.gitignore

@@ -29,3 +29,59 @@ build/
 ,svn-log
 +committed/
 *~
+*.swp
+_build-DEBUG/
+_build-RELEASE/
+src/Mathematics/PolynomeFoot_backup.cpp
+src/Mathematics/PolynomeFoot_backup.hh
+tests/CMakeCache.txt
+tests/CMakeFiles/
+tests/CPackConfig.cmake
+tests/CPackSourceConfig.cmake
+tests/CTestTestfile.cmake
+tests/DartConfiguration.tcl
+tests/Makefile
+tests/TestHerdt2010DynamicFilter.cpp
+tests/TestHerdt2010_backup.cpp
+tests/TestMorisawaStairs.cpp
+tests/cmake/
+tests/cmake_install.cmake
+tests/config.h
+tests/config.log
+tests/doc/
+tests/include/
+tests/jrl-walkgen.cbp
+tests/jrl-walkgen.pc
+tests/src/
+tests/tests/
+*.REMOTE.*
+*.BASE.*
+*.LOCAL.*
+*.BACKUP.*
+*.orig
+*.cbp
+*.user
+*.cmake
+*dirty
+*.eps
+*.png
+*.tex
+*.dat
+*.gnu
+*.gif
+*.py
+*.pyc
+*#*
+tests/*.txt
+tests/*.csv
+_build-DEBUG-QTCREATOR/*
+_build-RELEASE-QT/*
+commit_bien_herdt
+tests/TestHirukawa2007.cpp_dummy
+tests/filtre_dynamic_results.txt
+_build-INFORELDEB/*
+_build-Matan/
+_build-RELEASE_tmp/
+src/ZMPRefTrajectoryGeneration/nmpc_generatorMaster.cpp
+src/ZMPRefTrajectoryGeneration/nmpc_generatorMaster.hh
+tmp/

.gitlab-ci.yml

+include: http://rainboard.laas.fr/project/jrl-walkgen/.gitlab-ci.yml

.gitmodules

 [submodule "cmake"]
 	path = cmake
-	url = git://github.com/jrl-umi3218/jrl-cmakemodules.git
+	url = https://github.com/jrl-umi3218/jrl-cmakemodules.git

.pre-commit-config.yaml

+ci:
+  autoupdate_branch: devel
+repos:
+- repo: https://github.com/PyCQA/isort
+  rev: 5.12.0
+  hooks:
+  - id: isort
+    args:
+    - --profile
+    - black
+    - --filter-files
+- repo: https://github.com/cheshirekow/cmake-format-precommit
+  rev: v0.6.13
+  hooks:
+  - id: cmake-format
+    exclude: '^tests/Test*'
+- repo: https://github.com/pappasam/toml-sort
+  rev: v0.23.1
+  hooks:
+  - id: toml-sort-fix
+- repo: https://github.com/pre-commit/mirrors-clang-format
+  rev: v16.0.4
+  hooks:
+  - id: clang-format
+    args:
+    - --style=Google
+- repo: https://github.com/pre-commit/pre-commit-hooks
+  rev: v4.4.0
+  hooks:
+  - id: check-added-large-files
+  - id: check-ast
+  - id: check-executables-have-shebangs
+  - id: check-json
+  - id: check-merge-conflict
+  - id: check-symlinks
+  - id: check-toml
+  - id: check-yaml
+  - id: debug-statements
+  - id: destroyed-symlinks
+  - id: detect-private-key
+  - id: end-of-file-fixer
+  - id: fix-byte-order-marker
+  - id: mixed-line-ending
+  - id: trailing-whitespace
+- repo: https://github.com/psf/black
+  rev: 23.3.0
+  hooks:
+  - id: black
+- repo: https://github.com/pycqa/flake8
+  rev: 6.0.0
+  hooks:
+  - id: flake8
+    args:
+    - --max-line-length
+    - '88'

