Commit 62982b59 authored by Guilhem Saurel's avatar Guilhem Saurel

[CMake] clean: keep minimal required instructions

parent 7863ecfc
# Copyright 2010, François Bleibel, Olivier Stasse, JRL, CNRS/AIST
<<<<<<< HEAD
CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
CMAKE_MINIMUM_REQUIRED(VERSION 3.1)
# Project properties
SET(PROJECT_ORG stack-of-tasks)
=======
CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
SET(PROJECT_NAMESPACE stack-of-tasks)
>>>>>>> devel
SET(PROJECT_NAME sot-dynamic-pinocchio)
SET(PROJECT_DESCRIPTION "pinocchio bindings for dynamic-graph.")
SET(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
SET(PROJECT_SUFFIX "-v3")
INCLUDE(cmake/base.cmake)
INCLUDE(cmake/boost.cmake)
INCLUDE(cmake/eigen.cmake)
INCLUDE(cmake/python.cmake)
INCLUDE(cmake/test.cmake)
# Project options
OPTION(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
OPTION(INSTALL_PYTHON_INTERFACE_ONLY "Install *ONLY* the python bindings" OFF)
OPTION(SUFFIX_SO_VERSION "Suffix library name with its version" ON)
SET(CUSTOM_HEADER_DIR "${PROJECT_NAME}")
# Project configuration
IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
SET(PROJECT_USE_CMAKE_EXPORT TRUE)
ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
SET(CUSTOM_HEADER_DIR "sot/dynamic-pinocchio")
SET(CXX_DISABLE_WERROR TRUE)
SET(DOXYGEN_USE_MATHJAX YES)
# Disable -Werror on Unix for now.
SET(CXX_DISABLE_WERROR True)
# JRL-cmakemodule setup
INCLUDE(cmake/base.cmake)
# Specify the project.
cmake_policy(SET CMP0048 NEW)
PROJECT(${PROJECT_NAME}
LANGUAGES
CXX
VERSION
${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}.${PROJECT_VERSION_PATCH}
)
find_package (Boost REQUIRED
python filesystem system thread program_options unit_test_framework)
find_package (Eigen3 REQUIRED NO_MODULE)
INCLUDE(cmake/boost.cmake)
INCLUDE(cmake/python.cmake)
INCLUDE(cmake/test.cmake)
SET(CUSTOM_HEADER_DIR "${PROJECT_NAME}")
SET(DOXYGEN_USE_MATHJAX YES)
SET(PKG_CONFIG_ADDITIONAL_VARIABLES
${PKG_CONFIG_ADDITIONAL_VARIABLES}
plugindirname
plugindir
)
# Project definition
COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
# Search for dependencies.
ADD_REQUIRED_DEPENDENCY("pinocchio >= 2.0.0")
ADD_PROJECT_DEPENDENCY(dynamic-graph REQUIRED )
ADD_PROJECT_DEPENDENCY(sot-core REQUIRED )
#ADD_PROJECT_DEPENDENCY(sot-tools REQUIRED )
# Project dependencies
ADD_PROJECT_DEPENDENCY(sot-tools REQUIRED PKG_CONFIG_REQUIRES sot-tools)
SET(BOOST_COMPONENTS filesystem system unit_test_framework)
OPTION (BUILD_PYTHON_INTERFACE "Build the python binding" ON)
OPTION (INSTALL_PYTHON_INTERFACE_ONLY "Install *ONLY* the python bindings" OFF)
OPTION(SUFFIX_SO_VERSION
"Suffix shared library name by a string depending on git status of project"
ON)
IF(BUILD_PYTHON_INTERFACE)
FINDPYTHON()
ADD_PROJECT_DEPENDENCY(dynamic-graph-python REQUIRED)
STRING(REGEX REPLACE "-" "_" PYTHON_DIR ${CUSTOM_HEADER_DIR})
ADD_PROJECT_DEPENDENCY(dynamic-graph-python REQUIRED
PKG_CONFIG_REQUIRES dynamic-graph-python)
SET(BOOST_COMPONENTS ${BOOST_COMPONENTS} python)
INCLUDE_DIRECTORIES(SYSTEM ${PYTHON_INCLUDE_PATH})
ADD_REQUIRED_DEPENDENCY("eigenpy")
ENDIF(BUILD_PYTHON_INTERFACE)
