Merge pull request #34 from nim65s/devel

[CI][CMake] add .gitlab-ci.yml & badges, sync submodules, update cmake

.gitlab-ci.yml

+variables:
+  GIT_SUBMODULE_STRATEGY: "recursive"
+  GIT_DEPTH: "3"
+  CCACHE_BASEDIR: "${CI_PROJECT_DIR}"
+  CCACHE_DIR: "${CI_PROJECT_DIR}/ccache"
+
+cache:
+  paths:
+    - ccache
+
+.robotpkg-sot-dynamic-pinocchio-v3: &robotpkg-sot-dynamic-pinocchio-v3
+  except:
+    - gh-pages
+  script:
+    - mkdir -p ccache
+    - cd /root/robotpkg/wip/sot-dynamic-pinocchio-v3
+    - git pull
+    - make checkout MASTER_REPOSITORY="dir ${CI_PROJECT_DIR}"
+    - make install
+    - cd work.$(hostname)/$(make show-var VARNAME=DISTNAME)
+    - make test
+
+robotpkg-sot-dynamic-pinocchio-v3-14.04-release:
+  <<: *robotpkg-sot-dynamic-pinocchio-v3
+  image: eur0c.laas.fr:5000/stack-of-tasks/sot-dynamic-pinocchio/sot-dynamic-pinocchio-v3:14.04
+
+robotpkg-sot-dynamic-pinocchio-v3-16.04-release:
+  <<: *robotpkg-sot-dynamic-pinocchio-v3
+  image: eur0c.laas.fr:5000/stack-of-tasks/sot-dynamic-pinocchio/sot-dynamic-pinocchio-v3:16.04
+
+robotpkg-sot-dynamic-pinocchio-v3-18.04-release:
+  <<: *robotpkg-sot-dynamic-pinocchio-v3
+  image: eur0c.laas.fr:5000/stack-of-tasks/sot-dynamic-pinocchio/sot-dynamic-pinocchio-v3:18.04
+
+doc-coverage:
+  <<: *robotpkg-sot-dynamic-pinocchio-v3
+  image: eur0c.laas.fr:5000/stack-of-tasks/sot-dynamic-pinocchio/sot-dynamic-pinocchio-v3:16.04
+  before_script:
+    - echo -e 'CXXFLAGS+= --coverage\nLDFLAGS+= --coverage\nPKG_DEFAULT_OPTIONS= debug' >> /opt/openrobots/etc/robotpkg.conf
+  after_script:
+    - cd /root/robotpkg/wip/sot-dynamic-pinocchio-v3
+    - cd work.$(hostname)/$(make show-var VARNAME=DISTNAME)
+    - make doc
+    - mv doc/doxygen-html ${CI_PROJECT_DIR}
+    - mkdir -p ${CI_PROJECT_DIR}/coverage/
+    - gcovr -r .
+    - gcovr -r . --html --html-details -o ${CI_PROJECT_DIR}/coverage/index.html
+  artifacts:
+    expire_in: 1 day
+    paths:
+      - doxygen-html/
+      - coverage/
+

CMakeLists.txt

@@ -20,6 +20,7 @@ INCLUDE(cmake/boost.cmake)
 INCLUDE(cmake/eigen.cmake)
 INCLUDE(cmake/lapack.cmake)
 INCLUDE(cmake/cpack.cmake)
+INCLUDE(cmake/python.cmake)
 
 SET(PROJECT_NAME sot-dynamic-pinocchio)
 
@@ -27,6 +28,7 @@ SET(PROJECT_DESCRIPTION "pinocchio bindings for dynamic-graph.")
 SET(PROJECT_URL "https://github.com/stack-of-tasks/sot-dynamic-pinocchio/")
 
 SET(CUSTOM_HEADER_DIR "${PROJECT_NAME}")
+SET(DOXYGEN_USE_MATHJAX YES)
 
 # Disable -Werror on Unix for now.
 SET(CXX_DISABLE_WERROR True)
@@ -62,15 +64,13 @@ SET(plugins
 SET(LIBRARY_NAME ${PROJECT_NAME})
 LIST(APPEND plugins dynamic)
 
