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From: Thomas M. <tho...@us...> - 2009-11-13 17:17:37
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim-core".
The branch, master has been updated
via 59d0dd41e70b2d1b7fbbdf5067b93f2a98c45e5d (commit)
from 58235253c5defd13523f88267361c27d184da90f (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 59d0dd41e70b2d1b7fbbdf5067b93f2a98c45e5d
Author: Thomas Moulard <tho...@gm...>
Date: Fri Nov 13 18:17:23 2009 +0100
Fix spec file.
* roboptim-core.spec.in: Split shared libraries
between user and developper packages correctly.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index a4cb4d3..8a141ad 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,6 +1,12 @@
2009-11-13 Thomas Moulard <tho...@gm...>
Fix spec file.
+ * roboptim-core.spec.in: Split shared libraries
+ between user and developper packages correctly.
+
+2009-11-13 Thomas Moulard <tho...@gm...>
+
+ Fix spec file.
* roboptim-core.spec.in: Remove extra dots in description.
2009-11-13 Thomas Moulard <tho...@gm...>
diff --git a/roboptim-core.spec.in b/roboptim-core.spec.in
index 537e31e..006dbd4 100644
--- a/roboptim-core.spec.in
+++ b/roboptim-core.spec.in
@@ -63,12 +63,13 @@ rm -rf $RPM_BUILD_ROOT
%files
%defattr(-,root,root,-)
-%{_libdir}/*.so
+%{_libdir}/*.so.*
+
%files devel
%defattr(-,root,root,-)
%{_includedir}/*
-%{_libdir}/*.so.*
+%{_libdir}/*.so
%{_libdir}/pkgconfig/*
%files doc
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 6 ++++++
roboptim-core.spec.in | 5 +++--
2 files changed, 9 insertions(+), 2 deletions(-)
hooks/post-receive
--
roboptim-core
|
|
From: <no-...@ro...> - 2009-11-13 16:59:24
|
The Buildbot has finished a build of roboptim-trajectory on RobOptim. Full details are available at: http://cleo.laas.fr:8010/builders/roboptim-trajectory/builds/6 Buildbot URL: http://cleo.laas.fr:8010/ Buildslave for this Build: cleo Build Reason: The web-page 'force build' button was pressed by 'Thomas Moulard': Build Source Stamp: HEAD Blamelist: BUILD FAILED: failed shell_4 sincerely, -The Buildbot |
|
From: <no-...@ro...> - 2009-11-13 16:56:27
|
The Buildbot has finished a build of roboptim-core-cfsqp-plugin on RobOptim. Full details are available at: http://cleo.laas.fr:8010/builders/roboptim-core-cfsqp-plugin/builds/4 Buildbot URL: http://cleo.laas.fr:8010/ Buildslave for this Build: cleo Build Reason: The web-page 'force build' button was pressed by 'Thomas Moulard': Build Source Stamp: HEAD Blamelist: Build succeeded! sincerely, -The Buildbot |
|
From: <no-...@ro...> - 2009-11-13 16:07:20
|
The Buildbot has finished a build of roboptim-core on RobOptim. Full details are available at: http://cleo.laas.fr:8010/builders/roboptim-core/builds/20 Buildbot URL: http://cleo.laas.fr:8010/ Buildslave for this Build: cleo Build Reason: The web-page 'force build' button was pressed by 'Thomas Moulard': Build Source Stamp: HEAD Blamelist: Build succeeded! sincerely, -The Buildbot |
|
From: Thomas M. <tho...@us...> - 2009-11-13 15:59:38
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim-trajectory".
The branch, master has been updated
via 018274d9ba63669474ab8c2ccc8988bd10034bfa (commit)
via 793a7b398a29cb58dfe8e0f92969602e83db52db (commit)
from 1900f24694015e51edb0a5b479059fa9add0ad1f (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 018274d9ba63669474ab8c2ccc8988bd10034bfa
Author: Thomas Moulard <tho...@gm...>
Date: Fri Nov 13 16:59:24 2009 +0100
Fix spec file.
* roboptim-trajectory.spec.in: Distribute development
libraries in development package.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index f898e1e..3b5f8f7 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,6 +1,12 @@
2009-11-13 Thomas Moulard <tho...@gm...>
Fix spec file.
+ * roboptim-trajectory.spec.in: Distribute development
+ libraries in development package.
+
+2009-11-13 Thomas Moulard <tho...@gm...>
+
+ Fix spec file.
* roboptim-trajectory.spec.in: Fix description.
2009-11-12 Thomas Moulard <tho...@gm...>
diff --git a/roboptim-trajectory.spec.in b/roboptim-trajectory.spec.in
index df360b3..7b807e6 100644
--- a/roboptim-trajectory.spec.in
+++ b/roboptim-trajectory.spec.in
@@ -62,11 +62,12 @@ rm -rf $RPM_BUILD_ROOT
%files
%defattr(-,root,root,-)
-%{_libdir}/*.so*
+%{_libdir}/*.so
%files devel
%defattr(-,root,root,-)
%{_includedir}/*
+\%{_libdir}/*.so.*
%{_libdir}/pkgconfig/*
%files doc
commit 793a7b398a29cb58dfe8e0f92969602e83db52db
Author: Thomas Moulard <tho...@gm...>
Date: Fri Nov 13 16:58:51 2009 +0100
Fix spec file.
* roboptim-trajectory.spec.in: Fix description.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 25fedf3..f898e1e 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,8 @@
+2009-11-13 Thomas Moulard <tho...@gm...>
+
+ Fix spec file.
+ * roboptim-trajectory.spec.in: Fix description.
+
2009-11-12 Thomas Moulard <tho...@gm...>
Fix test case.
diff --git a/roboptim-trajectory.spec.in b/roboptim-trajectory.spec.in
index 3e9f5b9..df360b3 100644
--- a/roboptim-trajectory.spec.in
+++ b/roboptim-trajectory.spec.in
@@ -1,7 +1,7 @@
Name: @PACKAGE_TARNAME@
Version: @PACKAGE_VERSION@
Release: 1%{?dist}
-Summary: Generic optimization library
+Summary: The RobOptim trajectory C++ library
Group: Development/Libraries
License: LGPLv3+
@@ -13,26 +13,25 @@ BuildRequires: roboptim-core-devel
%description
-The generic optimization library allows user to independently solve
-numerical problems with one of the many available solvers
+RobOptim provide C++ numerical optimization libraries for robotics.
+RobOptim trajectory focuses on providing trajectory computation classes
+and tools to define trajectory optimization problems.
%package devel
-Summary: Static libraries and headers
+Summary: The Roboptim trajectory headers and development-related files
Group: Development/Libraries
Requires: @PACKAGE_TARNAME@ = %{version}-%{release}, pkgconfig
%description devel
-The generic optimization library allows user to independently solve
-numerical problems with one of the many available solvers
+Headers and shared object symlinks for the RobOptim trajectory C++ library
%package doc
-Summary: API documentation
+Summary: The RobOptim trajectory documentation
Group: Documentation
Requires: @PACKAGE_TARNAME@ = %{version}-%{release}
%description doc
-The generic optimization library allows user to independently solve
-numerical problems with one of the many available solvers
+Documentation for the RobOptim trajectory library
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 11 +++++++++++
roboptim-trajectory.spec.in | 20 ++++++++++----------
2 files changed, 21 insertions(+), 10 deletions(-)
hooks/post-receive
--
roboptim-trajectory
|
|
From: Thomas M. <tho...@us...> - 2009-11-13 15:58:35
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim-core".
