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From: Thomas M. <tho...@us...> - 2009-10-15 08:27:32
|
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 "build-aux".
The branch, master has been updated
via 0d6c2926a6b111a14f6871d6e635cf833ce77cdd (commit)
from d9d268a28e832830c76467d499e5be9a8ce6e72f (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 0d6c2926a6b111a14f6871d6e635cf833ce77cdd
Author: Thomas Moulard <tho...@gm...>
Date: Thu Oct 15 10:27:19 2009 +0200
Add Kineo Makefile rules.
* kineo.mk: New.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 1ba3a2a..437b0c5 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,8 @@
+2009-10-15 Thomas Moulard <tho...@gm...>
+
+ Add Kineo Makefile rules.
+ * kineo.mk: New.
+
2009-10-07 Thomas Moulard <tho...@gm...>
Detect doxygendocdir in roboptim-core.
diff --git a/kineo.mk b/kineo.mk
new file mode 100644
index 0000000..65b964a
--- /dev/null
+++ b/kineo.mk
@@ -0,0 +1,77 @@
+# -*-Automake-*-
+# kineo.mk: generic Makefile rules for Kineo KPP SDK.
+# Copyright (C) 2009 by Thomas Moulard, AIST, CNRS, INRIA.
+#
+# 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.
+#
+# Additional permission under section 7 of the GNU General Public
+# License, version 3 ("GPLv3"):
+#
+# If you convey this file as part of a work that contains a
+# configuration script generated by Autoconf, you may do so under
+# terms of your choice.
+#
+# 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/>.
+
+# -------#
+# README #
+# -------#
+
+# This file should be included in a ``Makefile.am'' file.
+#
+# This file assumes that:
+#
+# - build-aux/init.mk has been included before.
+# - KINEO_PREFIX points to Kineo setup prefix.
+# - KINEO_LIBDIR points to the library directory of the Kineo installation
+# prefix.
+# - KINEO_ADDON_BUILDER points to the KineoAddonBuilder tool.
+#
+# Use Autoconf AC_SUBST to define these variables.
+#
+#
+# Do not forget to add a dependency to the ``.kab'' file. One solution
+# is adding the following in your ``Makefile.am'' file:
+#
+# kmoduledir= $(libdir)/modules/$(LICENCE_HOST)
+#
+# BUILT_SOURCES = my-kineo-plug-in.kab
+# CLEANFILES = my-kineo-plug-in.kab
+#
+# kmodule_DATA = my-kineo-plug-in.kab
+#
+
+SUFFIXES += .kab
+
+# Rules to generate Kineo license files from GNU Libtool libraries.
+# It deduces automatically where are the real shared libraries from
+# the Libtool file and call KineoAddonBuilder tool to sign it.
+
+# Shared library rule.
+.la.kab:
+ SOFILE=`echo ".libs/$<" | sed 's/.la$$/-$(PACKAGE_VERSION).so/'`; \
+ KABSRCFILE=`echo "$$SOFILE" | sed 's/.so$$/.kab/'`; \
+ KABDSTFILE=`echo "$<" | sed 's/.la$$/.kab/'`; \
+ LD_LIBRARY_PATH=$(KINEO_LIBDIR) \
+ KPP_INSTALL_DIR=$(KINEO_PREFIX) \
+ $(KINEO_ADDON_BUILDER) -m "$$SOFILE" \
+ && mv "$$KABSRCFILE" "$$KABDSTFILE"
+
+# Binary signature rule.
+%.kab:%
+ BINFILE=`echo ".libs/$<"`; \
+ KABSRCFILE=`echo "$$BINFILE" | sed 's/$$/.kab/'`; \
+ KABDSTFILE=`echo "$<" | sed 's/$$/.kab/'`; \
+ LD_LIBRARY_PATH=$(KINEO_LIBDIR) \
+ KPP_INSTALL_DIR=$(KINEO_PREFIX) \
+ $(KINEO_ADDON_BUILDER) -a "$$BINFILE" \
+ && mv "$$KABSRCFILE" "$$KABDSTFILE"
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 5 ++++
kineo.mk | 77 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2 files changed, 82 insertions(+), 0 deletions(-)
create mode 100644 kineo.mk
hooks/post-receive
--
build-aux
|
|
From: Thomas M. <tho...@us...> - 2009-10-07 10:03:52
|
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 ca527f4cdcf35d35ef121f55a919bda69145c9b3 (commit)
from b44dd6ef247943489db1f06f8d55a0f9e235e638 (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 ca527f4cdcf35d35ef121f55a919bda69145c9b3
Author: Thomas Moulard <tho...@gm...>
Date: Wed Oct 7 12:01:33 2009 +0200
Synchronize.
* build-aux: Synchronize.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 598a92e..a1e53a6 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
2009-10-07 Thomas Moulard <tho...@gm...>
+ Synchronize.
+ * build-aux: Synchronize.
+
+2009-10-07 Thomas Moulard <tho...@gm...>
+
Fix errors in Doxygen documentation.
* include/roboptim/trajectory/free-time-trajectory.hh,
* include/roboptim/trajectory/free-time-trajectory.hxx,
diff --git a/build-aux b/build-aux
index a8a4fb6..d9d268a 160000
--- a/build-aux
+++ b/build-aux
@@ -1 +1 @@
-Subproject commit a8a4fb60a3761ef3a4f0e0a0c1f1875b63b8ce5f
+Subproject commit d9d268a28e832830c76467d499e5be9a8ce6e72f
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 5 +++++
build-aux | 2 +-
2 files changed, 6 insertions(+), 1 deletions(-)
hooks/post-receive
--
roboptim-trajectory
|
|
From: Thomas M. <tho...@us...> - 2009-10-07 10:02:11
|
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 "build-aux".
The branch, master has been updated
via d9d268a28e832830c76467d499e5be9a8ce6e72f (commit)
from e1ee6c20718744984b2ed4dc91deb0b8f6bd01fd (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 d9d268a28e832830c76467d499e5be9a8ce6e72f
Author: Thomas Moulard <tho...@gm...>
Date: Wed Oct 7 11:59:56 2009 +0200
Detect doxygendocdir in roboptim-core.
* roboptim-core.m4: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 3fad0e6..1ba3a2a 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
2009-10-07 Thomas Moulard <tho...@gm...>
+ Detect doxygendocdir in roboptim-core.
+ * roboptim-core.m4: Here.
+
+2009-10-07 Thomas Moulard <tho...@gm...>
+
Add Doxyfile.extra to CLEANFILES in ``doxygen.mk''.
* doxygen.mk: Here.
diff --git a/roboptim-core.m4 b/roboptim-core.m4
index b21cdc1..a1e4e13 100644
--- a/roboptim-core.m4
+++ b/roboptim-core.m4
@@ -47,7 +47,9 @@ AC_DEFUN([ROBOPTIM_CORE_PKG_CONFIG],
PKG_CHECK_MODULES([ROBOPTIMCORE], m4_default($1, roboptim-core))
ROBOPTIMCORE_DOCDIR=`$PKG_CONFIG roboptim-core --variable=docdir`
+ROBOPTIMCORE_DOXYGENDOCDIR=`$PKG_CONFIG roboptim-core --variable=doxygendocdir`
AC_SUBST([ROBOPTIMCORE_DOCDIR])
+AC_SUBST([ROBOPTIMCORE_DOXYGENDOCDIR])
AC_SUBST([ROBOPTIMCORE_CFLAGS])
AC_SUBST([ROBOPTIMCORE_LIBS])
]) # ROBOPTIM_CORE_PKG_CONFIG
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 5 +++++
roboptim-core.m4 | 2 ++
2 files changed, 7 insertions(+), 0 deletions(-)
hooks/post-receive
--
build-aux
|
|
From: Thomas M. <tho...@us...> - 2009-10-07 09:53:41
|
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-core".
The branch, master has been updated
via 48b0ab36253c3de6b38e706686c6ea5961b683eb (commit)
from 1cbeed209e94c044df7e973287f5e2727409f5e8 (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 48b0ab36253c3de6b38e706686c6ea5961b683eb
Author: Thomas Moulard <tho...@gm...>
Date: Wed Oct 7 11:51:22 2009 +0200
Synchronize.
* build-aux: Synchronize.
* doc/Doxyfile.extra.in: Rename from doc/Doxyfile.extra.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index a5516df..2de270c 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,9 @@
+2009-10-07 Thomas Moulard <tho...@gm...>
+
+ Synchronize.
+ * build-aux: Synchronize.
+ * doc/Doxyfile.extra.in: Rename from doc/Doxyfile.extra.
+
2009-10-06 Thomas Moulard <tho...@gm...>
Synchronize.
diff --git a/build-aux b/build-aux
index a8a4fb6..e1ee6c2 160000
--- a/build-aux
+++ b/build-aux
@@ -1 +1 @@
-Subproject commit a8a4fb60a3761ef3a4f0e0a0c1f1875b63b8ce5f
+Subproject commit e1ee6c20718744984b2ed4dc91deb0b8f6bd01fd
diff --git a/doc/Doxyfile.extra b/doc/Doxyfile.extra.in
similarity index 100%
rename from doc/Doxyfile.extra
rename to doc/Doxyfile.extra.in
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 6 ++++++
build-aux | 2 +-
doc/{Doxyfile.extra => Doxyfile.extra.in} | 0
3 files changed, 7 insertions(+), 1 deletions(-)
rename doc/{Doxyfile.extra => Doxyfile.extra.in} (100%)
hooks/post-receive
--
roboptim-core
|
|
From: Thomas M. <tho...@us...> - 2009-10-07 09:52:43
|
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 "web".
The branch, master has been updated
via 600851cc0dc39dd02b1371cf85f5a9a150af7e52 (commit)
from ac2a4a70a7def2cd5c0856af6c94aa06c966f786 (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 600851cc0dc39dd02b1371cf85f5a9a150af7e52
Author: Thomas Moulard <tho...@gm...>
Date: Wed Oct 7 11:50:23 2009 +0200
Fix HTML errors in project web page.
* htdocs/index.html: Replace ``&'' by ``&''.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index a25ae20..d6e23dd 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,8 @@
+2009-10-07 Thomas Moulard <tho...@gm...>
+
+ Fix HTML errors in project web page.
+ * htdocs/index.html: Replace ``&'' by ``&''.
+
2009-09-25 Thomas Moulard <tho...@gm...>
Fix typo.
diff --git a/htdocs/index.html b/htdocs/index.html
index e6c49b0..95ef53c 100644
--- a/htdocs/index.html
+++ b/htdocs/index.html
@@ -126,7 +126,7 @@
<p>
You can also retrieve the latest development version on
- the <a href="https://sourceforge.net/scm/?type=git&group_id=259573">Git
+ the <a href="https://sourceforge.net/scm/?type=git&group_id=259573">Git
repository</a>.
</p>
@@ -183,7 +183,7 @@
<ul>
<li><a href="https://sourceforge.net/projects/roboptim">SourceForge space</a></li>
<li>
- <a href="https://sourceforge.net/scm/?type=git&group_id=259573">Git</a>
+ <a href="https://sourceforge.net/scm/?type=git&group_id=259573">Git</a>
(<a href="http://roboptim.git.sourceforge.net/git/gitweb.cgi?p=roboptim">browse
repository</a>)
</li>
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 5 +++++
htdocs/index.html | 4 ++--
2 files changed, 7 insertions(+), 2 deletions(-)
hooks/post-receive
--
web
|
|
From: Thomas M. <tho...@us...> - 2009-10-07 09:48:51
|
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 "build-aux".
The branch, master has been updated
via e1ee6c20718744984b2ed4dc91deb0b8f6bd01fd (commit)
from 37725532bb4dbf09af93c2ad4c2cf96be83b0c66 (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 e1ee6c20718744984b2ed4dc91deb0b8f6bd01fd
Author: Thomas Moulard <tho...@gm...>
Date: Wed Oct 7 11:46:35 2009 +0200
Add Doxyfile.extra to CLEANFILES in ``doxygen.mk''.
* doxygen.mk: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index be1f495..3fad0e6 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
2009-10-07 Thomas Moulard <tho...@gm...>
+ Add Doxyfile.extra to CLEANFILES in ``doxygen.mk''.
+ * doxygen.mk: Here.
+
+2009-10-07 Thomas Moulard <tho...@gm...>
+
Distribute shell scripts.
* doxygen.mk,
* git-version-gen.mk: Here.
diff --git a/doxygen.mk b/doxygen.mk
index 649a8d2..7dad5cb 100644
--- a/doxygen.mk
+++ b/doxygen.mk
@@ -75,6 +75,7 @@ EXTRA_DIST += \
CLEANFILES += \
$(PACKAGE_TARNAME).doxytag \
Doxyfile \
+ Doxyfile.extra \
doxygen.log \
config.log
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 5 +++++
doxygen.mk | 1 +
2 files changed, 6 insertions(+), 0 deletions(-)
hooks/post-receive
--
build-aux
|
|
From: Thomas M. <tho...@us...> - 2009-10-07 09:42:56
|
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 "build-aux".
The branch, master has been updated
via 37725532bb4dbf09af93c2ad4c2cf96be83b0c66 (commit)
from 9365eaaee8fbf469d7ccad5e7d52dd963e33f292 (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 37725532bb4dbf09af93c2ad4c2cf96be83b0c66
Author: Thomas Moulard <tho...@gm...>
Date: Wed Oct 7 11:40:09 2009 +0200
Distribute shell scripts.
* doxygen.mk,
* git-version-gen.mk: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 053b36d..be1f495 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,11 @@
2009-10-07 Thomas Moulard <tho...@gm...>
+ Distribute shell scripts.
+ * doxygen.mk,
+ * git-version-gen.mk: Here.
+
+2009-10-07 Thomas Moulard <tho...@gm...>
+
Preprocess Doxyfile.extra, generate Doxygen log and be more strict.
* doxygen.mk: Preprocess Doxyfile.extra and generate a Doxygen log file.
* doxygen/Doxyfile.in: Make Doxygen more strict
diff --git a/doxygen.mk b/doxygen.mk
index d93bfbe..649a8d2 100644
--- a/doxygen.mk
+++ b/doxygen.mk
@@ -60,6 +60,7 @@
EXTRA_DIST += \
$(top_srcdir)/build-aux/doxygen/Doxyfile.in \
$(top_srcdir)/build-aux/doxygen/doxygen.css \
+ $(top_srcdir)/build-aux/doxygen/doxygen-deps.sh \
$(top_srcdir)/build-aux/doxygen/footer.html \
$(top_srcdir)/build-aux/doxygen/header.html \
$(top_srcdir)/build-aux/doxygen/header.tex \
diff --git a/git-version-gen.mk b/git-version-gen.mk
index f5ecd7d..9d9555d 100644
--- a/git-version-gen.mk
+++ b/git-version-gen.mk
@@ -22,6 +22,9 @@
# You should have received a copy of the GNU General Public License
# along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+EXTRA_DIST += \
+ $(top_srcdir)/build-aux/git-version-gen
+
# Update version files when needed.
BUILT_SOURCES = $(top_srcdir)/.version
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 6 ++++++
doxygen.mk | 1 +
git-version-gen.mk | 3 +++
3 files changed, 10 insertions(+), 0 deletions(-)
hooks/post-receive
--
build-aux
|
|
From: Thomas M. <tho...@us...> - 2009-10-07 09:27:53
|
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 "build-aux".
The branch, master has been updated
via 9365eaaee8fbf469d7ccad5e7d52dd963e33f292 (commit)
from a8a4fb60a3761ef3a4f0e0a0c1f1875b63b8ce5f (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 9365eaaee8fbf469d7ccad5e7d52dd963e33f292
Author: Thomas Moulard <tho...@gm...>
Date: Wed Oct 7 11:25:37 2009 +0200
Preprocess Doxyfile.extra, generate Doxygen log and be more strict.
* doxygen.mk: Preprocess Doxyfile.extra and generate a Doxygen log file.
* doxygen/Doxyfile.in: Make Doxygen more strict
regarding undocumented parameters in functions.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index b0f6be5..053b36d 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,10 @@
+2009-10-07 Thomas Moulard <tho...@gm...>
+
+ Preprocess Doxyfile.extra, generate Doxygen log and be more strict.
+ * doxygen.mk: Preprocess Doxyfile.extra and generate a Doxygen log file.
+ * doxygen/Doxyfile.in: Make Doxygen more strict
+ regarding undocumented parameters in functions.
+
2009-10-06 Thomas Moulard <tho...@gm...>
Add missing semi-colon in Makefile.
diff --git a/doxygen.mk b/doxygen.mk
index ad03096..d93bfbe 100644
--- a/doxygen.mk
+++ b/doxygen.mk
@@ -68,12 +68,13 @@ EXTRA_DIST += \
$(top_srcdir)/build-aux/doxygen/tabs.css
EXTRA_DIST += \
- Doxyfile.extra
+ Doxyfile.extra.in
# Files to be removed by cleaning rule.
CLEANFILES += \
$(PACKAGE_TARNAME).doxytag \
Doxyfile \
+ doxygen.log \
config.log
DOXYGEN_DEPS = $(shell \
@@ -89,18 +90,23 @@ DOXYGEN_DEPS = $(shell \
doc: html
html-local: doxygen-html
-doxygen-html: Doxyfile $(DOXYGEN_DEPS)
+@PACKAGE_TARNAME@.doxytag: Doxyfile $(DOXYGEN_DEPS)
@if test -d doxygen-html ; then \
rm -rf doxygen-html/; \
fi
@$(DOXYGEN) "$<"
-# Doxygen generation rule.
+doxygen-html: @PACKAGE_TARNAME@.doxytag
+
+# Doxygen generation rules.
