diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
new file mode 100644
index 0000000000000000000000000000000000000000..a919358407497bbdc27de02031eb38df418b7ae8
--- /dev/null
+++ b/.gitlab-ci.yml
@@ -0,0 +1,53 @@
+variables:
+ GIT_SUBMODULE_STRATEGY: "recursive"
+ GIT_DEPTH: "3"
+ CCACHE_BASEDIR: "${CI_PROJECT_DIR}"
+ CCACHE_DIR: "${CI_PROJECT_DIR}/ccache"
+
+cache:
+ paths:
+ - ccache
+
+.robotpkg-sot-dynamic-pinocchio-v3: &robotpkg-sot-dynamic-pinocchio-v3
+ except:
+ - gh-pages
+ script:
+ - mkdir -p ccache
+ - cd /root/robotpkg/wip/sot-dynamic-pinocchio-v3
+ - git pull
+ - make checkout MASTER_REPOSITORY="dir ${CI_PROJECT_DIR}"
+ - make install
+ - cd work.$(hostname)/$(make show-var VARNAME=DISTNAME)
+ - make test
+
+robotpkg-sot-dynamic-pinocchio-v3-14.04-release:
+ <<: *robotpkg-sot-dynamic-pinocchio-v3
+ image: eur0c.laas.fr:5000/stack-of-tasks/sot-dynamic-pinocchio/sot-dynamic-pinocchio-v3:14.04
+
+robotpkg-sot-dynamic-pinocchio-v3-16.04-release:
+ <<: *robotpkg-sot-dynamic-pinocchio-v3
+ image: eur0c.laas.fr:5000/stack-of-tasks/sot-dynamic-pinocchio/sot-dynamic-pinocchio-v3:16.04
+
+robotpkg-sot-dynamic-pinocchio-v3-18.04-release:
+ <<: *robotpkg-sot-dynamic-pinocchio-v3
+ image: eur0c.laas.fr:5000/stack-of-tasks/sot-dynamic-pinocchio/sot-dynamic-pinocchio-v3:18.04
+
+doc-coverage:
+ <<: *robotpkg-sot-dynamic-pinocchio-v3
+ image: eur0c.laas.fr:5000/stack-of-tasks/sot-dynamic-pinocchio/sot-dynamic-pinocchio-v3:16.04
+ before_script:
+ - echo -e 'CXXFLAGS+= --coverage\nLDFLAGS+= --coverage\nPKG_DEFAULT_OPTIONS= debug' >> /opt/openrobots/etc/robotpkg.conf
+ after_script:
+ - cd /root/robotpkg/wip/sot-dynamic-pinocchio-v3
+ - cd work.$(hostname)/$(make show-var VARNAME=DISTNAME)
+ - make doc
+ - mv doc/doxygen-html ${CI_PROJECT_DIR}
+ - mkdir -p ${CI_PROJECT_DIR}/coverage/
+ - gcovr -r .
+ - gcovr -r . --html --html-details -o ${CI_PROJECT_DIR}/coverage/index.html
+ artifacts:
+ expire_in: 1 day
+ paths:
+ - doxygen-html/
+ - coverage/
+
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3a2d47a84ccebbede75086477dd1fcb48519dfe0..6e064e681060c1a50133f1294a5ef9187d5c59ea 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -20,6 +20,7 @@ INCLUDE(cmake/boost.cmake)
INCLUDE(cmake/eigen.cmake)
INCLUDE(cmake/lapack.cmake)
INCLUDE(cmake/cpack.cmake)
+INCLUDE(cmake/python.cmake)
SET(PROJECT_NAME sot-dynamic-pinocchio)
@@ -27,6 +28,7 @@ SET(PROJECT_DESCRIPTION "pinocchio bindings for dynamic-graph.")
