Update documentation to the usage of gepetto-viewer for displaying.

configure.ac

@@ -88,7 +88,9 @@ JRL_GENERATELINK([HPPWHOLEBODYSTEPCORBA], [hpp-wholebody-step-corba])
 JRL_GENERATELINK([HPPMANIPULATION], [hpp-manipulation])
 JRL_GENERATELINK([HPPMANIPULATIONURDF], [hpp-manipulation-urdf])
 JRL_GENERATELINK([HPPMANIPULATIONCORBA], [hpp-manipulation-corba])
-JRL_GENERATELINK([HPPROS], [hpp_ros])
+JRL_GENERATELINK([GEPETTOVIEWER], [gepetto-viewer])
+JRL_GENERATELINK([GEPETTOVIEWERCORBA], [gepetto-viewer-corba])
+JRL_GENERATELINK([HPPGEPETTOVIEWER], [hpp-gepetto-viewer])
 JRL_GENERATELINK([HPPTUTORIAL], [hpp_tutorial])
 
 # Generate the list of html stub pages for missing packages that
@@ -107,7 +109,7 @@ AC_CONFIG_FILES([
 	 doc/corba.html
 	 doc/algorithm.html
 	 doc/kpp-interface.html
-	 doc/ros.html
+	 doc/gui.html
 	 doc/main.html
 	 doc/index.html
 	 doc/tree.html

doc/Makefile

@@ -99,7 +99,22 @@ hpp_tutorial_repository=${TRAC_REPO}/algo
 hpp_benchmark_branch=master
 hpp_benchmark_repository=${HPP_REPO}
 
-all: hpp_tutorial.install hpp-manipulation-corba.install
+collada-dom_branch=master
+collada-dom_repository=${HPP_REPO}
+
+gepetto-viewer_branch=master
+gepetto-viewer_repository=${HPP_REPO}
+
+gepetto-viewer-corba_branch=master
+gepetto-viewer-corba_repository=${HPP_REPO}
+
+hpp-gepetto-viewer_branch=fakeViewer
+hpp-gepetto-viewer_repository=${JOSEPH_REPO}
+
+OpenSceneGraph-3.2.1_extra_flags= -DCOLLADA_DYNAMIC_LIBRARY=${DEVEL_DIR}/install/lib/libcollada14dom.so -DCOLLADA_INCLUDE_DIR=${DEVEL_DIR}/install/include/collada-dom
+
+all: hpp_tutorial.install hpp-manipulation-corba.install \
+	hpp-gepetto-viewer.install
 	${MAKE} hpp-doc.install
 
 # source $DEVEL_DIR/install/setup.bash before installing hrp2.
@@ -140,14 +155,20 @@ hrp2.configure.dep: robot_capsule_urdf.install robot_model_py.install \
 hpp_ros.configure.dep: hpp-corbaserver.install hpp_ros.checkout
 test-hpp.configure.dep: hpp-wholebody-step-corba.install \
 	hpp_ros.install hpp-hrp2.install test-hpp.checkout
-airbus_ros.configure.dep: airbus_environment.install \
-	hpp-manipulation-corba.install airbus_ros.checkout
-airbus_environment.configure.dep: hpp_ros.install airbus_environment.checkout
 robot_state_chain_publisher.configure.dep: robot_state_chain_publisher.checkout
 iai_maps.configure.dep: robot_state_chain_publisher.install iai_maps.checkout
-hpp_tutorial.configure.dep: iai_maps.install hpp-corbaserver.install \
-	hpp_ros.install hpp_tutorial.checkout
+hpp_tutorial.configure.dep: hpp-gepetto-viewer.install iai_maps.install \
+	hpp-corbaserver.install hpp_tutorial.checkout
 hpp_benchmark.configure.dep: hpp_benchmark.checkout
+collada-dom.configure.dep: collada-dom.checkout
+OpenSceneGraph-3.2.1.configure.dep: collada-dom.install \
+	OpenSceneGraph-3.2.1.checkout
+gepetto-viewer.configure.dep: OpenSceneGraph-3.2.1.install \
+	gepetto-viewer.checkout
+gepetto-viewer-corba.configure.dep: gepetto-viewer.install \
+	gepetto-viewer-corba.checkout
+hpp-gepetto-viewer.configure.dep: gepetto-viewer-corba.install \
+	hpp-gepetto-viewer.checkout
 
 status:
 	@for child_dir in $$(ls ${SRC_DIR}); do \
@@ -181,7 +202,8 @@ update:
 
