[CMake] clean: keep minimal required instructions

CMakeLists.txt

-# Copyright 2014-2018, Andrea Del Prete, LAAS/CNRS
-# Thomas Flayols, LAAS/CNRS
-# Olivier Stasse, LAAS/CNRS
-# Florent Forget, LAAS/CNRS
-# Paul Dandignac, LAAS/CNRS
+# Copyright 2014-2020
+# Andrea Del Prete, LAAS-CNRS
+# Thomas Flayols, LAAS-CNRS
+# Olivier Stasse, LAAS-CNRS
+# Florent Forget, LAAS-CNRS
+# Paul Dandignac, LAAS-CNRS
+# Noëlie Ramuzat, LAAS-CNRS
+# Guilhem Saurel, LAAS-CNRS
 #
 
 CMAKE_MINIMUM_REQUIRED(VERSION 3.1)
 
-SET(PROJECT_NAMESPACE stack-of-tasks)
+# Project properties
+SET(PROJECT_ORG stack-of-tasks)
 SET(PROJECT_NAME sot-torque-control)
 SET(PROJECT_DESCRIPTION "Collection of dynamic-graph entities aimed at implementing torque control on different robots.")
-SET(PROJECT_URL "https://github.com/${PROJECT_NAMESPACE}/${PROJECT_NAME}")
+SET(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
 
+# Project options
 OPTION(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
-OPTION(INSTALL_PYTHON_INTERFACE_ONLY "Install *ONLY* the python binding" OFF)
+OPTION(INSTALL_PYTHON_INTERFACE_ONLY "Install *ONLY* the python bindings" OFF)
+OPTION(SUFFIX_SO_VERSION "Suffix library name with its version" ON)
 OPTION(INITIALIZE_WITH_NAN "Initialize Eigen entries with NaN" ON)
 
-SET(CUSTOM_HEADER_DIR "sot/torque_control")
-SET(DOXYGEN_USE_MATHJAX YES)
-SET(CXX_DISABLE_WERROR True)
+# 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/torque_control")
+SET(CXX_DISABLE_WERROR TRUE)
+SET(DOXYGEN_USE_MATHJAX YES)
 
+# JRL-cmakemodule setup
 INCLUDE(cmake/base.cmake)
 INCLUDE(cmake/boost.cmake)
 INCLUDE(cmake/python.cmake)
 
+# Project definition
 COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
 PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
 
@@ -35,166 +44,82 @@ IF(INITIALIZE_WITH_NAN)
   ADD_DEFINITIONS(-DEIGEN_INITIALIZE_MATRICES_BY_NAN)
 ENDIF(INITIALIZE_WITH_NAN)
 
-PKG_CONFIG_APPEND_LIBS("sot-torque-control")
-
-SET(BOOST_COMPONENTS thread filesystem program_options unit_test_framework system regex)
+# Project dependencies
+ADD_PROJECT_DEPENDENCY(sot-core REQUIRED PKG_CONFIG_REQUIRES sot-core)
+ADD_PROJECT_DEPENDENCY(tsid REQUIRED PKG_CONFIG_REQUIRES tsid)
+ADD_PROJECT_DEPENDENCY(ddp-actuator-solver REQUIRED PKG_CONFIG_REQUIRES ddp-actuator-solver)
+ADD_REQUIRED_DEPENDENCY("parametric-curves")
+ADD_REQUIRED_DEPENDENCY("simple_humanoid_description")
+SET(BOOST_COMPONENTS filesystem system thread program_options
+  unit_test_framework regex)
 
 IF(BUILD_PYTHON_INTERFACE)
   FINDPYTHON()
+  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)
-  ADD_PROJECT_DEPENDENCY(dynamic-graph-python 3.0.0 REQUIRED PKG_CONFIG_REQUIRES "dynamic-graph-python >= 3.0.0")
-  SET(PYTHON_LIBRARY_DIR dynamic_graph/sot/torque_control)
-  SET(PYTHON_INSTALL_DIR ${PYTHON_SITELIB}/${PYTHON_LIBRARY_DIR})
-  INCLUDE_DIRECTORIES(SYSTEM ${PYTHON_INCLUDE_DIR})
 ENDIF(BUILD_PYTHON_INTERFACE)
 
