Merge pull request #5 from olivier-stasse/master

Change headers to UTF8 and fix problem with >>

.gitmodules

 [submodule "cmake"]
 	path = cmake
 	url = https://github.com/jrl-umi3218/jrl-cmakemodules.git
+[submodule ".travis"]
+	path = .travis
+	url = https://github.com/jrl-umi3218/jrl-travis.git

.travis @ bad6dbd2

+Subproject commit bad6dbd29cf70e852e5e427e876390d954ca7d6b

.travis.yml

+language: generic
+python:
+  - "2.7"
+sudo: required
+dist: trusty
+compiler:
+  - gcc
+# - clang
+env:
+  global:
+    - secure: "SnIBG/xLIHX3CSvUbqqsX8xTVqIqQ7fFS6HWO6KZQVBsT6yugTwYHbyhNiU531JejYJ/I3ZrDhXfYH3qFZiYxnH1sifvwV+fnTtMXpPN7qPZwIymkjcmm6gJF51e0C7VOfUbvKFv0ngwj+ul21rgZSMuoEvxPK0WxtE3/ZSfn9c="
+    - APT_DEPENDENCIES="doxygen libeigen3-dev "
+    - DEBSIGN_KEYID=5AE5CD75
+    - LCOV_IGNORE_RULES="*unittest* /opt/openrobots/*"
+    - CC=gcc
+    - DO_COVERAGE_ON_BRANCH="master;release"
+    - DO_CPPCHECK_ON_BRANCH=""
+    - DO_INSTALL_DOC_EXCEPT_ON_BRANCH=""
+  matrix:
+#    - BUILDTYPE=Release
+    - BUILDTYPE=Debug
+notifications:
+email:
+  - hpp@laas.fr
+branches:
+only:
+  - master
+  - debian
+  - devel
+matrix:
+allow_failures:
+  - compiler:
+before_install: ./travis_custom/custom_before_install
+install:
+  - pip install --user coveralls
+  - pip install --user numpy
+script:
+  - export CMAKE_ADDITIONAL_OPTIONS="-DCMAKE_BUILD_TYPE=${BUILDTYPE}"
+  - sudo free -m -t
+  - ./.travis/run ../travis_custom/custom_build
+after_failure: ./.travis/run after_failure
+after_success:
+  - ./.travis/run after_success

cmake @ 84745249

-Subproject commit 7b0b47cae2b082521ad674c8ee575f594f483cd7
+Subproject commit 8474524906099169b05f5c2d0523519d8e383df1

