Merge tag 'v1.3.0'

Release of version 1.3.0.

CMakeLists.txt

@@ -32,18 +32,17 @@ COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
 PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
 
 # Project dependencies
-ADD_PROJECT_DEPENDENCY(dynamic-graph REQUIRED PKG_CONFIG_REQUIRES dynamic-graph)
-SET(BOOST_COMPONENTS unit_test_framework)
+ADD_PROJECT_DEPENDENCY(dynamic-graph REQUIRED)
+IF(BUILD_TESTING)
+  FIND_PACKAGE(Boost REQUIRED COMPONENTS unit_test_framework)
+ENDIF(BUILD_TESTING)
 
 IF(BUILD_PYTHON_INTERFACE)
   FINDPYTHON()
-  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 4.0.0 REQUIRED)
+  SEARCH_FOR_BOOST_PYTHON(REQUIRED)
 ENDIF(BUILD_PYTHON_INTERFACE)
 
-SEARCH_FOR_BOOST()
-
 # Main Library
 SET(${PROJECT_NAME}_HEADERS
   include/${CUSTOM_HEADER_DIR}/inverted-pendulum.hh
@@ -58,8 +57,7 @@ SET(${PROJECT_NAME}_SOURCES
 ADD_LIBRARY(${PROJECT_NAME} SHARED
   ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})
 TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
-TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${Boost_LIBRARIES}
-  dynamic-graph::dynamic-graph)
+TARGET_LINK_LIBRARIES(${PROJECT_NAME} PUBLIC dynamic-graph::dynamic-graph)
 
 IF(SUFFIX_SO_VERSION)
   SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
@@ -70,7 +68,9 @@ IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
 ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
 
 ADD_SUBDIRECTORY(src)
-ADD_SUBDIRECTORY(tests)
+IF(BUILD_TESTING)
+  ADD_SUBDIRECTORY(tests)
+ENDIF(BUILD_TESTING)
 
 IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
   INSTALL(FILES package.xml DESTINATION share/${PROJECT_NAME})

cmake @ 59d817dc

-Subproject commit 51be0c4d7a335a3b1927b80822ecdd037e84a8e5
+Subproject commit 59d817dca29527e98bdbef555e09f25358810cae

include/dynamic-graph/tutorial/feedback-controller.hh

@@ -54,7 +54,7 @@ class FeedbackController : public Entity {
      @}
   */
 
- protected:
+ public:
   /*
     \brief Class name
   */

include/dynamic-graph/tutorial/inverted-pendulum.hh

@@ -125,7 +125,7 @@ class InvertedPendulum : public Entity {
      @}
   */
 
- protected:
+ public:
   /*
     \brief Class name
   */

package.xml

 <?xml version="1.0"?>
 <package format="3">
   <name>dynamic-graph-tutorial</name>
-  <version>1.2.2</version>
+  <version>1.3.0</version>
   <description>
     Dynamic graph tutorial
   </description>

src/CMakeLists.txt

 IF(BUILD_PYTHON_INTERFACE)
   PYTHON_INSTALL_ON_SITE("dynamic_graph/tutorial" simu.py)
-  DYNAMIC_GRAPH_PYTHON_MODULE("tutorial" ${PROJECT_NAME} wrap)
+  DYNAMIC_GRAPH_PYTHON_MODULE("tutorial" ${PROJECT_NAME} tutorial-wrap
+    MODULE_HEADER "${CMAKE_CURRENT_SOURCE_DIR}/tutorial-python.h")
 ENDIF(BUILD_PYTHON_INTERFACE)

src/dynamic_graph/tutorial/simu.py

@@ -26,14 +26,9 @@ def build_graph():
     s = stateOut
     f = forceIn
 
-    s.value = (0.0, 0.1, 0.0, 0.0)
-
-    gain = ((
-        0.0,
-        27.0,
-        0.001,
-        0.001,
-    ), )
+    s.value = np.array((0.0, 0.1, 0.0, 0.0))
+
+    gain = np.array((0.0, 27.0, 0.001, 0.001))
     b.setGain(gain, )
 
     return s, f, a

src/tutorial-python.h

+#include "dynamic-graph/tutorial/feedback-controller.hh"
+#include "dynamic-graph/tutorial/inverted-pendulum.hh"
+
+typedef boost::mpl::vector<dynamicgraph::tutorial::FeedbackController, dynamicgraph::tutorial::InvertedPendulum>
+    entities_t;

tests/CMakeLists.txt

 ADD_DEFINITIONS(-DBOOST_TEST_DYN_LINK -DBOOST_TEST_MAIN)
 
 ADD_UNIT_TEST(pendulum pendulum.cpp)
-TARGET_LINK_LIBRARIES(pendulum ${PROJECT_NAME} ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY} dynamic-graph::dynamic-graph)
-TARGET_INCLUDE_DIRECTORIES(pendulum PUBLIC dynamic-graph::dynamic-graph)
+TARGET_LINK_LIBRARIES(pendulum PRIVATE ${PROJECT_NAME} Boost::unit_test_framework)
 
 ADD_UNIT_TEST(controller controller.cpp)
-TARGET_LINK_LIBRARIES(controller ${PROJECT_NAME} ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY} dynamic-graph::dynamic-graph)
-TARGET_INCLUDE_DIRECTORIES(controller PUBLIC dynamic-graph::dynamic-graph)
+TARGET_LINK_LIBRARIES(controller PRIVATE ${PROJECT_NAME} Boost::unit_test_framework)
 
 IF(BUILD_PYTHON_INTERFACE)
   ADD_PYTHON_UNIT_TEST(simu "tests/simu.py" src)