Commit 0ff3dece authored by Olivier Stasse's avatar Olivier Stasse
Browse files

Merge branch 'devel'

parents 056cbb3c fdfd6ec4
[submodule "cmake"]
path = cmake
url = git://
# This list is used by git-shortlog to fix a few botched name translations
# in the git archive, either because the author's full name was messed up
# and/or not always written the same way, making contributions from the
# same person appearing not to be so or badly displayed.
Anthony Mallet <>
Olivier Stasse <>
Olivier Stasse <>
Olivier Stasse <>
Olivier Stasse <>
Olivier Stasse <>
Olivier Stasse <stasse@stasse-laptop.(none)>
Olivier Stasse <>
Olivier Stasse <>
Olivier Stasse <>
Olivier Stasse <>
Olivier Stasse <>
Olivier Stasse <stasse@jrl006.(none)>
Olivier Stasse <stasse@stasse-laptop.(none)>
Nicolas Mansard <nmansard@devgiri.(none)>
Nicolas Mansard <nmansard@jorasse.(none)>
Nicolas Mansard <>
Florent Lamiraux <florent@big-laptop.(none)>
Florent Lamiraux <>
Florent Lamiraux <>
Florent Lamiraux <florent@florent-laptop.(none)>
Florent Lamiraux <>
Florent Lamiraux <Florent Lamiraux>
Florent Lamiraux <florent@florent-laptop.(none)>
Florent Lamiraux <Florent Lamiraux>
Florent Lamiraux <florent@localhost.localdomain>
Florent Lamiraux <>
Florent Lamiraux <florent@poullenc.(none)>
- coveralls -e _travis/install -e tests
- git config --global "Travis CI"
- git config --global ""
- git remote set-url origin https://thomas-moulard:${GH_TOKEN}
- git fetch origin gh-pages:gh-pages
- cd _travis/build/doc && ../../../cmake/github/
- master
- topic/sot-pinocchio
- clang
- gcc
- compiler: clang
- git submodule update --init --recursive
#Add robotpkg and pinocchio dependencies
- sudo sh -c "echo \"deb precise robotpkg\" >> /etc/apt/sources.list "
- curl | sudo apt-key add -
- sudo apt-get update -qq
- sudo apt-get install -qq doxygen doxygen-latex libboost-all-dev libeigen3-dev liblapack-dev libblas-dev gfortran python-dev
python-sphinx python-numpy libtinyxml-dev robotpkg-console-bridge robotpkg-urdfdom-headers robotpkg-urdfdom robotpkg-eigenpy
- sudo pip install cpp-coveralls
language: cpp
script: ./.travis/build
secure: dXnBor2MQ2eUyh6WqB6FKWWcE3MxzY8fin7xTyA+yJwpUsEgkvXp/4IEzx4CDSIjrLSR4P/MKQby9jnd+vTDOMH1NwXkdQH8c7mn/L3ZshALMKVNZIW6IDNx7jneAMud4/l9KHvauQVdby4cA7gFxbVQi+aPbhnioN4UO0AeLeA=
set -ev
# Directories.
# Shortcuts.
git_clone="git clone --quiet --recursive"
# Create layout.
rm -rf "$build_dir" "$install_dir"
mkdir -p "$build_dir"
mkdir -p "$install_dir"
# Setup environment variables.
export LD_LIBRARY_PATH="$install_dir/lib:/opt/openrobots/lib:$LD_LIBRARY_PATH"
export LD_LIBRARY_PATH="$install_dir/lib/`dpkg-architecture -qDEB_BUILD_MULTIARCH`:$LD_LIBRARY_PATH"
export PKG_CONFIG_PATH="$install_dir/lib/pkgconfig:/opt/openrobots/lib/pkgconfig:$PKG_CONFIG_PATH"
export PKG_CONFIG_PATH="$install_dir/lib/`dpkg-architecture -qDEB_BUILD_MULTIARCH`/pkgconfig:$PKG_CONFIG_PATH"
echo "--> Compiling $1"
mkdir -p "$build_dir/$1"
cd "$build_dir"
$git_clone "git://$1" "$1"
cd "$build_dir/$1"
cmake . -DCMAKE_INSTALL_PREFIX:STRING="$install_dir"
make install
echo "--> Compiling stack-of-tasks/pinocchio"
mkdir -p "$build_dir/stack-of-tasks/pinocchio"
cd "$build_dir"
$git_clone -b devel git:// stack-of-tasks/pinocchio
cd "$build_dir/stack-of-tasks/pinocchio"
cmake . -DCMAKE_INSTALL_PREFIX:STRING="$install_dir"
make install
install_dependency proyan/dynamic-graph
install_dependency proyan/dynamic-graph-python
install_dependency proyan/sot-core
install_dependency proyan/sot-tools
# Compile and run tests
cd "$build_dir"
cmake "$root_dir" -DCMAKE_INSTALL_PREFIX="$install_dir" \
-DCMAKE_CXX_FLAGS="--coverage" \
make test
make install
This package was written by and with the assistance of:
* Francois Bleibel
* François Keith
* Nicolas Mansard
* Olivier Stasse
* Thomas Moulard
# Copyright 2010, François Bleibel, Olivier Stasse, JRL, CNRS/AIST
# This file is part of sot-dynamic.
# sot-dynamic 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.
# sot-dynamic is distributed in the hope that it will be useful, but
# WITHOUT ANY WARRANTY; without even the implied warranty of
# General Lesser Public License for more details. You should have
# received a copy of the GNU Lesser General Public License along with
# sot-dynamic. If not, see <>.
SET(PROJECT_NAME sot-dynamic)
SET(PROJECT_DESCRIPTION "pinocchio bindings for dynamic-graph.")
