Init repo

.gitignore

+Xcode/
+build*/

CMakeLists.txt

+#
+# Copyright (c) 2017 CNRS
+#
+# This file is part of PinInvDyn
+# pinocchio is free software: you can redistribute it
+# and/or modify it under the terms of the GNU Lesser General Public
+# License as published by the Free Software Foundation, either version
+# 3 of the License, or (at your option) any later version.
+# pinocchio is distributed in the hope that it will be
+# useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+# of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+# General Lesser Public License for more details. You should have
+# received a copy of the GNU Lesser General Public License along with
+# pinocchio If not, see
+# <http://www.gnu.org/licenses/>.
+
+CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+
+INCLUDE(cmake/base.cmake)
+INCLUDE(cmake/boost.cmake)
+INCLUDE(cmake/eigen.cmake)
+INCLUDE(cmake/python.cmake)
+INCLUDE(cmake2/ide.cmake)
+
+SET(PROJECT_NAME PinInvDyn)
+SET(PROJECT_DESCRIPTION "Efficient Inverse Dynamics for Multi-body Systems")
+SET(PROJECT_URL "http://github.com/stack-of-tasks/pinocchio")
+OPTION(INSTALL_DOCUMENTATION "Generate and install the documentation" FALSE)
+
+SET(DOXYGEN_USE_MATHJAX YES)
+
+IF(APPLE)
+  SET(CMAKE_MACOSX_RPATH TRUE)
+  SET(CMAKE_SKIP_BUILD_RPATH  FALSE)
+  SET(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE)
+  SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+
+  set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
+  list(FIND CMAKE_PLATFORM_IMPLICIT_LINK_DIRECTORIES "${CMAKE_INSTALL_PREFIX}/lib" isSystemDir)
+  if("${isSystemDir}" STREQUAL "-1")
+     set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
+  endif("${isSystemDir}" STREQUAL "-1")
+ENDIF(APPLE)
+
+# Disable -Werror on Unix for now.
+SET(CXX_DISABLE_WERROR True)
+SET(CMAKE_VERBOSE_MAKEFILE True)
+
+SETUP_PROJECT()
+
+IF(WIN32)
+  SET(LINK copy_if_different)
+ELSE(WIN32)
+  SET(LINK create_symlink)
+ENDIF(WIN32)
+
+# --- OPTIONS ----------------------------------------
+OPTION (BUILD_PYTHON_INTERFACE "Build the python binding" OFF)
+OPTION (BUILD_UNIT_TESTS "Build the unitary tests" ON)
+
+# ----------------------------------------------------
+# --- DEPENDANCIES -----------------------------------
+# ----------------------------------------------------
+ADD_REQUIRED_DEPENDENCY("eigen3 >= 3.0.5")
+ADD_REQUIRED_DEPENDENCY("pinocchio >= 1.2.0")
+
+SET(BOOST_COMPONENTS unit_test_framework serialization)
+
+IF(BUILD_PYTHON_INTERFACE)
+  ADD_COMPILE_DEPENDENCY("eigenpy >= 1.3.1")
+  SET(BOOST_COMPONENTS ${BOOST_COMPONENTS} python)
+  FINDPYTHON(2.7 EXACT REQUIRED)
+  INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_DIRS}) 
+ENDIF(BUILD_PYTHON_INTERFACE)
+
+SEARCH_FOR_BOOST()
+# Path to boost headers
+INCLUDE_DIRECTORIES(${Boost_INCLUDE_DIRS})
+# ----------------------------------------------------
+# --- INCLUDE ----------------------------------------
+# ----------------------------------------------------
+
+SET(${PROJECT_NAME}_MATH_HEADERS
+    include/pininvdyn/math/fwd.hpp
+  )
+
+SET(${PROJECT_NAME}_TASKS_HEADERS
+    include/pininvdyn/tasks/fwd.hpp
+    include/pininvdyn/tasks/task-base.hpp
+  )
+
+SET(${PROJECT_NAME}_SOLVERS_HEADERS
+    include/pininvdyn/solvers/fwd.hpp
+  )
+
+SET(HEADERS
+    ${${PROJECT_NAME}_MATH_HEADERS}
+    ${${PROJECT_NAME}_TASKS_HEADERS}
+    ${${PROJECT_NAME}_SOLVERS_HEADERS}
+ )
+
+LIST(REMOVE_DUPLICATES HEADERS)
+
+SET(HEADERS_FULL_PATH "")
+FOREACH(header ${HEADERS})
+  LIST(APPEND HEADERS_FULL_PATH "${CMAKE_SOURCE_DIR}/${header}") 
+  GET_FILENAME_COMPONENT(headerName ${header} NAME)
+  GET_FILENAME_COMPONENT(headerPath ${header} PATH)
+  INSTALL(FILES ${${PROJECT_NAME}_SOURCE_DIR}/${header}
+    DESTINATION ${CMAKE_INSTALL_PREFIX}/${headerPath}
+          PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
+ENDFOREACH(header ${HEADERS})
+
+# --- MAIN LIBRARY -------------------------------------------------------------
+ADD_SUBDIRECTORY(src)
+
+# --- BINDINGS ----------------------------------------------------------------
+#ADD_SUBDIRECTORY(bindings)
+
+# --- UNIT TESTS ---------------------------------------------------------------
+#ADD_SUBDIRECTORY(unittest)
+
+# --- PACKAGING ----------------------------------------------------------------
+PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
+PKG_CONFIG_APPEND_BOOST_LIBS(serialization)
+
+SETUP_PROJECT_FINALIZE()

