updates from stable

.dockers/ubuntu-18.04/Dockerfile

@@ -42,6 +42,7 @@ RUN apt-get update -qqy \
     libxml2 \
     omniorb-nameserver \
     oxygen-icon-theme \
+    psmisc \
     python-matplotlib \
     python-omniorb \
     qt4-dev-tools \
@@ -50,8 +51,6 @@ RUN apt-get update -qqy \
     robotpkg-omniorb \
     robotpkg-openscenegraph \
     robotpkg-qpoases+doc \
-    robotpkg-roboptim-core \
-    robotpkg-roboptim-trajectory \
     robotpkg-romeo-description \
     robotpkg-py36-omniorbpy \
     robotpkg-qt5-osgqt \

.dockers/ubuntu-20.04/Dockerfile

@@ -40,6 +40,7 @@ RUN apt-get update -qqy \
     libxml2 \
     omniorb-nameserver \
     oxygen-icon-theme \
+    psmisc \
     pyqt5-dev \
     python-is-python3 \
     python3-pyqt5 \
@@ -50,8 +51,6 @@ RUN apt-get update -qqy \
     robotpkg-omniorb \
     robotpkg-openscenegraph \
     robotpkg-qpoases+doc \
-    robotpkg-roboptim-core \
-    robotpkg-roboptim-trajectory \
     robotpkg-romeo-description \
     robotpkg-py38-omniorbpy \
     robotpkg-py38-pythonqt \

.gitlab-ci.yml

@@ -33,14 +33,12 @@ variables:
       - $DEVEL_HPP_DIR/test.sh hpp-statistics              || status=1
       - $DEVEL_HPP_DIR/test.sh hpp-constraints             || status=1
       - $DEVEL_HPP_DIR/test.sh hpp-core                    || status=1
-        #- $DEVEL_HPP_DIR/test.sh hpp-corbaserver          || status=1
+      - $DEVEL_HPP_DIR/test.sh hpp-corbaserver             || status=1
       - $DEVEL_HPP_DIR/test.sh hpp-manipulation            || status=1
       - $DEVEL_HPP_DIR/test.sh hpp-manipulation-urdf       || status=1
-        #- $DEVEL_HPP_DIR/test.sh hpp-manipulation-corba   || status=1
-      - $DEVEL_HPP_DIR/test.sh hpp-walkgen                 || status=1
-      - $DEVEL_HPP_DIR/test.sh hpp-wholebody-step          || status=1
-        #- $DEVEL_HPP_DIR/test.sh hpp-wholebody-step-corba || status=1
+      - $DEVEL_HPP_DIR/test.sh hpp-manipulation-corba      || status=1
       - $DEVEL_HPP_DIR/test.sh hpp-rbprm                   || status=1
+      - $DEVEL_HPP_DIR/test.sh hpp-rbprm-corba             || status=1
       - set -e
       - exit $status
     allow_failure: true

CMakeLists.txt

@@ -38,8 +38,6 @@ ADD_HPP_PKG(pinocchio)
 ADD_HPP_PKG(hpp-pinocchio)
 ADD_HPP_PKG(hpp-core)
 ADD_HPP_PKG(hpp-corbaserver)
-ADD_HPP_PKG(hpp-constraints)
-ADD_HPP_PKG(hpp-wholebody-step)
 ADD_HPP_PKG(hpp-manipulation)
 ADD_HPP_PKG(hpp-manipulation-urdf)
 ADD_HPP_PKG(hpp-manipulation-corba)

doc/packages.sh

@@ -75,16 +75,6 @@ pkg "hpp-constraints" \
     "git@github.com:humanoid-path-planner/hpp-constraints" \
     "path/hpp-constraints"
 