The branch, master has been updated
via 58235253c5defd13523f88267361c27d184da90f (commit)
from a805755e9b0706902f1cd1b7e3e79250bcbd85c8 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 58235253c5defd13523f88267361c27d184da90f
Author: Thomas Moulard <tho...@gm...>
Date: Fri Nov 13 16:58:23 2009 +0100
Fix spec file.
* roboptim-core.spec.in: Remove extra dots in description.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 13b0e8c..a4cb4d3 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,6 +1,11 @@
2009-11-13 Thomas Moulard <tho...@gm...>
Fix spec file.
+ * roboptim-core.spec.in: Remove extra dots in description.
+
+2009-11-13 Thomas Moulard <tho...@gm...>
+
+ Fix spec file.
* roboptim-core.spec.in: Fix description, bundle
versionned so files in devel package.
diff --git a/roboptim-core.spec.in b/roboptim-core.spec.in
index 7175b0f..537e31e 100644
--- a/roboptim-core.spec.in
+++ b/roboptim-core.spec.in
@@ -16,15 +16,15 @@ BuildRequires: boost-devel, libtool-ltdl-devel
RobOptim provide C++ numerical optimization libraries for robotics.
RobOptim core focuses on providing abstractions for optimization problem
definition and infrastructure to allow the use of existing solvers as
-a back-end.
+a back-end
%package devel
-Summary: The roboptim-core headers and development-related files
+Summary: The Roboptim core headers and development-related files
Group: Development/Libraries
Requires: @PACKAGE_TARNAME@ = %{version}-%{release}, pkgconfig
%description devel
-Headers and shared object symlinks for the RobOptim core C++ library.
+Headers and shared object symlinks for the RobOptim core C++ library
%package doc
@@ -32,7 +32,7 @@ Summary: The RobOptim core documentation
Group: Documentation
Requires: @PACKAGE_TARNAME@ = %{version}-%{release}
%description doc
-Documentation for the RobOptim core library.
+Documentation for the RobOptim core library
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 5 +++++
roboptim-core.spec.in | 8 ++++----
2 files changed, 9 insertions(+), 4 deletions(-)
hooks/post-receive
--
roboptim-core
|
|
From: <no-...@ro...> - 2009-11-13 15:57:12
|
The Buildbot has finished a build of roboptim-core on RobOptim. Full details are available at: http://cleo.laas.fr:8010/builders/roboptim-core/builds/19 Buildbot URL: http://cleo.laas.fr:8010/ Buildslave for this Build: cleo Build Reason: The web-page 'force build' button was pressed by 'Thomas Moulard': Build Source Stamp: HEAD Blamelist: Build succeeded! sincerely, -The Buildbot |
|
From: Thomas M. <tho...@us...> - 2009-11-13 15:50:17
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim-core".
The branch, master has been updated
via a805755e9b0706902f1cd1b7e3e79250bcbd85c8 (commit)
from 1ea65a1ad09155fba64c33bd1acb4715088c9fc0 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit a805755e9b0706902f1cd1b7e3e79250bcbd85c8
Author: Thomas Moulard <tho...@gm...>
Date: Fri Nov 13 16:49:58 2009 +0100
Fix spec file.
* roboptim-core.spec.in: Fix description, bundle
versionned so files in devel package.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index e47396b..13b0e8c 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,9 @@
+2009-11-13 Thomas Moulard <tho...@gm...>
+
+ Fix spec file.
+ * roboptim-core.spec.in: Fix description, bundle
+ versionned so files in devel package.
+
2009-11-12 Thomas Moulard <tho...@gm...>
Fix spec file.
diff --git a/roboptim-core.spec.in b/roboptim-core.spec.in
index a8d7474..7175b0f 100644
--- a/roboptim-core.spec.in
+++ b/roboptim-core.spec.in
@@ -1,7 +1,7 @@
Name: @PACKAGE_TARNAME@
Version: @PACKAGE_VERSION@
Release: 1%{?dist}
-Summary: Generic optimization library
+Summary: The RobOptim core C++ library
Group: Development/Libraries
License: LGPLv3+
@@ -13,26 +13,26 @@ BuildRequires: boost-devel, libtool-ltdl-devel
%description
-The generic optimization library allows user to independently solve
-numerical problems with one of the many available solvers
+RobOptim provide C++ numerical optimization libraries for robotics.
+RobOptim core focuses on providing abstractions for optimization problem
+definition and infrastructure to allow the use of existing solvers as
+a back-end.
%package devel
-Summary: Static libraries and headers
+Summary: The roboptim-core headers and development-related files
Group: Development/Libraries
Requires: @PACKAGE_TARNAME@ = %{version}-%{release}, pkgconfig
%description devel
-The generic optimization library allows user to independently solve
-numerical problems with one of the many available solvers
+Headers and shared object symlinks for the RobOptim core C++ library.
%package doc
-Summary: API documentation
+Summary: The RobOptim core documentation
Group: Documentation
Requires: @PACKAGE_TARNAME@ = %{version}-%{release}
%description doc
-The generic optimization library allows user to independently solve
-numerical problems with one of the many available solvers
+Documentation for the RobOptim core library.
@@ -63,11 +63,12 @@ rm -rf $RPM_BUILD_ROOT
%files
%defattr(-,root,root,-)
-%{_libdir}/*.so*
+%{_libdir}/*.so
%files devel
%defattr(-,root,root,-)
%{_includedir}/*
+%{_libdir}/*.so.*
%{_libdir}/pkgconfig/*
%files doc
@@ -79,9 +80,9 @@ rm -rf $RPM_BUILD_ROOT
%postun -p /sbin/ldconfig
%changelog
-* Thu Nov 12 2009 Thomas Moulard <tho...@gm...> - 0.3.28
+* Thu Nov 12 2009 Thomas Moulard <tho...@gm...> - 0.3.28-1
- Fix rpmlint errors.
- Handle Autotools issues (add -avoid-version and --distable-static).