-
-LIST(APPEND LOGGING_WATCHED_TARGETS ${plugins})
-
 # Add dependency toward sot-dynamic-pinocchio library in pkg-config file.
 PKG_CONFIG_APPEND_LIBS(${LIBRARY_NAME})
 
 # Search for dependencies.
 # Boost
 SET(BOOST_COMPONENTS filesystem system unit_test_framework python)
+FINDPYTHON()
 SEARCH_FOR_BOOST()
 SEARCH_FOR_EIGEN()
 

README.md

@@ -2,8 +2,10 @@ sot-dynamic-pinocchio
 Encapsulate Pinocchio in SoT
 ===========
 
-[![Build Status](https://travis-ci.org/stack-of-tasks/sot-dynamic-pinocchio.png?branch=master)](https://travis-ci.org/stack-of-tasks/sot-dynamic-pinocchio)
-[![Coverage Status](https://coveralls.io/repos/stack-of-tasks/sot-dynamic-pinocchio/badge.png)](https://coveralls.io/r/stack-of-tasks/sot-dynamic-pinocchio)
+[![Building Status](https://travis-ci.org/stack-of-tasks/sot-dynamic-pinocchio.svg?branch=master)](https://travis-ci.org/stack-of-tasks/sot-dynamic-pinocchio)
+[![Pipeline status](https://gepgitlab.laas.fr/stack-of-tasks/sot-dynamic-pinocchio/badges/master/pipeline.svg)](https://gepgitlab.laas.fr/stack-of-tasks/sot-dynamic-pinocchio/commits/master)
+[![Coverage report](https://gepgitlab.laas.fr/stack-of-tasks/sot-dynamic-pinocchio/badges/master/coverage.svg?job=doc-coverage)](http://projects.laas.fr/gepetto/doc/stack-of-tasks/sot-dynamic-pinocchio/master/coverage/)
+
 
 This software provides robot dynamic computation for dynamic-graph
 by using pinocchio.
@@ -41,4 +43,3 @@ have to be available on your machine.
 [dynamic-graph]: http://github.com/stack-of-tasks/dynamic-graph
 [pinocchio]: http://github.com/stack-of-tasks/pinocchio
 [sot-core]: http://github.com/stack-of-tasks/sot-core
->>>>>>> devel

cmake @ 8e7bedfc

-Subproject commit 212cba414aac3cd18037d4102788b23f3df501f8
+Subproject commit 8e7bedfcbd8524c0401a58fd74edc07c3d4308d0