CMakeLists.txt

-# Copyright 2010, Olivier Stasse, JRL, CNRS/AIST
-#
-# This file is part of jrl-walkgen.
-# jrl-walkgen 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.
-#
-# jrl-walkgen 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
-# jrl-walkgen. If not, see <http://www.gnu.org/licenses/>.
-
-# Requires at least CMake 2.6 to configure the package.
-CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
-
-# Includes from jrl-cmaketools
-INCLUDE(cmake/base.cmake)
-INCLUDE(cmake/lapack.cmake)
-INCLUDE(cmake/cpack.cmake)
-
-# Define properties of the project
-SET(PROJECT_NAME jrl-walkgen)
-SET(PROJECT_DESCRIPTION "Walking pattern generator for Humanoids")
-SET(PROJECT_URL "")
-
-
-SET(CXX_DISABLE_WERROR True)
-
-# Initialize generic properties of the project
-SETUP_PROJECT()
-
-# Handle OS specificities 
-INCLUDE(CheckIncludeFiles)
-CHECK_INCLUDE_FILES("sys/time.h" SYS_TIME_H)
-IF(SYS_TIME_H)
-ADD_DEFINITIONS("-DHAVE_SYS_TIME_H")
-ENDIF(SYS_TIME_H)
-
-# Define dependencies
-
-# Required dependencies
-ADD_REQUIRED_DEPENDENCY("jrl-mal >= 1.9.0")
-ADD_REQUIRED_DEPENDENCY("abstract-robot-dynamics >= 1.15")
-ADD_REQUIRED_DEPENDENCY("jrl-dynamics >= 1.19.1")
-
-# Optional ones.
-ADD_OPTIONAL_DEPENDENCY("hrp2-dynamics >= 1.1.0")
+# Copyright 2010, 2020, Olivier Stasse, Guilhem Saurel, JRL, CNRS/AIST,
+# LAAS-CNRS See LICENSE file.
+
+cmake_minimum_required(VERSION 3.1)
+
+# Project properties
+set(PROJECT_ORG stack-of-tasks)
+set(PROJECT_NAME jrl-walkgen)
+set(PROJECT_DESCRIPTION "Walking pattern generator for Humanoids")
+set(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
+
+# Project options
+option(USE_LSSOL "Do you want to use the solver lssol?" OFF)
+option(USE_QUADPROG "Do you want to use the solver eigen-quadprog?" ON)
+option(SUFFIX_SO_VERSION "Suffix library name with its version" ON)
+option(FULL_BUILD_TESTING "Complete and long testing" OFF)
+
+# Project configuration
+set(PROJECT_USE_CMAKE_EXPORT TRUE)
+set(CXX_DISABLE_WERROR TRUE)
+set(DOXYGEN_USE_MATHJAX YES)
+
+# JRL-cmakemodule setup
+include(cmake/base.cmake)
+
+# Project definition
+compute_project_args(PROJECT_ARGS LANGUAGES CXX C)
+project(${PROJECT_NAME} ${PROJECT_ARGS})
+
+# Project dependencies
+add_project_dependency(LAPACK REQUIRED)
+add_project_dependency(pinocchio REQUIRED)
+
+# Handle OS specificities
+include(CheckIncludeFile)
+check_include_file("sys/time.h" SYS_TIME_H)
+if(SYS_TIME_H)
+  add_definitions("-DHAVE_SYS_TIME_H")
+endif(SYS_TIME_H)
+
+# TODO kinda dirty patch to find lssol for now using ADD_OPTIONAL_DEPENDENCY
+# prevents the creation of classic variables such as ${PKG}_FOUND hence we use
+# ADD_REQUIRED_DEPENDENCY to get the data
+if(USE_LSSOL)
+  add_required_dependency("lssol >= 0.1.0")
+endif(USE_LSSOL)
+
+if(USE_QUADPROG)
+  add_project_dependency(eigen-quadprog REQUIRED)
+endif(USE_QUADPROG)
 