SET(PROJECT_URL "https://github.com/stack-of-tasks/sot-dynamic-pinocchio/")
SET(CUSTOM_HEADER_DIR "${PROJECT_NAME}")
+SET(DOXYGEN_USE_MATHJAX YES)
# Disable -Werror on Unix for now.
SET(CXX_DISABLE_WERROR True)
@@ -62,15 +64,13 @@ SET(plugins
SET(LIBRARY_NAME ${PROJECT_NAME})
LIST(APPEND plugins dynamic)
-
-LIST(APPEND LOGGING_WATCHED_TARGETS ${plugins})
-
# Add dependency toward sot-dynamic-pinocchio library in pkg-config file.
PKG_CONFIG_APPEND_LIBS(${LIBRARY_NAME})
# Search for dependencies.
# Boost
SET(BOOST_COMPONENTS filesystem system unit_test_framework python)
+FINDPYTHON()
SEARCH_FOR_BOOST()
SEARCH_FOR_EIGEN()
diff --git a/README.md b/README.md
index a86320d428f0d6f6d71e626d943b42c84b228c91..ec1d552c46fa5918f697121fc23788431ca28940 100644
--- a/README.md
+++ b/README.md
@@ -2,8 +2,10 @@ sot-dynamic-pinocchio
Encapsulate Pinocchio in SoT
===========
-[](https://travis-ci.org/stack-of-tasks/sot-dynamic-pinocchio)
-[](https://coveralls.io/r/stack-of-tasks/sot-dynamic-pinocchio)
+[](https://travis-ci.org/stack-of-tasks/sot-dynamic-pinocchio)
+[](https://gepgitlab.laas.fr/stack-of-tasks/sot-dynamic-pinocchio/commits/master)
+[](http://projects.laas.fr/gepetto/doc/stack-of-tasks/sot-dynamic-pinocchio/master/coverage/)
+
This software provides robot dynamic computation for dynamic-graph
by using pinocchio.
@@ -41,4 +43,3 @@ have to be available on your machine.
[dynamic-graph]: http://github.com/stack-of-tasks/dynamic-graph
[pinocchio]: http://github.com/stack-of-tasks/pinocchio
[sot-core]: http://github.com/stack-of-tasks/sot-core
->>>>>>> devel
diff --git a/cmake b/cmake
index 212cba414aac3cd18037d4102788b23f3df501f8..8e7bedfcbd8524c0401a58fd74edc07c3d4308d0 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit 212cba414aac3cd18037d4102788b23f3df501f8
+Subproject commit 8e7bedfcbd8524c0401a58fd74edc07c3d4308d0
diff --git a/custom_cmake/python.cmake b/custom_cmake/python.cmake
deleted file mode 100644
index 2c6ed4f12b0d7e44c08fd63ae31379b05d39bbfd..0000000000000000000000000000000000000000
--- a/custom_cmake/python.cmake
+++ /dev/null
@@ -1,87 +0,0 @@
-# Copyright (C) 2008-2016 LAAS-CNRS, JRL AIST-CNRS.
-#
-# This program is free software: you can redistribute it and/or modify
-# it under the terms of the GNU General Public License as published by
-# the Free Software Foundation, either version 3 of the License, or
-# (at your option) any later version.
-#
-# This program 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 Public License for more details.
-#
-# You should have received a copy of the GNU General Public License
-# along with this program. If not, see <http://www.gnu.org/licenses/>.
-
-
-#
-# SOT_DYNAMIC_PYTHON_MODULE SUBMODULENAME LIBRARYNAME TARGETNAME
-# ---------------------------
-#
-# Add a python submodule to dynamic_graph
-#
-# SUBMODULENAME : the name of the submodule (can be foo/bar),
-#
-# LIBRARYNAME : library to link the submodule with.
-#
-# TARGETNAME : name of the target: should be different for several
-# calls to the macro.
-#
-# NOTICE : Before calling this macro, set variable NEW_ENTITY_CLASS as
-# the list of new Entity types that you want to be bound.
-# Entity class name should match the name referencing the type
-# in the factory.