# Add dependency toward sot-dynamic-pinocchio library in pkg-config file.
PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
SEARCH_FOR_BOOST()
# Main Library
SET(${PROJECT_NAME}_HEADERS
include/${CUSTOM_HEADER_DIR}/dynamic-pinocchio.h
include/${CUSTOM_HEADER_DIR}/integrator-force-exact.h
include/${CUSTOM_HEADER_DIR}/zmpreffromcom.h
include/${CUSTOM_HEADER_DIR}/integrator-force.h
include/${CUSTOM_HEADER_DIR}/force-compensation.h
include/${CUSTOM_HEADER_DIR}/mass-apparent.h
include/${CUSTOM_HEADER_DIR}/waist-attitude-from-sensor.h
include/${CUSTOM_HEADER_DIR}/matrix-inertia.h
include/${CUSTOM_HEADER_DIR}/integrator-force-rk4.h
include/${CUSTOM_HEADER_DIR}/angle-estimator.h
)
SET(${PROJECT_NAME}_SOURCES
src/sot-dynamic-pinocchio
)
#SEARCH_FOR_BOOST()
#SEARCH_FOR_EIGEN()
ADD_LIBRARY(${PROJECT_NAME} SHARED
${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})
TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${Boost_LIBRARIES}
sot-core::sot-core)
IF(SUFFIX_SO_VERSION)
SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
ENDIF(SUFFIX_SO_VERSION)
# Add subdirectories.
IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
ADD_SUBDIRECTORY(include/${CUSTOM_HEADER_DIR})
INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
ADD_SUBDIRECTORY(src)
ADD_SUBDIRECTORY(doc)
ADD_SUBDIRECTORY(python)
ADD_SUBDIRECTORY(doc)
ADD_SUBDIRECTORY(unitTesting)
PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
Subproject commit 6ccdbd0d13d29e94d1ff21bc7f9f5ef643f31094
Subproject commit 321eb1ccf1d94570eb564f3659b13ef3ef82239e
# Copyright 2010, François Bleibel, Olivier Stasse, JRL, CNRS/AIST
SET(${PROJECT_NAME}_HEADERS
dynamic-pinocchio.h
integrator-force-exact.h
zmpreffromcom.h
integrator-force.h
force-compensation.h
mass-apparent.h
waist-attitude-from-sensor.h
matrix-inertia.h
integrator-force-rk4.h
angle-estimator.h
)
INSTALL(FILES ${${PROJECT_NAME}_HEADERS} DESTINATION include/${CUSTOM_HEADER_DIR})
......@@ -23,7 +23,7 @@
#include <dynamic-graph/signal-time-dependent.h>
#include <sot/core/matrix-geometry.hh>
#include <sot-dynamic-pinocchio/integrator-force.h>
#include <sot/dynamic-pinocchio/integrator-force.h>
/* STD */
#include <string>
......
......@@ -23,7 +23,7 @@
#include <dynamic-graph/signal-time-dependent.h>
#include <sot/core/matrix-geometry.hh>
#include <sot-dynamic-pinocchio/integrator-force.h>
#include <sot/dynamic-pinocchio/integrator-force.h>
/* STD */
#include <string>
......