cmake2/ide.cmake

+# Copyright (C) 2008-2016 LAAS-CNRS, JRL AIST-CNRS.
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <http://www.gnu.org/licenses/>.
+
+MACRO(ADD_GROUP GROUP_NAME FILENAMES)
+  FOREACH(filename ${${FILENAMES}})
+    GET_FILENAME_COMPONENT(filenamePath ${filename} PATH)
+    IF(NOT (filenamePath STREQUAL ""))
+      STRING(REGEX REPLACE "${CMAKE_SOURCE_DIR}/include" "" filenamePath ${filenamePath}) 
+      STRING(REGEX REPLACE "${CMAKE_SOURCE_DIR}" "" filenamePath ${filenamePath}) 
+      STRING(REGEX REPLACE "/" "\\\\" filenamePath ${filenamePath}) 
+      SOURCE_GROUP("${GROUP_NAME}\\${filenamePath}" FILES ${filename})
+    ELSE()
+      SOURCE_GROUP("${GROUP_NAME}" FILES ${filename})
+    ENDIF()
+  ENDFOREACH()
+ENDMACRO(ADD_GROUP) 
+
+MACRO(ADD_HEADER_GROUP FILENAMES)
+  ADD_GROUP("Header Files" ${FILENAMES})
+ENDMACRO(ADD_HEADER_GROUP FILENAMES)
+
+MACRO(ADD_SOURCE_GROUP FILENAMES)
+  ADD_GROUP("Source Files" ${FILENAMES})
+ENDMACRO(ADD_SOURCE_GROUP FILENAMES)
+

include/pininvdyn/math/fwd.hpp

+//
+// Copyright (c) 2017 CNRS
+//
+// This file is part of PinInvDyn
+// pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+// pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+//
+
+#ifndef __invdyn_math_fwd_hpp__
+#define __invdyn_math_fwd_hpp__
+
+namespace pininvdyn
+{
+  namespace math
+  {
+    
+  }
+}
+
+#endif // ifndef __invdyn_math_fwd_hpp__

include/pininvdyn/solvers/fwd.hpp

+//
+// Copyright (c) 2017 CNRS
+//
+// This file is part of PinInvDyn
+// pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+// pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+//
+
+#ifndef __invdyn_solvers_fwd_hpp__
+#define __invdyn_solvers_fwd_hpp__
+
+namespace pininvdyn
+{
+  namespace solvers
+  {
+    
+  }
+}
+
+#endif // ifndef __invdyn_solvers_fwd_hpp__

include/pininvdyn/tasks/fwd.hpp

+//
+// Copyright (c) 2017 CNRS
+//
+// This file is part of PinInvDyn
+// pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+// pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+//
+
+#ifndef __invdyn_tasks_fwd_hpp__
+#define __invdyn_tasks_fwd_hpp__
+
+namespace pininvdyn
+{
+  namespace tasks
+  {
+    
+  }
+}
+
+#endif // ifndef __invdyn_tasks_fwd_hpp__