 # Add aggressive optimization flags in release mode.
-IF(CMAKE_COMPILER_IS_GNUCXX)
-  SET (CMAKE_CXX_FLAGS_RELEASE
-    "-O2 -DNDEBUG")
-ENDIF(CMAKE_COMPILER_IS_GNUCXX)
-
-#IF(CMAKE_COMPILER_IS_GNUCXX)
-#  SET (CMAKE_CXX_FLAGS_RELEASE
-#    "-O3 -funroll-loops -frerun-loop-opt -fschedule-insns2")
-#  SET (CMAKE_CXX_FLAGS_RELEASE
-#    "${CMAKE_CXX_FLAGS_RELEASE} -frerun-cse-after-loop -falign-functions")
-#  SET (CMAKE_CXX_FLAGS_RELEASE
-#    "${CMAKE_CXX_FLAGS_RELEASE} -falign-labels -falign-loops -falign-jumps")
-#  SET (CMAKE_CXX_FLAGS_RELEASE
-#    "${CMAKE_CXX_FLAGS_RELEASE} -fexpensive-optimizations")
-#ENDIF(CMAKE_COMPILER_IS_GNUCXX)
-
-# Define the set of headers to be exported
-SET(${PROJECT_NAME}_HEADERS
-  include/jrl/walkgen/patterngeneratorinterface.hh
-  include/jrl/walkgen/pgtypes.hh
-)
-
-# Define subdirectories to explore for cmake
-ADD_SUBDIRECTORY(src)
-ADD_SUBDIRECTORY(tests)
-
-# Generate dependency to jrl-walkgen in pc file
-PKG_CONFIG_APPEND_LIBS("jrl-walkgen")
-
-# Ask to generate the final steps.
-SETUP_PROJECT_FINALIZE()
-SETUP_PROJECT_CPACK()
+if(CMAKE_COMPILER_IS_GNUCXX)
+  set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG ")
+endif(CMAKE_COMPILER_IS_GNUCXX)
+
+# Main Library
+
+set(${PROJECT_NAME}_HEADERS
+    include/jrl/walkgen/patterngeneratorinterface.hh
+    include/jrl/walkgen/pgtypes.hh include/jrl/walkgen/pinocchiorobot.hh)
+
+set(${PROJECT_NAME}_SOURCES
+    src/RobotDynamics/pinocchiorobot.cpp
+    src/FootTrajectoryGeneration/FootTrajectoryGenerationAbstract.cpp
+    src/FootTrajectoryGeneration/FootTrajectoryGenerationStandard.cpp
+    src/FootTrajectoryGeneration/FootTrajectoryGenerationMultiple.cpp
+    src/FootTrajectoryGeneration/LeftAndRightFootTrajectoryGenerationMultiple.cpp
+    src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.cpp
+    src/GlobalStrategyManagers/CoMAndFootOnlyStrategy.cpp
+    src/GlobalStrategyManagers/GlobalStrategyManager.cpp
+    src/GlobalStrategyManagers/DoubleStagePreviewControlStrategy.cpp
+    src/Mathematics/AnalyticalZMPCOGTrajectory.cpp
+    src/Mathematics/ConvexHull.cpp
+    src/Mathematics/FootConstraintsAsLinearSystem.cpp
+    # src/Mathematics/FootConstraintsAsLinearSystemForVelRef.cpp
+    src/Mathematics/FootHalfSize.cpp
+    src/Mathematics/OptCholesky.cpp
+    src/Mathematics/Bsplines.cpp
+    src/Mathematics/Polynome.cpp
+    src/Mathematics/PolynomeFoot.cpp
+    src/Mathematics/PLDPSolver.cpp
+    src/Mathematics/qld.cpp
+    src/Mathematics/StepOverPolynome.cpp
+    src/Mathematics/relative-feet-inequalities.cpp
+    src/Mathematics/intermediate-qp-matrices.cpp
+    src/PreviewControl/PreviewControl.cpp
+    src/PreviewControl/OptimalControllerSolver.cpp
+    src/PreviewControl/ZMPPreviewControlWithMultiBodyZMP.cpp
+    src/PreviewControl/LinearizedInvertedPendulum2D.cpp
+    src/PreviewControl/rigid-body.cpp
+    src/PreviewControl/rigid-body-system.cpp
+    src/PreviewControl/SupportFSM.cpp
+    src/ZMPRefTrajectoryGeneration/ZMPRefTrajectoryGeneration.cpp