SET(${PROJECT_NAME}_PYTHON
__init__.py
kine_romeo.py
kine_romeo_small.py
)
IF(BUILD_PYTHON_INTERFACE)
INSTALL(
FILES kine_romeo.py kine_romeo_small.py
DESTINATION ${PYTHON_SITELIB}/dynamic_graph/tutorial
)
FOREACH(file ${${PROJECT_NAME}_PYTHON})
PYTHON_INSTALL_ON_SITE("dynamic_graph/${PYTHON_DIR}" ${file})
ENDFOREACH(file ${${PROJECT_NAME}_PYTHON})
ENDIF(BUILD_PYTHON_INTERFACE)
# Copyright 2010, François Bleibel, Olivier Stasse, JRL, CNRS/AIST,
# Florent Lamiraux (CNRS/LAAS)
# Copyright 2010, 2020, JRL, CNRS/AIST, LAAS-CNRS
# François Bleibel
# Olivier Stasse
# Florent Lamiraux
# Guilhem Saurel
# Main Library
ADD_LIBRARY(${PROJECT_NAME} SHARED sot-dynamic-pinocchio)
PKG_CONFIG_USE_DEPENDENCY(${PROJECT_NAME} pinocchio)
target_link_libraries(${PROJECT_NAME} sot-core::sot-core)
target_link_libraries(${PROJECT_NAME} dynamic-graph::dynamic-graph)
TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${Boost_LIBRARIES})
IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
INSTALL(TARGETS ${PROJECT_NAME}
EXPORT ${TARGETS_EXPORT_NAME}
DESTINATION ${CMAKE_INSTALL_LIBDIR})
ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
# List plug-ins that will be compiled.
SET(plugins
zmpreffromcom
force-compensation
......@@ -29,56 +17,42 @@ SET(plugins
dynamic
)
SET(integrator-force-rk4_plugins_dependencies integrator-force)
SET(integrator-force-exact_plugins_dependencies integrator-force)
FOREACH(lib ${plugins})
SET(libname dp-${lib})
ADD_LIBRARY(${libname} SHARED ${lib})
SET_TARGET_PROPERTIES(${libname} PROPERTIES PREFIX "")
IF(SUFFIX_SO_VERSION)
SET_TARGET_PROPERTIES(${libname} PROPERTIES SOVERSION ${PROJECT_VERSION})
ENDIF()
SET(integrator-force-rk4_plugins_deps integrator-force)
SET(integrator-force-exact_plugins_deps integrator-force)
IF(${lib}_plugins_dependencies)
ADD_DEPENDENCIES(${libname} "dp-${${lib}_plugins_dependencies}")
TARGET_LINK_LIBRARIES(${libname} "dp-${${lib}_plugins_dependencies}")
ENDIF(${lib}_plugins_dependencies)
FOREACH(plugin ${plugins})
GET_FILENAME_COMPONENT(LIBRARY_NAME ${plugin} NAME)
ADD_LIBRARY(${LIBRARY_NAME} SHARED ${plugin})
TARGET_LINK_LIBRARIES(${libname} ${PROJECT_NAME})
TARGET_LINK_LIBRARIES(${libname} ${Boost_LIBRARIES})
IF(SUFFIX_SO_VERSION)
SET_TARGET_PROPERTIES(${LIBRARY_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
ENDIF(SUFFIX_SO_VERSION)
target_link_libraries(${libname} pinocchio)
target_link_libraries(${libname} sot-core::sot-core)
target_link_libraries(${libname} dynamic-graph::dynamic-graph)
TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${PROJECT_NAME} ${${LIBRARY_NAME}_deps})
IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
INSTALL(TARGETS ${libname} DESTINATION ${DYNAMIC_GRAPH_PLUGINDIR})
INSTALL(TARGETS ${LIBRARY_NAME} EXPORT ${TARGETS_EXPORT_NAME}
DESTINATION ${DYNAMIC_GRAPH_PLUGINDIR})
ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
# build python submodule
IF(BUILD_PYTHON_INTERFACE)
PKG_CONFIG_USE_DEPENDENCY(${libname} eigenpy)
STRING(REPLACE - _ PYTHON_LIBRARY_NAME ${lib})