-#
-MACRO(SOT_DYNAMIC_PYTHON_MODULE SUBMODULENAME LIBRARYNAME TARGETNAME)
- FINDPYTHON()
-
- SET(PYTHON_MODULE ${TARGETNAME})
-
- ADD_LIBRARY(${PYTHON_MODULE}
- MODULE
- ${PROJECT_SOURCE_DIR}/src/python-module-py.cpp)
- #${PROJECT_SOURCE_DIR}/src/sot-dynamic-py.cpp)
-
- FILE(MAKE_DIRECTORY ${PROJECT_BINARY_DIR}/src/dynamic_graph/${SUBMODULENAME})
- SET_TARGET_PROPERTIES(${PYTHON_MODULE}
- PROPERTIES PREFIX ""
- OUTPUT_NAME dynamic_graph/${SUBMODULENAME}/wrap
- )
-
- TARGET_LINK_LIBRARIES(${PYTHON_MODULE} "-Wl,--no-as-needed")
- TARGET_LINK_LIBRARIES(${PYTHON_MODULE} ${LIBRARYNAME} ${PYTHON_LIBRARY})
- TARGET_LINK_LIBRARIES(${PYTHON_MODULE} ${Boost_LIBRARIES})
- TARGET_LINK_LIBRARIES(${PYTHON_MODULE} pinocchio)
- TARGET_LINK_LIBRARIES(${PYTHON_MODULE} eigenpy)
-
- PKG_CONFIG_USE_DEPENDENCY(${PYTHON_MODULE} dynamic-graph)
- PKG_CONFIG_USE_DEPENDENCY(${PYTHON_MODULE} pinocchio)
- PKG_CONFIG_USE_DEPENDENCY(${PYTHON_MODULE} eigenpy)
-
- INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_PATH})
-
- #
- # Installation
- #
- SET(PYTHON_INSTALL_DIR ${PYTHON_SITELIB}/dynamic_graph/${SUBMODULENAME})
-
- INSTALL(TARGETS ${PYTHON_MODULE}
- DESTINATION
- ${PYTHON_INSTALL_DIR})
-
- SET(ENTITY_CLASS_LIST "")
- FOREACH (ENTITY ${NEW_ENTITY_CLASS})
- SET(ENTITY_CLASS_LIST "${ENTITY_CLASS_LIST}${ENTITY}('')\n")
- ENDFOREACH(ENTITY ${NEW_ENTITY_CLASS})
-
- CONFIGURE_FILE(
- ${PROJECT_SOURCE_DIR}/cmake/dynamic_graph/submodule/__init__.py.cmake
- ${PROJECT_BINARY_DIR}/src/dynamic_graph/${SUBMODULENAME}/__init__.py
- )
-
- INSTALL(
- FILES ${PROJECT_BINARY_DIR}/src/dynamic_graph/${SUBMODULENAME}/__init__.py
- DESTINATION ${PYTHON_INSTALL_DIR}
- )
-
-ENDMACRO(DYNAMIC_GRAPH_PYTHON_MODULE SUBMODULENAME)
\ No newline at end of file
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index b865ecfc1554c85b3e9193c87ac5d22d6cbc895c..d0d241b0449dc8726b4ebda2b91c2e6f5f8fd3b3 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -1,6 +1,3 @@
-INCLUDE(../cmake/python.cmake)
-FINDPYTHON()
-
INSTALL(
FILES kine_romeo.py kine_romeo_small.py
DESTINATION ${PYTHON_SITELIB}/dynamic_graph/tutorial
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index c93eaf63876380623703ab6887b76378751eafe7..3c29c101d38575ef00917e83d843919ed369efc8 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -14,8 +14,6 @@
# received a copy of the GNU Lesser General Public License along with
# sot-dynamic-pinocchio. If not, see <http://www.gnu.org/licenses/>.
-INCLUDE(../custom_cmake/python.cmake)
-INCLUDE(../cmake/python.cmake)
LINK_DIRECTORIES(${Boost_LIBRARY_DIRS})
# Verbosity level
@@ -54,7 +52,7 @@ FOREACH(lib ${plugins})
# build python submodule
STRING(REPLACE - _ PYTHON_LIBRARY_NAME ${lib})
- SOT_DYNAMIC_PYTHON_MODULE("sot/dynamics_pinocchio/${PYTHON_LIBRARY_NAME}"
+ DYNAMIC_GRAPH_PYTHON_MODULE("sot/dynamics_pinocchio/${PYTHON_LIBRARY_NAME}"
${libname}
sot-dynamic-pinocchio-${PYTHON_LIBRARY_NAME}-wrap
)
@@ -81,4 +79,4 @@ INSTALL(FILES
${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics_pinocchio/tools.py
${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics_pinocchio/parser.py
DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio
- )
\ No newline at end of file
+ )
diff --git a/unitTesting/CMakeLists.txt b/unitTesting/CMakeLists.txt
index 132599bce0254631551100bae2f5987709d398ae..3247e7fb1617a7abdfff27135d3c36511b4c264c 100644