 SEARCH_FOR_BOOST()
-ADD_PROJECT_DEPENDENCY(Eigen3 REQUIRED PKG_CONFIG_REQUIRES eigen3)
-ADD_PROJECT_DEPENDENCY(dynamic-graph 3.8.0 REQUIRED PKG_CONFIG_REQUIRES "dynamic-graph >= 3.8.0")
-ADD_PROJECT_DEPENDENCY(sot-core 4.8.0 REQUIRED PKG_CONFIG_REQUIRES "sot-core >= 4.8.0")
-ADD_PROJECT_DEPENDENCY(pinocchio 2.3.1 REQUIRED PKG_CONFIG_REQUIRES "pinocchio >= 2.3.1")
-ADD_REQUIRED_DEPENDENCY("tsid")
-ADD_REQUIRED_DEPENDENCY("parametric-curves")
-ADD_REQUIRED_DEPENDENCY("simple_humanoid_description")
 
-ADD_OPTIONAL_DEPENDENCY("ddp-actuator-solver")
-SET(SOTTORQUECONTROL_LIB_NAME ${PROJECT_NAME})
-SET(LIBRARY_NAME ${SOTTORQUECONTROL_LIB_NAME})
-
-SET(${LIBRARY_NAME}_HEADERS
-  include/sot/torque_control/joint-torque-controller.hh
-  include/sot/torque_control/base-estimator.hh
-  include/sot/torque_control/numerical-difference.hh
-  include/sot/torque_control/motor-model.hh
-  include/sot/torque_control/joint-trajectory-generator.hh
-  include/sot/torque_control/se3-trajectory-generator.hh
-  include/sot/torque_control/free-flyer-locator.hh
-  include/sot/torque_control/inverse-dynamics-balance-controller.hh
-  include/sot/torque_control/position-controller.hh
-  include/sot/torque_control/control-manager.hh
-  include/sot/torque_control/current-controller.hh
-  include/sot/torque_control/commands-helper.hh
-  include/sot/torque_control/device-torque-ctrl.hh
-  include/sot/torque_control/trace-player.hh
-  include/sot/torque_control/torque-offset-estimator.hh
-  include/sot/torque_control/imu_offset_compensation.hh
-  include/sot/torque_control/admittance-controller.hh
-  include/sot/torque_control/utils/trajectory-generators.hh
-  include/sot/torque_control/utils/lin-estimator.hh
-  include/sot/torque_control/utils/poly-estimator.hh
-  include/sot/torque_control/utils/quad-estimator.hh
-  include/sot/torque_control/utils/Stdafx.hh
-  include/sot/torque_control/utils/vector-conversions.hh
+# Main Library
+SET(${PROJECT_NAME}_HEADERS
+  include/${CUSTOM_HEADER_DIR}/joint-torque-controller.hh
+  include/${CUSTOM_HEADER_DIR}/base-estimator.hh
+  include/${CUSTOM_HEADER_DIR}/numerical-difference.hh
+  include/${CUSTOM_HEADER_DIR}/motor-model.hh
+  include/${CUSTOM_HEADER_DIR}/joint-trajectory-generator.hh
+  include/${CUSTOM_HEADER_DIR}/se3-trajectory-generator.hh
+  include/${CUSTOM_HEADER_DIR}/free-flyer-locator.hh
+  include/${CUSTOM_HEADER_DIR}/inverse-dynamics-balance-controller.hh
+  include/${CUSTOM_HEADER_DIR}/position-controller.hh
+  include/${CUSTOM_HEADER_DIR}/control-manager.hh
+  include/${CUSTOM_HEADER_DIR}/current-controller.hh
+  include/${CUSTOM_HEADER_DIR}/commands-helper.hh
+  include/${CUSTOM_HEADER_DIR}/device-torque-ctrl.hh
+  include/${CUSTOM_HEADER_DIR}/trace-player.hh
+  include/${CUSTOM_HEADER_DIR}/torque-offset-estimator.hh
+  include/${CUSTOM_HEADER_DIR}/imu_offset_compensation.hh
+  include/${CUSTOM_HEADER_DIR}/admittance-controller.hh
+  include/${CUSTOM_HEADER_DIR}/utils/trajectory-generators.hh
+  include/${CUSTOM_HEADER_DIR}/utils/lin-estimator.hh
+  include/${CUSTOM_HEADER_DIR}/utils/poly-estimator.hh
+  include/${CUSTOM_HEADER_DIR}/utils/quad-estimator.hh
+  include/${CUSTOM_HEADER_DIR}/utils/Stdafx.hh
+  include/${CUSTOM_HEADER_DIR}/utils/vector-conversions.hh
   )
 
