From b3dd5cf256e3807071d29a6a58987987198bc25e Mon Sep 17 00:00:00 2001
From: Thomas Moulard <thomas.moulard@gmail.com>
Date: Wed, 4 Sep 2013 23:17:43 +0900
Subject: [PATCH] Remove unwanted files.
---
cmake_uninstall.cmake.in | 29 -------
fix-sot-dynamics.patch | 183 ---------------------------------------
sot-dynamic.pc.cmake | 13 ---
3 files changed, 225 deletions(-)
delete mode 100644 cmake_uninstall.cmake.in
delete mode 100644 fix-sot-dynamics.patch
delete mode 100644 sot-dynamic.pc.cmake
diff --git a/cmake_uninstall.cmake.in b/cmake_uninstall.cmake.in
deleted file mode 100644
index 3a498f4..0000000
--- a/cmake_uninstall.cmake.in
+++ /dev/null
@@ -1,29 +0,0 @@
-# Template for uninstalling the files
-# provided by this package.
-#
-# This file is coming straight from
-# http://www.cmake.org/Wiki/CMake_FAQ
-# O. Stasse, JRL, CNRS, 2010
-#
-
-IF(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
- MESSAGE(FATAL_ERROR "Cannot find install manifest: \"@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt\"")
-ENDIF(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
-
-FILE(READ "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt" files)
-STRING(REGEX REPLACE "\n" ";" files "${files}")
-FOREACH(file ${files})
- MESSAGE(STATUS "Uninstalling \"$ENV{DESTDIR}${file}\"")
- IF(EXISTS "$ENV{DESTDIR}${file}")
- EXEC_PROGRAM(
- "@CMAKE_COMMAND@" ARGS "-E remove \"$ENV{DESTDIR}${file}\""
- OUTPUT_VARIABLE rm_out
- RETURN_VALUE rm_retval
- )
- IF(NOT "${rm_retval}" STREQUAL 0)
- MESSAGE(FATAL_ERROR "Problem when removing \"$ENV{DESTDIR}${file}\"")
- ENDIF(NOT "${rm_retval}" STREQUAL 0)
- ELSE(EXISTS "$ENV{DESTDIR}${file}")
- MESSAGE(STATUS "File \"$ENV{DESTDIR}${file}\" does not exist.")
- ENDIF(EXISTS "$ENV{DESTDIR}${file}")
-ENDFOREACH(file)
diff --git a/fix-sot-dynamics.patch b/fix-sot-dynamics.patch
deleted file mode 100644
index db1d72e..0000000
--- a/fix-sot-dynamics.patch
+++ /dev/null
@@ -1,183 +0,0 @@
-diff --git a/include/sot-dynamic/dynamic-hrp2.h b/include/sot-dynamic/dynamic-hrp2.h
-index 2a4d139..a8781ca 100644
---- a/include/sot-dynamic/dynamic-hrp2.h
-+++ b/include/sot-dynamic/dynamic-hrp2.h
-@@ -30,7 +30,7 @@
- #include <sot-dynamic/dynamic.h>
-
- /* JRL dynamic */
--#include <hrp2Dynamics/hrp2Opthumanoid-dynamic-robot.hh>
-+#include <hrp2-dynamics/hrp2OptHumanoidDynamicRobot.h>
-
- /* --------------------------------------------------------------------- */
- /* --- API ------------------------------------------------------------- */
-diff --git a/src/dynamic.cpp b/src/dynamic.cpp
-index 679b4fd..ba29c7a 100644
---- a/src/dynamic.cpp
-+++ b/src/dynamic.cpp
-@@ -662,7 +662,11 @@ computeJcom( ml::Matrix& Jcom,int time )
- {
- sotDEBUGIN(25);
- newtonEulerSINTERN(time);
-- Jcom.initFromMotherLib(m_HDR->jacobianCenterOfMass());
-+
-+ matrixNxP jacobian;
-+ m_HDR->getJacobianCenterOfMass(*m_HDR->rootJoint(), jacobian);
-+
-+ Jcom.initFromMotherLib(jacobian);
- sotDEBUGOUT(25);
- return Jcom;
- }
-@@ -748,14 +752,11 @@ computeFootHeight( double& foot,int time )