-pkg "hpp-wholebody-step" \
-    "hpp-wholebody-step" \
-    "git@github.com:humanoid-path-planner/hpp-wholebody-step" \
-    "path/hpp-wholebody-step"
-
-pkg "hpp-wholebody-step-corba" \
-    "hpp-wholebody-step-corba" \
-    "git@github.com:humanoid-path-planner/hpp-wholebody-step-corba" \
-    "path/hpp-wholebody-step-corba"
-
 pkg "hpp-manipulation" \
     "hpp-manipulation" \
     "git@github.com:humanoid-path-planner/hpp-manipulation" \

instructions/stable-sources.md

@@ -19,8 +19,6 @@ To install all the packages on ubuntu 18.04 LTS 64 bit, you should do the follow
       libgraphviz-dev \
       robotpkg-omniorb \
       robotpkg-qpoases+doc \
-      robotpkg-roboptim-core \
-      robotpkg-roboptim-trajectory \
       robotpkg-romeo-description \
       robotpkg-py36-omniorbpy \
       ros-melodic-xacro \

makefiles/devel.mk

@@ -43,9 +43,12 @@ HPP_EXTRA_FLAGS= -DBUILD_TESTING=${BUILD_TESTING}$
 ##################################
 # {{{ Dependencies
 
+eigenpy_branch=v2.6.8
+eigenpy_repository=${SOT_REPO}
+
 pinocchio_branch=v2.6.3
 pinocchio_repository=${SOT_REPO}
-pinocchio_extra_flags= -DBUILD_PYTHON_INTERFACE=OFF -DBUILD_UNIT_TESTS=OFF -DBUILD_WITH_COLLISION_SUPPORT=ON
+pinocchio_extra_flags= -DBUILD_UNIT_TESTS=OFF -DBUILD_WITH_COLLISION_SUPPORT=ON
 
 hpp-template-corba_branch=${HPP_VERSION}
 hpp-template-corba_repository=${HPP_REPO}
@@ -59,7 +62,7 @@ hpp-util_repository=${HPP_REPO}
 
 hpp-fcl_branch=${HPP_VERSION}
 hpp-fcl_repository=${HPP_REPO}
-hpp-fcl_extra_flags= -DCMAKE_BUILD_TYPE=Release -DBUILD_PYTHON_INTERFACE=OFF
+hpp-fcl_extra_flags= -DCMAKE_BUILD_TYPE=Release
 
 hpp-statistics_branch=${HPP_VERSION}
 hpp-statistics_repository=${HPP_REPO}
@@ -79,19 +82,11 @@ hpp-core_extra_flags=${HPP_EXTRA_FLAGS}
 hpp-corbaserver_branch=${HPP_VERSION}
 hpp-corbaserver_repository=${HPP_REPO}
 
-hpp-walkgen_branch=${HPP_VERSION}
-hpp-walkgen_repository=${HPP_REPO}
-
-hpp-wholebody-step_branch=${HPP_VERSION}
-hpp-wholebody-step_repository=${HPP_REPO}
-hpp-wholebody-step_extra_flags= -DRUN_TESTS=OFF
-
 hpp-doc_branch=${HPP_VERSION}
 hpp-doc_repository=${HPP_REPO}
 
 hpp-manipulation_branch=${HPP_VERSION}
 hpp-manipulation_repository=${HPP_REPO}
-hpp-manipulation_extra_flags=-DHPP_MANIPULATION_HAS_WHOLEBODY_STEP=FALSE
 
 hpp-manipulation-urdf_branch=${HPP_VERSION}
 hpp-manipulation-urdf_repository=${HPP_REPO}
@@ -244,7 +239,7 @@ all: hpp_tutorial.install hpp-gepetto-viewer.install hpp-plot.install hpp-gui.in
 