include/parametric-curves/constant.hpp

-/**
-* \file sinusoid.hpp
-* \brief Generates InfiniteSinusoidal trajectory
-* \author Rohan Budhiraja
-* \date 2017
-*
-*/
-
-#ifndef _parameteric_curves_constant_hpp
-#define _parameteric_curves_constant_hpp
-
-#include <parametric-curves/abstract-curve.hpp>
-
-namespace parametriccurves
-{
-
-/// \class InfiniteSinusoid
-/// \brief Creates InfiniteSinusoid curve
-/// The sinusoid is actually a cosine so that it starts with zero velocity.
-/// Returns x = x_init + A*cos(2*pi*f*t) where f is give by 1/(2*traj_time)
-template<typename Numeric=double, std::size_t Dim=1,
-         typename Point= Eigen::Matrix<Numeric, Dim, 1>>
-struct Constant :
-    public AbstractCurve<Numeric, Point>
-{
-  typedef Point          point_t;
-  typedef Numeric 	 time_t;
-  typedef Numeric	 num_t;
-  typedef AbstractCurve<Numeric, Point> curve_abc_t;
-
-public:
-  ///\brief Constructor
-
-  Constant(const time_t& traj_time, const point_t& x_init_= Eigen::Matrix<Numeric, Dim, 1>::Zero())
-    : curve_abc_t(0,traj_time),
-      x_init(x_init_) {}
-
-  ///\brief Destructor
-  ~Constant(){}
-  
-public:
-
-  virtual const point_t operator()(const time_t& t) const
-  {
-    return x_init;
-  }
-
-  virtual const point_t derivate(const time_t& t, const std::size_t& order) const
-  {
-    return point_t::Zero();
-  }
-
-  virtual bool setInitialPoint(const point_t& x_init_)
-  {
-    if(x_init.size()!=x_init_.size())
-      return false;
-    x_init = x_init_;
-  }
-
-  virtual bool setInitialPoint(const double& x_init_)
-  {
-    if(Dim!=1)
-      return false;
-    x_init[0] = x_init_;
-    return true;
-  }
-
-protected:
-  /*Attributes*/
-  point_t x_init;
-};
-}
-#endif //_CLASS_EXACTCUBIC
+/**
+* \file sinusoid.hpp
+* \brief Generates InfiniteSinusoidal trajectory
+* \author Rohan Budhiraja
+* \date 2017
+*
+*/
+
+#ifndef _parameteric_curves_constant_hpp
+#define _parameteric_curves_constant_hpp
+
+#include <parametric-curves/abstract-curve.hpp>
+
+namespace parametriccurves
+{
+
+/// \class InfiniteSinusoid
+/// \brief Creates InfiniteSinusoid curve
+/// The sinusoid is actually a cosine so that it starts with zero velocity.
+/// Returns x = x_init + A*cos(2*pi*f*t) where f is give by 1/(2*traj_time)
+template<typename Numeric=double, std::size_t Dim=1,
+         typename Point= Eigen::Matrix<Numeric, Dim, 1> >
+struct Constant :
+    public AbstractCurve<Numeric, Point>
+{
+  typedef Point          point_t;
+  typedef Numeric 	 time_t;
+  typedef Numeric	 num_t;
+  typedef AbstractCurve<Numeric, Point> curve_abc_t;
+
+public:
+  ///\brief Constructor
+
+  Constant(const time_t& traj_time, const point_t& x_init_= Eigen::Matrix<Numeric, Dim, 1>::Zero())
+    : curve_abc_t(0,traj_time),
+      x_init(x_init_) {}
+
+  ///\brief Destructor
+  ~Constant(){}
+  
+public:
+
+  virtual const point_t operator()(const time_t& t) const
+  {
+    return x_init;
+  }
+
+  virtual const point_t derivate(const time_t& t, const std::size_t& order) const
+  {
+    return point_t::Zero();
+  }
+
+  virtual bool setInitialPoint(const point_t& x_init_)
+  {
+    if(x_init.size()!=x_init_.size())
+      return false;
+    x_init = x_init_;
+  }
+
+  virtual bool setInitialPoint(const double& x_init_)
+  {
+    if(Dim!=1)
+      return false;
+    x_init[0] = x_init_;
+    return true;
+  }
+
+protected:
+  /*Attributes*/
+  point_t x_init;
+};
+}
+#endif //_CLASS_EXACTCUBIC