 %.update:
 	cd ${SRC_DIR}/$(@:.update=);\
-	git remote set-url origin ${$(@:.update=)_repository}/$(@:.update=);\
+	git remote rm origin;\
+	git remote add origin ${$(@:.update=)_repository}/$(@:.update=);\
 	git fetch origin;\
 	git checkout -b bce46g origin/${$(@:.update=)_branch};\
 	git branch -D ${$(@:.update=)_branch};\
@@ -193,7 +215,7 @@ update:
 	cd ${SRC_DIR}/$(@:.configure=);\
 	mkdir -p build; \
 	cd ${SRC_DIR}/$(@:.configure=)/build; \
-	cmake -DCMAKE_INSTALL_PREFIX=${DEVEL_DIR}/install -DCMAKE_INSTALL_LIBDIR=lib -DCMAKE_BUILD_TYPE=${BUILD_TYPE} -DCMAKE_CXX_FLAGS_RELWITHDEBINFO="-g -O3 -DNDEBUG" ..
+	cmake -DCMAKE_INSTALL_PREFIX=${DEVEL_DIR}/install -DCMAKE_INSTALL_LIBDIR=lib -DCMAKE_BUILD_TYPE=${BUILD_TYPE} -DCMAKE_CXX_FLAGS_RELWITHDEBINFO="-g -O3 -DNDEBUG" ${$(@:.configure=)_extra_flags} ..
 
 %.install:%.configure
 	cd ${SRC_DIR}/$(@:.install=)/build;\
@@ -270,3 +292,12 @@ robot_model_py.install: robot_model_py.configure
 	make install; \
 	cd ${SRC_DIR}/$(@:.install=)/urdf_parser_py/build; \
 	make install;
+
+OpenSceneGraph-3.2.1.checkout:
+	if [ -d $(@:.checkout=) ]; then \
+		echo "$(@:.checkout=) already checkout out."; \
+	else \
+		wget http://www.openscenegraph.org/downloads/developer_releases/OpenSceneGraph-3.2.1.zip;\
+		cd ${SRC_DIR}; unzip OpenSceneGraph-3.2.1.zip;\
+		rm -f OpenSceneGraph-3.2.1.zip;\
+	fi

doc/Makefile.am

@@ -104,7 +104,7 @@ DOC_EXTRA +=
 nobase_html_DATA =			\
 	algorithm.html			\
 	corba.html			\
-	ros.html			\
+	gui.html			\
 	graph-dependency.html		\
 	index.html			\
 	main.html			\

doc/figures/archi.fig

@@ -7,27 +7,6 @@ Letter
 Single
 -2
 1200 2
-6 9270 900 17055 14265
-6 9315 7605 17026 14265
-2 5 0 1 0 -1 50 -1 -1 0.000 0 0 -1 0 0 5
-	0 rviz.png
-	 9326 7605 17014 7605 17014 14252 9326 14252 9326 7605
--6
-6 9270 900 17055 6570
-2 5 0 1 0 -1 50 -1 -1 0.000 0 0 -1 0 0 5
-	0 python.png
-	 9270 900 17042 900 17042 6557 9270 6557 9270 900
--6
-2 1 0 4 0 7 50 -1 -1 0.000 0 0 -1 0 0 3
-	 13048 6951 13321 6593 13613 6917
-2 1 0 4 0 7 50 -1 -1 0.000 0 0 -1 0 0 3
-	 13633 7282 13360 7640 13068 7316
-2 1 0 4 0 7 50 -1 -1 0.000 0 0 -1 0 0 2
-	 13536 7386 13537 6834
-2 1 0 4 0 7 50 -1 -1 0.000 0 0 -1 0 0 2
-	 13158 7386 13158 6834
-4 0 0 50 -1 2 15 1.5708 4 180 525 13426 7357 ROS\001
--6
 6 7695 1935 9225 2565
 2 1 0 4 0 7 50 -1 -1 0.000 0 0 -1 0 0 2
 	 7931 2088 8948 2088
@@ -100,3 +79,20 @@ Single
 4 1 0 50 -1 2 30 0.0000 4 435 2310 5580 5309 algorithms\001
 4 1 0 50 -1 2 30 0.0000 4 330 1230 5625 1489 corba\001
 -6
+6 9315 8010 17026 14670
+2 5 0 1 0 -1 50 -1 -1 0.000 0 0 -1 0 0 5
+	0 rviz.png
+	 9326 8010 17014 8010 17014 14657 9326 14657 9326 8010
+-6
+2 1 0 4 0 7 50 -1 -1 0.000 0 0 -1 0 0 3
+	 13048 6951 13321 6593 13613 6917
+2 1 0 4 0 7 50 -1 -1 0.000 0 0 -1 0 0 2
+	 13536 7695 13537 6834
+2 1 0 4 0 7 50 -1 -1 0.000 0 0 -1 0 0 2
+	 13158 7740 13158 6834
+2 5 0 1 0 -1 50 -1 -1 0.000 0 0 -1 0 0 5
+	0 python.png
+	 9270 900 17042 900 17042 6557 9270 6557 9270 900
+2 1 0 4 0 7 50 -1 -1 0.000 0 0 -1 0 0 3
+	 13633 7607 13360 7965 13068 7641
+4 0 0 50 -1 2 15 1.5708 4 180 900 13426 7740 CORBA\001

doc/ros.html.in → doc/gui.html.in

@@ -8,15 +8,15 @@
     <title>Humanoid Path Planner documentation</title>
   </head>
   <body>
-    <h1>Packages implementing ROS interfaces</h1>
+    <h1>Packages implementing graphical user interface</h1>
 