-SET(${LIBRARY_NAME}_SOURCES ${${LIBRARY_NAME}_HEADERS}
-    src/trajectory-generators.cpp
-    src/lin-estimator.cpp
-    src/poly-estimator.cpp
-    src/quad-estimator.cpp
-    src/motor-model.cpp
-)
-
-
-ADD_LIBRARY(${LIBRARY_NAME} SHARED ${${LIBRARY_NAME}_SOURCES})
-
-SET_TARGET_PROPERTIES(${LIBRARY_NAME}
-  PROPERTIES
-  SOVERSION ${PROJECT_VERSION}
-  INSTALL_RPATH ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR})
-
-TARGET_LINK_LIBRARIES(${LIBRARY_NAME} dynamic-graph::dynamic-graph)
-TARGET_LINK_LIBRARIES(${LIBRARY_NAME} sot-core::sot-core)
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} pinocchio)
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} tsid)
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} parametric-curves)
-
-IF(BUILD_PYTHON_INTERFACE)
-  ADD_SUBDIRECTORY(python/${PYTHON_LIBRARY_DIR})
-ENDIF(BUILD_PYTHON_INTERFACE)
+SET(${PROJECT_NAME}_SOURCES
+  src/trajectory-generators.cpp
+  src/lin-estimator.cpp
+  src/poly-estimator.cpp
+  src/quad-estimator.cpp
+  src/motor-model.cpp
+  )
 
-IF(UNIX)
-  TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${CMAKE_DL_LIBS})
-ENDIF(UNIX)
 
-IF(UNIX AND NOT APPLE)
-  TARGET_LINK_LIBRARIES(${LIBRARY_NAME} pthread)
-ENDIF(UNIX AND NOT APPLE)
+ADD_LIBRARY(${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}
+  tsid::tsid sot-core::sot-core ddp-actuator-solver::ddp-actuator-solver)
 
-TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${Boost_LIBRARIES})
+IF(SUFFIX_SO_VERSION)
+  SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
+ENDIF(SUFFIX_SO_VERSION)
 
-IF (NOT INSTALL_PYTHON_INTERFACE_ONLY)
-  INSTALL(TARGETS ${LIBRARY_NAME}
-    EXPORT ${TARGETS_EXPORT_NAME}
-    DESTINATION ${CMAKE_INSTALL_LIBDIR})
+IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+  INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
 ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
 
-IF(BUILD_PYTHON_INTERFACE)
-  INSTALL(FILES python/dynamic_graph/sot/torque_control/__init__.py
-    python/dynamic_graph/sot/torque_control/main.py
-    python/dynamic_graph/sot/torque_control/create_entities_utils.py
-    python/dynamic_graph/sot/torque_control/main_sim.py
-    DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/torque_control)
-
-  INSTALL(FILES
-    python/dynamic_graph/sot/torque_control/identification/__init__.py
-    python/dynamic_graph/sot/torque_control/identification/identification_utils.py
-    DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/identification)
-
-  INSTALL(FILES python/dynamic_graph/sot/torque_control/utils/__init__.py
-    python/dynamic_graph/sot/torque_control/utils/plot_utils.py
-    python/dynamic_graph/sot/torque_control/utils/sot_utils.py
-    python/dynamic_graph/sot/torque_control/utils/filter_utils.py
-    DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/utils)
-
-  INSTALL(FILES python/dynamic_graph/sot/torque_control/tests/__init__.py
-    python/dynamic_graph/sot/torque_control/tests/test_control_manager.py
-    python/dynamic_graph/sot/torque_control/tests/test_balance_ctrl_openhrp.py
-    python/dynamic_graph/sot/torque_control/tests/test_velocity_filters.py
-    DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/tests)
-
-ENDIF(BUILD_PYTHON_INTERFACE)
-
 ADD_SUBDIRECTORY(src)
-ADD_SUBDIRECTORY(unitTesting)
-
-# *****************************
-# PYTHON interface            *
-# *****************************
 IF(BUILD_PYTHON_INTERFACE)
-
-  IF(TALOS_DATA_FOUND)
-    FOREACH(py_filename test_torque_offset_estimator)
-      CONFIGURE_FILE(
-        ${PROJECT_SOURCE_DIR}/python/dynamic_graph/sot/torque_control/tests/${py_filename}.py.in
-        ${PROJECT_BINARY_DIR}/python/dynamic_graph/sot/torque_control/tests/${py_filename}.py
-        )
-
-      INSTALL(FILES
-        ${PROJECT_BINARY_DIR}/python/dynamic_graph/sot/torque_control/tests/${py_filename}.py
-        DESTINATION
-        ${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/tests)
-
-
-    ENDFOREACH(py_filename)
-  ENDIF(TALOS_DATA_FOUND)
-
-  IF(SIMPLE_HUMANOID_DESCRIPTION_FOUND)
-    FOREACH(py_filename robot_data_test)
-      CONFIGURE_FILE(${PROJECT_SOURCE_DIR}/python/dynamic_graph/sot/torque_control/tests/${py_filename}.py.in
-                     ${PROJECT_BINARY_DIR}/python/dynamic_graph/sot/torque_control/tests/${py_filename}.py
-        )
-      INSTALL(FILES ${PROJECT_BINARY_DIR}/python/dynamic_graph/sot/torque_control/tests/${py_filename}.py
-              DESTINATION
-                ${PYTHON_SITELIB}/dynamic_graph/sot/torque_control/tests)
-    ENDFOREACH(py_filename)
-  ENDIF(SIMPLE_HUMANOID_DESCRIPTION_FOUND)
+  ADD_SUBDIRECTORY(python)
 ENDIF(BUILD_PYTHON_INTERFACE)
+ADD_SUBDIRECTORY(tests)
 