+Doxyfile.extra: Doxyfile.extra.in
+ $(top_builddir)/config.status --file="$@":"$<"
+
Doxyfile: $(top_srcdir)/build-aux/doxygen/Doxyfile.in \
- $(srcdir)/Doxyfile.extra
+ Doxyfile.extra
@$(top_builddir)/config.status --file="$@":"$<" \
- && sed -i -e 's/^#.*//' -e '/^$$/d' "$@" && \
- cat $(srcdir)/Doxyfile.extra >> "$@"
+ && sed -i -e 's/^#.*//' -e '/^$$/d' "$@" \
+ && cat Doxyfile.extra >> "$@"
# Clean rule.
clean-local:
diff --git a/doxygen/Doxyfile.in b/doxygen/Doxyfile.in
index c4f2302..73d249f 100644
--- a/doxygen/Doxyfile.in
+++ b/doxygen/Doxyfile.in
@@ -538,7 +538,7 @@ WARN_IF_DOC_ERROR = YES
# wrong or incomplete parameter documentation, but not about the absence of
# documentation.
-WARN_NO_PARAMDOC = NO
+WARN_NO_PARAMDOC = YES
# The WARN_FORMAT tag determines the format of the warning messages that
# doxygen can produce. The string should contain the $file, $line, and $text
@@ -553,7 +553,7 @@ WARN_FORMAT = "$file:$line: $text"
# and error messages should be written. If left blank the output is written
# to stderr.
-WARN_LOGFILE =
+WARN_LOGFILE = doxygen.log
#---------------------------------------------------------------------------
# configuration options related to the input files
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 7 +++++++
doxygen.mk | 18 ++++++++++++------
doxygen/Doxyfile.in | 4 ++--
3 files changed, 21 insertions(+), 8 deletions(-)
hooks/post-receive
--
build-aux
|
|
From: Thomas M. <tho...@us...> - 2009-10-07 08:46:59
|
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 b44dd6ef247943489db1f06f8d55a0f9e235e638 (commit)
from 45b3797b10352e33d23c8d0017273add8885210c (commit)
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- Log -----------------------------------------------------------------
commit b44dd6ef247943489db1f06f8d55a0f9e235e638
Author: Thomas Moulard <tho...@gm...>
Date: Wed Oct 7 10:44:36 2009 +0200
Fix errors in Doxygen documentation.
* include/roboptim/trajectory/free-time-trajectory.hh,
* include/roboptim/trajectory/free-time-trajectory.hxx,
* include/roboptim/trajectory/spline.hh,
* include/roboptim/trajectory/trajectory-sum-cost.hh,
* include/roboptim/trajectory/trajectory.hxx:
Simplify code and fix Doxygen documentation errors.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index ab156e7..598a92e 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,13 @@
+2009-10-07 Thomas Moulard <tho...@gm...>
+
+ Fix errors in Doxygen documentation.
+ * include/roboptim/trajectory/free-time-trajectory.hh,
+ * include/roboptim/trajectory/free-time-trajectory.hxx,
+ * include/roboptim/trajectory/spline.hh,
+ * include/roboptim/trajectory/trajectory-sum-cost.hh,
+ * include/roboptim/trajectory/trajectory.hxx:
+ Simplify code and fix Doxygen documentation errors.
+
2009-10-06 Thomas Moulard <tho...@gm...>
Implement DiscreteStableTimePointInterval_t.
diff --git a/include/roboptim/trajectory/free-time-trajectory.hh b/include/roboptim/trajectory/free-time-trajectory.hh
index 0ec4477..3e315a1 100644
--- a/include/roboptim/trajectory/free-time-trajectory.hh
+++ b/include/roboptim/trajectory/free-time-trajectory.hh
@@ -127,6 +127,9 @@ namespace roboptim
Trajectory<DerivabilityOrder>* trajectory_;
};
+ /// Example shows FreeTimeTrajectory use.
+ /// \example spline-time-optimization.cc
+
/// @}
Function::vector_t
diff --git a/include/roboptim/trajectory/free-time-trajectory.hxx b/include/roboptim/trajectory/free-time-trajectory.hxx
index e7c4e3a..763952b 100644
--- a/include/roboptim/trajectory/free-time-trajectory.hxx
+++ b/include/roboptim/trajectory/free-time-trajectory.hxx
@@ -75,18 +75,17 @@ namespace roboptim
template <unsigned dorder>
void
- FreeTimeTrajectory<dorder>::impl_compute
- (typename FreeTimeTrajectory<dorder>::result_t& res , double t) const throw ()
+ FreeTimeTrajectory<dorder>::impl_compute (result_t& res , double t)
+ const throw ()
{
(*trajectory_) (res, this->scaleTime (t));
}
template <unsigned dorder>
void
- FreeTimeTrajectory<dorder>::impl_derivative
- (typename FreeTimeTrajectory<dorder>::gradient_t& derivative,
- double t,
- typename FreeTimeTrajectory<dorder>::size_type order) const throw ()
+ FreeTimeTrajectory<dorder>::impl_derivative (gradient_t& derivative,
+ double t,
+ size_type order) const throw ()
{
assert (order >= 0);
double scaled = this->scaleTime (t);
diff --git a/include/roboptim/trajectory/spline.hh b/include/roboptim/trajectory/spline.hh
index 1cd917e..3bb7044 100644
--- a/include/roboptim/trajectory/spline.hh
+++ b/include/roboptim/trajectory/spline.hh
@@ -39,7 +39,7 @@ namespace roboptim
/// \brief Instantiate a Spline from its definition.
///
/// Instantiate a Spline from its triplet definition:
- /// - time range (\ft \in $[f_min, t_max]\f$): interval on
+ /// - time range (\f$t \in [f_min, t_max]\f$): interval on
/// which the spline is defined,
/// - dimension: output space dimension,
/// - parameters: vector containing concatenated control points.
@@ -53,6 +53,7 @@ namespace roboptim
/// \param timeRange spline time range
/// \param dimension spline dimension
/// \param parameters vector of parameters defining control points
+ /// \param name function title
Spline (interval_t timeRange, size_type dimension,
const vector_t& parameters, std::string name = "spline") throw ();
@@ -101,9 +102,6 @@ namespace roboptim
/// Example shows Spline use.
/// \example spline-gradient.cc
- /// Example shows Spline optimization.
- /// \example spline-optimization.cc
-
/// @}
} // end of namespace roboptim.
diff --git a/include/roboptim/trajectory/trajectory-sum-cost.hh b/include/roboptim/trajectory/trajectory-sum-cost.hh
index f4e50b1..4d50a43 100644
--- a/include/roboptim/trajectory/trajectory-sum-cost.hh
+++ b/include/roboptim/trajectory/trajectory-sum-cost.hh
@@ -142,7 +142,7 @@ namespace roboptim
///
/// \param gamma Trajectory \f$\Gamma\f$ along which the state is evaluated.
/// \param cost state cost: \f$cost\f$.
- /// \param tpt parameter \f$t\f$ where the state is evaluated.
+ /// \param interval Stable time points list where cost will be evaluated.
/// \param order order \f$r\f$ of derivation.
TrajectorySumCost (const trajectory_t& gamma,
boost::shared_ptr<DerivableFunction> cost,
diff --git a/include/roboptim/trajectory/trajectory.hxx b/include/roboptim/trajectory/trajectory.hxx
index edb5e7f..d9919b2 100644
--- a/include/roboptim/trajectory/trajectory.hxx
+++ b/include/roboptim/trajectory/trajectory.hxx
@@ -120,18 +120,17 @@ namespace roboptim
template <unsigned dorder>
void
- Trajectory<dorder>::impl_compute
- (typename Trajectory<dorder>::result_t& res , StableTimePoint stp) const throw ()
+ Trajectory<dorder>::impl_compute (result_t& res , StableTimePoint stp)
+ const throw ()
{
(*this) (res, stp.getTime (this->timeRange ()));
}
template <unsigned dorder>
void
- Trajectory<dorder>::impl_derivative
- (typename Trajectory<dorder>::gradient_t& derivative,
- StableTimePoint stp,
- typename Trajectory<dorder>::size_type order) const throw ()
+ Trajectory<dorder>::impl_derivative (gradient_t& derivative,
+ StableTimePoint stp,
+ size_type order) const throw ()
{
return this->impl_derivative (derivative,
stp.getTime (this->timeRange ()),
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 10 ++++++++++
.../roboptim/trajectory/free-time-trajectory.hh | 3 +++
.../roboptim/trajectory/free-time-trajectory.hxx | 11 +++++------
include/roboptim/trajectory/spline.hh | 6 ++----
include/roboptim/trajectory/trajectory-sum-cost.hh | 2 +-
include/roboptim/trajectory/trajectory.hxx | 11 +++++------
6 files changed, 26 insertions(+), 17 deletions(-)
hooks/post-receive
--
roboptim-trajectory
|
|
From: Thomas M. <tho...@us...> - 2009-10-06 16:47:49
|
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 45b3797b10352e33d23c8d0017273add8885210c (commit)
via 59588293fa7ee96faf9d485ec6907aba66d21de4 (commit)
via 4ffd11535a24c34345e5f0635719fa7313de3ca9 (commit)
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- Log -----------------------------------------------------------------
commit 45b3797b10352e33d23c8d0017273add8885210c
Author: Thomas Moulard <tho...@gm...>
Date: Tue Oct 6 18:45:40 2009 +0200
Implement DiscreteStableTimePointInterval_t.
* include/roboptim/trajectory/trajectory-sum-cost.hh,
* include/roboptim/trajectory/trajectory-sum-cost.hxx: Implement type.
* tests/spline-bicycle-optim.cc: Update to new interface.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index b5b87e5..ab156e7 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,12 @@
2009-10-06 Thomas Moulard <tho...@gm...>
+ Implement DiscreteStableTimePointInterval_t.
+ * include/roboptim/trajectory/trajectory-sum-cost.hh,
+ * include/roboptim/trajectory/trajectory-sum-cost.hxx: Implement type.
+ * tests/spline-bicycle-optim.cc: Update to new interface.
+
+2009-10-06 Thomas Moulard <tho...@gm...>
+
Synchronize.
* build-aux: Here.
diff --git a/include/roboptim/trajectory/trajectory-sum-cost.hh b/include/roboptim/trajectory/trajectory-sum-cost.hh
index cd018cd..f4e50b1 100644
--- a/include/roboptim/trajectory/trajectory-sum-cost.hh
+++ b/include/roboptim/trajectory/trajectory-sum-cost.hh
@@ -20,9 +20,11 @@
# include <roboptim/trajectory/sys.hh>
# include <boost/shared_ptr.hpp>
+# include <boost/tuple/tuple.hpp>
# include <roboptim/trajectory/fwd.hh>
# include <roboptim/core/derivable-function.hh>
+# include <roboptim/trajectory/stable-time-point.hh>
namespace roboptim
{
@@ -62,6 +64,80 @@ namespace roboptim
/// \brief Import discrete interval type.
typedef typename parent_t::discreteInterval_t discreteInterval_t;
+
+ /// \name Discrete interval of stable time points.
+ /// \{
+
+ /// \brief Types representing a discrete interval of stable time points.
+ /// A discrete interval is a triplet of values:
+ /// - lower bound,
+ /// - upper bound,
+ /// - step.
+ typedef boost::tuple<StableTimePoint,
+ StableTimePoint,
+ StableTimePoint> discreteStableTimePointInterval_t;
+
+
+ /// \brief Construct a discrete interval.
+ ///
+ /// \param min miminum value of the interval
+ /// \param max maxinum value of the interval
+ /// \param step discretization step
+ static discreteStableTimePointInterval_t
+ makeDiscreteInterval (StableTimePoint min,
+ StableTimePoint max,
+ StableTimePoint step)
+ {
+ return discreteStableTimePointInterval_t (min, max, step);
+ }
+
+ /// \brief Construct a discrete interval.
+ ///
+ /// \param interval continuous interval
+ /// \param step discretization step
+ static discreteStableTimePointInterval_t
+ makeDiscreteInterval (interval_t interval,
+ StableTimePoint step)
+ {
+ return discreteStableTimePointInterval_t (getLowerBound (interval),
+ getUpperBound (interval),
+ step);
+ }
+
+ /// \brief Get the lower bound of a discrete interval
+ ///
+ /// \param interval accessed discrete interval
+ /// \return lower bound of the discrete interval
+ static StableTimePoint
+ getLowerBound (const discreteStableTimePointInterval_t& interval) throw ()
+ {
+ return boost::get<0> (interval);
+ }
+
+ /// \brief Get the upper bound of a discrete interval
+ ///
+ /// \param interval accessed discrete interval
+ /// \return upper bound of the discrete interval
+ static StableTimePoint
+ getUpperBound (const discreteStableTimePointInterval_t& interval) throw ()
+ {
+ return boost::get<1> (interval);
+ }
+
+ /// \brief Get the upper step of a discrete interval
+ ///
+ /// \param interval accessed discrete interval
+ /// \return upper step of the discrete interval
+ static StableTimePoint
+ getStep (const discreteStableTimePointInterval_t& interval) throw ()
+ {
+ return boost::get<2> (interval);
+ }
+
+ /// \}
+
+
+
/// \brief Constructor.
///
/// \param gamma Trajectory \f$\Gamma\f$ along which the state is evaluated.
@@ -70,7 +146,7 @@ namespace roboptim
/// \param order order \f$r\f$ of derivation.
TrajectorySumCost (const trajectory_t& gamma,
boost::shared_ptr<DerivableFunction> cost,
- const discreteInterval_t& interval,
+ const discreteStableTimePointInterval_t& interval,
size_type order = 1) throw ();
virtual ~TrajectorySumCost () throw ();
@@ -84,7 +160,7 @@ namespace roboptim
private:
const trajectory_t& trajectory_;
boost::shared_ptr<DerivableFunction> function_;
- discreteInterval_t interval_;
+ discreteStableTimePointInterval_t interval_;
size_type order_;
};
diff --git a/include/roboptim/trajectory/trajectory-sum-cost.hxx b/include/roboptim/trajectory/trajectory-sum-cost.hxx
index e23bc0f..a03378e 100644
--- a/include/roboptim/trajectory/trajectory-sum-cost.hxx
+++ b/include/roboptim/trajectory/trajectory-sum-cost.hxx
@@ -25,7 +25,7 @@ namespace roboptim
TrajectorySumCost<T>::
TrajectorySumCost (const trajectory_t& gamma,
boost::shared_ptr<DerivableFunction> cost,
- const discreteInterval_t& interval,
+ const discreteStableTimePointInterval_t& interval,
size_type order) throw ()
: DerivableFunction (gamma.parameters ().size (),
cost->outputSize (),
@@ -53,42 +53,57 @@ namespace roboptim
template <typename T>
void
- TrajectorySumCost<T>::impl_compute (result_t& res,
+ TrajectorySumCost<T>::impl_compute (result_t& res,
const argument_t& p) const throw ()
{
static trajectory_t updatedTrajectory = trajectory_;
updatedTrajectory.setParameters (p);
// Loop over sample points.
- // TODO replace by stable time points
- vector_t cost(1);
- cost.clear();
- for (value_type t=interval_.get<0>(); t < interval_.get<1>();
- t += interval_.get<2>()) {
- (*function_) (cost, updatedTrajectory.state(t, this->order_));
- res += cost;
- }
+ vector_t cost (1);
+ cost.clear ();
+
+ value_type min =
+ this->getLowerBound (interval_).getTime (updatedTrajectory.timeRange ());
+ value_type max =
+ this->getUpperBound (interval_).getTime (updatedTrajectory.timeRange ());
+ value_type step =
+ this->getStep (interval_).getTime (updatedTrajectory.timeRange ());
+
+ for (value_type t = min; t < max; t += step)
+ {
+ (*function_) (cost, updatedTrajectory.state(t, this->order_));
+ res += cost;
+ }
}
template <typename T>
void
- TrajectorySumCost<T>::impl_gradient (gradient_t& grad, const argument_t& p,
+ TrajectorySumCost<T>::impl_gradient (gradient_t& grad, const argument_t& p,
size_type i) const throw ()
{
using namespace boost::numeric::ublas;
static trajectory_t updatedTrajectory = trajectory_;
updatedTrajectory.setParameters (p);
- grad.clear();
+ grad.clear ();
+
// Loop over sample points.
- // TODO replace by stable time points
- gradient_t gr(grad.size());
- for (value_type t=interval_.get<0>(); t < interval_.get<1>();
- t += interval_.get<2>()) {
- gr = prod (function_->gradient (updatedTrajectory.state (t, this->order_),
- i),
- updatedTrajectory.variationStateWrtParam (t, this->order_));
- grad += gr;
- }
+ gradient_t gr (grad.size ());
+
+ value_type min =
+ this->getLowerBound (interval_).getTime (updatedTrajectory.timeRange ());
+ value_type max =
+ this->getUpperBound (interval_).getTime (updatedTrajectory.timeRange ());
+ value_type step =
+ this->getStep (interval_).getTime (updatedTrajectory.timeRange ());
+
+ for (value_type t = min; t < max; t += step)
+ {
+ gr = prod (function_->gradient
+ (updatedTrajectory.state (t, this->order_), i),
+ updatedTrajectory.variationStateWrtParam (t, this->order_));
+ grad += gr;
+ }
}
} // end of namespace roboptim.
diff --git a/tests/spline-bicycle-optim.cc b/tests/spline-bicycle-optim.cc
index e65afaa..fcc79d6 100644
--- a/tests/spline-bicycle-optim.cc
+++ b/tests/spline-bicycle-optim.cc
@@ -48,6 +48,8 @@ using namespace roboptim::visualization::gnuplot;
typedef CFSQPSolver::problem_t::constraints_t constraint_t;
typedef CFSQPSolver solver_t;
+typedef TrajectorySumCost<Spline>::discreteStableTimePointInterval_t discreteStableTimePointInterval_t;
+
/*
Parameter of the cost function
*/
@@ -95,7 +97,7 @@ public:
grad[2] = v*x1;
grad[3] = v*y1;
#endif
- };
+ };
};
int run_test ()
@@ -129,7 +131,8 @@ int run_test ()
Spline::interval_t timeRange = Spline::makeInterval (0., 1.);
Spline spline (timeRange, 2, params, "before");
- discreteInterval_t interval (0., 1., 0.01);
+ discreteStableTimePointInterval_t interval
+ (0. * tMax, 1. * tMax, 0.01 * tMax);
Gnuplot gnuplot = Gnuplot::make_interactive_gnuplot ();
gnuplot
@@ -138,7 +141,7 @@ int run_test ()
<< plot_xy (spline);
// Optimize.