-* Wed Nov 11 2009 Thomas Moulard <tho...@gm...> - 0.3
+* Wed Nov 11 2009 Thomas Moulard <tho...@gm...> - 0.3-1
- initial work
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 6 ++++++
roboptim-core.spec.in | 25 +++++++++++++------------
2 files changed, 19 insertions(+), 12 deletions(-)
hooks/post-receive
--
roboptim-core
|
|
From: <no-...@ro...> - 2009-11-13 02:07:29
|
The Buildbot has finished a build of roboptim-core on RobOptim. Full details are available at: http://cleo.laas.fr:8010/builders/roboptim-core/builds/18 Buildbot URL: http://cleo.laas.fr:8010/ Buildslave for this Build: cleo Build Reason: The Nightly scheduler named 'nightly' triggered this build Build Source Stamp: HEAD Blamelist: Build succeeded! sincerely, -The Buildbot |
|
From: <no-...@ro...> - 2009-11-13 02:05:06
|
The Buildbot has finished a build of roboptim-trajectory on RobOptim. Full details are available at: http://cleo.laas.fr:8010/builders/roboptim-trajectory/builds/5 Buildbot URL: http://cleo.laas.fr:8010/ Buildslave for this Build: cleo Build Reason: The Nightly scheduler named 'nightly' triggered this build Build Source Stamp: HEAD Blamelist: Build succeeded! sincerely, -The Buildbot |
|
From: <no-...@ro...> - 2009-11-13 02:03:10
|
The Buildbot has finished a build of roboptim-core-cfsqp-plugin on RobOptim. Full details are available at: http://cleo.laas.fr:8010/builders/roboptim-core-cfsqp-plugin/builds/3 Buildbot URL: http://cleo.laas.fr:8010/ Buildslave for this Build: cleo Build Reason: The Nightly scheduler named 'nightly' triggered this build Build Source Stamp: HEAD Blamelist: Build succeeded! sincerely, -The Buildbot |
|
From: <no-...@ro...> - 2009-11-12 17:12:54
|
The Buildbot has finished a build of roboptim-trajectory on RobOptim. Full details are available at: http://cleo.laas.fr:8010/builders/roboptim-trajectory/builds/4 Buildbot URL: http://cleo.laas.fr:8010/ Buildslave for this Build: cleo Build Reason: The web-page 'force build' button was pressed by 'Thomas Moulard': Build Source Stamp: HEAD Blamelist: Build succeeded! sincerely, -The Buildbot |
|
From: Thomas M. <tho...@us...> - 2009-11-12 17:07:20
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim-trajectory".
The branch, master has been updated
via 1900f24694015e51edb0a5b479059fa9add0ad1f (commit)
from 71578795f246110c56315d72e97da17c767a1f16 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 1900f24694015e51edb0a5b479059fa9add0ad1f
Author: Thomas Moulard <tho...@gm...>
Date: Thu Nov 12 18:07:04 2009 +0100
Fix test case.
* tests/anthropomorphic-cost-function.cc: Update to new interface.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 0b23d42..25fedf3 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
2009-11-12 Thomas Moulard <tho...@gm...>
+ Fix test case.
+ * tests/anthropomorphic-cost-function.cc: Update to new interface.
+
+2009-11-12 Thomas Moulard <tho...@gm...>
+
Add RPM support.
* Makefile.am: Add RPM support.
* build-aux: Synchronize.
diff --git a/tests/anthropomorphic-cost-function.cc b/tests/anthropomorphic-cost-function.cc
index 5d89bed..9cfcc5d 100644
--- a/tests/anthropomorphic-cost-function.cc
+++ b/tests/anthropomorphic-cost-function.cc
@@ -37,7 +37,7 @@
#include <roboptim/trajectory/limit-omega.hh>
#include <roboptim/trajectory/orthogonal-speed.hh>
#include <roboptim/trajectory/spline.hh>
-#include <roboptim/trajectory/state-cost.hh>
+#include <roboptim/trajectory/stable-point-state-function.hh>
#include <roboptim/trajectory/trajectory-cost.hh>
#include <roboptim/trajectory/visualization/trajectory.hh>
@@ -129,14 +129,14 @@ int optimize (double initialX,
// Frontal
boost::shared_ptr<DerivableFunction> frontalSpeed (new FrontalSpeed ());
Function::interval_t vRangeFrontal = Function::makeInterval (0., vMax);
- StateCost<freeTime_t>::addToProblem
+ StablePointStateFunction<freeTime_t>::addToProblem
(freeTimeTraj, frontalSpeed, 1, problem, vRangeFrontal,
nControlPoints * nConstraintsPerCtrlPts);
// Orthogonal
boost::shared_ptr<DerivableFunction> orthogonalSpeed (new OrthogonalSpeed ());
Function::interval_t vRangeOrthogonal = Function::makeInterval (-vMax, vMax);
- StateCost<freeTime_t>::addToProblem
+ StablePointStateFunction<freeTime_t>::addToProblem
(freeTimeTraj, orthogonalSpeed, 1, problem, vRangeOrthogonal,
nControlPoints * nConstraintsPerCtrlPts);
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 5 +++++
tests/anthropomorphic-cost-function.cc | 6 +++---
2 files changed, 8 insertions(+), 3 deletions(-)
hooks/post-receive
--
roboptim-trajectory
|
|
From: <no-...@ro...> - 2009-11-12 17:02:10
|
The Buildbot has finished a build of roboptim-trajectory on RobOptim. Full details are available at: http://cleo.laas.fr:8010/builders/roboptim-trajectory/builds/3 Buildbot URL: http://cleo.laas.fr:8010/ Buildslave for this Build: cleo Build Reason: The web-page 'force build' button was pressed by 'Thomas Moulard': Build Source Stamp: HEAD Blamelist: BUILD FAILED: failed test test_1 sincerely, -The Buildbot |
|
From: <no-...@ro...> - 2009-11-12 17:01:08
|
The Buildbot has finished a build of roboptim-core-cfsqp-plugin on RobOptim. Full details are available at: http://cleo.laas.fr:8010/builders/roboptim-core-cfsqp-plugin/builds/2 Buildbot URL: http://cleo.laas.fr:8010/ Buildslave for this Build: cleo Build Reason: The web-page 'force build' button was pressed by 'Thomas Moulard': Build Source Stamp: HEAD Blamelist: Build succeeded! sincerely, -The Buildbot |
|
From: Thomas M. <tho...@us...> - 2009-11-12 16:55:41
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim-trajectory".
The branch, master has been updated
via 71578795f246110c56315d72e97da17c767a1f16 (commit)
from 3f0a8dc2e1bd266ff58d7d892044cbd4fa6eaf21 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 71578795f246110c56315d72e97da17c767a1f16
Author: Thomas Moulard <tho...@gm...>
Date: Thu Nov 12 17:55:18 2009 +0100
Add RPM support.
* Makefile.am: Add RPM support.
* build-aux: Synchronize.
* roboptim-trajectory.spec.in: New.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index cb29b6c..0b23d42 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,12 @@
2009-11-12 Thomas Moulard <tho...@gm...>
+ Add RPM support.
+ * Makefile.am: Add RPM support.
+ * build-aux: Synchronize.
+ * roboptim-trajectory.spec.in: New.
+
+2009-11-12 Thomas Moulard <tho...@gm...>
+
Rename FixedPointStateFunction into StablePointStateFunction.
* include/Makefile.am: Fix header list.
