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Commit 504ad6d9 authored by Guilhem Saurel's avatar Guilhem Saurel
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compile everything with clang-6.0

parent 78d18d5d
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1 merge request!3Update the repository to the version used for the first submission of the article
......@@ -18,3 +18,9 @@
url = ../../poppy-project/poppy-humanoid.git
shallow = true
fetchRecurseSubmodules = false
[submodule "kdl"]
path = libs/kdl
url = ../../orocos/orocos_kinematics_dynamics.git
[submodule "kdl_parser"]
path = libs/kdl_parser
url = ../../ros/kdl_parser.git
......@@ -14,8 +14,8 @@ SETUP_PROJECT()
ADD_REQUIRED_DEPENDENCY("eigen3")
ADD_REQUIRED_DEPENDENCY("pinocchio")
ADD_REQUIRED_DEPENDENCY("rbdl")
ADD_REQUIRED_DEPENDENCY("orocos-kdl")
ADD_REQUIRED_DEPENDENCY("kdl_parser")
#ADD_REQUIRED_DEPENDENCY("orocos-kdl")
#ADD_REQUIRED_DEPENDENCY("kdl_parser")
ADD_REQUIRED_DEPENDENCY("urdfdom")
ADD_REQUIRED_DEPENDENCY("benchmark")
......
Subproject commit f51621f6571e5ad9512ea12741bece39b4ce919b
Subproject commit 8af7e1a10d7cc76ede081e68e297e5b1b9205b93
#!/bin/bash
set -e
#set -x
set -x
#rm -rf build prefix
#sudo apt install -qqy robotpkg-pinocchio liborocos-kdl-dev libkdl-parser-dev
rm -rf build prefix
export PREFIX=${1:-$PWD/prefix} # with bash / zsh
export LD_LIBRARY_PATH=$PREFIX/lib:$LD_LIBRARY_PATH
export CXX="ccache clang++-3.8"
export CC="ccache clang-3.8"
export CXX="ccache clang++-6.0"
export CC="ccache clang-6.0"
mkdir -p build/pinocchio
pushd build/pinocchio
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$PREFIX -DCMAKE_INSTALL_LIBDIR=lib \
-DBUILD_PYTHON_INTERFACE=OFF -DBUILD_UNIT_TESTS=OFF -DINSTALL_DOCUMENTATION=OFF \
../../libs/pinocchio
make -j8 install
popd
#mkdir -p build/kdl
#pushd build/kdl
#cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$PREFIX -DCMAKE_INSTALL_LIBDIR=lib \
#../../libs/kdl/orocos_kdl
#make -j8 install
#popd
#mkdir -p build/kdl_parser
#pushd build/kdl_parser
#cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$PREFIX -DCMAKE_INSTALL_LIBDIR=lib \
#../../libs/kdl_parser/kdl_parser
#make -j8 install
#popd
if [[ ! -d libs/rbdl ]]
then
......@@ -31,11 +51,12 @@ popd
mkdir -p build/google-benchmark
pushd build/google-benchmark
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$PREFIX -DCMAKE_INSTALL_LIBDIR=lib \
-DBENCHMARK_ENABLE_GTEST_TESTS=OFF -DBENCHMARK_ENABLE_LTO=true \
-DLLVMAR_EXECUTABLE="/usr/bin/llvm-ar-3.8" \
-DLLVMNM_EXECUTABLE="/usr/bin/llvm-nm-3.8" \
-DLLVMRANLIB_EXECUTABLE="/usr/bin/llvm-ranlib-3.8" \
-DBENCHMARK_ENABLE_GTEST_TESTS=OFF \
../../libs/benchmark
#-DBENCHMARK_ENABLE_LTO=true \
#-DLLVMAR_EXECUTABLE="/usr/bin/llvm-ar-6.0" \
#-DLLVMNM_EXECUTABLE="/usr/bin/llvm-nm-6.0" \
#-DLLVMRANLIB_EXECUTABLE="/usr/bin/llvm-ranlib-6.0" \
make -j8 install
popd
......@@ -49,7 +70,7 @@ popd
$PREFIX/bin/rbdl-test
$PREFIX/bin/pinocchio-test
$PREFIX/bin/kdl-test
#$PREFIX/bin/kdl-test
echo "don't forget to run 'sudo cpupower frequency-set --governor performance'"
$PREFIX/bin/pinocchio-benchmark
$PREFIX/bin/rbdl-benchmark
......
......@@ -13,9 +13,9 @@ PKG_CONFIG_USE_DEPENDENCY(pinocchio-test pinocchio)
INSTALL(TARGETS pinocchio-test RUNTIME DESTINATION bin)
# KDL test
ADD_EXECUTABLE(kdl-test kdl-test)
PKG_CONFIG_USE_DEPENDENCY(kdl-test kdl_parser)
INSTALL(TARGETS kdl-test RUNTIME DESTINATION bin)
#ADD_EXECUTABLE(kdl-test kdl-test)
#PKG_CONFIG_USE_DEPENDENCY(kdl-test kdl_parser)
#INSTALL(TARGETS kdl-test RUNTIME DESTINATION bin)
# RBDL benchmark
ADD_EXECUTABLE(rbdl-benchmark rbdl-benchmark)
......
......@@ -37,9 +37,6 @@ static void BM_Pinocchio_RNEA(benchmark::State& state)
static void BM_Pinocchio_ABA(benchmark::State& state)
{
std::string model_file = pinocchio_benchmarks::path +
pinocchio_benchmarks::models[state.range(0)];
se3::Model model;
se3::urdf::buildModel(pinocchio_benchmarks::path +
pinocchio_benchmarks::models[state.range(0)],
......
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