- boost::shared_ptr<PositiveCostVar>
+ boost::shared_ptr<PositiveCostVar>
positiveCostVarShPtr(new PositiveCostVar()) ;
TrajectorySumCost < Spline > sumCost(spline, positiveCostVarShPtr,
commit 59588293fa7ee96faf9d485ec6907aba66d21de4
Author: Thomas Moulard <tho...@gm...>
Date: Tue Oct 6 18:23:30 2009 +0200
Synchronize.
* build-aux: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index d199081..b5b87e5 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -11,6 +11,11 @@
2009-10-06 Thomas Moulard <tho...@gm...>
Synchronize.
+ * build-aux: Here.
+
+2009-10-06 Thomas Moulard <tho...@gm...>
+
+ Synchronize.
* Makefile.am: Use version management rules in build-aux.
* build-aux: Synchronize.
diff --git a/build-aux b/build-aux
index 0586a4f..a8a4fb6 160000
--- a/build-aux
+++ b/build-aux
@@ -1 +1 @@
-Subproject commit 0586a4f657cba0a2e7a57252fcd6a1a3b1bd6bda
+Subproject commit a8a4fb60a3761ef3a4f0e0a0c1f1875b63b8ce5f
commit 4ffd11535a24c34345e5f0635719fa7313de3ca9
Author: Thomas Moulard <tho...@gm...>
Date: Tue Oct 6 18:21:03 2009 +0200
Synchronize.
* build-aux: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 9b3e828..d199081 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -6,6 +6,11 @@
2009-10-06 Thomas Moulard <tho...@gm...>
Synchronize.
+ * build-aux: Here.
+
+2009-10-06 Thomas Moulard <tho...@gm...>
+
+ Synchronize.
* Makefile.am: Use version management rules in build-aux.
* build-aux: Synchronize.
diff --git a/build-aux b/build-aux
index d50cac1..0586a4f 160000
--- a/build-aux
+++ b/build-aux
@@ -1 +1 @@
-Subproject commit d50cac1cf4b372eb57a70b62f2b4012f15564103
+Subproject commit 0586a4f657cba0a2e7a57252fcd6a1a3b1bd6bda
commit 841269e076e024d75a0be2027d2ba17e87a33d31
Author: Thomas Moulard <tho...@gm...>
Date: Tue Oct 6 18:19:09 2009 +0200
Synchronize.
* build-aux: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 95e54b8..9b3e828 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,6 +1,11 @@
2009-10-06 Thomas Moulard <tho...@gm...>
Synchronize.
+ * build-aux: Here.
+
+2009-10-06 Thomas Moulard <tho...@gm...>
+
+ Synchronize.
* Makefile.am: Use version management rules in build-aux.
* build-aux: Synchronize.
diff --git a/build-aux b/build-aux
index eb43651..d50cac1 160000
--- a/build-aux
+++ b/build-aux
@@ -1 +1 @@
-Subproject commit eb43651bd9a41e5c8a10b8be00f1f16413df07e6
+Subproject commit d50cac1cf4b372eb57a70b62f2b4012f15564103
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 22 ++++++
build-aux | 2 +-
include/roboptim/trajectory/trajectory-sum-cost.hh | 80 +++++++++++++++++++-
.../roboptim/trajectory/trajectory-sum-cost.hxx | 57 +++++++++-----
tests/spline-bicycle-optim.cc | 9 ++-
5 files changed, 143 insertions(+), 27 deletions(-)
hooks/post-receive
--
roboptim-trajectory
|
|
From: Thomas M. <tho...@us...> - 2009-10-06 16:47:34
|
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 1cbeed209e94c044df7e973287f5e2727409f5e8 (commit)
via 9e4ff2f62cffb598bbf05ae981b4869d6df09afb (commit)
via bd44792cff629878ef7cdc7d722a7453d1c39b2a (commit)
from 340d1700c7af2f66742e2020af23a06f26ce067f (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 1cbeed209e94c044df7e973287f5e2727409f5e8
Author: Thomas Moulard <tho...@gm...>
Date: Tue Oct 6 18:23:12 2009 +0200
Synchronize.
* build-aux: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 4200396..a5516df 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -16,6 +16,11 @@
2009-10-06 Thomas Moulard <tho...@gm...>
Synchronize.
+ * build-aux: Here.
+
+2009-10-06 Thomas Moulard <tho...@gm...>
+
+ Synchronize.
* Makefile.am: Include ``build-aux/git-version-gen.mk''.
* build-aux: Synchronize.
diff --git a/build-aux b/build-aux
index 0586a4f..a8a4fb6 160000
--- a/build-aux
+++ b/build-aux
@@ -1 +1 @@
-Subproject commit 0586a4f657cba0a2e7a57252fcd6a1a3b1bd6bda
+Subproject commit a8a4fb60a3761ef3a4f0e0a0c1f1875b63b8ce5f
commit 9e4ff2f62cffb598bbf05ae981b4869d6df09afb
Author: Thomas Moulard <tho...@gm...>
Date: Tue Oct 6 18:20:53 2009 +0200
Synchronize.
* build-aux: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index b851b35..4200396 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -11,6 +11,11 @@
2009-10-06 Thomas Moulard <tho...@gm...>
Synchronize.
+ * build-aux: Here.
+
+2009-10-06 Thomas Moulard <tho...@gm...>
+
+ Synchronize.
* Makefile.am: Include ``build-aux/git-version-gen.mk''.
* build-aux: Synchronize.
diff --git a/build-aux b/build-aux
index d50cac1..0586a4f 160000
--- a/build-aux
+++ b/build-aux
@@ -1 +1 @@
-Subproject commit d50cac1cf4b372eb57a70b62f2b4012f15564103
+Subproject commit 0586a4f657cba0a2e7a57252fcd6a1a3b1bd6bda
commit bd44792cff629878ef7cdc7d722a7453d1c39b2a
Author: Thomas Moulard <tho...@gm...>
Date: Tue Oct 6 18:18:53 2009 +0200
Synchronize.
* build-aux: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 1022fcc..b851b35 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -6,6 +6,11 @@
2009-10-06 Thomas Moulard <tho...@gm...>
Synchronize.
+ * build-aux: Here.
+
+2009-10-06 Thomas Moulard <tho...@gm...>
+
+ Synchronize.
* Makefile.am: Include ``build-aux/git-version-gen.mk''.
* build-aux: Synchronize.
diff --git a/build-aux b/build-aux
index eb43651..d50cac1 160000
--- a/build-aux
+++ b/build-aux
@@ -1 +1 @@
-Subproject commit eb43651bd9a41e5c8a10b8be00f1f16413df07e6
+Subproject commit d50cac1cf4b372eb57a70b62f2b4012f15564103
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 15 +++++++++++++++
build-aux | 2 +-
2 files changed, 16 insertions(+), 1 deletions(-)
hooks/post-receive
--
roboptim-core
|
|
From: Thomas M. <tho...@us...> - 2009-10-06 16:24:16
|
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 "build-aux".
The branch, master has been updated
via a8a4fb60a3761ef3a4f0e0a0c1f1875b63b8ce5f (commit)
from 0586a4f657cba0a2e7a57252fcd6a1a3b1bd6bda (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 a8a4fb60a3761ef3a4f0e0a0c1f1875b63b8ce5f
Author: Thomas Moulard <tho...@gm...>
Date: Tue Oct 6 18:22:44 2009 +0200
Add missing semi-colon in Makefile.
* git-version-gen.mk: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 0c3d08e..b0f6be5 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
2009-10-06 Thomas Moulard <tho...@gm...>
+ Add missing semi-colon in Makefile.
+ * git-version-gen.mk: Here.
+
+2009-10-06 Thomas Moulard <tho...@gm...>
+
Fix quoting in Makefile.
* git-version-gen.mk: Here.
diff --git a/git-version-gen.mk b/git-version-gen.mk
index 07a1697..f5ecd7d 100644
--- a/git-version-gen.mk
+++ b/git-version-gen.mk
@@ -41,7 +41,7 @@ $(top_srcdir)/.version:
.PHONY: check-version
check-version:
@if ! test x$(CURRENT_VERSION) = x$(VERSION); then \
- echo "WARNING: Version string is out of date." \
+ echo "WARNING: Version string is out of date."; \
echo " please run \`\`make _version'' and reinstall."; \
exit 42; \
fi
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 5 +++++
git-version-gen.mk | 2 +-
2 files changed, 6 insertions(+), 1 deletions(-)
hooks/post-receive
--
build-aux
|
|
From: Thomas M. <tho...@us...> - 2009-10-06 16:21:50
|
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 "build-aux".
The branch, master has been updated
via 0586a4f657cba0a2e7a57252fcd6a1a3b1bd6bda (commit)
from d50cac1cf4b372eb57a70b62f2b4012f15564103 (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 0586a4f657cba0a2e7a57252fcd6a1a3b1bd6bda
Author: Thomas Moulard <tho...@gm...>
Date: Tue Oct 6 18:20:17 2009 +0200
Fix quoting in Makefile.
* git-version-gen.mk: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 40f97b9..0c3d08e 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
2009-10-06 Thomas Moulard <tho...@gm...>
+ Fix quoting in Makefile.
+ * git-version-gen.mk: Here.
+
+2009-10-06 Thomas Moulard <tho...@gm...>
+
Add doxygendocdir to pkg-config file.
* pkg-config.pc.in: Here.
diff --git a/git-version-gen.mk b/git-version-gen.mk
index 27934af..07a1697 100644
--- a/git-version-gen.mk
+++ b/git-version-gen.mk
@@ -42,7 +42,7 @@ $(top_srcdir)/.version:
check-version:
@if ! test x$(CURRENT_VERSION) = x$(VERSION); then \
echo "WARNING: Version string is out of date." \
- echo " please run ``make _version'' and reinstall."; \
+ echo " please run \`\`make _version'' and reinstall."; \
exit 42; \
fi
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 5 +++++
git-version-gen.mk | 2 +-
2 files changed, 6 insertions(+), 1 deletions(-)
hooks/post-receive
--
build-aux
|
|
From: Thomas M. <tho...@us...> - 2009-10-06 16:19:29
|
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 "build-aux".
The branch, master has been updated
via d50cac1cf4b372eb57a70b62f2b4012f15564103 (commit)
from eb43651bd9a41e5c8a10b8be00f1f16413df07e6 (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 d50cac1cf4b372eb57a70b62f2b4012f15564103
Author: Thomas Moulard <tho...@gm...>
Date: Tue Oct 6 18:17:56 2009 +0200
Add doxygendocdir to pkg-config file.
* pkg-config.pc.in: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index c1dd6c0..40f97b9 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
2009-10-06 Thomas Moulard <tho...@gm...>
+ Add doxygendocdir to pkg-config file.
+ * pkg-config.pc.in: Here.
+
+2009-10-06 Thomas Moulard <tho...@gm...>
+
Fix Makefile rule.
* git-version-gen.mk: Here.
diff --git a/pkg-config.pc.in b/pkg-config.pc.in
index 0670c39..e986d2c 100644
--- a/pkg-config.pc.in
+++ b/pkg-config.pc.in
@@ -4,6 +4,7 @@ libdir=@libdir@
includedir=@includedir@
datarootdir=@datarootdir@
docdir=@datarootdir@/doc/@PACKAGE_TARNAME@
+doxygendocdir=@datarootdir@/doc/@PACKAGE_TARNAME@/doxygen-html
Name: @PACKAGE@
Description: @PKGCONFIG_DESCRIPTION@
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 5 +++++
pkg-config.pc.in | 1 +
2 files changed, 6 insertions(+), 0 deletions(-)
hooks/post-receive
--
build-aux
|
|
From: Thomas M. <tho...@us...> - 2009-10-06 16:17:10
|
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 14471e7ea32ef7d9ae5166358c7657019919ab5d (commit)
via 60d6434d9a572d343af2b7b06614129ffe00c9fe (commit)
via d580a03cc19b614a896ab7b06f028f04238a04ae (commit)
via 577371c4f5f7c39d5afe6d63e530a023229d8fbb (commit)
via 81599737509e2bc5d20eb8dd7c4269f68afa78b6 (commit)
via 3d6d71547dcb988293a48c137752e6b9f04f2f46 (commit)
via 90acacf7b0f7385c3c979c241a394699b45188a6 (commit)
from 51f717d50b59d5ed4ee8be859912117833782871 (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 14471e7ea32ef7d9ae5166358c7657019919ab5d
Author: Thomas Moulard <tho...@gm...>
Date: Tue Oct 6 18:15:30 2009 +0200
Synchronize.
* Makefile.am: Use version management rules in build-aux.
* build-aux: Synchronize.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 6211cd5..95e54b8 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,11 @@
2009-10-06 Thomas Moulard <tho...@gm...>
+ Synchronize.
+ * Makefile.am: Use version management rules in build-aux.
+ * build-aux: Synchronize.
+
+2009-10-06 Thomas Moulard <tho...@gm...>
+
Update doc rules, version number management and test suite rules.
* .gitignore: Ignore files generated by git-version-gen.
* .gitmodules: Remove doc submodule.
diff --git a/Makefile.am b/Makefile.am
index 25ff89a..50cae1f 100644
--- a/Makefile.am
+++ b/Makefile.am
@@ -28,14 +28,4 @@ include $(top_srcdir)/build-aux/pkg-config.mk
doc html:
cd doc && $(MAKE) $(AM_MAKEFLAGS) $@
-# Update version files when needed.
-BUILT_SOURCES = $(top_srcdir)/.version
-
-# Do not generate .version in distributed tarball.
-$(top_srcdir)/.version:
- if ! test -f $(top_srcdir)/.tarball-version; then \
- echo $(VERSION) > $@-t && mv $@-t $@; \
- fi
-
-dist-hook:
- echo $(VERSION) > $(distdir)/.tarball-version
+include $(top_srcdir)/build-aux/git-version-gen.mk
diff --git a/build-aux b/build-aux
index 4adbe33..eb43651 160000
--- a/build-aux
+++ b/build-aux
@@ -1 +1 @@
-Subproject commit 4adbe33632aaf921b75881ecf29a2f6a01ce99d2
+Subproject commit eb43651bd9a41e5c8a10b8be00f1f16413df07e6
commit 60d6434d9a572d343af2b7b06614129ffe00c9fe
Author: Thomas Moulard <tho...@gm...>
Date: Tue Oct 6 17:16:26 2009 +0200
Update doc rules, version number management and test suite rules.
* .gitignore: Ignore files generated by git-version-gen.
* .gitmodules: Remove doc submodule.
* Makefile.am: Generate ``.version'' file.
* build-aux: Synchronize.
* configure.ac: Use git-version-gen, add site webpage.
* tests/atlocal.in: Pass roboptim-core version to test suite.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/.gitignore b/.gitignore
index a0df6f6..2641437 100644
--- a/.gitignore
+++ b/.gitignore
@@ -18,3 +18,5 @@ tests/testsuite
,*
testsuite.log
*svn-log*
+.version
+.tarball-version
diff --git a/.gitmodules b/.gitmodules
index 9fff8b2..3f3d05b 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,6 +1,3 @@
[submodule "build-aux"]
path = build-aux
url = roboptim:build-aux
-[submodule "doc"]
- path = doc
- url = roboptim:doc
diff --git a/ChangeLog b/ChangeLog
index 7cce515..6211cd5 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,15 @@
2009-10-06 Thomas Moulard <tho...@gm...>
+ Update doc rules, version number management and test suite rules.
+ * .gitignore: Ignore files generated by git-version-gen.
+ * .gitmodules: Remove doc submodule.
+ * Makefile.am: Generate ``.version'' file.
+ * build-aux: Synchronize.
+ * configure.ac: Use git-version-gen, add site webpage.
+ * tests/atlocal.in: Pass roboptim-core version to test suite.
+
+2009-10-06 Thomas Moulard <tho...@gm...>
+
Change test description.
* tests/testsuite.at: Here.
diff --git a/Makefile.am b/Makefile.am
index cca0bdb..25ff89a 100644
--- a/Makefile.am
+++ b/Makefile.am
@@ -27,3 +27,15 @@ include $(top_srcdir)/build-aux/pkg-config.mk
.PHONY: doc html
doc html:
cd doc && $(MAKE) $(AM_MAKEFLAGS) $@
+
+# Update version files when needed.
+BUILT_SOURCES = $(top_srcdir)/.version
+
+# Do not generate .version in distributed tarball.
