Add plugin manipulation-spline-gradient-based.

CMakeLists.txt

@@ -30,6 +30,8 @@ SET(PROJECT_DESCRIPTION "Classes for manipulation planning.")
 
 SETUP_HPP_PROJECT()
 
+LIST(APPEND PKG_CONFIG_ADDITIONAL_VARIABLES cmake_plugin)
+
 # Activate test using UR5 if requested
 SET (TEST_UR5 FALSE CACHE BOOL "Activate tests using ur5")
 
@@ -103,6 +105,7 @@ SET (${PROJECT_NAME}_HEADERS
   )
 
 ADD_SUBDIRECTORY(src)
+ADD_SUBDIRECTORY(plugins)
 ADD_SUBDIRECTORY(tests)
 
 # Add dependency toward hpp-manipulation library in pkg-config file.

plugins/CMakeLists.txt

+# Copyright (c) 2019, Joseph Mirabel
+# Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
+#
+# This file is part of hpp-manipulation.
+# hpp-manipulation is free software: you can redistribute it
+# and/or modify it under the terms of the GNU Lesser General Public
+# License as published by the Free Software Foundation, either version
+# 3 of the License, or (at your option) any later version.
+#
+# hpp-manipulation is distributed in the hope that it will be
+# useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+# of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+# General Lesser Public License for more details.  You should have
+# received a copy of the GNU Lesser General Public License along with
+# hpp-manipulation. If not, see <http://www.gnu.org/licenses/>.
+
+INCLUDE(${HPP_CORE_CMAKE_PLUGIN})
+
+ADD_PLUGIN(manipulation-spline-gradient-based
+  SOURCES spline-gradient-based.cc
+  LINK_DEPENDENCIES ${PROJECT_NAME} ${PROJECT_NAME}-gpl hpp-core-gpl
+  PKG_CONFIG_DEPENDENCIES hpp-core)

plugins/spline-gradient-based.cc

+// Copyright (c) 2019, Joseph Mirabel
+// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
+//
+// This file is part of hpp-manipulation.
+// hpp-manipulation is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// hpp-manipulation is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Lesser Public License for more details.  You should have
+// received a copy of the GNU Lesser General Public License along with
+// hpp-manipulation. If not, see <http://www.gnu.org/licenses/>.
+
+#include <hpp/core/plugin.hh>
+#include <hpp/core/problem-solver.hh>
+
+#include <hpp/manipulation/path-optimization/spline-gradient-based.hh>
+
+namespace hpp {
+  namespace manipulation {
+    class SplineGradientBasedPlugin : public core::ProblemSolverPlugin
+    {
+      public:
+        SplineGradientBasedPlugin ()
+          : ProblemSolverPlugin ("SplineGradientBasedPlugin", "0.0")
+        {}
+
+      protected:
+        virtual bool impl_initialize (core::ProblemSolverPtr_t ps)
+        {
+          // ps->pathOptimizers.add ("SplineGradientBased_cannonical1",pathOptimization::SplineGradientBased<core::path::CanonicalPolynomeBasis, 1>::createFromCore);
+          // ps->pathOptimizers.add ("SplineGradientBased_cannonical2",pathOptimization::SplineGradientBased<core::path::CanonicalPolynomeBasis, 2>::createFromCore);
+          // ps->pathOptimizers.add ("SplineGradientBased_cannonical3",pathOptimization::SplineGradientBased<core::path::CanonicalPolynomeBasis, 3>::createFromCore);
+          ps->pathOptimizers.add ("SplineGradientBased_bezier1",pathOptimization::SplineGradientBased<core::path::BernsteinBasis, 1>::createFromCore);
+          // ps->pathOptimizers.add ("SplineGradientBased_bezier2",pathOptimization::SplineGradientBased<core::path::BernsteinBasis, 2>::createFromCore);
+          ps->pathOptimizers.add ("SplineGradientBased_bezier3",pathOptimization::SplineGradientBased<core::path::BernsteinBasis, 3>::createFromCore);
+
+          return true;
+        }
+    };
+  } // namespace manipulation
+} // namespace hpp
+
+HPP_CORE_DEFINE_PLUGIN(hpp::manipulation::SplineGradientBasedPlugin)

src/CMakeLists.txt

@@ -47,7 +47,6 @@ SET(SOURCES
   graph/dot.cc
 
   path-optimization/random-shortcut.cc
-  path-optimization/spline-gradient-based.cc
   path-optimization/enforce-transition-semantic.cc
 
   problem-target/state.cc
@@ -73,3 +72,17 @@ IF(HPP_WHOLEBODY_STEP_FOUND)
 ENDIF(HPP_WHOLEBODY_STEP_FOUND)
 
 INSTALL(TARGETS ${LIBRARY_NAME} DESTINATION lib)
+
+ADD_LIBRARY(${LIBRARY_NAME}-gpl SHARED
+  path-optimization/spline-gradient-based.cc
+  )
+
+PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME}-gpl hpp-core)
+PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME}-gpl hpp-statistics)
+PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME}-gpl hpp-constraints)
+IF(HPP_WHOLEBODY_STEP_FOUND)
+  PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME}-gpl hpp-wholebody-step)
+ENDIF(HPP_WHOLEBODY_STEP_FOUND)
+TARGET_LINK_LIBRARIES(${LIBRARY_NAME}-gpl ${LIBRARY_NAME} hpp-core-gpl)
+
+INSTALL(TARGETS ${LIBRARY_NAME}-gpl DESTINATION lib)

src/problem-solver.cc

@@ -52,7 +52,6 @@
 #include "hpp/manipulation/graph-optimizer.hh"
 #include "hpp/manipulation/graph-path-validation.hh"
 #include "hpp/manipulation/graph-node-optimizer.hh"
-#include "hpp/manipulation/path-optimization/spline-gradient-based.hh"
 #include "hpp/manipulation/path-optimization/random-shortcut.hh"
 #include "hpp/manipulation/path-optimization/enforce-transition-semantic.hh"
 #include "hpp/manipulation/problem-target/state.hh"
@@ -130,13 +129,6 @@ namespace hpp {
       pathProjectors.add ("RecursiveHermite",
           createPathProjector <core::pathProjector::RecursiveHermite>);
 
-      // pathOptimizers.add ("SplineGradientBased_cannonical1",pathOptimization::SplineGradientBased<core::path::CanonicalPolynomeBasis, 1>::createFromCore);
-      // pathOptimizers.add ("SplineGradientBased_cannonical2",pathOptimization::SplineGradientBased<core::path::CanonicalPolynomeBasis, 2>::createFromCore);
-      // pathOptimizers.add ("SplineGradientBased_cannonical3",pathOptimization::SplineGradientBased<core::path::CanonicalPolynomeBasis, 3>::createFromCore);
-      pathOptimizers.add ("SplineGradientBased_bezier1",pathOptimization::SplineGradientBased<core::path::BernsteinBasis, 1>::createFromCore);
-      // pathOptimizers.add ("SplineGradientBased_bezier2",pathOptimization::SplineGradientBased<core::path::BernsteinBasis, 2>::createFromCore);
-      pathOptimizers.add ("SplineGradientBased_bezier3",pathOptimization::SplineGradientBased<core::path::BernsteinBasis, 3>::createFromCore);
-
       steeringMethods.add ("Graph-SteeringMethodStraight",
           steeringMethod::Graph::create <core::SteeringMethodStraight>);
       steeringMethods.add ("Graph-Straight",