# Disable -Werror on Unix for now.
# Search for dependencies.
ADD_REQUIRED_DEPENDENCY("pinocchio >= 1.2.0")
ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 3.0.0")
ADD_REQUIRED_DEPENDENCY("sot-core >= 3.0.0")
ADD_REQUIRED_DEPENDENCY("sot-tools >= 2.0.0")
# List plug-ins that will be compiled.
LIST(APPEND plugins dynamic)
# Add dependency toward sot-dynamic library in pkg-config file.
# Search for dependencies.
# Boost
SET(BOOST_COMPONENTS filesystem system unit_test_framework python)
# Add subdirectories.
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* Correct PROJECT_URL from jrl-umi3218 to stack-of-tasks
* Check that joint exists when creating an operational point
* Merge pull request #4 from bcoudrin/master
* Change Dynamic::CLASS_NAME in the shared lib
* Change lib name to sot-dynamic and dynamic plugin name to dynamic
* Dissociates dynamic lib and dynamic plugin
* Normalize the use of plugin path.
* Remove hrp2 reference.
* Remove the references to hrp2 in the documentation.
* Clean romeo script.
* Correct the path for the unit test.
* Synchronize
* Correct romeo sample script.
* Synchronize
* Directly use the plugin directory in the pkg-config file.
* [travis] Add missing python-numpy dependency
* Update
* Update
* [travis] Fix dependencies
* Update
* [travis] Add missing dependency
* Synchronize
* Remove unwanted files.
* [travis] Add Travis and support
* Update the kine_romeo sample.
* Add ZmpFromForces entity
* Move robot initialization parts to sot-application
* Add a simple kinematic test for the humanoid robot Romeo.
* Update lib installation path (multiarch portability).
* Synchronize
* Add signals for the maximal/minimal joint velocity/torques.
* Add parser class to create useful objects for humanoid robots.
* Remove headers from sot-dynamic.
* Remove install.
* Remove warnings
* Clean up references to hrp-2 and nao.
* Add the dependency in sot-tools.
* Do not import useless symbols
* Add comTask into dictionary tasks of class HumanoidRobot for compatibility
* Import SE3 from instead of sot.se3.
* Synchronize.
* Do not trace all signals by default
* Remove obsolete file
* Add some signals as attributes.
* Create a balance task in AbstractHumanoidRobot class.
* Add method help and update documentation.
* Add position of foot force sensors in Hrp2 python class.
* Do not initialize tracer, let user do it.
* Synchronize.
* Compatibility with boost>1.46.1
* The dependency in hrp2 is now optional.
* Use Task instead of TaskPD.
* Fix typo in documentation of command.
* Added the access to xml and vrml file names from the getProperty function.
* In class Solver, implement method remove and modify method push.
* Wrong compiler option set into sot-dynamic.pc file corrected.
* Synchronize
* Synchronize.
* Correct the link with boost on Ubuntu 11.04.
* Do not import useless symbols.
* Create frames for right and left hands.
* Add a command to get hand parameters.
* Fix camera frame orientation.
* Do not create entity at module importation.
* Synchronize cmake submodule.
* Register signal one by one.
* Allow access by joint name in entity Dynamic.
* Synchronize.
* Revert "Revert "Correct the Python_module handling""
* Do not generate sphinx documentation
* Fix dummy test.
* Update NEWS.
* Synchronize cmake submodule.
* Update to recent modification in Entity class.
* Add the toes to the list of joints accessible with their names.
* Clean HumanoidRobot implementation.
* Add tracer support to HumanoidRobot.
* Enhance camera position.
* Replace frame by frames in
* Add support for additional frames storing sensors position, use it to compute HRP-2 camera positions.
* Fix ZMP computation subgraph.
* Add support for velocity/acceleration/zmp computation in jrl-dynamics.
* Switch to TaskPD.
* Fix problem related to the release level of some mainstream repositories.
* Revert "Correct the Python_module handling"
* Update dependency version numbers.
* Remove deprecated tags in xml parser.
* Correct link for apple
* Correct the handling of python modules
* Use the helper to implement the entity.
* Fix some getClassName methods.
* Account for the Entity::getClassName becoming pure virtual.
* Reimplement getClassName method in Dynamic and DynamicHrp2.
* Enable JointLimitator.
* Create JointLimitator but do not filter control vector (JointLimitator produces wrong output).