+$(top_srcdir)/.version:
+ if ! test -f $(top_srcdir)/.tarball-version; then \
+ echo $(VERSION) > $@-t && mv $@-t $@; \
+ fi
+
+dist-hook:
+ echo $(VERSION) > $(distdir)/.tarball-version
diff --git a/build-aux b/build-aux
index 53249c7..4adbe33 160000
--- a/build-aux
+++ b/build-aux
@@ -1 +1 @@
-Subproject commit 53249c7a39864b963946d8088c421e367c8e6b75
+Subproject commit 4adbe33632aaf921b75881ecf29a2f6a01ce99d2
diff --git a/configure.ac b/configure.ac
index 1044814..55599a6 100644
--- a/configure.ac
+++ b/configure.ac
@@ -5,8 +5,11 @@ AC_PREREQ([2.59])
## --------------------- ##
## Package configuration ##
## --------------------- ##
-AC_INIT([RobOptim trajectory library], [0.2.1],
- [rob...@li...], [roboptim-trajectory])
+AC_INIT([RobOptim trajectory library],
+ [m4_esyscmd(build-aux/git-version-gen .tarball-version)],
+ [rob...@li...],
+ [roboptim-trajectory],
+ [http://roboptim.sourceforge.net/])
# Auxiliary files.
AC_CONFIG_AUX_DIR([build-aux])
diff --git a/tests/atlocal.in b/tests/atlocal.in
index beebe39..66e93b5 100644
--- a/tests/atlocal.in
+++ b/tests/atlocal.in
@@ -21,4 +21,5 @@
# Add test binaries to PATH.
PATH=@abs_builddir@:$PATH
-CHECK_PREFIX=$CHECK_PREFIX
+# Pass current roboptim-core version to test suite.
+ROBOPTIMCORE_VERSION=@ROBOPTIMCORE_VERSION@
commit d580a03cc19b614a896ab7b06f028f04238a04ae
Author: Thomas Moulard <tho...@gm...>
Date: Tue Oct 6 17:13:34 2009 +0200
Change test description.
* tests/testsuite.at: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 679c756..7cce515 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
2009-10-06 Thomas Moulard <tho...@gm...>
+ Change test description.
+ * tests/testsuite.at: Here.
+
+2009-10-06 Thomas Moulard <tho...@gm...>
+
Distribute ``sys.hh''.
* include/Makefile.am: Here.
diff --git a/tests/testsuite.at b/tests/testsuite.at
index 1650f5b..e3a50a8 100644
--- a/tests/testsuite.at
+++ b/tests/testsuite.at
@@ -36,7 +36,8 @@ CHECK_STDOUT([state-cost], [Check state cost.])
AT_BANNER([Optimization (require solver plug-in)])
CHECK_STDOUT([spline-optimization], [Optimize a Spline with Cfsqp.])
-CHECK_STDOUT([spline-bicycle-optim], [Optimize a Spline with Cfsqp.])
+CHECK_STDOUT([spline-bicycle-optim], [Optimize a Spline with Cfsqp (2).], [],
+ [true])
CHECK_STDOUT([spline-time-optimization], [Optimize a free time trajectory.])
AT_BANNER([Long tests (disabled unless ALL_TESTS=1)])
commit 577371c4f5f7c39d5afe6d63e530a023229d8fbb
Author: Thomas Moulard <tho...@gm...>
Date: Tue Oct 6 17:12:56 2009 +0200
Distribute ``sys.hh''.
* include/Makefile.am: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 30d7f45..679c756 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
2009-10-06 Thomas Moulard <tho...@gm...>
+ Distribute ``sys.hh''.
+ * include/Makefile.am: Here.
+
+2009-10-06 Thomas Moulard <tho...@gm...>
+
Include ``sys.hh'' first.
* tests/anthropomorphic-cost-function.cc,
* tests/common.hh,
diff --git a/include/Makefile.am b/include/Makefile.am
index 57a267d..1674a6c 100644
--- a/include/Makefile.am
+++ b/include/Makefile.am
@@ -20,6 +20,7 @@ nobase_include_HEADERS = \
roboptim/trajectory/stable-time-point.hh \
roboptim/trajectory/state-cost.hh \
roboptim/trajectory/state-cost.hxx \
+ roboptim/trajectory/sys.hh \
roboptim/trajectory/trajectory-cost.hh \
roboptim/trajectory/trajectory-cost.hxx \
roboptim/trajectory/trajectory-sum-cost.hh \
commit 81599737509e2bc5d20eb8dd7c4269f68afa78b6
Author: Thomas Moulard <tho...@gm...>
Date: Tue Oct 6 17:12:28 2009 +0200
Include ``sys.hh'' first.
* tests/anthropomorphic-cost-function.cc,
* tests/common.hh,
* tests/free-time-trajectory.cc,
* tests/spline-bicycle-optim.cc,
* tests/spline-gradient.cc,
* tests/spline-optimization.cc,
* tests/spline-time-optimization.cc,
* tests/spline.cc: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 4e6ccc7..30d7f45 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,17 @@
2009-10-06 Thomas Moulard <tho...@gm...>
+ Include ``sys.hh'' first.
+ * tests/anthropomorphic-cost-function.cc,
+ * tests/common.hh,
+ * tests/free-time-trajectory.cc,
+ * tests/spline-bicycle-optim.cc,
+ * tests/spline-gradient.cc,
+ * tests/spline-optimization.cc,
+ * tests/spline-time-optimization.cc,
+ * tests/spline.cc: Here.
+
+2009-10-06 Thomas Moulard <tho...@gm...>
+
Include ``sys.hh'' first in all headers.
* include/roboptim/trajectory/visualization/limit-speed.hh,
* include/roboptim/trajectory/visualization/speed.hh,
diff --git a/tests/anthropomorphic-cost-function.cc b/tests/anthropomorphic-cost-function.cc
index a1f1c3b..5d89bed 100644
--- a/tests/anthropomorphic-cost-function.cc
+++ b/tests/anthropomorphic-cost-function.cc
@@ -15,6 +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/>.
+#include <roboptim/trajectory/sys.hh>
+
#include <fstream>
#include <boost/assign/list_of.hpp>
diff --git a/tests/common.hh b/tests/common.hh
index 47e4ddd..e74ce2c 100644
--- a/tests/common.hh
+++ b/tests/common.hh
@@ -18,6 +18,8 @@
#ifndef OPTIMIZATION_TESTS_COMMON_HH
# define OPTIMIZATION_TESTS_COMMON_HH
+# include <roboptim/trajectory/sys.hh>
+
# include <iostream>
# include <stdexcept>
# include "config.h"
diff --git a/tests/free-time-trajectory.cc b/tests/free-time-trajectory.cc
index d81c955..4f8e545 100644
--- a/tests/free-time-trajectory.cc
+++ b/tests/free-time-trajectory.cc
@@ -15,6 +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/>.
+#include <roboptim/trajectory/sys.hh>
+
#include <boost/format.hpp>
#include <boost/scoped_ptr.hpp>
diff --git a/tests/spline-bicycle-optim.cc b/tests/spline-bicycle-optim.cc
index a3aae13..e65afaa 100644
--- a/tests/spline-bicycle-optim.cc
+++ b/tests/spline-bicycle-optim.cc
@@ -15,6 +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/>.
+#include <roboptim/trajectory/sys.hh>
+
#include <boost/assign/list_of.hpp>
#include <boost/mpl/vector.hpp>
#include <boost/numeric/ublas/io.hpp>
diff --git a/tests/spline-gradient.cc b/tests/spline-gradient.cc
index e6ec0c4..8f3c5d5 100644
--- a/tests/spline-gradient.cc
+++ b/tests/spline-gradient.cc
@@ -15,6 +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/>.
+#include <roboptim/trajectory/sys.hh>
+
#include <boost/format.hpp>
#include <boost/numeric/ublas/io.hpp>
diff --git a/tests/spline-optimization.cc b/tests/spline-optimization.cc
index b3bca4c..69ca679 100644
--- a/tests/spline-optimization.cc
+++ b/tests/spline-optimization.cc
@@ -15,6 +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/>.
+#include <roboptim/trajectory/sys.hh>
+
#include <boost/assign/list_of.hpp>
#include <boost/mpl/vector.hpp>
#include <boost/numeric/ublas/io.hpp>
diff --git a/tests/spline-time-optimization.cc b/tests/spline-time-optimization.cc
index f1d58f7..2e86d25 100644
--- a/tests/spline-time-optimization.cc
+++ b/tests/spline-time-optimization.cc
@@ -15,6 +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/>.
+#include <roboptim/trajectory/sys.hh>
+
#include <fstream>
#include <boost/assign/list_of.hpp>
diff --git a/tests/spline.cc b/tests/spline.cc
index e85e9c8..2e99a1b 100644
--- a/tests/spline.cc
+++ b/tests/spline.cc
@@ -15,10 +15,10 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
-#include <boost/numeric/ublas/io.hpp>
-
#include "common.hh"
+#include <boost/numeric/ublas/io.hpp>
+
#include <roboptim/core/visualization/gnuplot.hh>
#include <roboptim/core/visualization/gnuplot-commands.hh>
#include <roboptim/core/visualization/gnuplot-function.hh>
commit 3d6d71547dcb988293a48c137752e6b9f04f2f46
Author: Thomas Moulard <tho...@gm...>
Date: Tue Oct 6 17:11:38 2009 +0200
Include ``sys.hh'' first in all headers.
* include/roboptim/trajectory/visualization/limit-speed.hh,
* include/roboptim/trajectory/visualization/speed.hh,
* include/roboptim/trajectory/visualization/trajectory.hh: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 58f9d74..4e6ccc7 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,12 @@
2009-10-06 Thomas Moulard <tho...@gm...>
+ Include ``sys.hh'' first in all headers.
+ * include/roboptim/trajectory/visualization/limit-speed.hh,
+ * include/roboptim/trajectory/visualization/speed.hh,
+ * include/roboptim/trajectory/visualization/trajectory.hh: Here.
+
+2009-10-06 Thomas Moulard <tho...@gm...>
+
Add sys.hh to avoid problem with libcwd.
* include/roboptim/trajectory/anthropomorphic-cost-function.hh,
* include/roboptim/trajectory/free-time-trajectory.hh,
diff --git a/include/roboptim/trajectory/visualization/limit-speed.hh b/include/roboptim/trajectory/visualization/limit-speed.hh
index 10ff9c1..e123a17 100644
--- a/include/roboptim/trajectory/visualization/limit-speed.hh
+++ b/include/roboptim/trajectory/visualization/limit-speed.hh
@@ -17,6 +17,8 @@
#ifndef ROBOPTIM_TRAJECTORY_VISUALIZATION_LIMIT_SPEED_HH
# define ROBOPTIM_TRAJECTORY_VISUALIZATION_LIMIT_SPEED_HH
+# include <roboptim/trajectory/sys.hh>
+
# include <boost/format.hpp>
# include <boost/optional.hpp>
diff --git a/include/roboptim/trajectory/visualization/speed.hh b/include/roboptim/trajectory/visualization/speed.hh
index 7567786..9ef3a29 100644
--- a/include/roboptim/trajectory/visualization/speed.hh
+++ b/include/roboptim/trajectory/visualization/speed.hh
@@ -17,6 +17,8 @@
#ifndef ROBOPTIM_TRAJECTORY_VISUALIZATION_SPEED_HH
# define ROBOPTIM_TRAJECTORY_VISUALIZATION_SPEED_HH
+# include <roboptim/trajectory/sys.hh>
+
# include <boost/format.hpp>
# include <roboptim/core/visualization/gnuplot-commands.hh>
diff --git a/include/roboptim/trajectory/visualization/trajectory.hh b/include/roboptim/trajectory/visualization/trajectory.hh
index a636db5..14525be 100644
--- a/include/roboptim/trajectory/visualization/trajectory.hh
+++ b/include/roboptim/trajectory/visualization/trajectory.hh
@@ -17,6 +17,8 @@
#ifndef ROBOPTIM_TRAJECTORY_VISUALIZATION_TRAJECTORY_HH
# define ROBOPTIM_TRAJECTORY_VISUALIZATION_TRAJECTORY_HH
+# include <roboptim/trajectory/sys.hh>
+
# include <boost/format.hpp>
# include <roboptim/core/visualization/gnuplot-commands.hh>
commit 90acacf7b0f7385c3c979c241a394699b45188a6
Author: Thomas Moulard <tho...@gm...>
Date: Tue Oct 6 17:10:56 2009 +0200
Add sys.hh to avoid problem with libcwd.
* include/roboptim/trajectory/anthropomorphic-cost-function.hh,
* include/roboptim/trajectory/free-time-trajectory.hh,
* include/roboptim/trajectory/freeze.hh,
* include/roboptim/trajectory/frontal-speed.hh,
* include/roboptim/trajectory/fwd.hh,
* include/roboptim/trajectory/limit-omega.hh,
* include/roboptim/trajectory/limit-omega.hxx,
* include/roboptim/trajectory/limit-speed.hh,
* include/roboptim/trajectory/limit-speed.hxx,
* include/roboptim/trajectory/orthogonal-speed.hh,
* include/roboptim/trajectory/spline-length.hh,
* include/roboptim/trajectory/spline.hh,
* include/roboptim/trajectory/stable-time-point.hh,
* include/roboptim/trajectory/state-cost.hh,
* include/roboptim/trajectory/trajectory-cost.hh,
* include/roboptim/trajectory/trajectory-sum-cost.hh,
* include/roboptim/trajectory/trajectory.hh,
* src/frontal-speed.cc,
* src/orthogonal-speed.cc,
* src/spline-length.cc,
* src/spline.cc: Include ``sys.hh'' first in all headers/sources.
* include/roboptim/trajectory/sys.hh: New.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 7c885ab..58f9d74 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,31 @@
2009-10-06 Thomas Moulard <tho...@gm...>
+ Add sys.hh to avoid problem with libcwd.
+ * include/roboptim/trajectory/anthropomorphic-cost-function.hh,
+ * include/roboptim/trajectory/free-time-trajectory.hh,
+ * include/roboptim/trajectory/freeze.hh,
+ * include/roboptim/trajectory/frontal-speed.hh,
+ * include/roboptim/trajectory/fwd.hh,
+ * include/roboptim/trajectory/limit-omega.hh,
+ * include/roboptim/trajectory/limit-omega.hxx,
+ * include/roboptim/trajectory/limit-speed.hh,
+ * include/roboptim/trajectory/limit-speed.hxx,
+ * include/roboptim/trajectory/orthogonal-speed.hh,
+ * include/roboptim/trajectory/spline-length.hh,
+ * include/roboptim/trajectory/spline.hh,
+ * include/roboptim/trajectory/stable-time-point.hh,
+ * include/roboptim/trajectory/state-cost.hh,
+ * include/roboptim/trajectory/trajectory-cost.hh,
+ * include/roboptim/trajectory/trajectory-sum-cost.hh,
+ * include/roboptim/trajectory/trajectory.hh,
+ * src/frontal-speed.cc,
+ * src/orthogonal-speed.cc,
+ * src/spline-length.cc,
+ * src/spline.cc: Include ``sys.hh'' first in all headers/sources.
+ * include/roboptim/trajectory/sys.hh: New.
+
+2009-10-06 Thomas Moulard <tho...@gm...>
+
Implement normalizeAngle in Trajectory and FreeTimeTrajectory.