custom_cmake/python.cmake

-# Copyright (C) 2008-2016 LAAS-CNRS, JRL AIST-CNRS.
-#
-# This program is free software: you can redistribute it and/or modify
-# it under the terms of the GNU General Public License as published by
-# the Free Software Foundation, either version 3 of the License, or
-# (at your option) any later version.
-#
-# This program 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 Public License for more details.
-#
-# You should have received a copy of the GNU General Public License
-# along with this program.  If not, see <http://www.gnu.org/licenses/>.
-
-
-#
-# SOT_DYNAMIC_PYTHON_MODULE SUBMODULENAME LIBRARYNAME TARGETNAME
-# ---------------------------
-#
-# Add a python submodule to dynamic_graph
-#
-#  SUBMODULENAME : the name of the submodule (can be foo/bar),
-#
-#  LIBRARYNAME   : library to link the submodule with.
-#
-#  TARGETNAME    : name of the target: should be different for several
-#                  calls to the macro.
-#
-#  NOTICE : Before calling this macro, set variable NEW_ENTITY_CLASS as
-#           the list of new Entity types that you want to be bound.
-#           Entity class name should match the name referencing the type
-#           in the factory.
-#
-MACRO(SOT_DYNAMIC_PYTHON_MODULE SUBMODULENAME LIBRARYNAME TARGETNAME)
-  FINDPYTHON()
-  
-  SET(PYTHON_MODULE ${TARGETNAME})
-  
-  ADD_LIBRARY(${PYTHON_MODULE}
-    MODULE
-    ${PROJECT_SOURCE_DIR}/src/python-module-py.cpp)
-  #${PROJECT_SOURCE_DIR}/src/sot-dynamic-py.cpp)
-  
-  FILE(MAKE_DIRECTORY ${PROJECT_BINARY_DIR}/src/dynamic_graph/${SUBMODULENAME})
-  SET_TARGET_PROPERTIES(${PYTHON_MODULE}
-    PROPERTIES PREFIX ""
-    OUTPUT_NAME dynamic_graph/${SUBMODULENAME}/wrap
-    )
-  
-  TARGET_LINK_LIBRARIES(${PYTHON_MODULE} "-Wl,--no-as-needed")
-  TARGET_LINK_LIBRARIES(${PYTHON_MODULE} ${LIBRARYNAME} ${PYTHON_LIBRARY})
-  TARGET_LINK_LIBRARIES(${PYTHON_MODULE} ${Boost_LIBRARIES})
-  TARGET_LINK_LIBRARIES(${PYTHON_MODULE} pinocchio)
-  TARGET_LINK_LIBRARIES(${PYTHON_MODULE} eigenpy)
-
-  PKG_CONFIG_USE_DEPENDENCY(${PYTHON_MODULE} dynamic-graph)
-  PKG_CONFIG_USE_DEPENDENCY(${PYTHON_MODULE} pinocchio)
-  PKG_CONFIG_USE_DEPENDENCY(${PYTHON_MODULE} eigenpy)
-  
-  INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_PATH})
-  
-  #
-  # Installation
-  #
-  SET(PYTHON_INSTALL_DIR ${PYTHON_SITELIB}/dynamic_graph/${SUBMODULENAME})
-
-  INSTALL(TARGETS ${PYTHON_MODULE}
-    DESTINATION
-    ${PYTHON_INSTALL_DIR})
-
-  SET(ENTITY_CLASS_LIST "")
-  FOREACH (ENTITY ${NEW_ENTITY_CLASS})
-    SET(ENTITY_CLASS_LIST "${ENTITY_CLASS_LIST}${ENTITY}('')\n")
-  ENDFOREACH(ENTITY ${NEW_ENTITY_CLASS})
-
-  CONFIGURE_FILE(
-    ${PROJECT_SOURCE_DIR}/cmake/dynamic_graph/submodule/__init__.py.cmake
-    ${PROJECT_BINARY_DIR}/src/dynamic_graph/${SUBMODULENAME}/__init__.py
-    )
-
-  INSTALL(
-    FILES ${PROJECT_BINARY_DIR}/src/dynamic_graph/${SUBMODULENAME}/__init__.py
-    DESTINATION ${PYTHON_INSTALL_DIR}
-    )
-
-ENDMACRO(DYNAMIC_GRAPH_PYTHON_MODULE SUBMODULENAME)
\ No newline at end of file

python/CMakeLists.txt

-INCLUDE(../cmake/python.cmake)
-FINDPYTHON()
-
 INSTALL(
   FILES kine_romeo.py kine_romeo_small.py
   DESTINATION ${PYTHON_SITELIB}/dynamic_graph/tutorial

src/CMakeLists.txt

@@ -14,8 +14,6 @@
 # received a copy of the GNU Lesser General Public License along with
 # sot-dynamic-pinocchio. If not, see <http://www.gnu.org/licenses/>.
 
-INCLUDE(../custom_cmake/python.cmake)
-INCLUDE(../cmake/python.cmake)
 LINK_DIRECTORIES(${Boost_LIBRARY_DIRS})
 
 # Verbosity level
@@ -54,7 +52,7 @@ FOREACH(lib ${plugins})
   # build python submodule
   STRING(REPLACE - _ PYTHON_LIBRARY_NAME ${lib})
 
-  SOT_DYNAMIC_PYTHON_MODULE("sot/dynamics_pinocchio/${PYTHON_LIBRARY_NAME}"
+  DYNAMIC_GRAPH_PYTHON_MODULE("sot/dynamics_pinocchio/${PYTHON_LIBRARY_NAME}"
     ${libname}
     sot-dynamic-pinocchio-${PYTHON_LIBRARY_NAME}-wrap
     )
@@ -81,4 +79,4 @@ INSTALL(FILES
   ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics_pinocchio/tools.py
   ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics_pinocchio/parser.py
   DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio
-  )
\ No newline at end of file
+  )

unitTesting/CMakeLists.txt

@@ -12,7 +12,6 @@
 # General Lesser Public License for more details.  You should have
 # received a copy of the GNU Lesser General Public License along with
 # sot-dynamic-pinocchio. If not, see <http://www.gnu.org/licenses/>.
-INCLUDE(../cmake/python.cmake)
 