* include/roboptim/trajectory/stable-point-state-function.hh:
diff --git a/Makefile.am b/Makefile.am
index 936a8e2..b4491a4 100644
--- a/Makefile.am
+++ b/Makefile.am
@@ -21,4 +21,6 @@ all:
include $(top_srcdir)/build-aux/doc-recursive.mk
include $(top_srcdir)/build-aux/libtool.mk
include $(top_srcdir)/build-aux/pkg-config.mk
-include $(top_srcdir)/build-aux/git-version-gen.mk
\ No newline at end of file
+include $(top_srcdir)/build-aux/git-version-gen.mk
+
+include $(top_srcdir)/build-aux/rpm.mk
diff --git a/build-aux b/build-aux
index b137297..02d1097 160000
--- a/build-aux
+++ b/build-aux
@@ -1 +1 @@
-Subproject commit b1372979b2d6470c8687c2787b6f48fc2c743b0e
+Subproject commit 02d1097a8b1f7c2c605b5446caab7485fa2e1092
diff --git a/roboptim-trajectory.spec.in b/roboptim-trajectory.spec.in
new file mode 100644
index 0000000..3e9f5b9
--- /dev/null
+++ b/roboptim-trajectory.spec.in
@@ -0,0 +1,83 @@
+Name: @PACKAGE_TARNAME@
+Version: @PACKAGE_VERSION@
+Release: 1%{?dist}
+Summary: Generic optimization library
+
+Group: Development/Libraries
+License: LGPLv3+
+URL: http://roboptim.sourceforge.net/
+Source0: http://dl.sf.net/sourceforge/%{name}/%{name}-%{version}.tar.gz
+BuildRoot: %{_tmppath}/%{name}-%{version}-%{release}-root-%(%{__id_u} -n)
+
+BuildRequires: roboptim-core-devel
+
+
+%description
+The generic optimization library allows user to independently solve
+numerical problems with one of the many available solvers
+
+
+%package devel
+Summary: Static libraries and headers
+Group: Development/Libraries
+Requires: @PACKAGE_TARNAME@ = %{version}-%{release}, pkgconfig
+%description devel
+The generic optimization library allows user to independently solve
+numerical problems with one of the many available solvers
+
+
+%package doc
+Summary: API documentation
+Group: Documentation
+Requires: @PACKAGE_TARNAME@ = %{version}-%{release}
+%description doc
+The generic optimization library allows user to independently solve
+numerical problems with one of the many available solvers
+
+
+
+
+
+%prep
+%setup -q
+
+%build
+%configure --docdir=%{_datadir}/doc/%{name}-%{version} --disable-static
+sed -i 's|^hardcode_libdir_flag_spec=.*|hardcode_libdir_flag_spec=""|g' libtool
+sed -i 's|^runpath_var=LD_RUN_PATH|runpath_var=DIE_RPATH_DIE|g' libtool
+
+#FIXME: should libraries have version numbers or not?
+# LDFLAGS="-avoid-version"
+make %{?_smp_mflags}
+
+%install
+rm -rf $RPM_BUILD_ROOT
+make install DESTDIR=$RPM_BUILD_ROOT
+
+# Get rid of Libtool files as they should not be installed.
+rm $RPM_BUILD_ROOT/%{_libdir}/*.la
+
+
+%clean
+rm -rf $RPM_BUILD_ROOT
+
+%files
+%defattr(-,root,root,-)
+%{_libdir}/*.so*
+
+%files devel
+%defattr(-,root,root,-)
+%{_includedir}/*
+%{_libdir}/pkgconfig/*
+
+%files doc
+%defattr(-,root,root,-)
+%doc AUTHORS COPYING README NEWS
+%{_datadir}/doc/%{name}-%{version}/*
+
+%post -p /sbin/ldconfig
+%postun -p /sbin/ldconfig
+
+%changelog
+* Thu Nov 12 2009 Thomas Moulard <tho...@gm...> - 0.2.34
+- initial work.
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 7 ++++
Makefile.am | 4 ++-
build-aux | 2 +-
roboptim-trajectory.spec.in | 83 +++++++++++++++++++++++++++++++++++++++++++
4 files changed, 94 insertions(+), 2 deletions(-)
create mode 100644 roboptim-trajectory.spec.in
hooks/post-receive
--
roboptim-trajectory
|
|
From: Thomas M. <tho...@us...> - 2009-11-12 16:27:46
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim-core".
The branch, master has been updated
via 1ea65a1ad09155fba64c33bd1acb4715088c9fc0 (commit)
from 6f6c921adc8fb11a9a0eeb6539e12af9232c357c (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 1ea65a1ad09155fba64c33bd1acb4715088c9fc0
Author: Thomas Moulard <tho...@gm...>
Date: Thu Nov 12 17:27:34 2009 +0100
Fix spec file.
* roboptim-core.spec.in: Remove -avoid-version as it
is not clear whether it should be included or not.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 075cd40..e47396b 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,6 +1,12 @@
2009-11-12 Thomas Moulard <tho...@gm...>
Fix spec file.
+ * roboptim-core.spec.in: Remove -avoid-version as it
+ is not clear whether it should be included or not.
+
+2009-11-12 Thomas Moulard <tho...@gm...>
+
+ Fix spec file.
* roboptim-core.spec.in: Package all documentation
in documentation package.
diff --git a/roboptim-core.spec.in b/roboptim-core.spec.in
index 174fb4e..a8d7474 100644
--- a/roboptim-core.spec.in
+++ b/roboptim-core.spec.in
@@ -46,11 +46,13 @@ numerical problems with one of the many available solvers
sed -i 's|^hardcode_libdir_flag_spec=.*|hardcode_libdir_flag_spec=""|g' libtool
sed -i 's|^runpath_var=LD_RUN_PATH|runpath_var=DIE_RPATH_DIE|g' libtool
+#FIXME: should libraries have version numbers or not?
+# LDFLAGS="-avoid-version"
make %{?_smp_mflags}
%install
rm -rf $RPM_BUILD_ROOT
-make install DESTDIR=$RPM_BUILD_ROOT LDFLAGS="-avoid-version"
+make install DESTDIR=$RPM_BUILD_ROOT
# Get rid of Libtool files as they should not be installed.
rm $RPM_BUILD_ROOT/%{_libdir}/*.la
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 6 ++++++
roboptim-core.spec.in | 4 +++-
2 files changed, 9 insertions(+), 1 deletions(-)
hooks/post-receive
--
roboptim-core
|
|
From: Thomas M. <tho...@us...> - 2009-11-12 16:14:43
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim-core".
The branch, master has been updated
via 6f6c921adc8fb11a9a0eeb6539e12af9232c357c (commit)
from 2f585ff309b9a772124f2a0967aedb3d14ffbc3d (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 6f6c921adc8fb11a9a0eeb6539e12af9232c357c
Author: Thomas Moulard <tho...@gm...>
Date: Thu Nov 12 17:14:33 2009 +0100
Fix spec file.
* roboptim-core.spec.in: Package all documentation
in documentation package.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index e8b0427..075cd40 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,6 +1,12 @@
2009-11-12 Thomas Moulard <tho...@gm...>
Fix spec file.
+ * roboptim-core.spec.in: Package all documentation
+ in documentation package.
+
+2009-11-12 Thomas Moulard <tho...@gm...>
+
+ Fix spec file.
* roboptim-core.spec.in: Here.
