.gitlab-ci.yml

-variables:
-  GIT_SUBMODULE_STRATEGY: "recursive"
-  GIT_DEPTH: "3"
-  CCACHE_BASEDIR: "${CI_PROJECT_DIR}"
-  CCACHE_DIR: "${CI_PROJECT_DIR}/ccache"
-
-cache:
-  paths:
-    - ccache
-
-.robotpkg-sot-dyninv-v3: &robotpkg-sot-dyninv-v3
-  except:
-    - gh-pages
-  script:
-    - mkdir -p ccache
-    - cd /root/robotpkg/wip/sot-dyninv-v3
-    - git pull
-    - make checkout MASTER_REPOSITORY="dir ${CI_PROJECT_DIR}"
-    - make install
-    - cd work.$(hostname)/$(make show-var VARNAME=DISTNAME)
-    - make test
-
-robotpkg-sot-dyninv-v3-14.04-release:
-  <<: *robotpkg-sot-dyninv-v3
-  image: eur0c.laas.fr:5000/stack-of-tasks/sot-dyninv/sot-dyninv-v3:14.04
-
-robotpkg-sot-dyninv-v3-16.04-release:
-  <<: *robotpkg-sot-dyninv-v3
-  image: eur0c.laas.fr:5000/stack-of-tasks/sot-dyninv/sot-dyninv-v3:16.04
-
-doc-coverage:
-  <<: *robotpkg-sot-dyninv-v3
-  image: eur0c.laas.fr:5000/stack-of-tasks/sot-dyninv/sot-dyninv-v3:16.04
-  before_script:
-    - echo -e 'CXXFLAGS+= --coverage\nLDFLAGS+= --coverage\nPKG_DEFAULT_OPTIONS= debug' >> /opt/openrobots/etc/robotpkg.conf
-  after_script:
-    - cd /root/robotpkg/wip/sot-dyninv-v3
-    - cd work.$(hostname)/$(make show-var VARNAME=DISTNAME)
-    - 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/
-
+include: http://rainboard.laas.fr/project/sot-dyninv/.gitlab-ci.yml

CMakeLists.txt

@@ -22,9 +22,10 @@ INCLUDE(cmake/lapack.cmake)
 INCLUDE(cmake/cpack.cmake)
 INCLUDE(cmake/python.cmake)
 
+SET(PROJECT_NAMESPACE stack-of-tasks)
 SET(PROJECT_NAME sot-dyninv)
 SET(PROJECT_DESCRIPTION "control by inverse dynamics.")
-SET(PROJECT_URL "http://github.com/stack-of-tasks/sot-dyninv")
+SET(PROJECT_URL "http://github.com/${PROJECT_NAMESPACE}/${PROJECT_NAME}")
 
 SET(CUSTOM_HEADER_DIR "${PROJECT_NAME}")
 SET(DOXYGEN_USE_MATHJAX YES)
@@ -38,6 +39,9 @@ SET(PKG_CONFIG_ADDITIONAL_VARIABLES
   plugindir
   )
 
+OPTION(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
+OPTION(INSTALL_PYTHON_INTERFACE_ONLY "Install *ONLY* the python bindings" OFF)
+
 SETUP_PROJECT()
 
 # Search for dependencies.
@@ -136,7 +140,6 @@ foreach(lib solver-op-space solver-dyn-reduced solver-dyn-red2)
 	ENDIF(WIN32)
 endforeach(lib)
 
-OPTION(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
 IF(BUILD_PYTHON_INTERFACE)
   FINDPYTHON()
   FIND_NUMPY()
@@ -150,4 +153,3 @@ ADD_SUBDIRECTORY(python)
 ADD_SUBDIRECTORY(unitTesting)
 