 ADD_DEFINITIONS(-DDEBUG=2)
 
@@ -30,9 +29,6 @@ test_constructor
 # Install procedure for the urdf files
 #----------------------------------------------------
 
-FILE(COPY ${CMAKE_CURRENT_SOURCE_DIR}/two_link.urdf
-  DESTINATION urdf)
-
 SET(test_dyn_plugins_dependencies dynamic)
 
 # Make Boost.Test generates the main function in test cases.
@@ -50,8 +46,6 @@ ADD_DEFINITIONS(-DBOOST_TEST_DYN_LINK -DBOOST_TEST_MAIN)
 #SET(sampleinitconfig
 #  ${JRL_DYNAMICS_PKGDATAROOTDIR}/jrl-dynamics/examples/data/sampleInitConfig.dat)
 
-FINDPYTHON()
-
 LIST(APPEND LOGGING_WATCHED_VARIABLES samplespec sampleljr)
 
 FOREACH(test ${tests})
@@ -60,7 +54,7 @@ FOREACH(test ${tests})
     ${test}.cpp)
   MESSAGE("PYTHON_INCLUDE_PATH: ${PYTHON_INCLUDE_PATH}")
   INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_PATH})
-  
+
   TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME}
     dp-zmpreffromcom
     dp-force-compensation
@@ -77,7 +71,7 @@ FOREACH(test ${tests})
   PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} sot-core)
   PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} dynamic-graph)
   PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} dynamic-graph-python)
-  
+
   IF(${test}_plugins_dependencies)
     ADD_DEPENDENCIES(${EXECUTABLE_NAME} "${${test}_plugins_dependencies}")
     TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME} "${${test}_plugins_dependencies}")
@@ -89,7 +83,7 @@ FOREACH(test ${tests})
 
   IF (UNIX)
     SET(EXTRA_LD_LIBRARY_PATH $ENV{LD_LIBRARY_PATH})
-    SET_PROPERTY(TEST ${test} PROPERTY 
+    SET_PROPERTY(TEST ${test} PROPERTY
       ENVIRONMENT "LD_LIBRARY_PATH=${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}:${CMAKE_BINARY_DIR}/src:${BOOST_ROOT}/lib:${EXTRA_LD_LIBRARY_PATH}")
   ENDIF(UNIX)
 

unitTesting/two_link.urdf

-<?xml version="1.0"?>
-<!--
-   simple_humanoid URDF model
-
-   FIXME: fill missing data: sole, gripper and sensors
-  -->
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="test_two_link">
-
-  <link name="base_link"/>
-  <joint name="JOINT1" type="revolute"> 
-    <axis xyz="0 0 1"/>
-    <parent link="base_link"/>
-    <child link="CHILD1"/>
-    <origin xyz="1 0 0"/>
-    <limit effort="12" lower="0" upper="3.14" velocity="10"/>
-  </joint>
-  <link name="CHILD1">
-    <inertial>
-      <origin xyz="0.5 0 0" rpy="0 0 0"/>
-      <mass value="10"/>
-      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
-    </inertial>
-  </link>
-    <joint name="JOINT2" type="revolute">
-    <axis xyz="0 0 1"/>
-    <parent link="CHILD1"/>
-    <child link="CHILD2"/>
-    <origin xyz="1 0 0"/>
-    <limit effort="12" lower="0" upper="3.14" velocity="10"/>
-  </joint>
-  <link name="CHILD2">
-    <inertial>
-      <origin xyz="0.5 0 0" rpy="0 0 0"/>
-      <mass value="20"/>
-      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
-    </inertial>
-  </link>
-  <joint name="FRAMEJOINT1" type="fixed">
-    <parent link="CHILD2"/>
-    <child link="CHILD3"/>
-    <origin rpy="0 0 0" xyz="0 0 -0.16"/>
-  </joint>
-  <link name="CHILD3"/>
-
-</robot>