include/pininvdyn/tasks/task-base.hpp

+//
+// Copyright (c) 2017 CNRS
+//
+// This file is part of PinInvDyn
+// pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+// pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+//
+
+#ifndef __invdyn_tasks_task_base_hpp__
+#define __invdyn_tasks_task_base_hpp__
+
+namespace pininvdyn
+{
+  namespace tasks
+  {
+    
+    ///
+    /// \brief Base template of a Task.
+    /// Each class is defined according to a constant model of a robot.
+    ///
+    class TaskBase
+    {
+    public:
+      typedef double Scalar;
+      typedef se3::Model Model;
+      
+      TaskBase(const Model & model)
+      : m_model(model)
+      {}
+      
+      ///
+      /// \brief Return the dimension of the task.
+      /// \info should be overloaded in the child class.
+      virtual int dim() const = 0;
+      virtual int nq() const = 0;
+      virtual int nv() const = 0;
+      
+      ///
+      /// \brief Accessor to model.
+      ///
+      /// \returns a const reference on the model.
+      ///
+      const Model & model() const { return m_model; };
+      
+    protected:
+      
+      
+      ///
+      /// \brief Reference on the robot model.
+      ///
+      const Model & m_model;
+    };
+    
+  }
+}
+
+#endif // ifndef __invdyn_tasks_task_base_hpp__
\ No newline at end of file

src/CMakeLists.txt

+#
+# Copyright (c) 2017 CNRS
+#
+# This file is part of PinInvDyn
+# pinocchio is free software: you can redistribute it
+# and/or modify it under the terms of the GNU Lesser General Public
+# License as published by the Free Software Foundation, either version
+# 3 of the License, or (at your option) any later version.
+# pinocchio is distributed in the hope that it will be
+# useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+# of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+# General Lesser Public License for more details. You should have
+# received a copy of the GNU Lesser General Public License along with
+# pinocchio If not, see
+# <http://www.gnu.org/licenses/>.
+
+# --- MAIN LIBRARY --- #
+SET(LIBRARY_NAME ${PROJECT_NAME})
+
+SET(${LIBRARY_NAME}_MATH_SOURCES
+  )
+
+SET(${LIBRARY_NAME}_TASKS_SOURCES
+    tasks/task-base.cpp
+  )
+
+SET(${LIBRARY_NAME}_SOLVERS_SOURCES
+    solvers/solver-base.cpp
+  )
+
+SET(${LIBRARY_NAME}_SOURCES
+    ${${LIBRARY_NAME}_MATH_SOURCES}
+    ${${LIBRARY_NAME}_TASKS_SOURCES}
+    ${${LIBRARY_NAME}_SOLVERS_SOURCES}
+  )
+
+ADD_LIBRARY(${LIBRARY_NAME} SHARED ${HEADERS_FULL_PATH} ${${LIBRARY_NAME}_SOURCES})
+SET_TARGET_PROPERTIES(${LIBRARY_NAME} PROPERTIES LINKER_LANGUAGE CXX)
+ADD_HEADER_GROUP(HEADERS_FULL_PATH)
+ADD_SOURCE_GROUP(${LIBRARY_NAME}_SOURCES)
+
+PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} eigen3)
+PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} pinocchio)
+
+INSTALL(TARGETS ${PROJECT_NAME} DESTINATION lib)
+

src/solvers/solver-base.cpp

+//
+// Copyright (c) 2017 CNRS
+//
+// This file is part of PinInvDyn
+// pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+// pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+//
+
+namespace pininvdyn
+{
+  namespace solvers
+  {
+    
+    
+  }
+}

src/tasks/task-base.cpp

+//
+// Copyright (c) 2017 CNRS
+//
+// This file is part of PinInvDyn
+// pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+// pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+//
+
+#include <Eigen/Dense>
+#include <pinocchio/multibody/model.hpp>
+
+namespace pininvdyn
+{
+  namespace tasks
+  {
+    
+    
+  }
+}