* Correct the link with boost libraries
* Fix package name.
* Correct the link with boost for Mac systems
* Implement reset in
* Improve support for hrp2-10.
* Remove a command already defined in python.cmake
* Correct the Python_module handling
* Fix examples.
* Fix minor error in
* Change name of hrp2.dynamic: '_dynamics' -> 'dynamic'
* Add waist as an operational point in Hrp2 class.
* Replace . by _ in signal and entity names.
* Set height of freeflyer so that feet are on the ground.
* Replace . by _ in signal and entity names.
* Remove useless method parameters.
* Add gaze in the list of operational points.
* Compute Jacobian of operational points and of center of mass at initialization.
* Add support for debug output (sotDEBUG).
* Fix typo.
* Add a proxy method push in Solver -> Solver.sot.push.
* Compute initial value of COM and set desired value accordingly.
* Install
* Install and move Solver class into a separate file.
* Include sot-core headers from include/sot/core instead of include/sot-core.
* Reintroduce RobotSimu.
* Move classes into dynamicgraph::sot namespace.
* Put robot in halsitting also in non-simulation mode.
* Upgrade to latest modifications in
* Generate sphinx documentation for
* If device is provided, do not create it in Hrp2 class.
* Raise Error instead of string.
* Fix syntax error.
* Split class Hrp2 into two classes Hrp2Laas and Hrp2Jrl.
* Remove restart method.
* Remove simulation member and replace simu by device in AbstractRobot class.
* Remove warnings.
* Revert "Revert "Added a signal for the dyn drift.""
* Added the build repertory in the ignore settings.
* Added a test on the inertia matrix values.
* Revert "Added a signal for the dyn drift."
* Revert "Set version number as 1.99."
* Added a signal for the dyn drift.
* Set version number as 1.99.
* Added signals to estimate the ff velocity.
* Remove trailing white spaces, and make a few relook.
* Added three commands to create jacobian and position signals alone.
* Corrected a typo.
* Update to new API.
* Make python scripts more compact,
* Synchronize cmake submodule.
* Add commands to Dynamic entity to get foot parameters.
* Check final configurations in examples.
* Add .gitignore file.
* Add new tests.
* Factorize initialization in tools, make display optional.
* Remove unneeded import statements in Python example.
* Check properly that input files exist before parsing a model.
* Teach Python scripts to locate robot model automatically.
* Disable disallocation in Python for now.
* Remove forwardKinematics from Python files.
* Initialize desired positions of operational points tasks to initial position.
* Add robot related Python files.
* Synchronize.
* Remove unused parameter names to fix warning.
* Remove spurious semi-colon.
* Import AngleEstimator in module dynamic_graph.sot.dynamic python module.
* Typo in exception message.
* Fix computation of WaistWorldPositionSOUT.
* Fix typo in signal name.
* Set right foot parameters.
* Use for homogeneous matrix computations
* Notify license.
* Fix a few bugs in python script.
* Add entity name in exception messages.
* Add a command to write robot in a file (and one to get robot dimension).
* Update doxygen main page and reference sphinx-documentation.
* Fix generation of sphinx documentation.
* Set right hand parameters by symmetry in global reference frame.
* Add command to initialize the robot
* Add python file to parse kxml files.
* Fix docstring of command setFootParameters
* Tentative documentation of python bindings.
* Cosmetic change
* Add commands to build a robot
* Add gaze joint in createOpPoint command.
* Cosmetic changes
* Add python script
* Remove debug output.
* bind classes WaistPoseFromSensorAndContact and WaistAttitudeFromSensor.
* Bind AngleEstimator class.
* Make member fromSensor private and add setter and getter.
* Implement 3 commands and bind them in python.
* Modification of API in creation of operational point and jacobian signals.
* Synchronize cmake submodule.
* Force boost lookup.
* Fix cmake modules
* Change cmake url.
* Put back dynamic-hrp2_10_old in the list of targets.
* Remove dependency to fake packages.
* Correct version dependency to hrp2-10.
* Synchronize
* Add release version for package.
* Synchronize
* Synchronize
* Add package building steps for Ubuntu 8.04
* Correct tests to accept the sample humanoid robot specific case.
* Synchronize
* Synchronize
* Synchronize.
* Fix undefined references.
* Fix undefined references.
* Synchronize
* Resize target matrix before passing it to getJacobianCenterOfMass
* Use PKG_CONFIG_USE_DEPENDENCY for jrl-mal, hrp2-dynamics and sot-core
* * Move dynamicsJRLJapan to jrl-dynamics and hrp2Dynamics to hrp2-dynamics when needed * Use PKG_CONFIG_USE_DEPENDENCY for jrl-dynamics and hrp2-dynamics * Fix other minor dependency issues
* Update to new API.
* Created basic documentation/introduction to sot-dynamic
* Update to new APIs.
* Set PROJECT_URL in CMakeListst.txt.
* Reindent.
* Synchronize.
* Correct the link flags for not unix systems
* Switch to submodule.
* Fix dependency version number.
* Add dependency toward robot pakages.