* include/roboptim/trajectory/free-time-trajectory.hh,
* include/roboptim/trajectory/free-time-trajectory.hxx:
diff --git a/include/roboptim/trajectory/anthropomorphic-cost-function.hh b/include/roboptim/trajectory/anthropomorphic-cost-function.hh
index e75913c..d7d5ecb 100644
--- a/include/roboptim/trajectory/anthropomorphic-cost-function.hh
+++ b/include/roboptim/trajectory/anthropomorphic-cost-function.hh
@@ -17,6 +17,8 @@
#ifndef ROBOPTIM_TRAJECTORY_ANTHROPOMORPHIC_COST_FUNCTION_HH
# define ROBOPTIM_TRAJECTORY_ANTHROPOMORPHIC_COST_FUNCTION_HH
+# include <roboptim/trajectory/sys.hh>
+
# include <boost/optional.hpp>
# include <roboptim/core/derivable-function.hh>
diff --git a/include/roboptim/trajectory/free-time-trajectory.hh b/include/roboptim/trajectory/free-time-trajectory.hh
index 696be1f..0ec4477 100644
--- a/include/roboptim/trajectory/free-time-trajectory.hh
+++ b/include/roboptim/trajectory/free-time-trajectory.hh
@@ -17,6 +17,7 @@
#ifndef ROBOPTIM_TRAJECTORY_FREETIMETRAJECTORY_HH
# define ROBOPTIM_TRAJECTORY_FREETIMETRAJECTORY_HH
+# include <roboptim/trajectory/sys.hh>
# include <boost/numeric/ublas/vector_proxy.hpp>
# include <roboptim/trajectory/trajectory.hh>
diff --git a/include/roboptim/trajectory/freeze.hh b/include/roboptim/trajectory/freeze.hh
index da87a1c..db9b8d5 100644
--- a/include/roboptim/trajectory/freeze.hh
+++ b/include/roboptim/trajectory/freeze.hh
@@ -17,6 +17,8 @@
#ifndef ROBOPTIM_TRAJECTORY_FREEZE_HH
# define ROBOPTIM_TRAJECTORY_FREEZE_HH
+# include <roboptim/trajectory/sys.hh>
+
# include <vector>
# include <utility>
diff --git a/include/roboptim/trajectory/frontal-speed.hh b/include/roboptim/trajectory/frontal-speed.hh
index d9b7c2f..8ab5c3b 100644
--- a/include/roboptim/trajectory/frontal-speed.hh
+++ b/include/roboptim/trajectory/frontal-speed.hh
@@ -17,6 +17,8 @@
#ifndef ROBOPTIM_TRAJECTORY_FRONTAL_SPEED_HH
# define ROBOPTIM_TRAJECTORY_FRONTAL_SPEED_HH
+# include <roboptim/trajectory/sys.hh>
+
# include <roboptim/core/derivable-function.hh>
namespace roboptim
diff --git a/include/roboptim/trajectory/fwd.hh b/include/roboptim/trajectory/fwd.hh
index 584fb66..596c6e0 100644
--- a/include/roboptim/trajectory/fwd.hh
+++ b/include/roboptim/trajectory/fwd.hh
@@ -17,6 +17,7 @@
#ifndef ROBOPTIM_TRAJECTORY_FWD_HH
# define ROBOPTIM_TRAJECTORY_FWD_HH
+# include <roboptim/trajectory/sys.hh>
namespace roboptim
{
diff --git a/include/roboptim/trajectory/limit-omega.hh b/include/roboptim/trajectory/limit-omega.hh
index f915f7b..2ec5b79 100644
--- a/include/roboptim/trajectory/limit-omega.hh
+++ b/include/roboptim/trajectory/limit-omega.hh
@@ -17,6 +17,8 @@
#ifndef ROBOPTIM_TRAJECTORY_LIMIT_OMEGA_HH
# define ROBOPTIM_TRAJECTORY_LIMIT_OMEGA_HH
+# include <roboptim/trajectory/sys.hh>
+
# include <boost/shared_ptr.hpp>
# include <roboptim/core/derivable-function.hh>
diff --git a/include/roboptim/trajectory/limit-omega.hxx b/include/roboptim/trajectory/limit-omega.hxx
index dc549b9..c77b21f 100644
--- a/include/roboptim/trajectory/limit-omega.hxx
+++ b/include/roboptim/trajectory/limit-omega.hxx
@@ -17,6 +17,8 @@
#ifndef ROBOPTIM_TRAJECTORY_LIMIT_OMEGA_HXX
# define ROBOPTIM_TRAJECTORY_LIMIT_OMEGA_HXX
+# include <roboptim/trajectory/sys.hh>
+
# include <boost/format.hpp>
# include <boost/scoped_ptr.hpp>
diff --git a/include/roboptim/trajectory/limit-speed.hh b/include/roboptim/trajectory/limit-speed.hh
index 850cad9..7c77407 100644
--- a/include/roboptim/trajectory/limit-speed.hh
+++ b/include/roboptim/trajectory/limit-speed.hh
@@ -17,6 +17,8 @@
#ifndef ROBOPTIM_TRAJECTORY_LIMIT_SPEED_HH
# define ROBOPTIM_TRAJECTORY_LIMIT_SPEED_HH
+# include <roboptim/trajectory/sys.hh>
+
# include <boost/shared_ptr.hpp>
# include <roboptim/core/derivable-function.hh>
diff --git a/include/roboptim/trajectory/limit-speed.hxx b/include/roboptim/trajectory/limit-speed.hxx
index bd36190..6d7dd71 100644
--- a/include/roboptim/trajectory/limit-speed.hxx
+++ b/include/roboptim/trajectory/limit-speed.hxx
@@ -17,6 +17,8 @@
#ifndef ROBOPTIM_TRAJECTORY_LIMIT_SPEED_HXX
# define ROBOPTIM_TRAJECTORY_LIMIT_SPEED_HXX
+# include <roboptim/trajectory/sys.hh>
+
# include <boost/format.hpp>
# include <boost/numeric/ublas/vector.hpp>
# include <boost/scoped_ptr.hpp>
diff --git a/include/roboptim/trajectory/orthogonal-speed.hh b/include/roboptim/trajectory/orthogonal-speed.hh
index 3a1804a..dee1d5e 100644
--- a/include/roboptim/trajectory/orthogonal-speed.hh
+++ b/include/roboptim/trajectory/orthogonal-speed.hh
@@ -17,6 +17,8 @@
#ifndef ROBOPTIM_TRAJECTORY_ORTHOGONAL_SPEED_HH
# define ROBOPTIM_TRAJECTORY_ORTHOGONAL_SPEED_HH
+# include <roboptim/trajectory/sys.hh>
+
# include <roboptim/core/derivable-function.hh>
namespace roboptim
diff --git a/include/roboptim/trajectory/spline-length.hh b/include/roboptim/trajectory/spline-length.hh
index 6015c24..fb8c944 100644
--- a/include/roboptim/trajectory/spline-length.hh
+++ b/include/roboptim/trajectory/spline-length.hh
@@ -17,6 +17,8 @@
#ifndef ROBOPTIM_TRAJECTORY_SPLINE_LENGTH_HH
# define ROBOPTIM_TRAJECTORY_SPLINE_LENGTH_HH
+# include <roboptim/trajectory/sys.hh>
+
# include <boost/optional/optional_fwd.hpp>
# include <roboptim/trajectory/fwd.hh>
diff --git a/include/roboptim/trajectory/spline.hh b/include/roboptim/trajectory/spline.hh
index 82cc16b..1cd917e 100644
--- a/include/roboptim/trajectory/spline.hh
+++ b/include/roboptim/trajectory/spline.hh
@@ -17,8 +17,9 @@
#ifndef ROBOPTIM_TRAJECTORY_SPLINE_HH
# define ROBOPTIM_TRAJECTORY_SPLINE_HH
-# include <roboptim/trajectory/trajectory.hh>
+# include <roboptim/trajectory/sys.hh>
+# include <roboptim/trajectory/trajectory.hh>
# include <roboptim/trajectory/fwd.hh>
/// \internal
diff --git a/include/roboptim/trajectory/stable-time-point.hh b/include/roboptim/trajectory/stable-time-point.hh
index f2ff2e4..54f9a98 100644
--- a/include/roboptim/trajectory/stable-time-point.hh
+++ b/include/roboptim/trajectory/stable-time-point.hh
@@ -17,6 +17,8 @@
#ifndef ROBOPTIM_TRAJECTORY_STABLE_TIME_POINT_HH
# define ROBOPTIM_TRAJECTORY_STABLE_TIME_POINT_HH
+# include <roboptim/trajectory/sys.hh>
+
# include <roboptim/core/function.hh>
namespace roboptim
diff --git a/include/roboptim/trajectory/state-cost.hh b/include/roboptim/trajectory/state-cost.hh
index 80528c0..3061f0f 100644
--- a/include/roboptim/trajectory/state-cost.hh
+++ b/include/roboptim/trajectory/state-cost.hh
@@ -17,6 +17,8 @@
#ifndef ROBOPTIM_TRAJECTORY_STATE_COST_HH
# define ROBOPTIM_TRAJECTORY_STATE_COST_HH
+# include <roboptim/trajectory/sys.hh>
+
# include <boost/shared_ptr.hpp>
# include <roboptim/trajectory/fwd.hh>
diff --git a/include/roboptim/trajectory/fwd.hh b/include/roboptim/trajectory/sys.hh
similarity index 66%
copy from include/roboptim/trajectory/fwd.hh
copy to include/roboptim/trajectory/sys.hh
index 584fb66..ce25759 100644
--- a/include/roboptim/trajectory/fwd.hh
+++ b/include/roboptim/trajectory/sys.hh
@@ -15,25 +15,5 @@
// 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_FWD_HH
-# define ROBOPTIM_TRAJECTORY_FWD_HH
-
-namespace roboptim
-{
- template <unsigned dorder>
- class Trajectory;
-
- template <typename T>
- class StateCost;
-
- template <typename T>
- class SumCost;
-
- template <typename T>
- class TrajectoryCost;
-
- class Spline;
- class SplineLength;
-} // end of namespace roboptim.
-
-#endif //! ROBOPTIM_TRAJECTORY_FWD_HH
+#include <roboptim/core/portability.hh>
+#include <roboptim/core/sys.hh>
diff --git a/include/roboptim/trajectory/trajectory-cost.hh b/include/roboptim/trajectory/trajectory-cost.hh
index 04a0bcb..b18def1 100644
--- a/include/roboptim/trajectory/trajectory-cost.hh
+++ b/include/roboptim/trajectory/trajectory-cost.hh
@@ -17,6 +17,8 @@
#ifndef ROBOPTIM_TRAJECTORY_TRAJECTORY_COST_HH
# define ROBOPTIM_TRAJECTORY_TRAJECTORY_COST_HH
+# include <roboptim/trajectory/sys.hh>
+
# include <roboptim/trajectory/fwd.hh>
# include <roboptim/core/derivable-function.hh>
diff --git a/include/roboptim/trajectory/trajectory-sum-cost.hh b/include/roboptim/trajectory/trajectory-sum-cost.hh
index f8521ae..cd018cd 100644
--- a/include/roboptim/trajectory/trajectory-sum-cost.hh
+++ b/include/roboptim/trajectory/trajectory-sum-cost.hh
@@ -17,6 +17,8 @@
#ifndef ROBOPTIM_TRAJECTORY_TRAJECTORY_SUM_COST_HH
# define ROBOPTIM_TRAJECTORY_TRAJECTORY_SUM_COST_HH
+# include <roboptim/trajectory/sys.hh>
+
# include <boost/shared_ptr.hpp>
# include <roboptim/trajectory/fwd.hh>
diff --git a/include/roboptim/trajectory/trajectory.hh b/include/roboptim/trajectory/trajectory.hh
index 973aba4..2679e52 100644
--- a/include/roboptim/trajectory/trajectory.hh
+++ b/include/roboptim/trajectory/trajectory.hh
@@ -17,6 +17,8 @@
#ifndef ROBOPTIM_TRAJECTORY_TRAJECTORY_HH
# define ROBOPTIM_TRAJECTORY_TRAJECTORY_HH
+# include <roboptim/core/sys.hh>
+
# include <utility>
# include <roboptim/core/n-times-derivable-function.hh>
diff --git a/src/frontal-speed.cc b/src/frontal-speed.cc
index 9f1bb66..cbb8a5a 100644
--- a/src/frontal-speed.cc
+++ b/src/frontal-speed.cc
@@ -15,6 +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/>.
+#include <roboptim/trajectory/sys.hh>
+
#include <cmath>
#include <roboptim/trajectory/frontal-speed.hh>
diff --git a/src/orthogonal-speed.cc b/src/orthogonal-speed.cc
index 063111f..6c7bc84 100644
--- a/src/orthogonal-speed.cc
+++ b/src/orthogonal-speed.cc
@@ -15,6 +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/>.
+#include <roboptim/trajectory/sys.hh>
+
#include <cmath>
#include <roboptim/trajectory/orthogonal-speed.hh>
diff --git a/src/spline-length.cc b/src/spline-length.cc
index 7da42b2..e15c48b 100644
--- a/src/spline-length.cc
+++ b/src/spline-length.cc
@@ -15,6 +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/>.
+#include <roboptim/trajectory/sys.hh>
+
#include <boost/numeric/ublas/vector_expression.hpp>
#include <boost/optional.hpp>
diff --git a/src/spline.cc b/src/spline.cc
index f4e3722..9cc93e4 100644
--- a/src/spline.cc
+++ b/src/spline.cc
@@ -16,6 +16,8 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+#include <roboptim/trajectory/sys.hh>
+
#include <roboptim/core/indent.hh>
#include <roboptim/trajectory/spline.hh>
-----------------------------------------------------------------------
Summary of changes:
.gitignore | 2 +
.gitmodules | 3 -
ChangeLog | 71 ++++++++++++++++++++
Makefile.am | 2 +
build-aux | 2 +-
configure.ac | 7 ++-
include/Makefile.am | 1 +
.../trajectory/anthropomorphic-cost-function.hh | 2 +
.../roboptim/trajectory/free-time-trajectory.hh | 1 +
include/roboptim/trajectory/freeze.hh | 2 +
include/roboptim/trajectory/frontal-speed.hh | 2 +
include/roboptim/trajectory/fwd.hh | 1 +
include/roboptim/trajectory/limit-omega.hh | 2 +
include/roboptim/trajectory/limit-omega.hxx | 2 +
include/roboptim/trajectory/limit-speed.hh | 2 +
include/roboptim/trajectory/limit-speed.hxx | 2 +
include/roboptim/trajectory/orthogonal-speed.hh | 2 +
include/roboptim/trajectory/spline-length.hh | 2 +
include/roboptim/trajectory/spline.hh | 3 +-
include/roboptim/trajectory/stable-time-point.hh | 2 +
include/roboptim/trajectory/state-cost.hh | 2 +
.../roboptim/trajectory/sys.hh | 14 +---
include/roboptim/trajectory/trajectory-cost.hh | 2 +
include/roboptim/trajectory/trajectory-sum-cost.hh | 2 +
include/roboptim/trajectory/trajectory.hh | 2 +
.../trajectory/visualization/limit-speed.hh | 2 +
include/roboptim/trajectory/visualization/speed.hh | 2 +
.../trajectory/visualization/trajectory.hh | 2 +
src/frontal-speed.cc | 2 +
src/orthogonal-speed.cc | 2 +
src/spline-length.cc | 2 +
src/spline.cc | 2 +
tests/anthropomorphic-cost-function.cc | 2 +
tests/atlocal.in | 3 +-
tests/common.hh | 2 +
tests/free-time-trajectory.cc | 2 +
tests/spline-bicycle-optim.cc | 2 +
tests/spline-gradient.cc | 2 +
tests/spline-optimization.cc | 2 +
tests/spline-time-optimization.cc | 2 +
tests/spline.cc | 4 +-
tests/testsuite.at | 3 +-
42 files changed, 150 insertions(+), 23 deletions(-)
copy tests/simple.cc => include/roboptim/trajectory/sys.hh (84%)
hooks/post-receive
--
roboptim-trajectory
|
|
From: Thomas M. <tho...@us...> - 2009-10-06 16:15:02
|
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 340d1700c7af2f66742e2020af23a06f26ce067f (commit)
via 1c9a966515858aefafc1e2fbc8a997485346f18f (commit)
from d89dc55babbdf858a44cc3eadb20117b58c50c3a (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 340d1700c7af2f66742e2020af23a06f26ce067f
Author: Thomas Moulard <tho...@gm...>
Date: Tue Oct 6 18:12:44 2009 +0200
Synchronize.
* build-aux: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 572c8d7..1022fcc 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,6 +1,11 @@
2009-10-06 Thomas Moulard <tho...@gm...>
Synchronize.
+ * build-aux: Here.
+
+2009-10-06 Thomas Moulard <tho...@gm...>
+
+ Synchronize.
* Makefile.am: Include ``build-aux/git-version-gen.mk''.
* build-aux: Synchronize.
diff --git a/build-aux b/build-aux
index 023dd76..eb43651 160000
--- a/build-aux
+++ b/build-aux
@@ -1 +1 @@
-Subproject commit 023dd766bcddd90c351029a1143fd8c1a618fe4c
+Subproject commit eb43651bd9a41e5c8a10b8be00f1f16413df07e6
commit 1c9a966515858aefafc1e2fbc8a997485346f18f
Author: Thomas Moulard <tho...@gm...>
Date: Tue Oct 6 18:07:01 2009 +0200
Synchronize.
* Makefile.am: Include ``build-aux/git-version-gen.mk''.
* build-aux: Synchronize.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 853765c..572c8d7 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,11 @@
2009-10-06 Thomas Moulard <tho...@gm...>
+ Synchronize.
+ * Makefile.am: Include ``build-aux/git-version-gen.mk''.
+ * build-aux: Synchronize.
+
+2009-10-06 Thomas Moulard <tho...@gm...>
+
Enhance bad gradient class.
* include/roboptim/core/finite-difference-gradient.hh,
* src/finite-difference-gradient.cc: Store and display
diff --git a/Makefile.am b/Makefile.am
index 05eb3e7..7c5e247 100644
--- a/Makefile.am
+++ b/Makefile.am
@@ -33,14 +33,5 @@ include $(top_srcdir)/build-aux/pkg-config.mk
doc html:
cd doc && $(MAKE) $(AM_MAKEFLAGS) $@
-# Update version files when needed.
-BUILT_SOURCES = $(top_srcdir)/.version
-# Do not generate .version in distributed tarball.
-$(top_srcdir)/.version:
- if ! test -f $(top_srcdir)/.tarball-version; then \
- echo $(VERSION) > $@-t && mv $@-t $@; \
- fi
-
-dist-hook:
- echo $(VERSION) > $(distdir)/.tarball-version
+include $(top_srcdir)/build-aux/git-version-gen.mk
diff --git a/build-aux b/build-aux
index 4adbe33..023dd76 160000
--- a/build-aux
+++ b/build-aux
@@ -1 +1 @@
-Subproject commit 4adbe33632aaf921b75881ecf29a2f6a01ce99d2
+Subproject commit 023dd766bcddd90c351029a1143fd8c1a618fe4c
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 11 +++++++++++
Makefile.am | 11 +----------
build-aux | 2 +-
3 files changed, 13 insertions(+), 11 deletions(-)
hooks/post-receive
--
roboptim-core
|
|
From: Thomas M. <tho...@us...> - 2009-10-06 16:11:42
|
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 "build-aux".
The branch, master has been updated
via eb43651bd9a41e5c8a10b8be00f1f16413df07e6 (commit)
from 023dd766bcddd90c351029a1143fd8c1a618fe4c (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 eb43651bd9a41e5c8a10b8be00f1f16413df07e6
Author: Thomas Moulard <tho...@gm...>
Date: Tue Oct 6 18:10:09 2009 +0200
Fix Makefile rule.
* git-version-gen.mk: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 59e776a..c1dd6c0 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
2009-10-06 Thomas Moulard <tho...@gm...>
+ Fix Makefile rule.
+ * git-version-gen.mk: Here.
+
+2009-10-06 Thomas Moulard <tho...@gm...>
+
Factorize Makefile rules concerning git-version-gen.
* git-version-gen.mk: New.
diff --git a/git-version-gen.mk b/git-version-gen.mk
index 855cca7..27934af 100644
--- a/git-version-gen.mk
+++ b/git-version-gen.mk
@@ -46,7 +46,8 @@ check-version:
exit 42; \
fi
-install-exec-hook install-data-hook: check-version
+install-exec-hook: check-version
+install-data-hook: check-version
# Check that the version is up-to-date or regenerate if required.
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 5 +++++
git-version-gen.mk | 3 ++-
2 files changed, 7 insertions(+), 1 deletions(-)
hooks/post-receive
--
build-aux
|
|
From: Thomas M. <tho...@us...> - 2009-10-06 16:06:19
|
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 "build-aux".
