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.
Version 3, 29 June 2007
Copyright (C) 2007 Free Software Foundation, Inc. <>
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.
0. Additional Definitions.
As used herein, "this License" refers to version 3 of the GNU Lesser
General Public License, and the "GNU GPL" refers to version 3 of the GNU
General Public License.
"The Library" refers to a covered work governed by this License,
other than an Application or a Combined Work as defined below.
An "Application" is any work that makes use of an interface provided
by the Library, but which is not otherwise based on the Library.
Defining a subclass of a class defined by the Library is deemed a mode
of using an interface provided by the Library.
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
The "Minimal Corresponding Source" for a Combined Work means the
Corresponding Source for the Combined Work, excluding any source code
for portions of the Combined Work that, considered in isolation, are
based on the Application, and not on the Linked Version.
The "Corresponding Application Code" for a Combined Work means the
object code and/or source code for the Application, including any data
and utility programs needed for reproducing the Combined Work from the
Application, but excluding the System Libraries of the Combined Work.
1. Exception to Section 3 of the GNU GPL.
You may convey a covered work under sections 3 and 4 of this License
without being bound by section 3 of the GNU GPL.
2. Conveying Modified Versions.
If you modify a copy of the Library, and, in your modifications, a
facility refers to a function or data to be supplied by an Application
that uses the facility (other than as an argument passed when the
facility is invoked), then you may convey a copy of the modified
a) under this License, provided that you make a good faith effort to
ensure that, in the event an Application does not supply the
function or data, the facility still operates, and performs
whatever part of its purpose remains meaningful, or
b) under the GNU GPL, with none of the additional permissions of
this License applicable to that copy.
3. Object Code Incorporating Material from Library Header Files.
The object code form of an Application may incorporate material from
a header file that is part of the Library. You may convey such object
code under terms of your choice, provided that, if the incorporated
material is not limited to numerical parameters, data structure
layouts and accessors, or small macros, inline functions and templates
(ten or fewer lines in length), you do both of the following:
a) Give prominent notice with each copy of the object code that the
Library is used in it and that the Library and its use are
covered by this License.
b) Accompany the object code with a copy of the GNU GPL and this license
4. Combined Works.
You may convey a Combined Work under terms of your choice that,
taken together, effectively do not restrict modification of the
portions of the Library contained in the Combined Work and reverse
engineering for debugging such modifications, if you also do each of
the following:
a) Give prominent notice with each copy of the Combined Work that
the Library is used in it and that the Library and its use are
covered by this License.
b) Accompany the Combined Work with a copy of the GNU GPL and this license
c) For a Combined Work that displays copyright notices during
execution, include the copyright notice for the Library among
these notices, as well as a reference directing the user to the
copies of the GNU GPL and this license document.
d) Do one of the following:
0) Convey the Minimal Corresponding Source under the terms of this
License, and the Corresponding Application Code in a form
suitable for, and under terms that permit, the user to
recombine or relink the Application with a modified version of
the Linked Version to produce a modified Combined Work, in the
manner specified by section 6 of the GNU GPL for conveying
Corresponding Source.
1) Use a suitable shared library mechanism for linking with the
Library. A suitable mechanism is one that (a) uses at run time
a copy of the Library already present on the user's computer
system, and (b) will operate properly with a modified version
of the Library that is interface-compatible with the Linked
e) Provide Installation Information, but only if you would otherwise
be required to provide such information under section 6 of the
GNU GPL, and only to the extent that such information is
necessary to install and execute a modified version of the
Combined Work produced by recombining or relinking the
Application with a modified version of the Linked Version. (If
you use option 4d0, the Installation Information must accompany
the Minimal Corresponding Source and Corresponding Application
Code. If you use option 4d1, you must provide the Installation
Information in the manner specified by section 6 of the GNU GPL
for conveying Corresponding Source.)
5. Combined Libraries.
You may place library facilities that are a work based on the
Library side by side in a single library together with other library
facilities that are not Applications and are not covered by this
License, and convey such a combined library under terms of your
choice, if you do both of the following:
a) Accompany the combined library with a copy of the same work based
on the Library, uncombined with any other library facilities,
conveyed under the terms of this License.
b) Give prominent notice with the combined library that part of it
is a work based on the Library, and explaining where to find the
accompanying uncombined form of the same work.
6. Revised Versions of the GNU Lesser General Public License.
The Free Software Foundation may publish revised and/or new versions
of the GNU Lesser General Public License from time to time. Such new
versions will be similar in spirit to the present version, but may
differ in detail to address new problems or concerns.
Each version is given a distinguishing version number. If the
Library as you received it specifies that a certain numbered version
of the GNU Lesser General Public License "or any later version"
applies to it, you have the option of following the terms and
conditions either of that published version or of any later version
published by the Free Software Foundation. If the Library as you
received it does not specify a version number of the GNU Lesser
General Public License, you may choose any version of the GNU Lesser
General Public License ever published by the Free Software Foundation.
If the Library as you received it specifies that a proxy can decide
whether future versions of the GNU Lesser General Public License shall
apply, that proxy's public statement of acceptance of any version is
permanent authorization for you to choose that version for the
* 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.
* Fix NEWS file format.