-
+PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
 IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
-  ADD_SUBDIRECTORY(include/${CUSTOM_HEADER_DIR})
+  INSTALL(FILES package.xml DESTINATION share/${PROJECT_NAME})
 ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
-
-ADD_SUBDIRECTORY(src)
-ADD_SUBDIRECTORY(unitTesting)

cmake @ 321eb1cc

-Subproject commit f5e018896d0b1746a03f07ba02a5199e17eaee67
+Subproject commit 321eb1ccf1d94570eb564f3659b13ef3ef82239e

doc/CMakeLists.txt

@@ -6,10 +6,9 @@
 # get the python script install path
 
 IF(BUILD_PYTHON_INTERFACE)
-  INCLUDE(../cmake/sphinx.cmake)
   SPHINX_SETUP()
   SPHINX_FINALIZE()
-  INSTALL (FILES
+  INSTALL(FILES
     pictures/feature.png
     pictures/task.png
     DESTINATION ${_PKG_CONFIG_DOXYGENDOCDIR}/pictures)

include/sot/torque_control/CMakeLists.txt

-SET(${LIBRARY_NAME}_HEADERS
-  joint-torque-controller.hh
-  base-estimator.hh
-  numerical-difference.hh
-  motor-model.hh
-  joint-trajectory-generator.hh
-  se3-trajectory-generator.hh
-  free-flyer-locator.hh
-  inverse-dynamics-balance-controller.hh
-  position-controller.hh
-  control-manager.hh
-  current-controller.hh
-  commands-helper.hh
-  device-torque-ctrl.hh
-  trace-player.hh
-  torque-offset-estimator.hh
-  imu_offset_compensation.hh
-  admittance-controller.hh
-  )
-
-SET(${LIBRARY_NAME}_HEADERS_UTILS
-  utils/trajectory-generators.hh
-  utils/lin-estimator.hh
-  utils/poly-estimator.hh
-  utils/quad-estimator.hh
-  utils/Stdafx.hh
-  utils/vector-conversions.hh
-  )
-
-INSTALL(FILES ${${LIBRARY_NAME}_HEADERS} DESTINATION include/${CUSTOM_HEADER_DIR})
-INSTALL(FILES ${${LIBRARY_NAME}_HEADERS_UTILS} DESTINATION include/${CUSTOM_HEADER_DIR}/utils)

include/sot/torque_control/ddp-actuator-solver.hh

@@ -23,8 +23,8 @@
 
 #include <ddp-actuator-solver/ddpsolver.hh>
 
-#include <ddp-actuator-solver/examples/dctemp.hh>
-#include <ddp-actuator-solver/examples/costtemp.hh>
+#include <ddp-actuator-solver/temperature_control/dctemp.hh>
+#include <ddp-actuator-solver/temperature_control/costtemp.hh>
 
 namespace dynamicgraph {
 namespace sot {

include/sot/torque_control/ddp_pyrene_actuator_solver.hh

@@ -3,7 +3,7 @@
  *
  * LAAS-CNRS
  *
- * Noelie RAMUZAT 
+ * Noelie RAMUZAT
  * This file is part of sot-torque-control.
  * See license file.
  */
@@ -14,14 +14,14 @@
 /* --- API ------------------------------------------------------------- */
 /* --------------------------------------------------------------------- */
 