2009-11-11 Thomas Moulard <tho...@gm...>
diff --git a/roboptim-core.spec.in b/roboptim-core.spec.in
index 1e99687..174fb4e 100644
--- a/roboptim-core.spec.in
+++ b/roboptim-core.spec.in
@@ -61,7 +61,6 @@ rm -rf $RPM_BUILD_ROOT
%files
%defattr(-,root,root,-)
-%doc AUTHORS COPYING THANKS README NEWS
%{_libdir}/*.so*
%files devel
@@ -71,6 +70,7 @@ rm -rf $RPM_BUILD_ROOT
%files doc
%defattr(-,root,root,-)
+%doc AUTHORS COPYING THANKS README NEWS
%{_datadir}/doc/%{name}-%{version}/*
%post -p /sbin/ldconfig
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 6 ++++++
roboptim-core.spec.in | 2 +-
2 files changed, 7 insertions(+), 1 deletions(-)
hooks/post-receive
--
roboptim-core
|
|
From: Thomas M. <tho...@us...> - 2009-11-12 15:28:23
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim-core".
The branch, master has been updated
via 2f585ff309b9a772124f2a0967aedb3d14ffbc3d (commit)
from a8263d3cc00681cf2a91aff2d56911d83f07df78 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 2f585ff309b9a772124f2a0967aedb3d14ffbc3d
Author: Thomas Moulard <tho...@gm...>
Date: Thu Nov 12 16:28:05 2009 +0100
Fix spec file.
* roboptim-core.spec.in: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index d5847a7..e8b0427 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,8 @@
+2009-11-12 Thomas Moulard <tho...@gm...>
+
+ Fix spec file.
+ * roboptim-core.spec.in: Here.
+
2009-11-11 Thomas Moulard <tho...@gm...>
Synchronize.
diff --git a/roboptim-core.spec.in b/roboptim-core.spec.in
index edf1923..1e99687 100644
--- a/roboptim-core.spec.in
+++ b/roboptim-core.spec.in
@@ -1,7 +1,7 @@
Name: @PACKAGE_TARNAME@
Version: @PACKAGE_VERSION@
Release: 1%{?dist}
-Summary: Generic optimization library.
+Summary: Generic optimization library
Group: Development/Libraries
License: LGPLv3+
@@ -42,34 +42,44 @@ numerical problems with one of the many available solvers
%setup -q
%build
-%configure --docdir=%{_datadir}/doc/%{name}-%{version}
+%configure --docdir=%{_datadir}/doc/%{name}-%{version} --disable-static
+sed -i 's|^hardcode_libdir_flag_spec=.*|hardcode_libdir_flag_spec=""|g' libtool
+sed -i 's|^runpath_var=LD_RUN_PATH|runpath_var=DIE_RPATH_DIE|g' libtool
+
make %{?_smp_mflags}
%install
rm -rf $RPM_BUILD_ROOT
-make install DESTDIR=$RPM_BUILD_ROOT
+make install DESTDIR=$RPM_BUILD_ROOT LDFLAGS="-avoid-version"
+
+# Get rid of Libtool files as they should not be installed.
+rm $RPM_BUILD_ROOT/%{_libdir}/*.la
+
%clean
rm -rf $RPM_BUILD_ROOT
-
-%files devel
+%files
%defattr(-,root,root,-)
%doc AUTHORS COPYING THANKS README NEWS
%{_libdir}/*.so*
-%{_libdir}/pkgconfig/*
-%{_libdir}/*.a
-%{_libdir}/*.la
+
+%files devel
+%defattr(-,root,root,-)
%{_includedir}/*
+%{_libdir}/pkgconfig/*
%files doc
%defattr(-,root,root,-)
%{_datadir}/doc/%{name}-%{version}/*
-%post devel -p /sbin/ldconfig
-
-%postun devel -p /sbin/ldconfig
+%post -p /sbin/ldconfig
+%postun -p /sbin/ldconfig
%changelog
+* Thu Nov 12 2009 Thomas Moulard <tho...@gm...> - 0.3.28
+- Fix rpmlint errors.
+- Handle Autotools issues (add -avoid-version and --distable-static).
+
* Wed Nov 11 2009 Thomas Moulard <tho...@gm...> - 0.3
- initial work
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 5 +++++
roboptim-core.spec.in | 32 +++++++++++++++++++++-----------
2 files changed, 26 insertions(+), 11 deletions(-)
hooks/post-receive
--
roboptim-core
|
|
From: Thomas M. <tho...@us...> - 2009-11-12 13:32:39
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim-trajectory".
The branch, master has been updated
via 3f0a8dc2e1bd266ff58d7d892044cbd4fa6eaf21 (commit)
from d516c884ef87880070248f50634720edde8febc7 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 3f0a8dc2e1bd266ff58d7d892044cbd4fa6eaf21
Author: Thomas Moulard <tho...@gm...>
Date: Thu Nov 12 14:32:22 2009 +0100
Rename FixedPointStateFunction into StablePointStateFunction.
* include/Makefile.am: Fix header list.
* include/roboptim/trajectory/stable-point-state-function.hh:
Rename from include/roboptim/trajectory/fixed-point-state-function.hh.
* include/roboptim/trajectory/stable-point-state-function.hxx:
Rename from include/roboptim/trajectory/fixed-point-state-function.hxx.
* tests/Makefile.am: Fix test-case name.
* tests/stable-point-state-function.cc:
Rename from tests/fixed-point-state-function.cc.
* tests/stable-point-state-function.stdout:
Rename from tests/fixed-point-state-function.stdout.
* tests/testsuite.at: Fix test-case name.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 4d68095..cb29b6c 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,20 @@
2009-11-12 Thomas Moulard <tho...@gm...>
+ Rename FixedPointStateFunction into StablePointStateFunction.
+ * include/Makefile.am: Fix header list.
+ * include/roboptim/trajectory/stable-point-state-function.hh:
+ Rename from include/roboptim/trajectory/fixed-point-state-function.hh.
+ * include/roboptim/trajectory/stable-point-state-function.hxx:
+ Rename from include/roboptim/trajectory/fixed-point-state-function.hxx.
+ * tests/Makefile.am: Fix test-case name.
+ * tests/stable-point-state-function.cc:
+ Rename from tests/fixed-point-state-function.cc.
+ * tests/stable-point-state-function.stdout:
+ Rename from tests/fixed-point-state-function.stdout.
+ * tests/testsuite.at: Fix test-case name.
+
+2009-11-12 Thomas Moulard <tho...@gm...>
+
Implement gradient for FixedPointStateFunction.