+    src/ZMPRefTrajectoryGeneration/ZMPDiscretization.cpp
+    src/ZMPRefTrajectoryGeneration/ZMPQPWithConstraint.cpp
+    src/ZMPRefTrajectoryGeneration/ZMPConstrainedQPFastFormulation.cpp
+    src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
+    src/ZMPRefTrajectoryGeneration/OrientationsPreview.cpp
+    src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaAbstract.cpp
+    src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp
+    src/ZMPRefTrajectoryGeneration/FilteringAnalyticalTrajectoryByPreviewControl.cpp
+    src/ZMPRefTrajectoryGeneration/problem-vel-ref.cpp
+    src/ZMPRefTrajectoryGeneration/qp-problem.cpp
+    src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp
+    src/ZMPRefTrajectoryGeneration/mpc-trajectory-generation.cpp
+    src/ZMPRefTrajectoryGeneration/DynamicFilter.cpp
+    # src/MultiContactRefTrajectoryGeneration/MultiContactHirukawa.cc
+    src/MotionGeneration/StepOverPlanner.cpp
+    src/MotionGeneration/CollisionDetector.cpp
+    src/MotionGeneration/WaistHeightVariation.cpp
+    src/MotionGeneration/UpperBodyMotion.cpp
+    src/MotionGeneration/GenerateMotionFromKineoWorks.cpp
+    src/MotionGeneration/ComAndFootRealizationByGeometry.cpp
+    src/StepStackHandler.cpp
+    src/PatternGeneratorInterfacePrivate.cpp
+    src/SimplePlugin.cpp
+    src/SimplePluginManager.cpp
+    src/pgtypes.cpp
+    src/Clock.cpp
+    src/portability/gettimeofday.cc
+    src/privatepgtypes.cpp)
+
+if(USE_QUADPROG)
+  set(${PROJECT_NAME}_SOURCES
+      ${${PROJECT_NAME}_SOURCES}
+      src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedSQP.cpp
+      src/ZMPRefTrajectoryGeneration/nmpc_generator.cpp)
+endif(USE_QUADPROG)
+
+add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES}
+                                   ${${PROJECT_NAME}_HEADERS})
+target_include_directories(
+  ${PROJECT_NAME}
+  PRIVATE $<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/src>
+          $<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/src/FootTrajectoryGeneration>
+  PUBLIC $<INSTALL_INTERFACE:include>)
+target_link_libraries(${PROJECT_NAME} ${LAPACK_LIBRARIES} pinocchio::pinocchio)
+if(USE_QUADPROG)
+  target_compile_definitions(${PROJECT_NAME} PUBLIC USE_QUADPROG=1)
+endif(USE_QUADPROG)
+
+if(SUFFIX_SO_VERSION)
+  set_target_properties(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
+endif(SUFFIX_SO_VERSION)
+
+if(UNIX AND NOT APPLE)
+  set_target_properties(
+    ${PROJECT_NAME}
+    PROPERTIES
+      COMPILE_FLAGS
+      "-msse -msse2 -msse3 -march=core2 -mfpmath=sse -fivopts -ftree-loop-im -fipa-pta "
+  )
+endif(UNIX AND NOT APPLE)
+
+if(USE_QUADPROG)
+  target_link_libraries(${PROJECT_NAME} eigen-quadprog::eigen-quadprog)
+endif(USE_QUADPROG)
+
+install(
+  TARGETS ${PROJECT_NAME}
+  EXPORT ${TARGETS_EXPORT_NAME}
+  DESTINATION lib)
+
+add_subdirectory(tests)
+
+install(FILES package.xml DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY urdf DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY srdf DESTINATION share/${PROJECT_NAME})