The branch, master has been updated
via 023dd766bcddd90c351029a1143fd8c1a618fe4c (commit)
from 4adbe33632aaf921b75881ecf29a2f6a01ce99d2 (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 023dd766bcddd90c351029a1143fd8c1a618fe4c
Author: Thomas Moulard <tho...@gm...>
Date: Tue Oct 6 18:04:40 2009 +0200
Factorize Makefile rules concerning git-version-gen.
* git-version-gen.mk: New.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index b383734..59e776a 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
2009-10-06 Thomas Moulard <tho...@gm...>
+ Factorize Makefile rules concerning git-version-gen.
+ * git-version-gen.mk: New.
+
+2009-10-06 Thomas Moulard <tho...@gm...>
+
Fix stdout files smartly in autotest.at.
* autotest.at: Use ROBOPTIMCORE_VERSION
to know the current roboptim-core version.
diff --git a/git-version-gen.mk b/git-version-gen.mk
new file mode 100644
index 0000000..855cca7
--- /dev/null
+++ b/git-version-gen.mk
@@ -0,0 +1,65 @@
+# -*-Automake-*-
+# Copyright (C) 2009 by Thomas Moulard, AIST, CNRS, INRIA.
+# This file is part of the roboptim.
+#
+# roboptim 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.
+#
+# Additional permission under section 7 of the GNU General Public
+# License, version 3 ("GPLv3"):
+#
+# If you convey this file as part of a work that contains a
+# configuration script generated by Autoconf, you may do so under
+# terms of your choice.
+#
+# roboptim 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 roboptim. If not, see <http://www.gnu.org/licenses/>.
+
+# Update version files when needed.
+BUILT_SOURCES = $(top_srcdir)/.version
+
+CURRENT_VERSION = \
+ `cd $(srcdir) && ./build-aux/git-version-gen .tarball-version`
+
+# Do not generate .version in distributed tarball.
+$(top_srcdir)/.version:
+ if ! test -f $(top_srcdir)/.tarball-version; then \
+ echo $(VERSION) > $@-t && mv $@-t $@; \
+ fi
+
+# Make sure one is not installing the software if the version string
+# is out-of-date. As the GNU coding standards states that ``make install''
+# should not cause recompilation, the rule just prevent the install from
+# being done but do not regenerate the version string automatically.
+.PHONY: check-version
+check-version:
+ @if ! test x$(CURRENT_VERSION) = x$(VERSION); then \
+ echo "WARNING: Version string is out of date." \
+ echo " please run ``make _version'' and reinstall."; \
+ exit 42; \
+ fi
+
+install-exec-hook install-data-hook: check-version
+
+
+# Check that the version is up-to-date or regenerate if required.
+# Then, generate .tarball-version file to bundle the tarball with a
+# valid version number even if git directory is not available.
+dist-hook:
+ @if ! test x$(CURRENT_VERSION) = x$(VERSION); then \
+ echo "Version string is out of date, regenerating."; \
+ $(MAKE) $(AM_MAKEFLAGS) _version; \
+ fi; \
+ echo $(VERSION) > $(distdir)/.tarball-version
+
+# Regenerate version string.
+.PHONY: _version
+_version:
+ cd $(srcdir) && rm -rf autom4te.cache .version && autoreconf
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 5 ++++
git-version-gen.mk | 65 ++++++++++++++++++++++++++++++++++++++++++++++++++++
2 files changed, 70 insertions(+), 0 deletions(-)
create mode 100644 git-version-gen.mk
hooks/post-receive
--
build-aux
|
|
From: Thomas M. <tho...@us...> - 2009-10-06 15:35:00
|
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 d89dc55babbdf858a44cc3eadb20117b58c50c3a (commit)
via 3a3bf6e960e29f3da9ee5e9d130ecf298e335abd (commit)
from 54ee4976fb0014a6f727aeb8530cc0941a09042e (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 d89dc55babbdf858a44cc3eadb20117b58c50c3a
Author: Thomas Moulard <tho...@gm...>
Date: Tue Oct 6 17:33:03 2009 +0200
Enhance bad gradient class.
* include/roboptim/core/finite-difference-gradient.hh,
* src/finite-difference-gradient.cc: Store and display
in which component is the greated delta between
finite difference and analytical gradients.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 2d6ff1b..853765c 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,13 @@
2009-10-06 Thomas Moulard <tho...@gm...>
+ Enhance bad gradient class.
+ * include/roboptim/core/finite-difference-gradient.hh,
+ * src/finite-difference-gradient.cc: Store and display
+ in which component is the greated delta between
+ finite difference and analytical gradients.
+
+2009-10-06 Thomas Moulard <tho...@gm...>
+
Synchronize.
* build-aux: Synchronize.
* tests/atlocal.in: Pass version to test suite
diff --git a/include/roboptim/core/finite-difference-gradient.hh b/include/roboptim/core/finite-difference-gradient.hh
index de130b1..2fdbd04 100644
--- a/include/roboptim/core/finite-difference-gradient.hh
+++ b/include/roboptim/core/finite-difference-gradient.hh
@@ -42,6 +42,8 @@ namespace roboptim
typedef DerivableFunction::gradient_t gradient_t;
/// \brief Import value_type.
typedef DerivableFunction::value_type value_type;
+ /// \brief Import size_type.
+ typedef DerivableFunction::size_type size_type;
/// \brief Default constructor.
BadGradient (const vector_t& x,
@@ -70,6 +72,9 @@ namespace roboptim
/// \brief Maximum error.
value_type maxDelta_;
+ /// \brief Component containing the maximum error.
+ value_type maxDeltaComponent_;
+
/// \brief Allowed threshold.
value_type threshold_;
};
diff --git a/src/finite-difference-gradient.cc b/src/finite-difference-gradient.cc
index 26d2ad2..cb97148 100644
--- a/src/finite-difference-gradient.cc
+++ b/src/finite-difference-gradient.cc
@@ -17,6 +17,7 @@
#include "debug.hh"
+#include <limits>
#include <boost/numeric/ublas/io.hpp>
#include <roboptim/core/indent.hh>
@@ -33,10 +34,23 @@ namespace roboptim
analyticalGradient_ (analyticalGradient),
finiteDifferenceGradient_ (finiteDifferenceGradient),
maxDelta_ (),
+ maxDeltaComponent_ (),
threshold_ (threshold)
{
- using boost::numeric::ublas::norm_inf;
- maxDelta_ = norm_inf (analyticalGradient - finiteDifferenceGradient);
+ assert (analyticalGradient.size () == finiteDifferenceGradient.size ());
+
+ maxDelta_ = -std::numeric_limits<Function::value_type>::infinity ();
+ for (size_type i = 0; i < analyticalGradient.size (); ++i)
+ {
+ value_type delta =
+ std::fabs (analyticalGradient[i] - finiteDifferenceGradient[i]);
+
+ if (delta > maxDelta_)
+ {
+ maxDelta_ = delta;
+ maxDeltaComponent_ = i;
+ }
+ }
}
BadGradient::~BadGradient () throw ()
@@ -51,6 +65,7 @@ namespace roboptim
<< "Finite difference gradient: " << finiteDifferenceGradient_
<< iendl
<< "Max. delta: " << maxDelta_ << iendl
+ << "Max. delta in component: " << maxDeltaComponent_ << iendl
<< "Max. allowed delta: " << threshold_ << decindent;
return o;
}
commit 3a3bf6e960e29f3da9ee5e9d130ecf298e335abd
Author: Thomas Moulard <tho...@gm...>
Date: Tue Oct 6 17:20:19 2009 +0200
Synchronize.
* build-aux: Synchronize.
* tests/atlocal.in: Pass version to test suite
as required by autotest.at.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 89e0339..2d6ff1b 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,10 @@
+2009-10-06 Thomas Moulard <tho...@gm...>
+
+ Synchronize.
+ * build-aux: Synchronize.
+ * tests/atlocal.in: Pass version to test suite
+ as required by autotest.at.
+
2009-10-03 Thomas Moulard <tho...@gm...>
Synchronize.
diff --git a/build-aux b/build-aux
index fb97464..4adbe33 160000
--- a/build-aux
+++ b/build-aux
@@ -1 +1 @@
-Subproject commit fb974647be8a62a5eae9ad63b3ee3ac02977945d
+Subproject commit 4adbe33632aaf921b75881ecf29a2f6a01ce99d2
diff --git a/tests/atlocal.in b/tests/atlocal.in
index f6c23c7..7e15a64 100644
--- a/tests/atlocal.in
+++ b/tests/atlocal.in
@@ -20,3 +20,6 @@
# Add test binaries to PATH.
PATH=@abs_builddir@:$PATH
+
+# Pass current roboptim-core version to test suite.
+ROBOPTIMCORE_VERSION=@VERSION@
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 15 +++++++++++++++
build-aux | 2 +-
.../roboptim/core/finite-difference-gradient.hh | 5 +++++
src/finite-difference-gradient.cc | 19 +++++++++++++++++--
tests/atlocal.in | 3 +++
5 files changed, 41 insertions(+), 3 deletions(-)
hooks/post-receive
--
roboptim-core
|
|
From: Thomas M. <tho...@us...> - 2009-10-06 15:06:33
|
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 "build-aux".
The branch, master has been updated
via 4adbe33632aaf921b75881ecf29a2f6a01ce99d2 (commit)
via 2e65d58ece92ff712dd9e7a4557b343364a987ec (commit)
from fb974647be8a62a5eae9ad63b3ee3ac02977945d (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 4adbe33632aaf921b75881ecf29a2f6a01ce99d2
Author: Thomas Moulard <tho...@gm...>
Date: Tue Oct 6 17:04:36 2009 +0200
Fix stdout files smartly in autotest.at.
* autotest.at: Use ROBOPTIMCORE_VERSION
to know the current roboptim-core version.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 798220e..b383734 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,11 @@
2009-10-06 Thomas Moulard <tho...@gm...>
+ Fix stdout files smartly in autotest.at.
+ * autotest.at: Use ROBOPTIMCORE_VERSION
+ to know the current roboptim-core version.
+
+2009-10-06 Thomas Moulard <tho...@gm...>
+
Export modversion in pkg.m4.
Warning: starting from this commit, pkg.m4 file does
not match usual /usr/share/aclocal.pkg.m4 anymore.
diff --git a/autotest.at b/autotest.at
index 829c50c..d1f213b 100644
--- a/autotest.at
+++ b/autotest.at
@@ -50,7 +50,7 @@ AT_XFAIL_IF([m4_default([$4], [false])])
cp $abs_srcdir/$1.stdout expout
# Update version in expout to avoid regenerating stdout files at each commit
-package_version=AT_PACKAGE_VERSION
+package_version=$ROBOPTIMCORE_VERSION
sed -i \
-e "s/^\# Generated by RobOptim core library .*$/# Generated by RobOptim core library $package_version/" \
expout
commit 2e65d58ece92ff712dd9e7a4557b343364a987ec
Author: Thomas Moulard <tho...@gm...>
Date: Tue Oct 6 17:00:07 2009 +0200
Export modversion in pkg.m4.
Warning: starting from this commit, pkg.m4 file does
not match usual /usr/share/aclocal.pkg.m4 anymore.
* pkg.m4: Add a variable indicating the version
of detected modules.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 667ed80..798220e 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,12 @@
+2009-10-06 Thomas Moulard <tho...@gm...>
+
+ Export modversion in pkg.m4.
+ Warning: starting from this commit, pkg.m4 file does
+ not match usual /usr/share/aclocal.pkg.m4 anymore.
+
+ * pkg.m4: Add a variable indicating the version
+ of detected modules.
+
2009-10-03 Thomas Moulard <tho...@gm...>
Discuss enhancements of Doxygen rules.
diff --git a/pkg.m4 b/pkg.m4
index a0b9cd4..04050ae 100644
--- a/pkg.m4
+++ b/pkg.m4
@@ -1,5 +1,5 @@
# pkg.m4 - Macros to locate and utilise pkg-config. -*- Autoconf -*-
-#
+#
# Copyright © 2004 Scott James Remnant <sc...@ne...>.
#
# This program is free software; you can redistribute it and/or modify
@@ -21,6 +21,13 @@
# configuration script generated by Autoconf, you may include it under
# the same distribution terms that you use for the rest of that program.
+
+################################################################################
+## CAUTION: Roboptim specific version forked from official one, see build-aux ##
+## ChangeLog for more information. ##
+################################################################################
+
+
# PKG_PROG_PKG_CONFIG([MIN-VERSION])
# ----------------------------------
AC_DEFUN([PKG_PROG_PKG_CONFIG],
@@ -39,7 +46,7 @@ if test -n "$PKG_CONFIG"; then
AC_MSG_RESULT([no])
PKG_CONFIG=""
fi
-
+
fi[]dnl
])# PKG_PROG_PKG_CONFIG
@@ -103,12 +110,14 @@ AC_DEFUN([PKG_CHECK_MODULES],
[AC_REQUIRE([PKG_PROG_PKG_CONFIG])dnl
AC_ARG_VAR([$1][_CFLAGS], [C compiler flags for $1, overriding pkg-config])dnl
AC_ARG_VAR([$1][_LIBS], [linker flags for $1, overriding pkg-config])dnl
+AC_ARG_VAR([$1][_VERSION], [version for $1, overriding pkg-config])dnl
pkg_failed=no
AC_MSG_CHECKING([for $1])
_PKG_CONFIG([$1][_CFLAGS], [cflags], [$2])
_PKG_CONFIG([$1][_LIBS], [libs], [$2])
+_PKG_CONFIG([$1][_VERSION], [modversion], [$2])
m4_define([_PKG_TEXT], [Alternatively, you may set the environment variables $1[]_CFLAGS
and $1[]_LIBS to avoid the need to call pkg-config.
@@ -118,7 +127,7 @@ if test $pkg_failed = yes; then
_PKG_SHORT_ERRORS_SUPPORTED
if test $_pkg_short_errors_supported = yes; then
$1[]_PKG_ERRORS=`$PKG_CONFIG --short-errors --print-errors "$2" 2>&1`
- else
+ else
$1[]_PKG_ERRORS=`$PKG_CONFIG --print-errors "$2" 2>&1`
fi
# Put the nasty error message in config.log where it belongs
@@ -149,6 +158,7 @@ To get pkg-config, see <http://pkg-config.freedesktop.org/>.])],
else
$1[]_CFLAGS=$pkg_cv_[]$1[]_CFLAGS
$1[]_LIBS=$pkg_cv_[]$1[]_LIBS
+ $1[]_VERSION=$pkg_cv_[]$1[]_VERSION
AC_MSG_RESULT([yes])
ifelse([$3], , :, [$3])
fi[]dnl
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 15 +++++++++++++++
autotest.at | 2 +-
pkg.m4 | 16 +++++++++++++---
3 files changed, 29 insertions(+), 4 deletions(-)
hooks/post-receive
--
build-aux
|
|
From: Thomas M. <tho...@us...> - 2009-10-06 12:15:34
|
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 51f717d50b59d5ed4ee8be859912117833782871 (commit)
via 6442719becc1317118d59c503bb2840e31f28b7a (commit)
via 3e6d3d494af1eea63341906cd2e5d1a8d91482d0 (commit)
from 75eee4bbb68f1e68678dbd0c01eb9af5184c1c87 (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 51f717d50b59d5ed4ee8be859912117833782871
Author: Thomas Moulard <tho...@gm...>
Date: Tue Oct 6 14:13:46 2009 +0200
Implement normalizeAngle in Trajectory and FreeTimeTrajectory.
* include/roboptim/trajectory/free-time-trajectory.hh,
* include/roboptim/trajectory/free-time-trajectory.hxx:
Specialize normalizeAngles implementation for free time
trajectories.
* include/roboptim/trajectory/trajectory.hh,
* include/roboptim/trajectory/trajectory.hxx:
Implement general algorithm.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 24a3780..7c885ab 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,14 @@
+2009-10-06 Thomas Moulard <tho...@gm...>
+
+ Implement normalizeAngle in Trajectory and FreeTimeTrajectory.
+ * include/roboptim/trajectory/free-time-trajectory.hh,
+ * include/roboptim/trajectory/free-time-trajectory.hxx:
+ Specialize normalizeAngles implementation for free time
+ trajectories.
+ * include/roboptim/trajectory/trajectory.hh,
+ * include/roboptim/trajectory/trajectory.hxx:
+ Implement general algorithm.
+
2009-10-06 Florent Lamiraux <fl...@la...>
Add a test: minimization of positive height variation along a spline.
diff --git a/include/roboptim/trajectory/free-time-trajectory.hh b/include/roboptim/trajectory/free-time-trajectory.hh
index 73fc586..696be1f 100644
--- a/include/roboptim/trajectory/free-time-trajectory.hh
+++ b/include/roboptim/trajectory/free-time-trajectory.hh
@@ -52,6 +52,7 @@ namespace roboptim
/// \brief Import interval type.
typedef typename parent_t::interval_t interval_t;
+ using typename parent_t::normalizeAngles;
using typename parent_t::variationConfigWrtParam;
using typename parent_t::variationDerivWrtParam;
@@ -96,6 +97,12 @@ namespace roboptim
/// \return output stream
virtual std::ostream& print (std::ostream& o) const throw ();
+ /// \brief Normalize angles in parameters array.
+ ///
+ /// Make sure angles are continuous.
+ /// \param index Angles index in parameter array.
+ virtual void normalizeAngles (size_type index) throw ();
+
protected:
void impl_compute (result_t&, double) const throw ();
void impl_derivative (gradient_t& g, double x, size_type order)
diff --git a/include/roboptim/trajectory/free-time-trajectory.hxx b/include/roboptim/trajectory/free-time-trajectory.hxx
index 78371d5..e7c4e3a 100644
--- a/include/roboptim/trajectory/free-time-trajectory.hxx
+++ b/include/roboptim/trajectory/free-time-trajectory.hxx
@@ -241,6 +241,13 @@ namespace roboptim
o << "Free time trajectory." << std::endl;
return o;
}
+
+ template <unsigned dorder>
+ void
+ FreeTimeTrajectory<dorder>::normalizeAngles (size_type index) throw ()
+ {
+ this->normalizeAngles (index, 1.);
+ }
} // end of namespace roboptim.