* include/roboptim/trajectory/fixed-point-state-function.hxx:
Implement gradient.
diff --git a/include/Makefile.am b/include/Makefile.am
index c471d02..3591b8c 100644
--- a/include/Makefile.am
+++ b/include/Makefile.am
@@ -4,8 +4,6 @@ include $(top_srcdir)/build-aux/init.mk
nobase_include_HEADERS = \
roboptim/trajectory/anthropomorphic-cost-function.hh \
roboptim/trajectory/anthropomorphic-cost-function.hxx \
- roboptim/trajectory/fixed-point-state-function.hh \
- roboptim/trajectory/fixed-point-state-function.hxx \
roboptim/trajectory/free-time-trajectory.hh \
roboptim/trajectory/free-time-trajectory.hxx \
roboptim/trajectory/freeze.hh \
@@ -19,6 +17,8 @@ nobase_include_HEADERS = \
roboptim/trajectory/orthogonal-speed.hh \
roboptim/trajectory/spline.hh \
roboptim/trajectory/spline-length.hh \
+ roboptim/trajectory/stable-point-state-function.hh \
+ roboptim/trajectory/stable-point-state-function.hxx \
roboptim/trajectory/stable-time-point.hh \
roboptim/trajectory/state-function.hh \
roboptim/trajectory/state-function.hxx \
diff --git a/include/roboptim/trajectory/fixed-point-state-function.hh b/include/roboptim/trajectory/stable-point-state-function.hh
similarity index 84%
rename from include/roboptim/trajectory/fixed-point-state-function.hh
rename to include/roboptim/trajectory/stable-point-state-function.hh
index 15f0012..760627f 100644
--- a/include/roboptim/trajectory/fixed-point-state-function.hh
+++ b/include/roboptim/trajectory/stable-point-state-function.hh
@@ -15,8 +15,8 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
-#ifndef ROBOPTIM_TRAJECTORY_FIXED_POINT_STATE_FUNCTION_HH
-# define ROBOPTIM_TRAJECTORY_FIXED_POINT_STATE_FUNCTION_HH
+#ifndef ROBOPTIM_TRAJECTORY_STABLE_POINT_STATE_FUNCTION_HH
+# define ROBOPTIM_TRAJECTORY_STABLE_POINT_STATE_FUNCTION_HH
# include <roboptim/trajectory/sys.hh>
# include <boost/shared_ptr.hpp>
@@ -51,7 +51,7 @@ namespace roboptim
/// \tparam T trajectory type
template <typename T>
- class FixedPointStateFunction : public DerivableFunction
+ class StablePointStateFunction : public DerivableFunction
{
public:
/// \brief Trajectory type.
@@ -63,12 +63,12 @@ namespace roboptim
/// \param cost state cost: \f$cost\f$.
/// \param tpt parameter \f$t\f$ where the state is evaluated.
/// \param order order \f$r\f$ of derivation.
- FixedPointStateFunction (const trajectory_t& gamma,
- boost::shared_ptr<DerivableFunction> cost,
- const StableTimePoint tpt,
- size_type order = 1) throw ();
+ StablePointStateFunction (const trajectory_t& gamma,
+ boost::shared_ptr<DerivableFunction> cost,
+ const StableTimePoint tpt,
+ size_type order = 1) throw ();
- virtual ~FixedPointStateFunction () throw ();
+ virtual ~StablePointStateFunction () throw ();
size_type order () const throw ();
@@ -87,7 +87,7 @@ namespace roboptim
const value_type t = (i + 1.) / (nConstraints + 1.);
assert (t > 0. && t < 1.);
shared_ptr<DerivableFunction> constraint
- (new FixedPointStateFunction
+ (new StablePointStateFunction
(trajectory, function, t * tMax, order));
problem.addConstraint (constraint, bounds);
}
@@ -109,5 +109,5 @@ namespace roboptim
} // end of namespace roboptim.
-# include <roboptim/trajectory/fixed-point-state-function.hxx>
-#endif //! ROBOPTIM_TRAJECTORY_FIXED_POINT_STATE_FUNCTION_HH
+# include <roboptim/trajectory/stable-point-state-function.hxx>
+#endif //! ROBOPTIM_TRAJECTORY_STABLE_POINT_STATE_FUNCTION_HH
diff --git a/include/roboptim/trajectory/fixed-point-state-function.hxx b/include/roboptim/trajectory/stable-point-state-function.hxx
similarity index 82%
rename from include/roboptim/trajectory/fixed-point-state-function.hxx
rename to include/roboptim/trajectory/stable-point-state-function.hxx
index 7b77312..7c079cb 100644
--- a/include/roboptim/trajectory/fixed-point-state-function.hxx
+++ b/include/roboptim/trajectory/stable-point-state-function.hxx
@@ -15,14 +15,14 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
-#ifndef ROBOPTIM_TRAJECTORY_FIXED_POINT_STATE_COST_HXX
-# define ROBOPTIM_TRAJECTORY_FIXED_POINT_STATE_COST_HXX
+#ifndef ROBOPTIM_TRAJECTORY_STABLE_POINT_STATE_COST_HXX
+# define ROBOPTIM_TRAJECTORY_STABLE_POINT_STATE_COST_HXX
# include <boost/format.hpp>
namespace roboptim
{
template <typename T>
- FixedPointStateFunction<T>::FixedPointStateFunction
+ StablePointStateFunction<T>::StablePointStateFunction
(const trajectory_t& trajectory,
boost::shared_ptr<DerivableFunction> function,
const StableTimePoint tpt,
@@ -30,7 +30,7 @@ namespace roboptim
: DerivableFunction (trajectory.parameters ().size (),
function->outputSize (),
(boost::format
- ("fixed point state cost using function ``%1%''")
+ ("stable point state cost using function ``%1%''")
% function->getName ()).str ()),
trajectory_ (trajectory),
function_ (function),
@@ -41,20 +41,20 @@ namespace roboptim
}
template <typename T>
- FixedPointStateFunction<T>::~FixedPointStateFunction() throw ()
+ StablePointStateFunction<T>::~StablePointStateFunction() throw ()
{
}
template <typename T>
- typename FixedPointStateFunction<T>::size_type
- FixedPointStateFunction<T>::order () const throw ()
+ typename StablePointStateFunction<T>::size_type
+ StablePointStateFunction<T>::order () const throw ()
{
return order_;
}
template <typename T>
void
- FixedPointStateFunction<T>::impl_compute (result_t& res,
+ StablePointStateFunction<T>::impl_compute (result_t& res,
const argument_t& p) const throw ()
{
static boost::shared_ptr<trajectory_t> updatedTrajectory =
@@ -65,7 +65,7 @@ namespace roboptim
template <typename T>
void
- FixedPointStateFunction<T>::impl_gradient (gradient_t& grad,
+ StablePointStateFunction<T>::impl_gradient (gradient_t& grad,
const argument_t& p,
size_type i) const throw ()
{
@@ -93,4 +93,4 @@ namespace roboptim
} // end of namespace roboptim.