-#if defined (WIN32)
-#  if defined (sot_ddp_pyrene_actuator_EXPORTS)
-#    define SOTDDPPYRENEACTUATORSOLVER_EXPORT __declspec(dllexport)
-#  else
-#    define SOTDDPPYRENEACTUATORSOLVER_EXPORT __declspec(dllimport)
-#  endif
+#if defined(WIN32)
+#if defined(sot_ddp_pyrene_actuator_EXPORTS)
+#define SOTDDPPYRENEACTUATORSOLVER_EXPORT __declspec(dllexport)
 #else
-#  define SOTDDPPYRENEACTUATORSOLVER_EXPORT
+#define SOTDDPPYRENEACTUATORSOLVER_EXPORT __declspec(dllimport)
+#endif
+#else
+#define SOTDDPPYRENEACTUATORSOLVER_EXPORT
 #endif
 
 /* --------------------------------------------------------------------- */
@@ -37,77 +37,70 @@
 
 #include <ddp-actuator-solver/ddpsolver.hh>
 
-#include <ddp-actuator-solver/examples/pyreneCostFunction.hh>
-#include <ddp-actuator-solver/examples/pyreneActuator.hh>
-
+#include <ddp-actuator-solver/pyrene_actuator/pyreneCostFunction.hh>
+#include <ddp-actuator-solver/pyrene_actuator/pyreneActuator.hh>
 
