/multibody/model.hxx
+include/pinocchio/multibody/visitor.hpp
+include/pinocchio/parsers/sample-models.hpp
+include/pinocchio/parsers/srdf.hpp
+include/pinocchio/parsers/urdf.hpp
+include/pinocchio/parsers/urdf/types.hpp
+include/pinocchio/parsers/urdf/utils.hpp
+include/pinocchio/parsers/utils.hpp
+include/pinocchio/spatial/act-on-set.hpp
+include/pinocchio/spatial/explog.hpp
+include/pinocchio/spatial/fcl-pinocchio-conversions.hpp
+include/pinocchio/spatial/force.hpp
+include/pinocchio/spatial/fwd.hpp
+include/pinocchio/spatial/inertia.hpp
+include/pinocchio/spatial/motion.hpp
+include/pinocchio/spatial/se3.hpp
+include/pinocchio/spatial/skew.hpp
+include/pinocchio/spatial/symmetric3.hpp
+include/pinocchio/tools/file-explorer.hpp
+include/pinocchio/tools/string-generator.hpp
+include/pinocchio/tools/timer.hpp
+include/pinocchio/warning.hh
+lib/libpinocchio.so
+lib/pkgconfig/pinocchio.pc

math/pinocchio/depend.mk

+# robotpkg depend.mk for:	math/pinocchio
+# Created:			Olivier Stasse on Thu, 4 Feb 2016
+#
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH}+
+PINOCCHIO_DEPEND_MK:=	${PINOCCHIO_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=		pinocchio
+endif
+
+ifeq (+,$(PINOCCHIO_DEPEND_MK)) # ------------------------------------------
+
+PREFER.pinocchio?=	robotpkg
+
+SYSTEM_SEARCH.pinocchio=\
+  'include/pinocchio/config.hh:/PINOCCHIO_VERSION/s/[^0-9.]//gp'	\
+  'lib/libpinocchio.so'							\
+  'lib/pkgconfig/pinocchio.pc:/Version/s/[^0-9.]//gp'
+
+DEPEND_USE+=		pinocchio
+
+DEPEND_ABI.pinocchio?=	pinocchio>=1.1.2
+DEPEND_DIR.pinocchio?=	../../math/pinocchio
+
+endif # PINOCCHIO_DEPEND_MK ------------------------------------------------
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
+
+# pulled by the package public headers
+include ../../graphics/urdfdom/depend.mk
+include ../../math/eigen3/depend.mk
+include ../../path/hpp-fcl/depend.mk

math/pinocchio/distinfo

+SHA1 (pinocchio-1.2.7.tar.gz) = e2c50e69305d7754206d9ad4540614843721e67e
+RMD160 (pinocchio-1.2.7.tar.gz) = 1120de4931067c607284e470474dd059fbcca1b7
+Size (pinocchio-1.2.7.tar.gz) = 9030977 bytes
+SHA1 (patch-aa) = d44e6db8e6b403d87cebdafc41dede56090c9c99

math/pinocchio/patches/patch-aa

+Enforce consistency with robotpkg list of dependencies
+
+--- CMakeLists.txt~	2018-04-02 18:17:57.000000000 +0200
++++ CMakeLists.txt	2018-04-26 14:23:48.596052980 +0200
+@@ -77,9 +77,8 @@
+ # --- DEPENDANCIES -----------------------------------
+ # ----------------------------------------------------
+ ADD_REQUIRED_DEPENDENCY("eigen3 >= 3.0.5")
+-ADD_OPTIONAL_DEPENDENCY("metapod >= 1.0.7")
+-ADD_OPTIONAL_DEPENDENCY("urdfdom >= 0.2.0")
+-ADD_OPTIONAL_DEPENDENCY("hpp-fcl >= 0.5.1")
++ADD_REQUIRED_DEPENDENCY("urdfdom >= 0.2.0")
++ADD_REQUIRED_DEPENDENCY("hpp-fcl >= 0.5.1")
+ 
+ # Spetcial care of Eigen3 greater than 3.2.10
+ IF(EIGEN3_FOUND)