include/parametric-curves/infinite-const-acc.hpp

-/**
-* \file constant-acceleration.hpp
-* \brief Generates InfiniteConstAcc trajectory
-* \author Rohan Budhiraja
-* \date 2017
-*
-*/
-
-#ifndef _parameteric_curves_infinite_constant_acceleration_hpp
-#define _parameteric_curves_infinite_constant_acceleration_hpp
-
-#include <parametric-curves/abstract-curve.hpp>
-#include <cmath>
-
-namespace parametriccurves
-{
-
-/// \class InfiniteConstAcc
-/// \brief Creates InfiniteConstAcc curve
-/// s = s_0 + u_0*t+0.5*a_0*t^2
-
-template<typename Numeric=double, std::size_t Dim=1,
-         typename Point= Eigen::Matrix<Numeric, Dim, 1>>
-struct InfiniteConstAcc :
-    public AbstractCurve<Numeric, Point>
-{
-  typedef Point          point_t;
-  typedef Numeric 	time_t;
-  typedef Numeric	num_t;
-
-  typedef AbstractCurve<Numeric, Point> curve_abc_t;
-
-public:
-  ///\brief Constructor
-
-  InfiniteConstAcc(const time_t& traj_time_,
-                       const point_t& x_init_= Eigen::Matrix<Numeric, Dim, 1>::Zero(),
-                       const point_t& x_final_= Eigen::Matrix<Numeric, Dim, 1>::Zero())
-    : curve_abc_t(-1,-1),
-      traj_time(traj_time_),
-      x_init(x_init_),
-      x_final(x_final_) {}
-
-  ///\brief Destructor
-  ~InfiniteConstAcc(){}
-  
-public:
-
-  virtual const point_t operator()(const time_t& t_) const
-  {
-    const time_t t = std::fmod(t_, 2*traj_time);
-    const point_t& m_ddx0 = 4.0*(x_final-x_init)/(traj_time*traj_time);
-    if(t<=0.5*traj_time)
-      return x_init + 0.5*m_ddx0*t*t;
-    else if(t>0.5*traj_time && t<=1.5*traj_time)
-      return (x_init+x_final)/2
-        +0.5*m_ddx0*traj_time*(t-0.5*traj_time)
-        -0.5*m_ddx0*(t-0.5*traj_time)*(t-0.5*traj_time);
-    else //(t>1.5*traj_time && t<=2*traj_time)
-      return (x_init+x_final)/2
-        - 0.5*m_ddx0*traj_time*(t-1.5*traj_time)
-        + 0.5*m_ddx0*(t-1.5*traj_time)*(t-1.5*traj_time);
-  }
-  
-  virtual const point_t derivate(const time_t& t_, const std::size_t& order) const
-  {
-    const time_t t = std::fmod(t_, 2*traj_time);
-    const point_t& m_ddx0 = 4.0*(x_final-x_init)/(traj_time*traj_time);
-    if(order==1) {
-      if(t<=0.5*traj_time)
-        return m_ddx0*t;
-      else if(t>0.5*traj_time && t<=1.5*traj_time)
-        return 0.5*m_ddx0*traj_time - m_ddx0*(t-0.5*traj_time);
-      else //(t>1.5*traj_time && t<=2*traj_time)
-        return -0.5*m_ddx0*traj_time + m_ddx0*(t-1.5*traj_time);
-    }
-    else if(order==2) {
-      if(t<=0.5*traj_time)
-        return m_ddx0;
-      else if(t>0.5*traj_time && t<=1.5*traj_time)
-        return -m_ddx0;
-      else //(t>1.5*traj_time && t<=2*traj_time)
-        return m_ddx0;
-    }
-    else {
-      std::cerr<<"Higher order derivatives not supported"<<std::endl;
-      return point_t::Zero(Dim);
-    }
-  }
-
-public:
-  virtual bool setInitialPoint(const point_t& x_init_)
-  {
-    if(x_init_.size()!=x_init.size())
-      return false;
-    x_init = x_init_;
-  }
-
-  virtual bool setInitialPoint(const double& x_init_)
-  {
-    if(Dim!=1)
-      return false;
-    x_init[0] = x_init_;
-    return true;
-  }
-
-  virtual bool setFinalPoint(const Eigen::VectorXd& x_final_)
-  {
-    if(x_final.size()!=x_final_.size())
-      return false;
-    x_final = x_final_;
-    return true;
-  }
-
-  virtual bool setFinalPoint(const double& x_final_)
-  {
-    if(Dim!=1)
-      return false;
-    x_final[0] = x_final_;
-    return true;
-  }
-
-  virtual bool setTrajectoryTime(double traj_time_)
-  {
-    if(traj_time_<=0.0)
-      return false;
-    traj_time = traj_time_;
-    return true;
-  }
-
-protected:
-  /*Attributes*/
-  point_t x_init;
-  point_t x_final;
-  time_t traj_time;
-};
-}