#endif //! ROBOPTIM_TRAJECTORY_FREETIMETRAJECTORY_HXX
diff --git a/include/roboptim/trajectory/trajectory.hh b/include/roboptim/trajectory/trajectory.hh
index 9593a39..973aba4 100644
--- a/include/roboptim/trajectory/trajectory.hh
+++ b/include/roboptim/trajectory/trajectory.hh
@@ -231,6 +231,12 @@ namespace roboptim
bool isValidTime (value_type t) const throw ();
+ /// \brief Normalize angles in parameters array.
+ ///
+ /// Make sure angles are continuous.
+ /// \param index Angles index in parameter array.
+ virtual void normalizeAngles (size_type index) throw ();
+
virtual Trajectory<DerivabilityOrder>* clone () const throw () = 0;
virtual std::ostream& print (std::ostream&) const throw ();
@@ -242,6 +248,13 @@ namespace roboptim
Trajectory (interval_t, size_type, const vector_t&,
std::string name = std::string ()) throw ();
+ /// \brief Internal version of normalizeAngles allowing an optional offset.
+ ///
+ /// Used to factorize code between trajectories and free time trajectories.
+ /// \param index Angles index in parameter array.
+ /// \param offset Index of the first control point in the parameter vector.
+ virtual void normalizeAngles (size_type index, size_type offset) throw ();
+
interval_t timeRange_;
vector_t parameters_;
size_type singularPoints_;
diff --git a/include/roboptim/trajectory/trajectory.hxx b/include/roboptim/trajectory/trajectory.hxx
index 065530d..edb5e7f 100644
--- a/include/roboptim/trajectory/trajectory.hxx
+++ b/include/roboptim/trajectory/trajectory.hxx
@@ -167,6 +167,30 @@ namespace roboptim
}
template <unsigned dorder>
+ void
+ Trajectory<dorder>::normalizeAngles (size_type index) throw ()
+ {
+ this->normalizeAngles (index, 0.);
+ }
+
+ template <unsigned dorder>
+ void
+ Trajectory<dorder>::normalizeAngles (size_type index, size_type offset)
+ throw ()
+ {
+ value_type thetaPrev = 0.;
+ for (unsigned i = 0; i < (parameters_.size () - offset) / this->outputSize (); ++i)
+ {
+ value_type& theta = this->parameters_[offset + i * this->outputSize () + index];
+ if (theta - thetaPrev > M_PI)
+ theta -= M_PI * 2;
+ else if (theta - thetaPrev < -M_PI)
+ theta += M_PI * 2;
+ thetaPrev = theta;
+ }
+ }
+
+ template <unsigned dorder>
std::ostream&
Trajectory<dorder>::print (std::ostream& o) const throw ()
{
commit 6442719becc1317118d59c503bb2840e31f28b7a
Merge: 3e6d3d4 75eee4b
Author: Thomas Moulard <tho...@gm...>
Date: Tue Oct 6 13:18:46 2009 +0200
Merge branch 'master' of git+ssh://git.laas.fr/git/jrl/roboptim/trajectory
diff --cc ChangeLog
index 5d7447c,50f553a..24a3780
--- a/ChangeLog
+++ b/ChangeLog
@@@ -1,10 -1,39 +1,44 @@@
+ 2009-10-06 Florent Lamiraux <fl...@la...>
+
+ Add a test: minimization of positive height variation along a spline.
+ * tests/Makefile.am,
+ * tests/spline-bicycle-optim.cc: New,
+ * tests/spline-bicycle-optim.stdout: New,
+ * tests/testsuite.at.
+
+ 2009-10-06 Florent Lamiraux <fl...@la...>
+
+ Rewrite TrajectorySumCost to fit StateCost interface.
+ * include/roboptim/trajectory/trajectory-sum-cost.hh,
+ * include/roboptim/trajectory/trajectory-sum-cost.hxx:
+ TrajectorySumCost and StateCost are similar classes. The interface
+ and implementation of the first one has been adapted from the second
+ one.
+
+ 2009-10-06 Florent Lamiraux <fl...@la...>
+
+ Fix comment.
+ * include/roboptim/trajectory/state-cost.hh.
+
+ 2009-10-06 Florent Lamiraux <fl...@la...>
+
+ Add declaration before definition to remove warning.
+ * tests/anthropomorphic-cost-function.cc: declare function
+ optimize().
+
+ 2009-10-05 Florent Lamiraux <fl...@la...>
+
+ Document state cost.
+ * include/roboptim/trajectory/state-cost.hh: Make documentation
+ match implementation.
+
2009-08-31 Thomas Moulard <tho...@gm...>
+ Predeclare function.
+ * tests/anthropomorphic-cost-function.cc: Here.
+
+2009-08-31 Thomas Moulard <tho...@gm...>
+
Update to new interface.
* include/roboptim/trajectory/anthropomorphic-cost-function.hxx,
* include/roboptim/trajectory/limit-omega.hxx,
commit 3e6d3d494af1eea63341906cd2e5d1a8d91482d0
Author: Thomas Moulard <tho...@gm...>
Date: Mon Aug 31 23:20:45 2009 +0900
Predeclare function.
* tests/anthropomorphic-cost-function.cc: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 5d74507..5d7447c 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
2009-08-31 Thomas Moulard <tho...@gm...>
+ Predeclare function.
+ * tests/anthropomorphic-cost-function.cc: Here.
+
+2009-08-31 Thomas Moulard <tho...@gm...>
+
Update to new interface.
* include/roboptim/trajectory/anthropomorphic-cost-function.hxx,
* include/roboptim/trajectory/limit-omega.hxx,
diff --git a/tests/anthropomorphic-cost-function.cc b/tests/anthropomorphic-cost-function.cc
index eb41736..a1f1c3b 100644
--- a/tests/anthropomorphic-cost-function.cc
+++ b/tests/anthropomorphic-cost-function.cc
@@ -64,6 +64,14 @@ int optimize (double initialX,
double finalX,
double finalY,
double finalTheta,
+ bool setStartingPoint);
+
+int optimize (double initialX,
+ double initialY,
+ double initialTheta,
+ double finalX,
+ double finalY,
+ double finalTheta,
bool setStartingPoint)
{
using namespace boost;
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 16 +++++++++++++
.../roboptim/trajectory/free-time-trajectory.hh | 7 +++++
.../roboptim/trajectory/free-time-trajectory.hxx | 7 +++++
include/roboptim/trajectory/trajectory.hh | 13 ++++++++++
include/roboptim/trajectory/trajectory.hxx | 24 ++++++++++++++++++++
5 files changed, 67 insertions(+), 0 deletions(-)
hooks/post-receive
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|
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- Log -----------------------------------------------------------------
commit 75eee4bbb68f1e68678dbd0c01eb9af5184c1c87
Author: florent <fl...@fl...>
Date: Tue Oct 6 09:07:38 2009 +0200
Add a test: minimization of positive height variation along a spline.
* tests/Makefile.am,
* tests/spline-bicycle-optim.cc: New,
* tests/spline-bicycle-optim.stdout: New,
* tests/testsuite.at.
Signed-off-by: florent <fl...@fl...>
diff --git a/ChangeLog b/ChangeLog
index 6e3a727..50f553a 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,11 @@
+2009-10-06 Florent Lamiraux <fl...@la...>
+
+ Add a test: minimization of positive height variation along a spline.
+ * tests/Makefile.am,
+ * tests/spline-bicycle-optim.cc: New,
+ * tests/spline-bicycle-optim.stdout: New,
+ * tests/testsuite.at.
+
2009-10-06 Florent Lamiraux <fl...@la...>
Rewrite TrajectorySumCost to fit StateCost interface.
diff --git a/tests/Makefile.am b/tests/Makefile.am
index 692aaea..8d78fa2 100644
--- a/tests/Makefile.am
+++ b/tests/Makefile.am
@@ -36,6 +36,11 @@ check_PROGRAMS += spline-optimization
spline_optimization_SOURCES = spline-optimization.cc $(COMMON_SOURCES)
spline_optimization_LDADD = $(top_builddir)/src/libroboptim-trajectory.la
+# spline-bicycle-optim
+check_PROGRAMS += spline-bicycle-optim
+spline_bicycle_optim_SOURCES = spline-bicycle-optim.cc $(COMMON_SOURCES)
+spline_bicycle_optim_LDADD = $(top_builddir)/src/libroboptim-trajectory.la
+
# free-time-trajectory
check_PROGRAMS += free-time-trajectory
free_time_trajectory_SOURCES = free-time-trajectory.cc $(COMMON_SOURCES)
@@ -146,6 +151,7 @@ EXTRA_DIST += \
simple.stdout \
spline-gradient.stdout \
spline-optimization.stdout \
+ spline-bicycle-optim.stdout \
spline-time-optimization.stdout \
spline.stdout \
state-cost.stdout
diff --git a/tests/spline-bicycle-optim.cc b/tests/spline-bicycle-optim.cc
new file mode 100644
index 0000000..a3aae13
--- /dev/null
+++ b/tests/spline-bicycle-optim.cc
@@ -0,0 +1,231 @@
+// Copyright (C) 2009 by Thomas Moulard, AIST, CNRS, INRIA.
+//
+// This file is part of the roboptim.
+//
+// roboptim is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// roboptim 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 Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+
+#include <boost/assign/list_of.hpp>
+#include <boost/mpl/vector.hpp>
+#include <boost/numeric/ublas/io.hpp>
+
+#include <roboptim/core/finite-difference-gradient.hh>
+#include <roboptim/core/solver-factory.hh>
+
+#include <roboptim/core/visualization/gnuplot.hh>
+#include <roboptim/core/visualization/gnuplot-commands.hh>
+#include <roboptim/core/visualization/gnuplot-function.hh>
+
+#include <roboptim/trajectory/freeze.hh>
+#include <roboptim/trajectory/fwd.hh>
+#include <roboptim/trajectory/spline-length.hh>
+#include <roboptim/trajectory/spline.hh>
+#include <roboptim/trajectory/trajectory-sum-cost.hh>
+#include <roboptim/trajectory/visualization/trajectory.hh>
+
+
+#include <roboptim/core/plugin/cfsqp.hh>
+
+
+#include "common.hh"
+
+using namespace roboptim;
+using namespace roboptim::visualization;
+using namespace roboptim::visualization::gnuplot;
+
+typedef CFSQPSolver::problem_t::constraints_t constraint_t;
+typedef CFSQPSolver solver_t;
+
+/*
+ Parameter of the cost function
+*/
+static double m=2.0;
+
+class PositiveCostVar : public DerivableFunction
+{
+public:
+ PositiveCostVar() : DerivableFunction(4, 1, "positive variation of height")
+ {
+ }
+ void impl_compute(result_t& res, const argument_t& x) const throw ()
+ {
+#ifdef BICYCLE_COST_FUNCTION
+ res[0] = std::max(0., m*x[3]);
+#else
+ double y0 = x[1];
+ double x1 = x[2];
+ double y1 = x[3];
+ double v = m*y0;
+ res[0] = .5*v*(x1*x1+y1*y1);
+#endif
+ };
+
+ void impl_gradient(gradient_t& grad, const argument_t& x,
+ size_type functionId = 0) const throw ()
+ {
+ assert(functionId==0);
+ grad.clear();
+#ifdef BICYCLE_COST_FUNCTION
+ if (x[3] > 0) {
+ grad[3] = m;
+ } else if (x[3] == 0) {
+ grad[3] = .5*m;
+ } else {
+ grad[3] = 0;
+ }
+#else
+ double y0 = x[1];
+ double x1 = x[2];
+ double y1 = x[3];
+ double v = m*y0;
+
+ grad[1] = .5*m*(x1*x1+y1*y1);
+ grad[2] = v*x1;
+ grad[3] = v*y1;
+#endif
+ };
+};
+
+int run_test ()
+{
+ using namespace boost::assign;
+ Spline::vector_t params (22);
+
+ // Initial position.
+ params[0] = 0., params[1] = 0.;
+ // Control point .
+ params[2] = .1, params[3] = .01;
+ // Control point .
+ params[4] = .2, params[5] = .02;
+ // Control point .
+ params[6] = .3, params[7] = .03;
+ // Control point .
+ params[8] = .4, params[9] = .04;
+ // Control point .
+ params[10] = .5, params[11] = .05;
+ // Control point .
+ params[12] = .6, params[13] = .06;
+ // Control point .
+ params[14] = .7, params[15] = .07;
+ // Control point .
+ params[16] = .8, params[17] = .08;
+ // Control point .
+ params[18] = .9, params[19] = .09;
+ // Final position.
+ params[20] = 1., params[21] = .1;
+
+ Spline::interval_t timeRange = Spline::makeInterval (0., 1.);
+
+ Spline spline (timeRange, 2, params, "before");
+ discreteInterval_t interval (0., 1., 0.01);
+
+ Gnuplot gnuplot = Gnuplot::make_interactive_gnuplot ();
+ gnuplot
+ << set ("multiplot layout 1,2")
+ << set ("grid")
+ << plot_xy (spline);
+
+ // Optimize.
+ boost::shared_ptr<PositiveCostVar>
+ positiveCostVarShPtr(new PositiveCostVar()) ;
+
+ TrajectorySumCost < Spline > sumCost(spline, positiveCostVarShPtr,
+ interval, 1);
+ // Check cost gradient.
+ try
+ {
+ Function::vector_t x (params.size ());
+ x.clear ();
+ checkGradientAndThrow (sumCost, 0, x, 2e-3);
+
+ x = params;
+ checkGradientAndThrow (sumCost, 0, x, 2e-3);
+ }
+ catch (BadGradient& bg)
+ {
+ std::cout << bg << std::endl;
+ return 1;
+ }
+
+ solver_t::problem_t problem (sumCost);
+ problem.startingPoint () = params;
+
+ std::vector<Function::size_type> indices;
+ indices.push_back (0);
+ indices.push_back (1);
+ indices.push_back (params.size () - 2);
+ indices.push_back (params.size () - 1);
+ makeFreeze (problem) (indices, params);
+
+ SolverFactory<solver_t> factory ("cfsqp", problem);
+ solver_t& solver = factory ();
+
+ std::cerr << "Cost function (before): " << sumCost (params) << std::endl;
+ std::cerr << "Parameters (before): " << params << std::endl;
+
+ std::cerr << solver << std::endl;
+
+ solver_t::result_t res = solver.minimum ();
+
+ switch (res.which ())
+ {
+ case GenericSolver::SOLVER_VALUE:
+ {
+ Result& result = boost::get<Result> (res);
+ Spline optimizedSpline (timeRange, 2, result.x, "after");
+ params = result.x;
+ gnuplot << plot_xy (optimizedSpline);
+ break;
+ }
+
+ case GenericSolver::SOLVER_NO_SOLUTION:
+ {
+ std::cerr << "No solution" << std::endl;
+ return 1;
+ }
+ case GenericSolver::SOLVER_VALUE_WARNINGS:
+ {
+ ResultWithWarnings& result = boost::get<ResultWithWarnings> (res);
+ Spline optimizedSpline (timeRange, 2, result.x, "after");
+ params = result.x;
+ std::cerr << result << std::endl;
+ gnuplot << plot_xy (optimizedSpline);
+ break;
+ }
+
+ case GenericSolver::SOLVER_ERROR:
+ {
+ SolverError& result = boost::get<SolverError> (res);
+ std::cerr << result << std::endl;
+ return 1;
+ }
+ }
+
+ std::cerr << "Parameters (after): " << params << std::endl;
+
+ // Check cost gradient (final).
+ try
+ {
+ checkGradientAndThrow (sumCost, 0, params, 2e-3);
+ }
+ catch (BadGradient& bg)
+ {
+ std::cout << bg << std::endl;
+ return 1;
+ }
+
+ std::cout << (gnuplot << unset ("multiplot"));
+ return 0;
+}
+
+GENERATE_TEST ()
diff --git a/tests/spline-bicycle-optim.stdout b/tests/spline-bicycle-optim.stdout
new file mode 100644
index 0000000..e69de29
diff --git a/tests/testsuite.at b/tests/testsuite.at
index b0c4101..1650f5b 100644
--- a/tests/testsuite.at
+++ b/tests/testsuite.at
@@ -36,6 +36,7 @@ CHECK_STDOUT([state-cost], [Check state cost.])
AT_BANNER([Optimization (require solver plug-in)])
CHECK_STDOUT([spline-optimization], [Optimize a Spline with Cfsqp.])
+CHECK_STDOUT([spline-bicycle-optim], [Optimize a Spline with Cfsqp.])
CHECK_STDOUT([spline-time-optimization], [Optimize a free time trajectory.])
AT_BANNER([Long tests (disabled unless ALL_TESTS=1)])
commit e8b5c4e837e3de67a1ffab60c78c5d4e86f5d659
Author: florent <fl...@fl...>
Date: Tue Oct 6 09:05:04 2009 +0200
Rewrite TrajectorySumCost to fit StateCost interface.
* include/roboptim/trajectory/trajectory-sum-cost.hh,
* include/roboptim/trajectory/trajectory-sum-cost.hxx:
TrajectorySumCost and StateCost are similar classes. The interface
and implementation of the first one has been adapted from the second
one.
Signed-off-by: florent <fl...@fl...>
diff --git a/ChangeLog b/ChangeLog
index 22629cd..6e3a727 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,14 @@
2009-10-06 Florent Lamiraux <fl...@la...>
+ Rewrite TrajectorySumCost to fit StateCost interface.
