remake the packaging to remove jrl-dynamics dependencies and add pinnochio

CMakeLists.txt

@@ -41,19 +41,11 @@ LIST(APPEND CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_SOURCE_DIR}/private_c
 MESSAGE(STATUS "CMAKE_MODULE_PATH: ${CMAKE_MODULE_PATH}")
 
 # Search for dependencies.
-ADD_REQUIRED_DEPENDENCY("jrl-walkgen")
-ADD_REQUIRED_DEPENDENCY("jrl-dynamics >= 1.16.1")
-ADD_REQUIRED_DEPENDENCY("jrl-dynamics-urdf")
-
+ADD_REQUIRED_DEPENDENCY("jrl-walkgen >= 4.0.0")
+ADD_REQUIRED_DEPENDENCY("pinocchio >= 1.1.0")
 ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 1.0.0")
 ADD_REQUIRED_DEPENDENCY("sot-core >= 1.0")
 
-# Search for closed-source packages.
-ADD_OPTIONAL_DEPENDENCY("hrp2-dynamics >= 1.3.0")
-ADD_OPTIONAL_DEPENDENCY("hrp2-10-optimized >= 1.0")
-
-ADD_OPTIONAL_DEPENDENCY("hrp2-10 >= 1.0.0")
-
 ADD_SUBDIRECTORY(src)
 ADD_SUBDIRECTORY(include)
 ADD_SUBDIRECTORY(python)

src/CMakeLists.txt

@@ -13,18 +13,6 @@
 # received a copy of the GNU Lesser General Public License along with
 # sot-pattern-generator. If not, see <http://www.gnu.org/licenses/>.
 
-IF(HRP2_DYNAMICS_FOUND)
-  MESSAGE(STATUS "hrp2-dynamics: found")
-ELSE(NOT HRP2_DYNAMICS_FOUND)
-  MESSAGE(STATUS "hrp2-dynamics: not found")
-ENDIF(HRP2_DYNAMICS_FOUND)
-
-SET(WITH_HRP2_DYNAMICS "" CACHE BOOL "Option to use HRP2-DYNAMICS robot in the PG" )
-SET(WITH_HRP2_DYNAMICS_BOOL 0)
-if (WITH_HRP2_DYNAMICS)
- SET(WITH_HRP2_DYNAMICS_BOOL 1)
-endif()
-
 INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/include)
 
 ADD_DEFINITIONS(-DDEBUG=2)
@@ -90,7 +78,8 @@ SET(PYTHON_LOCAL_PATH sot/pattern_generator)
 FOREACH(LIBRARY_NAME ${plugins})
   ADD_LIBRARY(${LIBRARY_NAME}
     SHARED
-    ${LIBRARY_NAME}.cpp)
+    ${LIBRARY_NAME}.cpp
+    ../include/sot-pattern-generator/${LIBRARY_NAME}.h)
 
   SET_TARGET_PROPERTIES(${LIBRARY_NAME}
     PROPERTIES
@@ -113,16 +102,8 @@ FOREACH(LIBRARY_NAME ${plugins})
     PROPERTIES
     LINK_FLAGS "${${PROJECT_NAME}_src_LDFLAGS}")
 
-  PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} jrl-dynamics)
-  PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} jrl-dynamics-urdf)
   PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} jrl-walkgen)
-  PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} jrl-dynamics-urdf)
-
-  IF(HRP2_DYNAMICS_FOUND)
-    CONFIGURE_FILE(${CMAKE_SOURCE_DIR}/private_cmake/config_private.hh.cmake ${CMAKE_BINARY_DIR}/include/${HEADER_DIR}/config_private.hh)
-    PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hrp2-dynamics)
-  ENDIF(HRP2_DYNAMICS_FOUND)
-
+  PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} pinocchio)
   PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} sot-core)
 
   INSTALL(TARGETS ${LIBRARY_NAME} DESTINATION ${DYNAMIC_GRAPH_PLUGINDIR})

unitTesting/CMakeLists.txt

@@ -28,10 +28,6 @@ TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME} ${EXECUTABLE_DEPENDENCIES})
 ADD_DEPENDENCIES(${EXECUTABLE_NAME} ${EXECUTABLE_DEPENDENCIES})
   
 ADD_TEST(main_test ${EXECUTABLE_NAME})
-
-PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} jrl-dynamics)
+PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} pinocchio)
 PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} jrl-walkgen)
-IF(HRP2_DYNAMICS_FOUND)
-  PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} hrp2-dynamics)
-ENDIF(HRP2_DYNAMICS_FOUND)
 PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} sot-core)