-#endif //_CLASS_EXACTCUBIC
+/**
+* \file constant-acceleration.hpp
+* \brief Generates InfiniteConstAcc trajectory
+* \author Rohan Budhiraja
+* \date 2017
+*
+*/
+
+#ifndef _parameteric_curves_infinite_constant_acceleration_hpp
+#define _parameteric_curves_infinite_constant_acceleration_hpp
+
+#include <parametric-curves/abstract-curve.hpp>
+#include <cmath>
+
+namespace parametriccurves
+{
+
+/// \class InfiniteConstAcc
+/// \brief Creates InfiniteConstAcc curve
+/// s = s_0 + u_0*t+0.5*a_0*t^2
+
+template<typename Numeric=double, std::size_t Dim=1,
+         typename Point= Eigen::Matrix<Numeric, Dim, 1> >
+struct InfiniteConstAcc :
+    public AbstractCurve<Numeric, Point>
+{
+  typedef Point          point_t;
+  typedef Numeric 	time_t;
+  typedef Numeric	num_t;
+
+  typedef AbstractCurve<Numeric, Point> curve_abc_t;
+
+public:
+  ///\brief Constructor
+
+  InfiniteConstAcc(const time_t& traj_time_,
+                       const point_t& x_init_= Eigen::Matrix<Numeric, Dim, 1>::Zero(),
+                       const point_t& x_final_= Eigen::Matrix<Numeric, Dim, 1>::Zero())
+    : curve_abc_t(-1,-1),
+      traj_time(traj_time_),
+      x_init(x_init_),
+      x_final(x_final_) {}
+
+  ///\brief Destructor
+  ~InfiniteConstAcc(){}
+  
+public:
+
+  virtual const point_t operator()(const time_t& t_) const
+  {
+    const time_t t = std::fmod(t_, 2*traj_time);
+    const point_t& m_ddx0 = 4.0*(x_final-x_init)/(traj_time*traj_time);
+    if(t<=0.5*traj_time)
+      return x_init + 0.5*m_ddx0*t*t;
+    else if(t>0.5*traj_time && t<=1.5*traj_time)
+      return (x_init+x_final)/2
+        +0.5*m_ddx0*traj_time*(t-0.5*traj_time)
+        -0.5*m_ddx0*(t-0.5*traj_time)*(t-0.5*traj_time);
+    else //(t>1.5*traj_time && t<=2*traj_time)
+      return (x_init+x_final)/2
+        - 0.5*m_ddx0*traj_time*(t-1.5*traj_time)
+        + 0.5*m_ddx0*(t-1.5*traj_time)*(t-1.5*traj_time);
+  }
+  
+  virtual const point_t derivate(const time_t& t_, const std::size_t& order) const
+  {
+    const time_t t = std::fmod(t_, 2*traj_time);
+    const point_t& m_ddx0 = 4.0*(x_final-x_init)/(traj_time*traj_time);
+    if(order==1) {
+      if(t<=0.5*traj_time)
+        return m_ddx0*t;
+      else if(t>0.5*traj_time && t<=1.5*traj_time)
+        return 0.5*m_ddx0*traj_time - m_ddx0*(t-0.5*traj_time);
+      else //(t>1.5*traj_time && t<=2*traj_time)
+        return -0.5*m_ddx0*traj_time + m_ddx0*(t-1.5*traj_time);
+    }
+    else if(order==2) {
+      if(t<=0.5*traj_time)
+        return m_ddx0;
+      else if(t>0.5*traj_time && t<=1.5*traj_time)
+        return -m_ddx0;
+      else //(t>1.5*traj_time && t<=2*traj_time)
+        return m_ddx0;
+    }
+    else {
+      std::cerr<<"Higher order derivatives not supported"<<std::endl;
+      return point_t::Zero(Dim);
+    }
+  }
+
+public:
+  virtual bool setInitialPoint(const point_t& x_init_)
+  {
+    if(x_init_.size()!=x_init.size())
+      return false;
+    x_init = x_init_;
+  }
+
+  virtual bool setInitialPoint(const double& x_init_)
+  {
+    if(Dim!=1)
+      return false;
+    x_init[0] = x_init_;
+    return true;
+  }
+
+  virtual bool setFinalPoint(const Eigen::VectorXd& x_final_)
+  {
+    if(x_final.size()!=x_final_.size())
+      return false;
+    x_final = x_final_;
+    return true;
+  }
+
+  virtual bool setFinalPoint(const double& x_final_)
+  {
+    if(Dim!=1)
+      return false;
+    x_final[0] = x_final_;
+    return true;
+  }
+
+  virtual bool setTrajectoryTime(double traj_time_)
+  {
+    if(traj_time_<=0.0)
+      return false;
+    traj_time = traj_time_;
+    return true;
+  }
+
+protected:
+  /*Attributes*/
+  point_t x_init;
+  point_t x_final;
+  time_t traj_time;
+};
+}
+#endif //_CLASS_EXACTCUBIC