DYNAMIC_GRAPH_PYTHON_MODULE("sot/dynamics_pinocchio/${PYTHON_LIBRARY_NAME}"
${libname}
sot-dynamic-pinocchio-${PYTHON_LIBRARY_NAME}-wrap
1
"src/python-module-py.cpp"
)
PKG_CONFIG_USE_DEPENDENCY(sot-dynamic-pinocchio-${PYTHON_LIBRARY_NAME}-wrap pinocchio)
PKG_CONFIG_USE_DEPENDENCY(sot-dynamic-pinocchio-${PYTHON_LIBRARY_NAME}-wrap sot-core)
STRING(REPLACE - _ PYTHON_LIBRARY_NAME ${LIBRARY_NAME})
DYNAMIC_GRAPH_PYTHON_MODULE("${PYTHON_DIR}/${PYTHON_LIBRARY_NAME}"
${LIBRARY_NAME} ${PROJECT_NAME}-${PYTHON_LIBRARY_NAME}-wrap
1 "src/python-module-py.cpp")
TARGET_LINK_BOOST_PYTHON(${PROJECT_NAME}-${PYTHON_LIBRARY_NAME}-wrap)
ENDIF(BUILD_PYTHON_INTERFACE)
ENDFOREACH(lib)
ENDFOREACH(plugin)
# Install empty __init__.py files in intermediate directories.
IF(BUILD_PYTHON_INTERFACE)
INSTALL(FILES
${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics_pinocchio/__init__.py
${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics_pinocchio/humanoid_robot.py
${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics_pinocchio/tools.py
${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics_pinocchio/parser.py
DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio
SET(${PY_NAME}_PYTHON
__init__.py
humanoid_robot.py
tools.py
parser.py
)
FOREACH(py_file ${${PY_NAME}_PYTHON})
PYTHON_INSTALL_ON_SITE("dynamic_graph/${PYTHON_DIR}" ${py_file})
ENDFOREACH(py_file ${${PY_NAME}_PYTHON})
ENDIF(BUILD_PYTHON_INTERFACE)
......@@ -7,7 +7,7 @@
*
*/
#include <sot-dynamic-pinocchio/angle-estimator.h>
#include <sot/dynamic-pinocchio/angle-estimator.h>
#include <sot/core/debug.hh>
#include <dynamic-graph/factory.h>
#include <dynamic-graph/command.h>
......
......@@ -7,7 +7,7 @@
*
*/
#include <sot-dynamic-pinocchio/dynamic-pinocchio.h>
#include <sot/dynamic-pinocchio/dynamic-pinocchio.h>
#include <dynamic-graph/factory.h>
using namespace dynamicgraph;
......
......@@ -7,7 +7,7 @@
*
*/
#include <sot-dynamic-pinocchio/force-compensation.h>
#include <sot/dynamic-pinocchio/force-compensation.h>
#include <sot/core/debug.hh>
#include <dynamic-graph/factory.h>
#include <sot/core/macros-signal.hh>
......
......@@ -7,7 +7,7 @@
*
*/
#include <sot-dynamic-pinocchio/integrator-force-exact.h>
#include <sot/dynamic-pinocchio/integrator-force-exact.h>
#include <sot/core/debug.hh>
#include <dynamic-graph/factory.h>
#include <sot/core/exception-dynamic.hh>
......
......@@ -7,7 +7,7 @@
*
*/
#include <sot-dynamic-pinocchio/integrator-force-rk4.h>
#include <sot/dynamic-pinocchio/integrator-force-rk4.h>
#include <sot/core/debug.hh>
#include <dynamic-graph/factory.h>
......
......@@ -7,7 +7,7 @@
*
*/
#include <sot-dynamic-pinocchio/integrator-force.h>
#include <sot/dynamic-pinocchio/integrator-force.h>
#include <sot/core/debug.hh>
#include <dynamic-graph/factory.h>
......
......@@ -7,7 +7,7 @@
*
*/
#include <sot-dynamic-pinocchio/mass-apparent.h>
#include <sot/dynamic-pinocchio/mass-apparent.h>
#include <sot/core/debug.hh>
#include <dynamic-graph/factory.h>
......