 # For test on gepgitlab, install robot packages first
 test-ci: example-robot-data.install  hpp-environments.install \
-	hpp-baxter.install hpp-wholebody-step.install
+	hpp-baxter.install
 	${MAKE} hpp_tutorial.install hpp-gepetto-viewer.install hpp-rbprm-corba.install \
 	hpp-universal-robot.install && \
 	${MAKE} hpp-doc.install
@@ -267,9 +262,7 @@ rbprm: hpp-rbprm-corba.install hpp-gepetto-viewer.install
 # {{{ Dependencies declaration
 
 hpp-doc.configure.dep: hpp-doc.checkout
-hpp-fcl.configure.dep: hpp-fcl.checkout
-hpp-walkgen.configure.dep: hpp-util.install hpp-core.install \
-	hpp-walkgen.checkout
+hpp-fcl.configure.dep: hpp-fcl.checkout eigenpy.install
 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
@@ -280,8 +273,6 @@ hpp-core.configure.dep: example-robot-data.install hpp-constraints.install \
 	hpp-statistics.install hpp-core.checkout
 hpp-constraints.configure.dep: hpp-pinocchio.install hpp-statistics.install \
 	hpp-environments.install hpp-constraints.checkout
-hpp-wholebody-step.configure.dep: hpp-constraints.install hpp-walkgen.install \
-	hpp-wholebody-step.checkout
 hpp-manipulation.configure.dep: hpp-core.install hpp-constraints.install \
 	hpp-manipulation.checkout
 hpp-manipulation-corba.configure.dep: hpp-manipulation-urdf.install \
@@ -302,7 +293,7 @@ hpp-hrp2.configure.dep: hrp2-14-description.install hpp-corbaserver.install \
 	hpp-hrp2.checkout
 hrp2-14-description.configure.dep: robot_capsule_urdf.install \
 	robot_model_py.install hrp2-14-description.checkout
-test-hpp.configure.dep: hpp-wholebody-step.install \
+test-hpp.configure.dep: \
 	hpp-gepetto-viewer.install hpp-hrp2.install test-hpp.checkout
 hpp_tutorial.configure.dep: hpp-gepetto-viewer.install \
 	hpp-manipulation-corba.install hpp_tutorial.checkout

makefiles/stable.mk

@@ -43,9 +43,13 @@ HPP_EXTRA_FLAGS= -DBUILD_TESTING=${BUILD_TESTING}$
 ##################################
 # {{{ Dependencies
 
+eigenpy_branch=v2.6.8
+eigenpy_repository=${SOT_REPO}
+
+
 pinocchio_branch=v2.6.3
 pinocchio_repository=${SOT_REPO}
-pinocchio_extra_flags= -DBUILD_PYTHON_INTERFACE=OFF -DBUILD_UNIT_TESTS=OFF -DBUILD_WITH_COLLISION_SUPPORT=ON
+pinocchio_extra_flags= -DBUILD_UNIT_TESTS=OFF -DBUILD_WITH_COLLISION_SUPPORT=ON
 
 hpp-template-corba_branch=${HPP_VERSION}
 hpp-template-corba_repository=${HPP_REPO}
@@ -58,7 +62,7 @@ hpp-util_repository=${HPP_REPO}
 
 hpp-fcl_branch=v1.7.5
 hpp-fcl_repository=${HPP_REPO}
-hpp-fcl_extra_flags= -DCMAKE_BUILD_TYPE=Release -DBUILD_PYTHON_INTERFACE=OFF
+hpp-fcl_extra_flags= -DCMAKE_BUILD_TYPE=Release
 
 hpp-statistics_branch=${HPP_VERSION}
 hpp-statistics_repository=${HPP_REPO}
@@ -78,13 +82,6 @@ hpp-core_extra_flags=${HPP_EXTRA_FLAGS}
 hpp-corbaserver_branch=${HPP_VERSION}
 hpp-corbaserver_repository=${HPP_REPO}
 
-hpp-walkgen_branch=${HPP_VERSION}
-hpp-walkgen_repository=${HPP_REPO}
-
-hpp-wholebody-step_branch=${HPP_VERSION}
-hpp-wholebody-step_repository=${HPP_REPO}
-hpp-wholebody-step_extra_flags= -DRUN_TESTS=OFF
-
 hpp-doc_branch=stable
 hpp-doc_repository=${HPP_REPO}
 
@@ -245,7 +242,7 @@ all: hpp_tutorial.install hpp-gepetto-viewer.install hpp-plot.install hpp-gui.in
 