include/parametric-curves/infinite-sinusoid.hpp

-/**
-* \file sinusoid.hpp
-* \brief Generates InfiniteSinusoidal trajectory
-* \author Rohan Budhiraja
-* \date 2017
-*
-*/
-
-#ifndef _parameteric_curves_sinusoid_hpp
-#define _parameteric_curves_sinusoid_hpp
-
-#include <parametric-curves/abstract-curve.hpp>
-
-namespace parametriccurves
-{
-
-/// \class InfiniteSinusoid
-/// \brief Creates InfiniteSinusoid curve
-/// The sinusoid is actually a cosine so that it starts with zero velocity.
-/// Returns x = x_init + A*cos(2*pi*f*t) where f is give by 1/(2*traj_time)
-template<typename Numeric=double, std::size_t Dim=1,
-         typename Point= Eigen::Matrix<Numeric, Dim, 1>>
-struct InfiniteSinusoid :
-    public AbstractCurve<Numeric, Point>
-{
-  typedef Point          point_t;
-  typedef Numeric 	time_t;
-  typedef Numeric	num_t;
-
-  typedef AbstractCurve<Numeric, Point> curve_abc_t;
-
-public:
-  ///\brief Constructor
-
-  InfiniteSinusoid(const time_t& traj_time_,
-                   const point_t& x_init_= Eigen::Matrix<Numeric, Dim, 1>::Zero(),
-                   const point_t& x_final_= Eigen::Matrix<Numeric, Dim, 1>::Zero())
-    : curve_abc_t(-1,-1),
-      traj_time(traj_time_),
-      x_init(x_init_),
-      x_final(x_final_) {}
-
-  ///\brief Destructor
-  ~InfiniteSinusoid(){}
-  
-public:
-
-  virtual const point_t operator()(const time_t& t) const
-  {
-    return x_init + 0.5*(x_final-x_init)*(1.0-cos(two_pi_f(t)));
-  }
-
-  virtual const point_t derivate(const time_t& t, const std::size_t& order) const
-  {
-    if(order==1)
-      return (x_final-x_init)*0.5*two_pi_f(1)*sin(two_pi_f(t));
-    else if(order==2)
-      return (x_final-x_init)*0.5*two_pi_f(1)*two_pi_f(1)*cos(two_pi_f(t));
-    else {
-      std::cerr<<"Higher order derivatives not supported"<<std::endl;
-      return point_t::Zero(Dim);
-    }
-  }
-
-public:
-  virtual bool setInitialPoint(const point_t& x_init_)
-  {
-    if(x_init_.size()!=x_init.size())
-      return false;
-    x_init = x_init_;
-  }
-
-  virtual bool setInitialPoint(const double& x_init_)
-  {
-    if(Dim!=1)
-      return false;
-    x_init[0] = x_init_;
-    return true;
-  }
-
-  virtual bool setFinalPoint(const Eigen::VectorXd& x_final_)
-  {
-    if(x_final.size()!=x_final_.size())
-      return false;
-    x_final = x_final_;
-    return true;
-  }
-
-  virtual bool setFinalPoint(const double& x_final_)
-  {
-    if(Dim!=1)
-      return false;
-    x_final[0] = x_final_;
-    return true;
-  }
-  virtual bool setTrajectoryTime(double traj_time_)
-  {
-    if(traj_time_<=0.0)
-      return false;
-    traj_time = traj_time_;
-    return true;
-  }
-
-protected:
-  /*Attributes*/
-  point_t x_init;
-  point_t x_final;
-  time_t traj_time;
-
-private:
-  inline