......@@ -11,7 +11,7 @@
#include <vector>
#include <map>
#include <sot-dynamic-pinocchio/matrix-inertia.h>
#include <sot/dynamic-pinocchio/matrix-inertia.h>
//#include <jrl/dynamics/Joint.h>
//#include <jrl/dynamics/HumanoidDynamicMultiBody.h>
#include <abstract-robot-dynamics/robot-dynamics-object-constructor.hh>
......
......@@ -4,7 +4,7 @@
#include <sot/core/debug.hh>
#include <sot-dynamic-pinocchio/dynamic-pinocchio.h>
#include <sot/dynamic-pinocchio/dynamic-pinocchio.h>
#include <Python.h>
#include <boost/python.hpp>
#include <typeinfo>
......
......@@ -9,7 +9,7 @@
#include <pinocchio/fwd.hpp>
#include <sot/core/debug.hh>
#include <sot-dynamic-pinocchio/dynamic-pinocchio.h>
#include <sot/dynamic-pinocchio/dynamic-pinocchio.h>
#include <boost/version.hpp>
#include <boost/filesystem.hpp>
......@@ -202,8 +202,9 @@ DynamicPinocchio::DynamicPinocchio(const std::string& name)
"string (joint name)");
addCommand("createAcceleration",
makeCommandVoid2(*this, &DynamicPinocchio::cmd_createAccelerationSignal, docstring));
docstring="\n"
" Return robot joint names.\n\n";
docstring =
"\n"
" Return robot joint names.\n\n";
addCommand("getJointNames", new command::GetJointNames(*this, docstring));
}
......@@ -673,9 +674,8 @@ dg::Matrix& DynamicPinocchio::computeGenericJacobian(const bool isFrame, const i
if (res.rows() != 6 || res.cols() != m_model->nv) res = Matrix::Zero(6, m_model->nv);
jacobiansSINTERN(time);
pinocchio::JointIndex id = isFrame
? m_model->frames[(pinocchio::JointIndex)jointId].parent
: (pinocchio::JointIndex)jointId;
pinocchio::JointIndex id =
isFrame ? m_model->frames[(pinocchio::JointIndex)jointId].parent : (pinocchio::JointIndex)jointId;
// Computes Jacobian in world coordinates.
pinocchio::getJointJacobian(*m_model, *m_data, id, pinocchio::WORLD, res);
......@@ -705,26 +705,25 @@ dg::Matrix& DynamicPinocchio::computeGenericEndeffJacobian(const bool isFrame, c
jid = frame.parent;
M = frame.placement.inverse();
if (!isLocal) // Express the jacobian is world coordinate system.
if (!isLocal) // Express the jacobian is world coordinate system.
M.rotation() = m_data->oMf[fid].rotation() * M.rotation();
} else {
jid = (pinocchio::JointIndex)id;
if (!isLocal) { // Express the jacobian is world coordinate system.
if (!isLocal) { // Express the jacobian is world coordinate system.
M.rotation() = m_data->oMi[jid].rotation();
M.translation().setZero();
}
}
pinocchio::getJointJacobian(*m_model, *m_data, jid, pinocchio::LOCAL, res);
if (changeFrame)
pinocchio::motionSet::se3Action(M, res, res);
if (changeFrame) pinocchio::motionSet::se3Action(M, res, res);
sotDEBUGOUT(25);
return res;
}
MatrixHomogeneous& DynamicPinocchio::computeGenericPosition(const bool isFrame, const int id,
MatrixHomogeneous& res, const int& time) {
MatrixHomogeneous& DynamicPinocchio::computeGenericPosition(const bool isFrame, const int id, MatrixHomogeneous& res,
const int& time) {
sotDEBUGIN(25);
forwardKinematicsSINTERN(time);
if (isFrame) {
......@@ -733,10 +732,8 @@ MatrixHomogeneous& DynamicPinocchio::computeGenericPosition(const bool isFrame,
} else {
res.matrix() = m_data->oMi[id].toHomogeneousMatrix();
}
sotDEBUG(25) << "For " << (isFrame
? m_model->frames[id].name
: m_model->names[id])
<< " with id: " << id << " position is " << res << std::endl;
sotDEBUG(25) << "For " << (isFrame ? m_model->frames[id].name : m_model->names[id]) << " with id: " << id
<< " position is " << res << std::endl;
sotDEBUGOUT(25);
return res;
}
......