 namespace dynamicgraph {
 namespace sot {
 namespace torque_control {
 
-class SOTDDPPYRENEACTUATORSOLVER_EXPORT DdpPyreneActuatorSolver
-  : public :: dynamicgraph::Entity 
-  {
-  	DYNAMIC_GRAPH_ENTITY_DECL();
-
- 	public: 
-		EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-
-		/** Constructor */
-		DdpPyreneActuatorSolver(const std::string &name);
-
-		/* --- SIGNALS --- */
-		DECLARE_SIGNAL_IN(pos_des,            dynamicgraph::Vector);
-		DECLARE_SIGNAL_IN(pos_joint_measure,  dynamicgraph::Vector);
-		DECLARE_SIGNAL_IN(dx_joint_measure,   dynamicgraph::Vector);
-		DECLARE_SIGNAL_IN(tau_des,            dynamicgraph::Vector);
-		DECLARE_SIGNAL_OUT(tau,               dynamicgraph::Vector);
-
-		/* --- ENTITY INHERITANCE --- */
-		virtual void display(std::ostream &os) const;
-
-	protected:
-		dynamicgraph::Vector m_previous_tau;
-		double m_dt;
-		bool m_initSucceeded;
-		DDPSolver<double, 2, 1>::stateVec_t m_zeroState;
-		DDPSolver<double, 2, 1>::commandVec_t m_u;
-		unsigned int m_T;
-		double m_stopCrit;
-		unsigned int m_iterMax;
-		pyreneActuator m_model;
-		CostFunctionPyreneActuator m_cost;
-		DDPSolver<double, 2, 1>  m_solver;
-
-		/** Initialize the DDP.
-		* @param timestep Control period (in seconds).
-		* @param T  Size of the preview window (in nb of timestep).
-		* @param nbItMax Maximum number of iterations.
-		* @param stopCriteria The value of the stopping criteria.
-		*/
-		void param_init(const double &timestep,
-						const int &T,
-						const int &nbItMax,
-						const double &stopCriteria);
-
-		// /* --- SETTER LIM --- */
-		void setTorqueLimit(const double& tau);
-		void setJointLimit(const double& upperLim, const double& lowerLim);
-		void setJointVelLimit(const double& upperLim, const double& lowerLim);
-
-		// /* --- SETTER LOAD --- */
-		void setLoadParam(const double& mass, const double& coordX, const double& coordY);
-		void setLoadMass(const double& mass);
-		void removeLoad();
-
-		// /* --- SETTER GAINS --- */
-		void setCostGainState(const dynamicgraph::Vector& Q);
-    	void setCostGainStateConstraint(const dynamicgraph::Vector& W);
-    	void setCostGainCommand(const dynamicgraph::Vector& R);
-    	void setCostGainTorqueConstraint(const dynamicgraph::Vector& P);
-
+class SOTDDPPYRENEACTUATORSOLVER_EXPORT DdpPyreneActuatorSolver : public ::dynamicgraph::Entity {
+  DYNAMIC_GRAPH_ENTITY_DECL();
+
+ public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  /** Constructor */
+  DdpPyreneActuatorSolver(const std::string& name);
+
+  /* --- SIGNALS --- */
+  DECLARE_SIGNAL_IN(pos_des, dynamicgraph::Vector);
+  DECLARE_SIGNAL_IN(pos_joint_measure, dynamicgraph::Vector);
+  DECLARE_SIGNAL_IN(dx_joint_measure, dynamicgraph::Vector);
+  DECLARE_SIGNAL_IN(tau_des, dynamicgraph::Vector);
+  DECLARE_SIGNAL_OUT(tau, dynamicgraph::Vector);
+
+  /* --- ENTITY INHERITANCE --- */
+  virtual void display(std::ostream& os) const;
+
+ protected:
+  dynamicgraph::Vector m_previous_tau;
+  double m_dt;
+  bool m_initSucceeded;
+  DDPSolver<double, 2, 1>::stateVec_t m_zeroState;
+  DDPSolver<double, 2, 1>::commandVec_t m_u;
+  unsigned int m_T;
+  double m_stopCrit;
+  unsigned int m_iterMax;
+  pyreneActuator m_model;
+  CostFunctionPyreneActuator m_cost;
+  DDPSolver<double, 2, 1> m_solver;
+
+  /** Initialize the DDP.
+   * @param timestep Control period (in seconds).
+   * @param T  Size of the preview window (in nb of timestep).
+   * @param nbItMax Maximum number of iterations.
+   * @param stopCriteria The value of the stopping criteria.
+   */
+  void param_init(const double& timestep, const int& T, const int& nbItMax, const double& stopCriteria);
+
+  // /* --- SETTER LIM --- */
+  void setTorqueLimit(const double& tau);
+  void setJointLimit(const double& upperLim, const double& lowerLim);
+  void setJointVelLimit(const double& upperLim, const double& lowerLim);
+
+  // /* --- SETTER LOAD --- */
+  void setLoadParam(const double& mass, const double& coordX, const double& coordY);
+  void setLoadMass(const double& mass);
+  void removeLoad();
+
+  // /* --- SETTER GAINS --- */
+  void setCostGainState(const dynamicgraph::Vector& Q);
+  void setCostGainStateConstraint(const dynamicgraph::Vector& W);
+  void setCostGainCommand(const dynamicgraph::Vector& R);
+  void setCostGainTorqueConstraint(const dynamicgraph::Vector& P);
 };
-} // namespace torque_control
-} // namespace sot
-} // namespace dynamicgraph
-#endif // _SOT_SIMPLE_DDP_ACTUATOR_SOLVER_H
+}  // namespace torque_control
+}  // namespace sot
+}  // namespace dynamicgraph
+#endif  // _SOT_SIMPLE_DDP_ACTUATOR_SOLVER_H

python/dynamic_graph/sot/torque_control/CMakeLists.txt → python/CMakeLists.txt

-INSTALL(FILES
+SET(${PROJECT_NAME}_PYTHON_FILES
   __init__.py
   main.py
   create_entities_utils.py
   main_sim.py
-  DESTINATION ${PYTHON_INSTALL_DIR})
+  )
 