README.md

-jrl-walkgen
-===========
+# jrl-walkgen
+
+[![Building Status](https://travis-ci.org/stack-of-tasks/jrl-walkgen.svg?branch=master)](https://travis-ci.org/stack-of-tasks/jrl-walkgen)
+[![Pipeline status](https://gitlab.laas.fr/stack-of-tasks/jrl-walkgen/badges/master/pipeline.svg)](https://gitlab.laas.fr/stack-of-tasks/jrl-walkgen/commits/master)
+[![Coverage report](https://gitlab.laas.fr/stack-of-tasks/jrl-walkgen/badges/master/coverage.svg?job=doc-coverage)](http://projects.laas.fr/gepetto/doc/stack-of-tasks/jrl-walkgen/master/coverage/)
 
 This software provides a pattern generator for biped robots.
 
-It relies on the [abstract-robot-dynamics][abstract-robot-dynamics]
+It relies on the [StackOfTasks/Pinocchio][StackOfTasks/Pinocchio]
 specification to realize dynamics computation.
 
 
-Setup
------
+## Setup
 
 To compile this package, it is recommended to create a separate build
 directory:
@@ -28,23 +30,21 @@ The matrix abstract layer depends on several packages which
 have to be available on your machine.
 
  - Libraries:
-   - [abstract-robot-dynamics][abstract-robot-dynamics] (>= 1.16)
-     The pattern generator uses dynamics provided by the abstract interface.
+   - [pinocchio][https://github.com/stack-of-tasks/pinocchio] (>= 1.1.0)
+     The pattern generator uses dynamics provided by the pinocchio template
+   programming interface.
+   - [eigen-quadprog][https://github.com/jrl-umi3218/eigen-quadprog]
+
  - System tools:
-   - CMake (>=2.6)
-   - pkg-config
+   - CMake (>=3.1)
    - usual compilation tools (GCC/G++, make, etc.)
 
 
 
-Additional notes regarding compilation on Microsoft Windows
------------------------------------------------------------
+## Additional notes regarding compilation on Microsoft Windows
 
 This package has been tested using Microsoft Visual Studio 8.
 
  - Install MinGW
  - Make sure all environment variables are set up properly.
  - Generate the Makefile using the NMake Makefile generator.
-
-
-[abstract-robot-dynamics]: http://github.com/laas/abstract-robot-dynamics

cmake @ f4997a81

-Subproject commit 92eb6d1f02be33a9790f4b77c8ca782206320b94
+Subproject commit f4997a81cebfa2dfb69733bc088c55688965dfe8

debian/changelog

-jrl-walkgen (1.0.0.99-4) lucid; urgency=low
-
-  * Fixing test compilation when closed-source hrp2-dynamics package is
-    not available.
-
- -- Thomas Moulard <thomas.moulard@gmail.com>  Tue, 12 Oct 2010 23:30:18 +0200
-
-jrl-walkgen (1.0.0.99-3) lucid; urgency=low
-
-  * Add missing lapack dependency.
-
- -- Thomas Moulard <thomas.moulard@gmail.com>  Mon, 04 Oct 2010 17:01:43 +0200
-
-jrl-walkgen (1.0.0.99-2) lucid; urgency=low
-
-  * Add missing dependencies (jrl-dynamics and abstract-robot-dynamics).
-
- -- Thomas Moulard <thomas.moulard@gmail.com>  Mon, 04 Oct 2010 16:44:52 +0200
-
-jrl-walkgen (1.0.0.99-1) lucid; urgency=low
-
-  * Initial work.
-
- -- Thomas Moulard <thomas.moulard@gmail.com>  Wed, 29 Sep 2010 19:52:00 +0200