- {
- sotDEBUGIN(25);
- newtonEulerSINTERN(time);
-- //foot=m_HDR->footHeight();
-- CjrlFoot *RightFoot = m_HDR->rightFoot();
-- vector3d AnkleInLocalRefFrame,SoleCenterInLocalRefFrame;
-+ CjrlFoot* RightFoot = m_HDR->rightFoot();
-+ vector3d AnkleInLocalRefFrame;
- RightFoot->getAnklePositionInLocalFrame(AnkleInLocalRefFrame);
-- RightFoot->getSoleCenterInLocalFrame(SoleCenterInLocalRefFrame);
-- foot = fabs(AnkleInLocalRefFrame[2]-SoleCenterInLocalRefFrame[2]);
- sotDEBUGOUT(25);
-- return foot;
-+ return AnkleInLocalRefFrame[2];
- }
-
-
-diff --git a/unitTesting/test_djj.cpp b/unitTesting/test_djj.cpp
-index c9b5f2d..9b4d24f 100644
---- a/unitTesting/test_djj.cpp
-+++ b/unitTesting/test_djj.cpp
-@@ -45,9 +45,9 @@ void DisplayDynamicRobotInformation(CjrlDynamicRobot *aDynamicRobot)
- for(int i=0;i<r;i++)
- {
- cout << aVec[i]->rankInConfiguration()<< endl;
-- }
-+ }
-+
-
--
- }
-
- void DisplayMatrix(MAL_MATRIX(,double) &aJ)
-@@ -69,15 +69,15 @@ void DisplayMatrix(MAL_MATRIX(,double) &aJ)
- /* --- DISPLAY MASS PROPERTIES OF A CHAIN --- */
- void GoDownTree(const CjrlJoint * startJoint)
- {
-- cout << "Mass-inertie property of joint ranked :"
-+ cout << "Mass-inertie property of joint ranked :"
- << startJoint->rankInConfiguration() << endl;
-- cout << "Mass of the body: "
-+ cout << "Mass of the body: "
- << startJoint->linkedBody()->mass() << endl;
-- cout << "llimit: "
-+ cout << "llimit: "
- << startJoint->lowerBound(0)*180/M_PI
- << " ulimit: " << startJoint->upperBound(0)*180/M_PI << endl;
- cout << startJoint->currentTransformation() << endl;
--
-+
- if (startJoint->countChildJoints()!=0)
- {
- const CjrlJoint * childJoint = startJoint->childJoint(0);
-@@ -96,7 +96,7 @@ int main(int argc, char *argv[])
- cerr << "./TestHumanoidDynamicRobot PATH_TO_VRML_FILE "
- << "VRML_FILE_NAME PATH_TO_SPECIFICITIES_XML" << endl;
- exit(0);
-- }
-+ }
-
- string aPath=argv[1];
- string aName=argv[2];
-@@ -104,13 +104,13 @@ int main(int argc, char *argv[])
- // DynamicMultiBody * aDMB
- // = new DynamicMultiBody();
- // aDMB->parserVRML(aPath,aName,"");
--// HumanoidDynamicMultiBody *aHDMB
-+// HumanoidDynamicMultiBody *aHDMB
- // = new HumanoidDynamicMultiBody(aDMB,aSpecificitiesFileName);
-
- /* ------------------------------------------------------------------------ */
- dynamicsJRLJapan::ObjectFactory aRobotDynamicsObjectConstructor;
- CjrlHumanoidDynamicRobot * aHDR = aRobotDynamicsObjectConstructor.createHumanoidDynamicRobot();
--
-+
-
- // DynamicMultiBody * aDMB
- // = (DynamicMultiBody *) aHDMB->getDynamicMultiBody();
-@@ -122,19 +122,19 @@ int main(int argc, char *argv[])
-
- cout << "-> Finished the initialization"<< endl;
- /* ------------------------------------------------------------------------ */
--
-+
- // Display tree of the joints.
-- CjrlJoint* rootJoint = aHDR->rootJoint();
-+ CjrlJoint* rootJoint = aHDR->rootJoint();
- RecursiveDisplayOfJoints(rootJoint);
-
- // Test the computation of the jacobian.