--- a/unitTesting/CMakeLists.txt
+++ b/unitTesting/CMakeLists.txt
@@ -12,7 +12,6 @@
# General Lesser Public License for more details. You should have
# received a copy of the GNU Lesser General Public License along with
# sot-dynamic-pinocchio. If not, see <http://www.gnu.org/licenses/>.
-INCLUDE(../cmake/python.cmake)
ADD_DEFINITIONS(-DDEBUG=2)
@@ -30,9 +29,6 @@ test_constructor
# Install procedure for the urdf files
#----------------------------------------------------
-FILE(COPY ${CMAKE_CURRENT_SOURCE_DIR}/two_link.urdf
- DESTINATION urdf)
-
SET(test_dyn_plugins_dependencies dynamic)
# Make Boost.Test generates the main function in test cases.
@@ -50,8 +46,6 @@ ADD_DEFINITIONS(-DBOOST_TEST_DYN_LINK -DBOOST_TEST_MAIN)
#SET(sampleinitconfig
# ${JRL_DYNAMICS_PKGDATAROOTDIR}/jrl-dynamics/examples/data/sampleInitConfig.dat)
-FINDPYTHON()
-
LIST(APPEND LOGGING_WATCHED_VARIABLES samplespec sampleljr)
FOREACH(test ${tests})
@@ -60,7 +54,7 @@ FOREACH(test ${tests})
${test}.cpp)
MESSAGE("PYTHON_INCLUDE_PATH: ${PYTHON_INCLUDE_PATH}")
INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_PATH})
-
+
TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME}
dp-zmpreffromcom
dp-force-compensation
@@ -77,7 +71,7 @@ FOREACH(test ${tests})
PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} sot-core)
PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} dynamic-graph)
PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} dynamic-graph-python)
-
+
IF(${test}_plugins_dependencies)
ADD_DEPENDENCIES(${EXECUTABLE_NAME} "${${test}_plugins_dependencies}")
TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME} "${${test}_plugins_dependencies}")
@@ -89,7 +83,7 @@ FOREACH(test ${tests})
IF (UNIX)
SET(EXTRA_LD_LIBRARY_PATH $ENV{LD_LIBRARY_PATH})
- SET_PROPERTY(TEST ${test} PROPERTY
+ SET_PROPERTY(TEST ${test} PROPERTY
ENVIRONMENT "LD_LIBRARY_PATH=${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}:${CMAKE_BINARY_DIR}/src:${BOOST_ROOT}/lib:${EXTRA_LD_LIBRARY_PATH}")
ENDIF(UNIX)
diff --git a/unitTesting/two_link.urdf b/unitTesting/two_link.urdf
deleted file mode 100644
index 570717dac88d37291e2703b0d607848a3d1699fa..0000000000000000000000000000000000000000
--- a/unitTesting/two_link.urdf
+++ /dev/null
@@ -1,45 +0,0 @@
-<?xml version="1.0"?>
-<!--
- simple_humanoid URDF model
-
- FIXME: fill missing data: sole, gripper and sensors
- -->
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="test_two_link">
-
- <link name="base_link"/>
- <joint name="JOINT1" type="revolute">
- <axis xyz="0 0 1"/>
- <parent link="base_link"/>
- <child link="CHILD1"/>
- <origin xyz="1 0 0"/>
- <limit effort="12" lower="0" upper="3.14" velocity="10"/>
- </joint>
- <link name="CHILD1">
- <inertial>
- <origin xyz="0.5 0 0" rpy="0 0 0"/>
- <mass value="10"/>
- <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
- </inertial>
- </link>
- <joint name="JOINT2" type="revolute">
- <axis xyz="0 0 1"/>
- <parent link="CHILD1"/>
- <child link="CHILD2"/>
- <origin xyz="1 0 0"/>
- <limit effort="12" lower="0" upper="3.14" velocity="10"/>
- </joint>
- <link name="CHILD2">
- <inertial>
- <origin xyz="0.5 0 0" rpy="0 0 0"/>
- <mass value="20"/>
- <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
- </inertial>
- </link>
- <joint name="FRAMEJOINT1" type="fixed">
- <parent link="CHILD2"/>
- <child link="CHILD3"/>
- <origin rpy="0 0 0" xyz="0 0 -0.16"/>
- </joint>
- <link name="CHILD3"/>
-
-</robot>