-#endif //! ROBOPTIM_TRAJECTORY_FIXED_POINT_STATE_COST_HXX
+#endif //! ROBOPTIM_TRAJECTORY_STABLE_POINT_STATE_COST_HXX
diff --git a/tests/Makefile.am b/tests/Makefile.am
index 77eafa0..8b77ba4 100644
--- a/tests/Makefile.am
+++ b/tests/Makefile.am
@@ -50,11 +50,11 @@ check_PROGRAMS += state-function
state_function_SOURCES = state-function.cc $(COMMON_SOURCES)
state_function_LDADD = $(top_builddir)/src/libroboptim-trajectory.la
-# fixed-point-state-function
-check_PROGRAMS += fixed-point-state-function
-fixed_point_state_function_SOURCES = fixed-point-state-function.cc \
+# stable-point-state-function
+check_PROGRAMS += stable-point-state-function
+stable_point_state_function_SOURCES = stable-point-state-function.cc \
$(COMMON_SOURCES)
-fixed_point_state_function_LDADD = $(top_builddir)/src/libroboptim-trajectory.la
+stable_point_state_function_LDADD = $(top_builddir)/src/libroboptim-trajectory.la
#########################################
@@ -168,7 +168,6 @@ EXTRA_DIST += \
anthropomorphic-cost-function-case-4.stdout \
anthropomorphic-cost-function-case-5.stdout \
anthropomorphic-cost-function-case-6.stdout \
- fixed-point-state-function.stdout \
free-time-trajectory.stdout \
free-time-trajectory-stable-time-point.stdout \
simple.stdout \
@@ -177,4 +176,5 @@ EXTRA_DIST += \
spline-bicycle-optim.stdout \
spline-time-optimization.stdout \
spline.stdout \
+ stable-point-state-function.stdout \
state-function.stdout
diff --git a/tests/fixed-point-state-function.cc b/tests/stable-point-state-function.cc
similarity index 95%
rename from tests/fixed-point-state-function.cc
rename to tests/stable-point-state-function.cc
index 74453f8..3c099ce 100644
--- a/tests/fixed-point-state-function.cc
+++ b/tests/stable-point-state-function.cc
@@ -24,7 +24,7 @@
#include <roboptim/trajectory/frontal-speed.hh>
#include <roboptim/trajectory/orthogonal-speed.hh>
#include <roboptim/trajectory/spline.hh>
-#include <roboptim/trajectory/fixed-point-state-function.hh>
+#include <roboptim/trajectory/stable-point-state-function.hh>
using namespace roboptim;
@@ -56,12 +56,12 @@ int run_test ()
const double t = timePoint.getTime (ftt.timeRange ());
boost::shared_ptr<DerivableFunction> frontalSpeed (new FrontalSpeed ());
- FixedPointStateFunction<Spline> stateFunction
+ StablePointStateFunction<Spline> stateFunction
(ftt, frontalSpeed, timePoint, orderMax);
boost::shared_ptr<DerivableFunction> orthogonalSpeed
(new OrthogonalSpeed ());
- FixedPointStateFunction<Spline> orthoStateFunction
+ StablePointStateFunction<Spline> orthoStateFunction
(ftt, orthogonalSpeed, timePoint, orderMax);
std::cout << "State cost evaluation:" << std::endl
diff --git a/tests/fixed-point-state-function.stdout b/tests/stable-point-state-function.stdout
similarity index 100%
rename from tests/fixed-point-state-function.stdout
rename to tests/stable-point-state-function.stdout
diff --git a/tests/testsuite.at b/tests/testsuite.at
index 4c9c9fe..0554b0b 100644
--- a/tests/testsuite.at
+++ b/tests/testsuite.at
@@ -35,7 +35,8 @@ CHECK_STDOUT([free-time-trajectory], [Check free time trajectory.])
CHECK_STDOUT([free-time-trajectory-stable-time-point],
[Check free time trajectory (using stable time points).])
CHECK_STDOUT([state-function], [Check state function.])
-CHECK_STDOUT([fixed-point-state-function], [Check fixed point state function.])
+CHECK_STDOUT([stable-point-state-function],
+ [Check stable point state function.])
AT_BANNER([Optimization (require solver plug-in)])
CHECK_STDOUT([spline-optimization], [Optimize a Spline with Cfsqp.],
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 15 +++++++++++++
include/Makefile.am | 4 +-
...-function.hh => stable-point-state-function.hh} | 22 ++++++++++----------
...unction.hxx => stable-point-state-function.hxx} | 20 +++++++++---------
tests/Makefile.am | 10 ++++----
...-function.cc => stable-point-state-function.cc} | 6 ++--
...n.stdout => stable-point-state-function.stdout} | 0
tests/testsuite.at | 3 +-
8 files changed, 48 insertions(+), 32 deletions(-)
rename include/roboptim/trajectory/{fixed-point-state-function.hh => stable-point-state-function.hh} (84%)
rename include/roboptim/trajectory/{fixed-point-state-function.hxx => stable-point-state-function.hxx} (82%)
rename tests/{fixed-point-state-function.cc => stable-point-state-function.cc} (95%)
rename tests/{fixed-point-state-function.stdout => stable-point-state-function.stdout} (100%)
hooks/post-receive
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roboptim-trajectory
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From: Thomas M. <tho...@us...> - 2009-11-12 13:14:35
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim-trajectory".
The branch, master has been updated
via d516c884ef87880070248f50634720edde8febc7 (commit)
from 53a9e0592a9955d326d124a08daa1f00630df846 (commit)
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- Log -----------------------------------------------------------------
commit d516c884ef87880070248f50634720edde8febc7
Author: Thomas Moulard <tho...@gm...>
Date: Thu Nov 12 14:14:11 2009 +0100
Implement gradient for FixedPointStateFunction.
* include/roboptim/trajectory/fixed-point-state-function.hxx:
Implement gradient.
* tests/fixed-point-state-function.stdout: Regenerate.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 23d22cd..4d68095 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,10 @@
+2009-11-12 Thomas Moulard <tho...@gm...>
+
+ Implement gradient for FixedPointStateFunction.
+ * include/roboptim/trajectory/fixed-point-state-function.hxx:
+ Implement gradient.
+ * tests/fixed-point-state-function.stdout: Regenerate.
+
2009-11-10 Thomas Moulard <tho...@gm...>
Fix implementation.
diff --git a/include/roboptim/trajectory/fixed-point-state-function.hxx b/include/roboptim/trajectory/fixed-point-state-function.hxx
index f5c7db8..7b77312 100644
--- a/include/roboptim/trajectory/fixed-point-state-function.hxx
+++ b/include/roboptim/trajectory/fixed-point-state-function.hxx
@@ -72,29 +72,23 @@ namespace roboptim
assert (i == 0);
using namespace boost::numeric::ublas;
-#ifdef GRADIENT_WITH_BUGS
- boost::shared_ptr<Trajectory<T::derivabilityOrder> > updatedTrajectory =
- boost::shared_ptr<Trajectory<T::derivabilityOrder> >
- (trajectory_.makeFixedTimeTrajectory ());
- updatedTrajectory->setParameters (removeScaleFromParameters (p));
-
- const vector_t df_dq = function_->gradient
- (updatedTrajectory->state (tpt_, this->order_), 0);
- const vector_t dgamma_dp0 =
- column (updatedTrajectory->variationStateWrtParam (tpt_, this->order_), 0);
-
-
- grad[0] = inner_prod (df_dq, dgamma_dp0);
+ static boost::shared_ptr<trajectory_t> updatedTrajectory =
+ boost::shared_ptr<trajectory_t> (trajectory_.clone ());
+ updatedTrajectory->setParameters (p);
+ // Compute derivatives w.r.t parameters.
+ // Derivative w.r.t p_0 is wrong here.
+ const value_type t = tpt_.getTime (updatedTrajectory->timeRange ());
+ grad = prod (function_->gradient
+ (updatedTrajectory->state (t, this->order_), i),
+ updatedTrajectory->variationStateWrtParam (t, this->order_));
- subrange (grad, 1, grad.size ()) =
- prod (function_->gradient
- (updatedTrajectory->state (tpt_, this->order_), 0),
- updatedTrajectory->variationStateWrtParam (tpt_, this->order_));
-#else
- FiniteDifferenceGradient<> fd (*this);
- fd.gradient (grad, p, i);
-#endif
+ // Compute derivatives w.r.t p_0.