 # For test on gepgitlab, install robot packages first
 test-ci: example-robot-data.install  hpp-environments.install \
-	hpp-baxter.install hpp-wholebody-step.install
+	hpp-baxter.install
 	${MAKE} hpp_tutorial.install hpp-gepetto-viewer.install hpp-rbprm-corba.install \
 	hpp-universal-robot.install && \
 	${MAKE} hpp-doc.install
@@ -268,9 +265,7 @@ rbprm: hpp-rbprm-corba.install hpp-gepetto-viewer.install
 # {{{ Dependencies declaration
 
 hpp-doc.configure.dep: hpp-doc.checkout
-hpp-fcl.configure.dep: hpp-fcl.checkout
-hpp-walkgen.configure.dep: hpp-util.install hpp-core.install \
-	hpp-walkgen.checkout
+hpp-fcl.configure.dep: hpp-fcl.checkout eigenpy.install
 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
@@ -281,8 +276,6 @@ hpp-core.configure.dep: example-robot-data.install hpp-constraints.install \
 	hpp-statistics.install hpp-core.checkout
 hpp-constraints.configure.dep: hpp-pinocchio.install hpp-statistics.install \
 	hpp-environments.install hpp-constraints.checkout
-hpp-wholebody-step.configure.dep: hpp-constraints.install hpp-walkgen.install \
-	hpp-wholebody-step.checkout
 hpp-manipulation.configure.dep: hpp-core.install hpp-constraints.install \
 	hpp-manipulation.checkout
 hpp-manipulation-corba.configure.dep: hpp-manipulation-urdf.install \
@@ -303,7 +296,7 @@ hpp-hrp2.configure.dep: hrp2-14-description.install hpp-corbaserver.install \
 	hpp-hrp2.checkout
 hrp2-14-description.configure.dep: robot_capsule_urdf.install \
 	robot_model_py.install hrp2-14-description.checkout
-test-hpp.configure.dep: hpp-wholebody-step.install \
+test-hpp.configure.dep: \
 	hpp-gepetto-viewer.install hpp-hrp2.install test-hpp.checkout
 hpp_tutorial.configure.dep: hpp-gepetto-viewer.install \
 	hpp-manipulation-corba.install hpp_tutorial.checkout

releases/versions

@@ -4,13 +4,10 @@ hpp-pinocchio_version= 4.1
 hpp-statistics_version= 1.1.1
 hpp-constraints_version= 4.1
 hpp-core_version= 4.1
-hpp-wholebody-step_version= 4.1
-hpp-walkgen_version= 4.1
 hpp-hrp2_version= 0.1
 hpp-manipulation_version= 4.1
 hpp-manipulation-urdf_version= 4.1
 hpp-corbaserver_version= 4.1
-hpp-wholebody-step-corba_version= 4.1
 hpp-manipulation-corba_version= 4.1
 hpp_tutorial_version= 1.1
 gepetto-viewer_version= 2.1.3

scripts/auto-install-hpp.sh

@@ -19,7 +19,6 @@ case $HOST_DIST in
   bionic)
     APT_DEP="g++ cmake doxygen libboost-dev liburdfdom-dev libassimp-dev \
        libeigen3-dev libgraphviz-dev robotpkg-omniorb robotpkg-qpoases+doc \
-       robotpkg-roboptim-core robotpkg-roboptim-trajectory
        robotpkg-romeo-description robotpkg-py36-omniorbpy \
        ros-melodic-xacro libccd-dev ros-melodic-octomap \
        ros-melodic-resource-retriever ros-melodic-srdfdom \

scripts/create-tags.sh

@@ -18,7 +18,6 @@ version=$1
 # pinocchio
 pkg_main="hpp-util hpp-statistics hpp-fcl hpp-pinocchio \
 hpp-constraints hpp-corbaserver hpp-core hpp_tutorial hpp-doc \
-hpp-walkgen hpp-wholebody-step hpp-wholebody-step-corba \
 hpp-manipulation hpp-manipulation-corba hpp-manipulation-urdf \
 hpp-gepetto-viewer hpp-gui hpp-plot"
 branch="stable"