 SETUP_PROJECT_FINALIZE()
-SETUP_PROJECT_CPACK()

cmake @ b58bd669

-Subproject commit 8e7bedfcbd8524c0401a58fd74edc07c3d4308d0
+Subproject commit b58bd669f6567662eefb8a410e8e40aeba4f1060

src/CMakeLists.txt

@@ -30,8 +30,10 @@ FOREACH(header ${headers})
   ELSE(WIN32)
   execute_process(COMMAND ${CMAKE_COMMAND} -E create_symlink ${src_path} ${bin_path} )
   ENDIF(WIN32)
-  install(FILES ${src_path} DESTINATION ${install_path}
-          PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
+  IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+    install(FILES ${src_path} DESTINATION ${install_path}
+            PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
+  ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
 ENDFOREACH(header)
 INCLUDE_DIRECTORIES(${CMAKE_BINARY_DIR}/include)
 
@@ -56,7 +58,9 @@ FOREACH(lib ${libs})
   PKG_CONFIG_USE_DEPENDENCY(${lib} dynamic-graph)
   PKG_CONFIG_USE_DEPENDENCY(${lib} soth)
 
-  INSTALL(TARGETS ${lib} DESTINATION ${DYNAMIC_GRAPH_PLUGINDIR})
+  IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+    INSTALL(TARGETS ${lib} DESTINATION ${DYNAMIC_GRAPH_PLUGINDIR})
+  ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
   # build python submodule
   IF(BUILD_PYTHON_INTERFACE)
     STRING(REPLACE - _ PYTHON_LIBRARY_NAME ${lib})

src/contact-selecter.cpp

@@ -28,6 +28,7 @@ public:contacter_op_space__INIT( void )
 contacter_op_space__INIT contacter_op_space_initiator;
 #endif //#ifdef VP_DEBUG
 
+#include <iostream>
 #include <sot-dyninv/commands-helper.h>
 #include <sot-dyninv/contact-selecter.h>
 #include <dynamic-graph/factory.h>

src/controller-pd.cpp

@@ -18,6 +18,7 @@
 #include <sot/core/debug.hh>
 #include <dynamic-graph/factory.h>
 
+#include <iostream>
 #include <sot-dyninv/commands-helper.h>
 
 namespace dynamicgraph

src/robot-dyn-simu.cpp

@@ -14,6 +14,7 @@
  * with sot-dyninv.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include <pinocchio/fwd.hpp>
 #include <sot/core/debug.hh>
 
 #include <dynamic-graph/factory.h>

src/solver-dyn-reduced.cpp

@@ -38,6 +38,7 @@ solver_op_space__INIT solver_op_space_initiator;
 #include <soth/HCOD.hpp>
 #include <sot-dyninv/task-dyn-pd.h>
 #include <sot/core/feature-point6d.hh>
+#include <iostream>
 #include <sstream>
 #include <soth/Algebra.hpp>
 #include <Eigen/QR>

src/solver-kine.cpp

@@ -37,6 +37,7 @@ solver_op_space__INIT solver_op_space_initiator;
 #include <sot-dyninv/task-dyn-pd.h>
 #include <sot/core/feature-point6d.hh>
 #include <sstream>
+#include <iostream>
 #include <soth/Algebra.hpp>
 #include <Eigen/QR>
 #include <sys/time.h>

src/solver-op-space.cpp

@@ -35,6 +35,7 @@ solver_op_space__INIT solver_op_space_initiator;
 #include <soth/HCOD.hpp>
 #include <sot-dyninv/task-dyn-pd.h>
 #include <sot/core/feature-point6d.hh>
+#include <iostream>
 #include <sstream>
 #include <soth/Algebra.hpp>
 #include <Eigen/QR>

src/task-dyn-inequality.cpp

@@ -110,7 +110,7 @@ namespace dynamicgraph
 	assert( !withInf || insize==(int)refInf.size() );
 	assert( !withSup || insize==(int)refSup.size() );
 
-	using std::cout; using std::endl;
+	// using std::cout; using std::endl;
 	// int iterShow = 76;
 	// if(iter==iterShow)
 	//   {

src/task-dyn-pd.cpp

@@ -14,6 +14,7 @@
  * with sot-dyninv.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include <pinocchio/fwd.hpp>
 #include <dynamic-graph/factory.h>
 
 #include <sot/core/debug.hh>