+ const vector_t df_dstate =
+ function_->gradient (updatedTrajectory->state (tpt_, this->order_), i);
+ const vector_t dgamma_dt =
+ updatedTrajectory->getFixedTimeTrajectory ().state (tpt_, this->order_);
+ grad[0] = inner_prod (df_dstate, dgamma_dt);
}
} // end of namespace roboptim.
diff --git a/tests/fixed-point-state-function.stdout b/tests/fixed-point-state-function.stdout
index bb4835d..ba699c2 100644
--- a/tests/fixed-point-state-function.stdout
+++ b/tests/fixed-point-state-function.stdout
@@ -1,7 +1,7 @@
State cost evaluation:
[1](0)
State cost gradient:
-[13](0,6.00998e-17,0,0,0,0,0,0,0,0,0,0,0)
+[13](0,0,0,0,0,0,0,0,0,0,0,0,0)
Trajectory state (splitted):
[3](0,0,0)
[3](0,0,0)
@@ -41,7 +41,7 @@ Check state cost gradient.
State cost evaluation:
[1](23.4375)
State cost gradient:
-[13](15.625,-0.937501,0,78.125,0.937499,0,15.625,0,0,0,0,0,0)
+[13](15.625,-0.9375,0,78.125,0.9375,0,15.625,0,0,0,0,0,0)
Trajectory state (splitted):
[3](4.16667,16.6667,0)
[3](31.25,125,0)
@@ -61,7 +61,7 @@ Check state cost gradient.
State cost evaluation:
[1](46.875)
State cost gradient:
-[13](31.25,-1.40625,0,58.5937,1.17187,0,56.1523,0.234375,0,2.4414,0,0,0)
+[13](31.25,-1.40625,0,58.5938,1.17188,0,56.1523,0.234375,0,2.44141,0,0,0)
Trajectory state (splitted):
[3](13.5417,47.9167,0)
[3](62.5,156.25,0)
@@ -81,7 +81,7 @@ Check state cost gradient.
State cost evaluation:
[1](70.3125)
State cost gradient:
-[13](46.875,-0.937498,0,0,0,0,0,0.937498,0,0,0,0,0)
+[13](46.875,-0.9375,0,0,0,0,0,0.9375,0,0,0,0,0)
Trajectory state (splitted):
[3](29.1667,66.6667,0)
[3](93.75,0,0)
@@ -101,7 +101,7 @@ Check state cost gradient.
State cost evaluation:
[1](82.0312)
State cost gradient:
-[13](54.6875,-0.234374,0,-1.95312,-1.17187,0,-44.9219,1.17187,0,-44.9219,0.234378,0,-1.95312)
+[13](54.6875,-0.234375,0,-1.95312,-1.17188,0,-44.9219,1.17188,0,-44.9219,0.234375,0,-1.95312)
Trajectory state (splitted):
[3](50,50,0)
[3](109.375,-125,0)
@@ -121,7 +121,7 @@ Check state cost gradient.
State cost evaluation:
[1](70.3125)
State cost gradient:
-[13](46.875,0,0,0,-0.937502,0,0,0,0,0,0.937502,0,0)
+[13](46.875,0,0,1.51172e-30,-0.9375,0,-2.71796e-14,1.66533e-15,0,-1.08719e-13,0.9375,0,-2.71796e-14)
Trajectory state (splitted):
[3](70.8333,33.3333,0)
[3](93.75,-2.17437e-13,0)
@@ -141,7 +141,7 @@ Check state cost gradient.
State cost evaluation:
[1](46.875)
State cost gradient:
-[13](31.25,0,0,0,-0.234375,0,2.4414,-1.17188,0,56.1523,1.40625,0,58.5937)
+[13](31.25,0,0,0,-0.234375,0,2.44141,-1.17187,0,56.1523,1.40625,0,58.5937)
Trajectory state (splitted):
[3](86.4583,52.0833,0)
[3](62.5,156.25,0)
@@ -161,7 +161,7 @@ Check state cost gradient.
State cost evaluation:
[1](23.4375)
State cost gradient:
-[13](15.625,0,0,0,0,0,0,-0.937504,0,15.625,0.937497,0,78.125)
+[13](15.625,0,0,0,0,0,-8.69056e-16,-0.9375,0,15.625,0.9375,0,78.125)
Trajectory state (splitted):
[3](95.8333,83.3333,0)
[3](31.25,125,0)
@@ -181,7 +181,7 @@ Check state cost gradient.
State cost evaluation:
[1](5.85937)
State cost gradient:
-[13](3.90625,0,0,0,0,0,0,-0.234372,0,0.488281,0.234381,0,22.9492)
+[13](3.90625,0,0,0,0,0,0,-0.234375,0,0.488281,0.234375,0,22.9492)
Trajectory state (splitted):
[3](99.4792,97.9167,0)
[3](7.8125,31.25,0)
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 7 ++++
.../trajectory/fixed-point-state-function.hxx | 36 ++++++++-----------
tests/fixed-point-state-function.stdout | 18 +++++-----
3 files changed, 31 insertions(+), 30 deletions(-)
hooks/post-receive
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roboptim-trajectory
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From: <no-...@ro...> - 2009-11-12 02:07:07
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The Buildbot has finished a build of roboptim-core on RobOptim. Full details are available at: http://cleo.laas.fr:8010/builders/roboptim-core/builds/17 Buildbot URL: http://cleo.laas.fr:8010/ Buildslave for this Build: cleo Build Reason: The Nightly scheduler named 'nightly' triggered this build Build Source Stamp: HEAD Blamelist: Build succeeded! sincerely, -The Buildbot |
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From: <no-...@ro...> - 2009-11-12 02:05:00
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The Buildbot has finished a build of roboptim-trajectory on RobOptim. Full details are available at: http://cleo.laas.fr:8010/builders/roboptim-trajectory/builds/2 Buildbot URL: http://cleo.laas.fr:8010/ Buildslave for this Build: cleo Build Reason: The Nightly scheduler named 'nightly' triggered this build Build Source Stamp: HEAD Blamelist: BUILD FAILED: failed shell_4 sincerely, -The Buildbot |
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From: <no-...@ro...> - 2009-11-12 02:04:01
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The Buildbot has finished a build of roboptim-core-cfsqp-plugin on RobOptim. Full details are available at: http://cleo.laas.fr:8010/builders/roboptim-core-cfsqp-plugin/builds/1 Buildbot URL: http://cleo.laas.fr:8010/ Buildslave for this Build: cleo Build Reason: The Nightly scheduler named 'nightly' triggered this build Build Source Stamp: HEAD Blamelist: BUILD FAILED: failed shell_4 sincerely, -The Buildbot |
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From: <no-...@ro...> - 2009-11-11 23:06:57
|
The Buildbot has finished a build of roboptim-core on RobOptim. Full details are available at: http://cleo.laas.fr:8010/builders/roboptim-core/builds/16 Buildbot URL: http://cleo.laas.fr:8010/ Buildslave for this Build: cleo Build Reason: The web-page 'force build' button was pressed by 'Thomas': Build Source Stamp: HEAD Blamelist: Build succeeded! sincerely, -The Buildbot |
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