......@@ -7,7 +7,7 @@
*
*/
#include <sot-dynamic-pinocchio/waist-attitude-from-sensor.h>
#include <sot/dynamic-pinocchio/waist-attitude-from-sensor.h>
#include <sot/core/debug.hh>
#include <dynamic-graph/factory.h>
......
......@@ -7,7 +7,7 @@
*
*/
#include <sot-dynamic-pinocchio/zmpreffromcom.h>
#include <sot/dynamic-pinocchio/zmpreffromcom.h>
#include <sot/core/debug.hh>
#include <dynamic-graph/factory.h>
using namespace dynamicgraph::sot;
......
# Copyright 2010, François Bleibel, Olivier Stasse, JRL, CNRS/AIST
SET(tests
test_constructor
#test_config
# dummy
# test_djj
# test_dyn
# test_results
)
test_constructor
#test_config
# dummy
# test_djj
# test_dyn
# test_results
)
SET(test_dyn_plugins_dependencies dynamic)
......@@ -28,28 +28,17 @@ ADD_DEFINITIONS(-DBOOST_TEST_DYN_LINK -DBOOST_TEST_MAIN)
LIST(APPEND LOGGING_WATCHED_VARIABLES samplespec sampleljr)
FOREACH(test ${tests})
ADD_UNIT_TEST(${test} ${test})
ADD_UNIT_TEST(${test} ${test}.cpp)
TARGET_LINK_LIBRARIES(${test}
dp-zmpreffromcom
dp-force-compensation
${PROJECT_NAME} ${Boost_LIBRARIES} ${Boost_SYSTEM_LIBRARY} ${${test}_deps}
zmpreffromcom
force-compensation
#integrator-force-exact
dp-mass-apparent
dp-integrator-force-rk4
dp-integrator-force
dp-angle-estimator
dp-waist-attitude-from-sensor
${LIBRARY_NAME}
mass-apparent
integrator-force-rk4
integrator-force
angle-estimator
waist-attitude-from-sensor
)
PKG_CONFIG_USE_DEPENDENCY(${test} pinocchio)
target_link_libraries(${test} sot-core::sot-core)
target_link_libraries(${test} dynamic-graph::dynamic-graph)
IF(${test}_plugins_dependencies)
ADD_DEPENDENCIES(${EXECUTABLE_NAME} "${${test}_plugins_dependencies}")
TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME} "${${test}_plugins_dependencies}")
ENDIF(${test}_plugins_dependencies)
TARGET_LINK_LIBRARIES(${test} ${Boost_LIBRARIES} ${Boost_SYSTEM_LIBRARY})
ENDFOREACH(test)
......@@ -9,7 +9,7 @@
#include <boost/test/output_test_stream.hpp>
/*-----------SOT DYNAMIC ------------*/
#include <sot-dynamic-pinocchio/dynamic-pinocchio.h>
#include <sot/dynamic-pinocchio/dynamic-pinocchio.h>
#include <sot/core/debug.hh>
/*-----------DYNAMIC GRAPH ------------*/
......
......@@ -10,7 +10,7 @@
/* -------------------------------------------------------------------------- */
/* --- INCLUDES ------------------------------------------------------------- */
/* -------------------------------------------------------------------------- */
#include <sot-dynamic-pinocchio/dynamic-pinocchio.h>
#include <sot/dynamic-pinocchio/dynamic-pinocchio.h>
#include <iostream>
#include <sstream>
......
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