-- double dInitPos[40] = {
-+ double dInitPos[40] = {
- 0.0, 0.0, -26.0, 50.0, -24.0, 0.0, 0.0, 0.0, -26.0, 50.0, -24.0, 0.0, // legs
-
- 0.0, 0.0, 0.0, 0.0, // chest and head
-
- 15.0, -10.0, 0.0, -30.0, 0.0, 0.0, 10.0, // right arm
-- 15.0, 10.0, 0.0, -30.0, 0.0, 0.0, 10.0, // left arm
-+ 15.0, 10.0, 0.0, -30.0, 0.0, 0.0, 10.0, // left arm
-
- -20.0, 20.0, -20.0, 20.0, -20.0, // right hand
- -10.0, 10.0, -10.0, 10.0, -10.0 // left hand
-@@ -151,7 +151,7 @@ int main(int argc, char *argv[])
- aHDR->currentConfiguration(aCurrentConf);
-
- /* Set current velocity to 0. */
-- MAL_VECTOR_DIM(aCurrentVel,double,NbOfDofs);
-+ MAL_VECTOR_DIM(aCurrentVel,double,NbOfDofs);
- for(int i=0;i<NbOfDofs;i++) aCurrentVel[i] = 0.0;
- aHDR->currentVelocity(aCurrentVel);
-
-@@ -163,7 +163,7 @@ int main(int argc, char *argv[])
- aHDR->computeForwardKinematics();
- ZMPval = aHDR->zeroMomentumPoint();
- cout << "First value of ZMP : " << ZMPval <<endl;
-- cout << "Should be equal to the CoM (on x-y): "
-+ cout << "Should be equal to the CoM (on x-y): "
- << aHDR->positionCenterOfMass() << endl;
-
- /* Get Rhand joint. */
-@@ -177,19 +177,20 @@ int main(int argc, char *argv[])
- aJoint->computeJacobianJointWrtConfig();
- MAL_MATRIX(,double) aJ = aJoint->jacobianJointWrtConfig();
- DisplayMatrix(aJ);
--
-+
- /* Get Waist joint. */
- cout << "****************************" << endl;
- rootJoint->computeJacobianJointWrtConfig();
-- aJ = rootJoint->jacobianJointWrtConfig();
-+ aJ = rootJoint->jacobianJointWrtConfig();
- cout << "Rank of Root: " << rootJoint->rankInConfiguration() << endl;
- aJoint = aHDR->waist();
-
- /* Get CoM jacobian. */
- cout << "****************************" << endl;
-- aHDR->computeJacobianCenterOfMass();
-+ matrixNxP jacobian;
-+ aHDR->getJacobianCenterOfMass(*aHDR->rootJoint(), jacobian);
- cout << "Value of the CoM's Jacobian:" << endl
-- << aHDR->jacobianCenterOfMass() << endl;
-+ << jacobian << endl;
-
- /* Display the mass property of the leg. */
- cout << "****************************" << endl;
-@@ -223,5 +224,5 @@ int main(int argc, char *argv[])
-
- // The End!
- delete aHDR;
--
-+
- }
diff --git a/sot-dynamic.pc.cmake b/sot-dynamic.pc.cmake
deleted file mode 100644
index 48f2a5c..0000000
--- a/sot-dynamic.pc.cmake
+++ /dev/null
@@ -1,13 +0,0 @@
-prefix=${CMAKE_INSTALL_PREFIX}
-exec_prefix=${install_pkg_prefix}
-libdir=${install_pkg_exec_prefix}/lib/plugin
-includedir=${install_pkg_prefix}/include
-datarootdir=${install_pkg_prefix}/share
-docdir=${install_pkg_datarootdir}/doc/${PROJECT_NAME}
-
-Name: ${PROJECT_NAME}
-Description:
-Version: ${PROJECT_VERSION}
-Requires: ${PACKAGE_REQUIREMENTS}
-Libs: ${LIBDIR_KW}${install_pkg_libdir} ${${PROJECT_NAME}_LDFLAGS}
-Cflags: -I${install_pkg_include_dir} ${${PROJECT_NAME}_CXXFLAGS}
--
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