debian/compat

-7

debian/control

-Source: jrl-walkgen
-Priority: extra
-Maintainer: Thomas Moulard <thomas.moulard@gmail.com>
-Build-Depends: debhelper (>= 7.0.50~), cmake (>= 2.6),
-	       doxygen (>= 1.6.3),
-	       pkg-config (>= 0.22),
-	       perl (>= 5.10.1),
-	       libboost-dev (>= 1.33.1),
-	       libboost-thread-dev (>= 1.33.1),
-	       liblapack-dev (>= 1.2),
-	       libjrl-dynamics-dev (>= 1.5.1.99),
-	       libabstract-robot-dynamics-dev (>= 1.16.0.99)
-Standards-Version: 3.8.4
-#Vcs-Git:
-#Vcs-browser:
-Section: libs
-#Homepage:
-
-Package: libjrl-walkgen-dev
-Section: libdevel
-Architecture: any
-Depends: libboost-dev (>= 1.33.1), libboost-thread-dev (>= 1.33.1), libjrl-dynamics-dev (>= 1.5.1.99), libabstract-robot-dynamics-dev (>= 1.16.0.99), liblapack-dev (>= 1.2), libjrl-walkgen3.1.1.99 (= ${binary:Version}), ${misc:Depends}
-Suggests: libjrl-walkgen-doc
-Description: the JRL walking pattern generator development package
- The JRL walking pattern generator generates a whole-body movement
- allowing biped robot to walk safely.
- It relies on abstract-robot-dynamics to realize dynamics computation.
- .
- This package contains development files (headers and pkg-config file).
-
-
-Package: libjrl-walkgen3.1.1.99
-Architecture: any
-Depends: ${shlibs:Depends}, ${misc:Depends}
-Description: the JRL walking pattern generator C++ library
- The JRL walking pattern generator generates a whole-body movement
- allowing biped robot to walk safely.
- It relies on abstract-robot-dynamics to realize dynamics computation.
- .
- This package contains the unversioned shared libraries.
-
-Package: libjrl-walkgen-doc
-Section: doc
-Architecture: all
-Depends: ${misc:Depends}
-Suggests: libabstract-robot-dynamics-doc
-Description: documentation for the JRL walking pattern generator
- The JRL walking pattern generator generates a whole-body movement
- allowing biped robot to walk safely.
- It relies on abstract-robot-dynamics to realize dynamics computation.
- .
- This package contains the Doxygen documentation.

debian/copyright

-This work was packaged for Debian by:
-
-    Thomas Moulard <thomas.moulard@gmail.com> on Wed, 29 Sep 2010 19:57:00 +0200
-
-It was downloaded from <not yet available>
-
-Upstream Author(s):
-
-    Thomas Moulard <thomas.moulard@gmail.com>
-
-Copyright:
-
-    Copyright (C) 2010 Olivier Stasse, JRL, CNRS/AIST.
-
-License:
-
-    See `/usr/share/common-licenses/LGPL-3'.
-
-The Debian packaging is:
-
-    Copyright (C) 2010 Thomas Moulard <thomas.moulard@gmail.com>
-    and is licensed under the GPL version 3,
-    see `/usr/share/common-licenses/GPL-3'.

debian/docs

-AUTHORS
-NEWS
-README.md

debian/libjrl-walkgen-dev.install

-usr/include/*
-usr/lib/lib*.so
-usr/lib/pkgconfig/*

debian/libjrl-walkgen-doc.doc-base

-Document: jrl-walkgen
-Title: Debian jrl-walkgen Manual
-Author: Thomas Moulard <thomas.moulard@gmail.com>
-Abstract: Doxygen documentation of jrl-walkgen.
-Section: Programming
-
-Format: HTML
-Index: /usr/share/doc/walkGenJrl/html/index.html
-Files: /usr/share/doc/walkGenJrl/html/*.html

debian/libjrl-walkgen-doc.install

-usr/share/doc/walkGenJrl/*

debian/libjrl-walkgen3.1.1.99.install

-usr/lib/*.so.*

debian/rules

-#!/usr/bin/make -f
-# -*- makefile -*-
-# Sample debian/rules that uses debhelper.
-# This file was originally written by Joey Hess and Craig Small.
-# As a special exception, when this file is copied by dh-make into a
-# dh-make output file, you may use that output file without restriction.
-# This special exception was added by Craig Small in version 0.37 of dh-make.
-
-# Uncomment this to turn on verbose mode.
-#export DH_VERBOSE=1
-
-# FIXME: do not run test suite for now as robot model is missing.
-export DEB_BUILD_OPTIONS=nocheck
-
-override_dh_auto_configure:
-	dh_auto_configure -- -DGENERATE_DOC=ON
-
-%:
-	dh  $@

debian/source/format

-3.0 (quilt)

debian/watch

-# Watch control file for uscan
-# Rename this file to "watch" and then you can run the "uscan" command
-# to check for upstream updates and more.
-# See uscan(1) for format
-
-version=3
-
-http://githubredir.debian.net/github/jrl-umi3218/jrl-walkgen (.*).tar.gz