-INSTALL(FILES
-  identification/__init__.py
-  identification/identification_utils.py
-  DESTINATION ${PYTHON_INSTALL_DIR}/identification)
+SET(${PROJECT_NAME}_PYTHON_IDENTIFICATION
+  __init__.py
+  identification_utils.py
+  )
+
+SET(${PROJECT_NAME}_PYTHON_UTILS
+  __init__.py
+  plot_utils.py
+  sot_utils.py
+  filter_utils.py
+  )
+
+SET(${PROJECT_NAME}_PYTHON_TESTS
+  __init__.py
+  test_control_manager.py
+  test_balance_ctrl_openhrp.py
+  test_velocity_filters.py
+  )
+
+FOREACH(file ${${PROJECT_NAME}_PYTHON_FILES})
+  PYTHON_INSTALL_ON_SITE("dynamic_graph/${PYTHON_DIR}" ${file})
+ENDFOREACH(file ${${PROJECT_NAME}_PYTHON_FILES})
+
+FOREACH(file ${${PROJECT_NAME}_PYTHON_IDENTIFICATION})
+  PYTHON_INSTALL_ON_SITE("dynamic_graph/${PYTHON_DIR}/identification" ${file})
+ENDFOREACH(file ${${PROJECT_NAME}_PYTHON_IDENTIFICATION})
 
-INSTALL(FILES
-  utils/__init__.py
-  utils/plot_utils.py
-  utils/sot_utils.py
-  utils/filter_utils.py
-  DESTINATION ${PYTHON_INSTALL_DIR}/utils)
+FOREACH(file ${${PROJECT_NAME}_PYTHON_UTILS})
+  PYTHON_INSTALL_ON_SITE("dynamic_graph/${PYTHON_DIR}/utils"${file})
+ENDFOREACH(file ${${PROJECT_NAME}_PYTHON_UTILS})
 
-INSTALL(FILES
-  tests/__init__.py
-  tests/test_control_manager.py
-  tests/test_balance_ctrl_openhrp.py
-  tests/test_velocity_filters.py
-  DESTINATION ${PYTHON_INSTALL_DIR}/tests)
+FOREACH(file ${${PROJECT_NAME}_PYTHON_TESTS})
+  PYTHON_INSTALL_ON_SITE("dynamic_graph/${PYTHON_DIR}/tests" ${file})
+ENDFOREACH(file ${${PROJECT_NAME}_PYTHON_TESTS})
 
 
 SET(${PROJECT_NAME}_PYTHON_CONFIGURABLE_FILES)
@@ -43,9 +59,9 @@ ENDIF(SIMPLE_HUMANOID_DESCRIPTION_FOUND)
 
 FOREACH(py_filename ${${PROJECT_NAME}_PYTHON_CONFIGURABLE_FILES})
   CONFIGURE_FILE(
-    tests/${py_filename}.py.in
-    tests/${py_filename}.py
+    "dynamic_graph/${PYTHON_DIR}/tests/${py_filename}.py.in"
+    "dynamic_graph/${PYTHON_DIR}/tests/${py_filename}.py"
     )
 
-  INSTALL(FILES tests/${py_filename}.py DESTINATION ${PYTHON_INSTALL_DIR}/tests)
+  PYTHON_INSTALL_ON_SITE("dynamic_graph/${PYTHON_DIR}/tests" ${py_filename}.py)
 ENDFOREACH(py_filename ${${PROJECT_NAME}_PYTHON_CONFIGURABLE_FILES})

src/CMakeLists.txt

-# Copyright 2014, Andrea Del Prete, LAAS/CNRS
+# Copyright 2014, 2020, Andrea Del Prete, Guilhem Saurel, LAAS-CNRS
 #
 
-# Verbosity level
-IF(NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
-  ADD_DEFINITIONS(-DVP_DEBUG_MODE=${CMAKE_VERBOSITY_LEVEL} -DVP_DEBUG)
-ENDIF(NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
-
-IF(UNIX)
-  ADD_DEFINITIONS(-pthread)
-ENDIF(UNIX)
-
-SET(${LIBRARY_NAME}_SOURCES
-  trajectory-generators.cpp
-  lin-estimator.cpp
-  poly-estimator.cpp
-  quad-estimator.cpp
-  motor-model.cpp
-  )
-
-ADD_LIBRARY(${LIBRARY_NAME} SHARED ${${LIBRARY_NAME}_SOURCES})
-
-SET_TARGET_PROPERTIES(${LIBRARY_NAME}
-  PROPERTIES
-  SOVERSION ${PROJECT_VERSION}
-  INSTALL_RPATH ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR})
-
-TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
-  dynamic-graph::dynamic-graph
-  sot-core::sot-core
-  pinocchio::pinocchio
-  ${Boost_LIBRARIES})
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} tsid)
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} parametric-curves)
-