     <p>
-      The following packages implement Corba communication functionalities
+      The following packages implement a corba connection with a graphical
+      display
       <ul>
-	<li><a href="@HPPROS_LINK@">hpp_ros</a> display of robot configurations,
-	  obstacles and paths in rviz</li>
-	<li><a href="@HPPMODELURDF_LINK@">hpp-model-urdf</a> Construction of
-	  robots and objects by parsing urdf/srdf files.</li>
+	<li><a href="@GEPETTOVIEWER_LINK@">gepetto-viewer</a>Graphical window based on OpenSceneGraph</li>
+	<li><a href="@GEPETTOVIEWERCORBA_LINK@">gepetto-viewer-corba</a>Corba interface to gepetto-viewer</li>
+	<li><a href="@HPPGEPETTOVIEWER_LINK@">hpp-gepetto-viewer</a>Link between hpp and gepetto-viewer-corba</li>
     </p>
 
     <br><br>

doc/main.html.in

@@ -51,7 +51,7 @@ packages. See <a href="graph-dependency.html">dependency graph</a> for a quick
 <ul>
 <li><a href="algorithm.html">Algorithms</a> implementing path planning functionalities</li>
 <li><a href="corba.html">Corba</a> communication facilities to control algorithms</li>
-<li><a href="ros.html">Ros</a> connection with ros for loading models and displaying in rviz.
+<li><a href="gui.html">Ros</a> Graphical user interface to display configurations and paths.
 </ul>
 <p></p>
 <table>
@@ -72,14 +72,14 @@ packages. See <a href="graph-dependency.html">dependency graph</a> for a quick
     </a> packages.
     <p></p>
     Results of path planning requests as well as individual configurations can
-    be displayed in rviz via a ros node implemented by package
-    <code><a href="@HPPROS_LINK@">hpp_ros</a></code>.
+    be displayed in <code>gepetto-viewer</code> via package
+    <code><a href="@HPPGEPETTOVIEWER_LINK@">hpp-gepetto-viewer</a></code>.
   </td></tr>
 </table>
 
 <h2>Getting started</h2>
 
-Package <a href="@HPPTUTORIAL_LINK@">hpp-tutorial</a> provide some examples of
+Package <a href="@HPPTUTORIAL_LINK@">hpp-tutorial</a> provides some examples of
 how to use this project.
 <p></p>
 <table>

doc/packages.sh

@@ -110,6 +110,21 @@ pkg "hpp_ros" \
     "git@github.com:humanoid-path-planner/hpp_ros" \
     "path/hpp_ros"
 
+pkg "gepetto-viewer" \
+    "gepetto-viewer" \
+    "git@github.com:humanoid-path-planner/gepetto-viewer" \
+    "graphics/gepetto-viewer"
+
+pkg "gepetto-viewer-corba" \
+    "gepetto-viewer-corba" \
+    "git@github.com:humanoid-path-planner/gepetto-viewer-corba" \
+    "graphics/gepetto-viewer-corba"
+
+pkg "hpp-gepetto-viewer" \
+    "hpp-gepetto-viewer" \
+    "git@github.com:humanoid-path-planner/hpp-gepetto-viewer" \
+    "graphics/hpp-gepetto-viewer"
+
 # Retrieve information about wanted package.
 key=`echo "$package" | sed 's/-/_/g'`
 name=$(eval echo "\$name__$key")

doc/tree.html.in

@@ -72,7 +72,7 @@
         <div id="folder2">
           <p><img src="images/ftv2vertline.png" alt="|" width="16" height="22" /><img src="images/ftv2node.png" alt="o" width="16" height="22" /><img src="images/ftv2doc.png" alt="*" width="24" height="22" /><a class="el" href="algorithm.html" target="basefrm">Algorithms</a></p>
           <p><img src="images/ftv2vertline.png" alt="|" width="16" height="22" /><img src="images/ftv2node.png" alt="o" width="16" height="22" /><img src="images/ftv2doc.png" alt="*" width="24" height="22" /><a class="el" href="corba.html" target="basefrm">Corba interfaces</a></p>
-          <p><img src="images/ftv2vertline.png" alt="|" width="16" height="22" /><img src="images/ftv2node.png" alt="o" width="16" height="22" /><img src="images/ftv2doc.png" alt="*" width="24" height="22" /><a class="el" href="ros.html" target="basefrm">Ros</a></p>
+          <p><img src="images/ftv2vertline.png" alt="|" width="16" height="22" /><img src="images/ftv2node.png" alt="o" width="16" height="22" /><img src="images/ftv2doc.png" alt="*" width="24" height="22" /><a class="el" href="gui.html" target="basefrm">Graphical User Interface</a></p>
           <p><img src="images/ftv2vertline.png" alt="|" width="16" height="22" /><img src="images/ftv2node.png" alt="o" width="16" height="22" /><img src="images/ftv2doc.png" alt="*" width="24" height="22" /><a class="el" href="@HPPTUTORIAL_LINK@" target="basefrm">Tutorial</a></p>
         </div>