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

Merge branch 'devel'

Conflicts:
	README.md
parents 056cbb3c fdfd6ec4
*.pyc
*~
build
.gitignore
[submodule "cmake"]
path = cmake
url = git://github.com/jrl-umi3218/jrl-cmakemodules.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 <anthony.mallet@laas.fr>
Olivier Stasse <grxuser@jrl005.a01.aist.go.jp>
Olivier Stasse <olivier.stasse@aist.go.jp>
Olivier Stasse <stasse@dhcpt1243.a02.aist.go.jp>
Olivier Stasse <stasse@jrl005.a01.aist.go.jp>
Olivier Stasse <olivier.stasse@aist.go.jp>
Olivier Stasse <stasse@stasse-laptop.(none)>
Olivier Stasse <olivier.stasse@aist.go.jp>
Olivier Stasse <stasse@dhcpt1059.a02.aist.go.jp>
Olivier Stasse <stasse@jrl005.a01.aist.go.jp>
Olivier Stasse <stasse@jrl005.a02.aist.go.jp>
Olivier Stasse <olivier.stasse@aist.go.jp>
Olivier Stasse <stasse@jrl006.(none)>
Olivier Stasse <stasse@stasse-laptop.(none)>
Nicolas Mansard <nmansard@devgiri.(none)>
Nicolas Mansard <nmansard@jorasse.(none)>
Nicolas Mansard <nmansard@laas.fr>
Florent Lamiraux <florent@big-laptop.(none)>
Florent Lamiraux <florent@dhcpt1253.a02.aist.go.jp>
Florent Lamiraux <florent@florent-laptop.laas.fr>
Florent Lamiraux <florent@florent-laptop.(none)>
Florent Lamiraux <florent@laas.fr>
Florent Lamiraux <Florent Lamiraux florent@laas.fr>
Florent Lamiraux <florent@florent-laptop.(none)>
Florent Lamiraux <Florent Lamiraux florent@laas.fr>
Florent Lamiraux <florent@localhost.localdomain>
Florent Lamiraux <florent@poullenc.laas.fr>
Florent Lamiraux <florent@poullenc.(none)>
after_success:
- coveralls -e _travis/install -e tests
- git config --global user.name "Travis CI"
- git config --global user.email "thomas.moulard+travis@gmail.com"
- git remote set-url origin https://thomas-moulard:${GH_TOKEN}@github.com/stack-of-tasks/sot-dynamic.git
- git fetch origin gh-pages:gh-pages
- cd _travis/build/doc && ../../../cmake/github/update-doxygen-doc.sh
branches:
only:
- master
- topic/sot-pinocchio
compiler:
- clang
- gcc
matrix:
allow_failures:
- compiler: clang
before_install:
- git submodule update --init --recursive
#Add robotpkg and pinocchio dependencies
- sudo sh -c "echo \"deb http://robotpkg.openrobots.org/packages/debian/pub precise robotpkg\" >> /etc/apt/sources.list "
- curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -
- sudo apt-get update -qq
- sudo apt-get install -qq doxygen doxygen-latex libboost-all-dev libeigen3-dev liblapack-dev libblas-dev gfortran python-dev
python-sphinx python-numpy libtinyxml-dev robotpkg-console-bridge robotpkg-urdfdom-headers robotpkg-urdfdom robotpkg-eigenpy
- sudo pip install cpp-coveralls
language: cpp
notifications:
email:
- hpp-source@laas.fr
script: ./.travis/build
env:
global:
secure: dXnBor2MQ2eUyh6WqB6FKWWcE3MxzY8fin7xTyA+yJwpUsEgkvXp/4IEzx4CDSIjrLSR4P/MKQby9jnd+vTDOMH1NwXkdQH8c7mn/L3ZshALMKVNZIW6IDNx7jneAMud4/l9KHvauQVdby4cA7gFxbVQi+aPbhnioN4UO0AeLeA=
#!/bin/sh
set -ev
# Directories.
root_dir=`pwd`
build_dir="$root_dir/_travis/build"
install_dir="$root_dir/_travis/install"
# Shortcuts.
git_clone="git clone --quiet --recursive"
# Create layout.
rm -rf "$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"
install_dependency()
{
echo "--> Compiling $1"
mkdir -p "$build_dir/$1"
cd "$build_dir"
$git_clone "git://github.com/$1" "$1"
cd "$build_dir/$1"
cmake . -DCMAKE_INSTALL_PREFIX:STRING="$install_dir"
make install
}
install_pinocchio_devel()
{
echo "--> Compiling stack-of-tasks/pinocchio"
mkdir -p "$build_dir/stack-of-tasks/pinocchio"
cd "$build_dir"
$git_clone -b devel git://github.com/stack-of-tasks/pinocchio stack-of-tasks/pinocchio
cd "$build_dir/stack-of-tasks/pinocchio"
cmake . -DCMAKE_INSTALL_PREFIX:STRING="$install_dir"
make install
}
install_pinocchio_devel
install_dependency proyan/dynamic-graph
install_dependency proyan/dynamic-graph-python
install_dependency proyan/sot-core
install_dependency proyan/sot-tools
# Compile and run tests
cd "$build_dir"
cmake "$root_dir" -DCMAKE_INSTALL_PREFIX="$install_dir" \
-DCMAKE_CXX_FLAGS="--coverage" \
-DCMAKE_EXE_LINKER_FLAGS="--coverage" \
-DCMAKE_MODULE_LINKER_FLAGS="--coverage" \
-DCMAKE_INSTALL_PREFIX:STRING="$install_dir"
make
make test
make install
This package was written by and with the assistance of:
* Francois Bleibel fbleibel@gmail.com
* François Keith francois.keith@aist.go.jp
* Nicolas Mansard nicolas.mansard@laas.fr
* Olivier Stasse olivier.stasse@aist.go.jp
* Thomas Moulard thomas.moulard@gmail.com
# Copyright 2010, François Bleibel, Olivier Stasse, JRL, CNRS/AIST
#
# This file is part of sot-dynamic.
# sot-dynamic is free software: you can redistribute it and/or
# modify it under the terms of the GNU Lesser General Public License
# as published by the Free Software Foundation, either version 3 of
# the License, or (at your option) any later version.
#
# sot-dynamic is distributed in the hope that it will be useful, but
# WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
# General Lesser Public License for more details. You should have
# received a copy of the GNU Lesser General Public License along with
# sot-dynamic. If not, see <http://www.gnu.org/licenses/>.
CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
INCLUDE(cmake/base.cmake)
INCLUDE(cmake/boost.cmake)
INCLUDE(cmake/eigen.cmake)
INCLUDE(cmake/lapack.cmake)
INCLUDE(cmake/cpack.cmake)
SET(PROJECT_NAME sot-dynamic)
SET(PROJECT_DESCRIPTION "pinocchio bindings for dynamic-graph.")
SET(PROJECT_URL "https://github.com/proyan/sot-dynamic/tree/topic/sot-pinocchio")
SET(CUSTOM_HEADER_DIR "${PROJECT_NAME}")
# Disable -Werror on Unix for now.
SET(CXX_DISABLE_WERROR True)
SET(PKG_CONFIG_ADDITIONAL_VARIABLES
${PKG_CONFIG_ADDITIONAL_VARIABLES}
plugindirname
plugindir
)
SETUP_PROJECT()
# Search for dependencies.
ADD_REQUIRED_DEPENDENCY("pinocchio >= 1.2.0")
ADD_REQUIRED_DEPENDENCY("eigenpy")
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.
SET(plugins
zmpreffromcom
force-compensation
integrator-force-exact
mass-apparent
integrator-force-rk4
integrator-force
angle-estimator
waist-attitude-from-sensor
zmp-from-forces
)
SET(LIBRARY_NAME ${PROJECT_NAME})
LIST(APPEND plugins dynamic)
LIST(APPEND LOGGING_WATCHED_TARGETS ${plugins})
# Add dependency toward sot-dynamic library in pkg-config file.
PKG_CONFIG_APPEND_LIBS(${LIBRARY_NAME})
# Search for dependencies.
# Boost
SET(BOOST_COMPONENTS filesystem system unit_test_framework python)
SEARCH_FOR_BOOST()
SEARCH_FOR_EIGEN()
# Add subdirectories.
ADD_SUBDIRECTORY(include)
ADD_SUBDIRECTORY(src)
ADD_SUBDIRECTORY(doc)
ADD_SUBDIRECTORY(python)
#ADD_SUBDIRECTORY(unitTesting)
SETUP_PROJECT_FINALIZE()
SETUP_PROJECT_CPACK()
GNU LESSER GENERAL PUBLIC LICENSE
Version 3, 29 June 2007
Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
This version of the GNU Lesser General Public License incorporates
the terms and conditions of version 3 of the GNU General Public
License, supplemented by the additional permissions listed below.
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As used herein, "this License" refers to version 3 of the GNU Lesser
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A "Combined Work" is a work produced by combining or linking an
Application with the Library. The particular version of the Library
with which the Combined Work was made is also called the "Linked
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and utility programs needed for reproducing the Combined Work from the
Application, but excluding the System Libraries of the Combined Work.
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You may convey a covered work under sections 3 and 4 of this License
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2. Conveying Modified Versions.
If you modify a copy of the Library, and, in your modifications, a
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3. Object Code Incorporating Material from Library Header Files.
The object code form of an Application may incorporate material from
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CHANGELOG
----------------------
[v2.9.1]
* 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.
[v2.9.0]
* 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 README.md
* Update README.md
* [travis] Fix dependencies
* Update README.md
* [travis] Add missing dependency
* Synchronize
* Remove unwanted files.
* [travis] Add Travis and coveralls.io support
[v2.8.0]
* 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.
[v2.7.2]
* Remove headers from sot-dynamic.
[v2.7.1]
* Remove parser.py install.
* Remove warnings
* Clean up references to hrp-2 and nao.
[v2.7.0]
* Add the dependency in sot-tools.
* Do not import useless symbols
* Add comTask into dictionary tasks of class HumanoidRobot for compatibility
* Import SE3 from sot.tools.se3 instead of sot.se3.
* Synchronize.
* Do not trace all signals by default
* Remove obsolete hrp2.py 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""
[v2.6.0]
* 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 humanoid_robot.py.
* 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"
[v2.5]
* 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 humanoid_robot.py.
* Improve support for hrp2-10.
* Remove a command already defined in python.cmake
* Correct the Python_module handling
* Fix examples.
* Fix minor error in tools.py
* 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 tools.py.
* Install tools.py 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 tools.py to latest modifications in hrp2.py.
* Generate sphinx documentation for hrp2.py.
* 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."
* IVIGIT.
* 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 se3.py 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.
[v1.1.1]
* Force boost lookup.
* Add BOOST_LIB to LD_LIBRARY_PATH
* 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.
* Fix TAGFILES in Doxyfile.extra.in.
* Reindent.
* Synchronize.
* Correct the link flags for not unix systems
* Switch to submodule.
* Fix dependency version number.
* Add dependency toward robot pakages.
* Fix NEWS file format.