use roboptim from robotpkg, fix #23

.dockers/ubuntu-14.04/Dockerfile

 FROM ubuntu:14.04
 
+RUN apt-get update -qqy && apt-get install -qqy \
+   curl \
+   && rm -rf /var/lib/apt/lists/*
+
 RUN echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list
 RUN apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
+RUN echo "deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub trusty robotpkg" > /etc/apt/sources.list.d/robotpkg.list
+RUN curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | apt-key add -
 
 RUN apt-get update -qqy && apt-get install -qqy \
    autoconf \
@@ -28,6 +34,8 @@ RUN apt-get update -qqy && apt-get install -qqy \
    oxygen-icon-theme \
    python-matplotlib \
    qt4-dev-tools \
+   robotpkg-roboptim-core \
+   robotpkg-roboptim-trajectory \
    ros-indigo-xacro \
    ros-indigo-kdl-parser \
    ros-indigo-common-msgs \

.dockers/ubuntu-14.04/Dockerfile.premade

@@ -6,5 +6,4 @@ RUN /auto-install-hpp.sh --branch ubuntu-14.04 --target \
                      "doxygen-1.8.10.install \
                      OpenSceneGraph-dae-plugin.install \
                      qpOASES.install \
-                     eigen3.install \
-                     roboptim-trajectory.install"
+                     eigen3.install"

.dockers/ubuntu-16.04/Dockerfile

@@ -6,6 +6,8 @@ RUN apt-get update -qqy && apt-get install -qqy \
 
 RUN echo "deb http://packages.ros.org/ros/ubuntu xenial main" > /etc/apt/sources.list.d/ros-latest.list
 RUN apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
+RUN echo "deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub xenial robotpkg" > /etc/apt/sources.list.d/robotpkg.list
+RUN curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | apt-key add -
 
 RUN apt-get update -qqy && apt-get upgrade -qqy
 RUN apt-get install -qqy sudo wget
@@ -17,6 +19,8 @@ RUN apt-get install -qqy \
       libboost-dev \
       liburdfdom-dev \
       libassimp-dev \
+      robotpkg-roboptim-core \
+      robotpkg-roboptim-trajectory \
       ros-kinetic-xacro \
       ros-kinetic-kdl-parser \
       ros-kinetic-common-msgs \

.dockers/ubuntu-16.04/Dockerfile.premade

@@ -4,4 +4,3 @@ ENV DEVEL_HPP_DIR /workspace
 
 RUN /auto-install-hpp.sh --branch devel --target OpenSceneGraph-dae-plugin.install
 RUN /auto-install-hpp.sh --branch devel --target qpOASES.install
-RUN /auto-install-hpp.sh --branch devel --target roboptim-trajectory.install

doc/Makefile

@@ -8,7 +8,6 @@ LAAS_REPO=https://github.com/laas
 HPP_REPO=https://github.com/humanoid-path-planner
 SOT_REPO=https://github.com/stack-of-tasks
 RETHINK_ROBOTICS_REPO=https://github.com/RethinkRobotics
-ROBOPTIM_REPO=https://github.com/roboptim
 TRAC_REPO=ssh://trac.laas.fr/git/jrl/robots/ros-hrp2
 
 SRC_DIR=${DEVEL_HPP_DIR}/src
@@ -41,14 +40,6 @@ hpp-fcl_branch=devel
 hpp-fcl_repository=${HPP_REPO}
 hpp-fcl_extra_flags= -DCMAKE_BUILD_TYPE=Release
 
-roboptim-core_branch=master
-roboptim-core_repository=${ROBOPTIM_REPO}
-roboptim-core_extra_flags= -DCMAKE_BUILD_TYPE=Release -DCXX_DISABLE_WERROR=ON
-
-roboptim-trajectory_branch=master
-roboptim-trajectory_repository=${ROBOPTIM_REPO}
-roboptim-trajectory_extra_flags= -DCMAKE_BUILD_TYPE=Release -DCXX_DISABLE_WERROR=ON
-
 hpp-util_branch=devel
 hpp-util_repository=${HPP_REPO}
 
@@ -213,11 +204,8 @@ benchmark: baxter_common.install romeo.install universal_robot.install \
 
 hpp-doc.configure.dep: hpp-doc.checkout
 hpp-fcl.configure.dep: hpp-fcl.checkout
-roboptim-core.configure.dep: roboptim-core.checkout
-roboptim-trajectory.configure.dep: roboptim-core.install \
-	roboptim-trajectory.checkout
 hpp-walkgen.configure.dep: hpp-util.install hpp-core.install \
-        roboptim-trajectory.install hpp-walkgen.checkout
+	hpp-walkgen.checkout
 hpp-util.configure.dep: hpp-util.checkout
 hpp-model-urdf.configure.dep: hpp-model.install hpp-model-urdf.checkout
 pinocchio.configure.dep: hpp-fcl.install pinocchio.checkout

doc/config/ubuntu-14.04-indigo.sh

 export PATH=$DEVEL_HPP_DIR/install/sbin:$DEVEL_HPP_DIR/install/bin:/opt/ros/indigo/bin:$PATH
-export PKG_CONFIG_PATH=$DEVEL_HPP_DIR/install/lib/pkgconfig/:/opt/ros/indigo/lib/pkgconfig
+export PKG_CONFIG_PATH=$DEVEL_HPP_DIR/install/lib/pkgconfig/:/opt/ros/indigo/lib/pkgconfig:/opt/openrobots/lib/pkgconfig
 
 export PYTHONPATH=$DEVEL_HPP_DIR/install/lib/python2.7/site-packages:$DEVEL_HPP_DIR/install/lib/python2.7/dist-packages:/opt/ros/indigo/lib/python2.7/dist-packages:$PYTHONPATH
 

doc/config/ubuntu-16.04-kinetic.sh

 export PATH=$DEVEL_HPP_DIR/install/sbin:$DEVEL_HPP_DIR/install/bin:/opt/ros/kinetic/bin:$PATH
-export PKG_CONFIG_PATH=$DEVEL_HPP_DIR/install/lib/pkgconfig/:/opt/ros/kinetic/lib/pkgconfig
+export PKG_CONFIG_PATH=$DEVEL_HPP_DIR/install/lib/pkgconfig/:/opt/ros/kinetic/lib/pkgconfig:/opt/openrobots/lib/pkgconfig
 
 export PYTHONPATH=$DEVEL_HPP_DIR/install/lib/python2.7/site-packages:$DEVEL_HPP_DIR/install/lib/python2.7/dist-packages:/opt/ros/kinetic/lib/python2.7/dist-packages:$PYTHONPATH
 

doc/packages.sh

@@ -70,16 +70,6 @@ pkg "hpp-model-urdf" \
     "git@github.com:humanoid-path-planner/hpp-model" \
     "path/hpp-model"
 
-pkg "roboptim-core" \
-    "RobOptim core" \
-    "git@github.com:roboptim/roboptim-core" \
-    "optimization/roboptim-core"
-
-pkg "roboptim-trajectory" \
-    "RobOptim trajectory" \
-    "git@github.com:roboptim/roboptim-trajectory" \
-    "optimization/roboptim-trajectory"
-
 pkg "hpp-constraints" \
     "hpp-constraints" \
     "git@github.com:humanoid-path-planner/hpp-constraints" \