+ * include/roboptim/trajectory/trajectory-sum-cost.hh,
+ * include/roboptim/trajectory/trajectory-sum-cost.hxx:
+ TrajectorySumCost and StateCost are similar classes. The interface
+ and implementation of the first one has been adapted from the second
+ one.
+
+2009-10-06 Florent Lamiraux <fl...@la...>
+
Fix comment.
* include/roboptim/trajectory/state-cost.hh.
diff --git a/include/roboptim/trajectory/trajectory-sum-cost.hh b/include/roboptim/trajectory/trajectory-sum-cost.hh
index 28a53ec..f8521ae 100644
--- a/include/roboptim/trajectory/trajectory-sum-cost.hh
+++ b/include/roboptim/trajectory/trajectory-sum-cost.hh
@@ -17,34 +17,41 @@
#ifndef ROBOPTIM_TRAJECTORY_TRAJECTORY_SUM_COST_HH
# define ROBOPTIM_TRAJECTORY_TRAJECTORY_SUM_COST_HH
-# include <vector>
-# include <roboptim/core/derivable-function.hh>
+# include <boost/shared_ptr.hpp>
# include <roboptim/trajectory/fwd.hh>
-# include <roboptim/trajectory/state-cost.hh>
-# include <roboptim/trajectory/trajectory-cost.hh>
+# include <roboptim/core/derivable-function.hh>
namespace roboptim
{
/// \addtogroup roboptim_meta_function
/// @{
- /// \brief Define trajectory cost as the sum of state costs.
+ /// \brief Trajectory cost function defined by sum of state evaluations at parameters.
///
- /// Define a generic cost on a trajectory as the sum of costs
- /// on several states.
+ /// The state along a trajectory is defined as the vector containing the
+ /// configuration and derivatives up to order \f$r\f$ of the
+ /// configuration.
+ /**\f[
+\textbf{Cost}(\Gamma) = \sum_{i=1}{n} cost
+\left({\Gamma(t_i)}, {\dot{\Gamma}(t_i)},\cdots,\frac{d^{r}\Gamma}{dt^{r}}(t_i)
+\right)
+ \f]*/
+ /// where
+ /// - \f$\textbf{Cost}\f$ is the trajectory cost,
+ /// - \f$cost\f$ is the state cost,
+ /// - \f$t_i\ \ i=1\cdots n\f$ are the parameters along the trajectory where the cost is evaluated,
+ /// - \f$r\f$ is called the order of the state.
///
/// \tparam T trajectory type
template <typename T>
- class TrajectorySumCost : public TrajectoryCost<T>
+ class TrajectorySumCost : public DerivableFunction
{
public:
/// \brief Parent type.
- typedef TrajectoryCost<T> parent_t;
+ typedef DerivableFunction parent_t;
/// \brief Trajectory type.
typedef T trajectory_t;
- /// \brief State cost type.
- typedef StateCost<T> stateCost_t;
/// \brief Import vector type.
typedef typename parent_t::vector_t vector_t;
@@ -53,36 +60,30 @@ namespace roboptim
/// \brief Import discrete interval type.
typedef typename parent_t::discreteInterval_t discreteInterval_t;
- /// \brief Instantiate from a trajectory, a state cost and a list
- /// of discrete points.
+ /// \brief Constructor.
///
- /// \param traj trajectory on which the cost is computed
- /// \param statecost state cost object
- /// \param vector point list
- TrajectorySumCost (const trajectory_t& traj,
- const stateCost_t& statecost,
- const vector_t& vector) throw ();
-
- /// \brief Instantiate from a trajectory, a state cost and a list
- /// of discrete points.
- ///
- /// \param traj trajectory on which the cost is computed
- /// \param statecost state cost object
- /// \param interval discrete interval used to generate point list
- TrajectorySumCost (const trajectory_t& traj,
- const stateCost_t& statecost,
- const discreteInterval_t& interval) throw ();
+ /// \param gamma Trajectory \f$\Gamma\f$ along which the state is evaluated.
+ /// \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.
+ TrajectorySumCost (const trajectory_t& gamma,
+ boost::shared_ptr<DerivableFunction> cost,
+ const discreteInterval_t& interval,
+ size_type order = 1) throw ();
virtual ~TrajectorySumCost () throw ();
- virtual vector_t operator () (const vector_t&) const throw ();
- virtual gradient_t gradient (const vector_t&, int) const throw ();
+ size_type order () const throw ();
protected:
- /// \brief State cost object.
- const stateCost_t& stateCost_;
- /// \brief Point list.
- std::vector<double> points_;
+ void impl_compute (result_t&, const argument_t&) const throw ();
+ void impl_gradient (gradient_t&, const argument_t&, size_type) const throw ();
+
+ private:
+ const trajectory_t& trajectory_;
+ boost::shared_ptr<DerivableFunction> function_;
+ discreteInterval_t interval_;
+ size_type order_;
};
/// @}
diff --git a/include/roboptim/trajectory/trajectory-sum-cost.hxx b/include/roboptim/trajectory/trajectory-sum-cost.hxx
index 5e3c996..e23bc0f 100644
--- a/include/roboptim/trajectory/trajectory-sum-cost.hxx
+++ b/include/roboptim/trajectory/trajectory-sum-cost.hxx
@@ -22,70 +22,74 @@
namespace roboptim
{
template <typename T>
- TrajectorySumCost<T>::TrajectorySumCost (const trajectory_t& traj,
- const stateCost_t& sc,
- const vector_t& pts) throw ()
- : parent_t (traj),
- stateCost_ (sc),
- points_ (pts)
+ TrajectorySumCost<T>::
+ TrajectorySumCost (const trajectory_t& gamma,
+ boost::shared_ptr<DerivableFunction> cost,
+ const discreteInterval_t& interval,
+ size_type order) throw ()
+ : DerivableFunction (gamma.parameters ().size (),
+ cost->outputSize (),
+ (boost::format ("sum cost using function ``%1%''")
+ % cost->getName ()).str ()),
+ trajectory_ (gamma),
+ function_ (cost),
+ interval_ (interval),
+ order_ (order)
{
+ assert (function_->inputSize () == trajectory_.outputSize () * (order + 1));
}
template <typename T>
- TrajectorySumCost<T>::TrajectorySumCost
- (const trajectory_t& traj,
- const stateCost_t& sc,
- const discreteInterval_t& interval) throw ()
- : parent_t (traj),
- stateCost_ (sc),
- points_ ()
+ TrajectorySumCost<T>::~TrajectorySumCost() throw ()
{
- using namespace boost;
- for (double i = get<0> (interval); i <= get<1> (interval);
- i += get<2> (interval))
- points_.push_back (i);
}
-
template <typename T>
- TrajectorySumCost<T>::~TrajectorySumCost () throw ()
+ typename TrajectorySumCost<T>::size_type
+ TrajectorySumCost<T>::order () const throw ()
{
+ return order_;
}
template <typename T>
- typename TrajectorySumCost<T>::vector_t
- TrajectorySumCost<T>::operator () (const vector_t& x) const throw ()
+ void
+ TrajectorySumCost<T>::impl_compute (result_t& res,
+ const argument_t& p) const throw ()
{
- double result = 0.;
-
- typedef typename std::vector<double>::const_iterator citer_t;
- for (citer_t it = points_.begin (); it != points_.end (); ++it)
- result += stateCost_ (this->trajectory_ (*it))[0];
+ static trajectory_t updatedTrajectory = trajectory_;
+ updatedTrajectory.setParameters (p);
- vector_t res (this->m);
- res[0] = result;
- return res;
+ // Loop over sample points.
+ // TODO replace by stable time points
+ vector_t cost(1);
+ cost.clear();
+ for (value_type t=interval_.get<0>(); t < interval_.get<1>();
+ t += interval_.get<2>()) {
+ (*function_) (cost, updatedTrajectory.state(t, this->order_));
+ res += cost;
+ }
}
template <typename T>
- typename TrajectorySumCost<T>::gradient_t
- TrajectorySumCost<T>::gradient (const vector_t& x, int) const throw ()
+ void
+ TrajectorySumCost<T>::impl_gradient (gradient_t& grad, const argument_t& p,
+ size_type i) const throw ()
{
- gradient_t result (this->n);
- result.clear ();
-
- typedef typename std::vector<double>::const_iterator citer_t;
- for (citer_t it = points_.begin (); it != points_.end (); ++it)
- {
- assert (this->trajectory_.timeRange ().first <= *it
- && *it <= this->trajectory_.timeRange ().second);
-
- result += prod (stateCost_.gradient (this->trajectory_ (*it), 0),
- this->trajectory_.variationConfigWrtParam (*it));
- }
- return result;
+ using namespace boost::numeric::ublas;
+ static trajectory_t updatedTrajectory = trajectory_;
+ updatedTrajectory.setParameters (p);
+ grad.clear();
+ // Loop over sample points.
+ // TODO replace by stable time points
+ gradient_t gr(grad.size());
+ for (value_type t=interval_.get<0>(); t < interval_.get<1>();
+ t += interval_.get<2>()) {
+ gr = prod (function_->gradient (updatedTrajectory.state (t, this->order_),
+ i),
+ updatedTrajectory.variationStateWrtParam (t, this->order_));
+ grad += gr;
+ }
}
-
} // end of namespace roboptim.
#endif //! ROBOPTIM_TRAJECTORY_TRAJECTORY_SUM_COST_HXX
commit 4cd6e5b0b58dbffd11cfbc40fc23f15da969ca09
Author: florent <fl...@fl...>
Date: Tue Oct 6 09:00:50 2009 +0200
Fix comment.
* include/roboptim/trajectory/state-cost.hh.
Signed-off-by: florent <fl...@fl...>
diff --git a/ChangeLog b/ChangeLog
index 0cb1d98..22629cd 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,8 @@
+2009-10-06 Florent Lamiraux <fl...@la...>
+
+ Fix comment.
+ * include/roboptim/trajectory/state-cost.hh.
+
2009-10-06 Florent Lamiraux <fl...@la...>
Add declaration before definition to remove warning.
diff --git a/include/roboptim/trajectory/state-cost.hh b/include/roboptim/trajectory/state-cost.hh
index 52f4293..80528c0 100644
--- a/include/roboptim/trajectory/state-cost.hh
+++ b/include/roboptim/trajectory/state-cost.hh
@@ -32,7 +32,7 @@ namespace roboptim
///
/// The state along a trajectory is defined as the vector containing the
/// configuration and derivatives up to order \f$r\f$ of the
- /// configuration:
+ /// configuration.
/**\f[
\textbf{Cost}(\Gamma) = cost
\left({\Gamma(t)}, {\dot{\Gamma}(t)},\cdots,\frac{d^{r}\Gamma}{dt^{r}}(t)
@@ -44,6 +44,8 @@ namespace roboptim
/// - \f$t\f$ is the parameter along the trajectory where the cost is
/// evaluated (fixed at construction),
/// - \f$r\f$ is called the order of the state.
+ ///
+ /// \tparam T trajectory type
template <typename T>
class StateCost : public DerivableFunction
@@ -52,7 +54,7 @@ namespace roboptim
/// \brief Trajectory type.
typedef T trajectory_t;
- /// \brief Concrete class should call this constructor.
+ /// \brief Constructor.
///
/// \param gamma Trajectory \f$\Gamma\f$ along which the state is evaluated.
/// \param cost state cost: \f$cost\f$.
commit f2fdd9334374b38f7177a694e9de298422f45320
Author: florent <fl...@fl...>
Date: Tue Oct 6 08:59:29 2009 +0200
Add declaration before definition to remove warning.
* tests/anthropomorphic-cost-function.cc: declare function
optimize().
Signed-off-by: florent <fl...@fl...>
diff --git a/ChangeLog b/ChangeLog
index 3a01ca5..0cb1d98 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,9 @@
+2009-10-06 Florent Lamiraux <fl...@la...>
+
+ Add declaration before definition to remove warning.
+ * tests/anthropomorphic-cost-function.cc: declare function
+ optimize().
+
2009-10-05 Florent Lamiraux <fl...@la...>
Document state cost.
diff --git a/tests/anthropomorphic-cost-function.cc b/tests/anthropomorphic-cost-function.cc
index eb41736..a1f1c3b 100644
--- a/tests/anthropomorphic-cost-function.cc
+++ b/tests/anthropomorphic-cost-function.cc
@@ -64,6 +64,14 @@ int optimize (double initialX,
double finalX,
double finalY,
double finalTheta,
+ bool setStartingPoint);
+
+int optimize (double initialX,
+ double initialY,
+ double initialTheta,
+ double finalX,
+ double finalY,
+ double finalTheta,
bool setStartingPoint)
{
using namespace boost;
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 28 +++++
include/roboptim/trajectory/state-cost.hh | 6 +-
include/roboptim/trajectory/trajectory-sum-cost.hh | 71 ++++++------
.../roboptim/trajectory/trajectory-sum-cost.hxx | 94 ++++++++--------
tests/Makefile.am | 6 +
tests/anthropomorphic-cost-function.cc | 8 ++
...ine-optimization.cc => spline-bicycle-optim.cc} | 118 ++++++++++++++------
...n-case-1.stdout => spline-bicycle-optim.stdout} | 0
tests/testsuite.at | 1 +
9 files changed, 214 insertions(+), 118 deletions(-)
copy tests/{spline-optimization.cc => spline-bicycle-optim.cc} (63%)
copy tests/{anthropomorphic-cost-function-case-1.stdout => spline-bicycle-optim.stdout} (100%)
hooks/post-receive
--
roboptim-trajectory
|
|
From: Florent L. <fla...@us...> - 2009-10-05 14:21:13
|
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 f7c2d3b46f8319ced4ef1eea5467f5e5af9cdc3d (commit)
from e7cb836983ae9268e595130c5308f966c712731c (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 f7c2d3b46f8319ced4ef1eea5467f5e5af9cdc3d
Author: florent <fl...@fl...>
Date: Mon Oct 5 16:17:59 2009 +0200
Document state cost.
* include/roboptim/trajectory/state-cost.hh: Make documentation
match implementation.
Signed-off-by: florent <fl...@fl...>
diff --git a/ChangeLog b/ChangeLog
index 5d74507..3a01ca5 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,9 @@
+2009-10-05 Florent Lamiraux <fl...@la...>
+
+ Document state cost.
+ * include/roboptim/trajectory/state-cost.hh: Make documentation
+ match implementation.
+
2009-08-31 Thomas Moulard <tho...@gm...>
Update to new interface.
diff --git a/include/roboptim/trajectory/state-cost.hh b/include/roboptim/trajectory/state-cost.hh
index 6950e3d..52f4293 100644
--- a/include/roboptim/trajectory/state-cost.hh
+++ b/include/roboptim/trajectory/state-cost.hh
@@ -28,19 +28,23 @@ namespace roboptim
/// \addtogroup roboptim_meta_function
/// @{
- /// \brief Cost function taking a state as its input.
+ /// \brief Trajectory cost function defined by state evaluation at parameter.
///
- /// The state of a system is defined as the vector containing the
+ /// The state along a trajectory is defined as the vector containing the
/// configuration and derivatives up to order \f$r\f$ of the
/// configuration:
/**\f[
-\textbf{X} =
-\left(\textbf{q}, \frac{d\textbf{q}}{dt},\cdots,\frac{d^{r}\textbf{q}}{dt^{r}}(t)
+\textbf{Cost}(\Gamma) = cost
+\left({\Gamma(t)}, {\dot{\Gamma}(t)},\cdots,\frac{d^{r}\Gamma}{dt^{r}}(t)
\right)
\f]*/
- /// \f$r\f$ is called the order of the state.
- /// The cost of a state is a real valued function defined over the state space:
- /// \f[C(\textbf{X})\in \textbf{R}\f]
+ /// where
+ /// - \f$\textbf{Cost}\f$ is the trajectory cost,
+ /// - \f$cost\f$ is the state cost,
+ /// - \f$t\f$ is the parameter along the trajectory where the cost is
+ /// evaluated (fixed at construction),
+ /// - \f$r\f$ is called the order of the state.
+
template <typename T>
class StateCost : public DerivableFunction
{
@@ -49,8 +53,13 @@ namespace roboptim
typedef T trajectory_t;
/// \brief Concrete class should call this constructor.
- StateCost (const trajectory_t&,
- boost::shared_ptr<DerivableFunction>,
+ ///
+ /// \param gamma Trajectory \f$\Gamma\f$ along which the state is evaluated.
+ /// \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.
+ StateCost (const trajectory_t& gamma,
+ boost::shared_ptr<DerivableFunction> cost,
const StableTimePoint tpt,
size_type order = 1) throw ();
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 6 ++++++
include/roboptim/trajectory/state-cost.hh | 27 ++++++++++++++++++---------
2 files changed, 24 insertions(+), 9 deletions(-)
hooks/post-receive
--
roboptim-trajectory
|
|
From: Thomas M. <tho...@us...> - 2009-10-02 23:20:37
|
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 packaging".
The branch, master has been created
at 79d7ecb0eba11ab43b1b4a643f1d33aa0a44cee7 (commit)
- Log -----------------------------------------------------------------
commit 79d7ecb0eba11ab43b1b4a643f1d33aa0a44cee7
Author: Thomas Moulard <tho...@gm...>
Date: Sat Oct 3 01:19:56 2009 +0200
Initial import.
diff --git a/README b/README
new file mode 100644
index 0000000..5a2520b
--- /dev/null
+++ b/README
@@ -0,0 +1,14 @@
+ -*- outline -*-
+
+This repository contains packages for RobOptim and its dependencies.
+
+* Repository structure
+
+** Package system (deb, rpm, ebuild)
+*** Package
+**** Version
+
+* More information
+
+For general information about the project, please refer to its homepage:
+http://roboptim.sourceforge.net
diff --git a/deb/ubuntu/roboptim-core/0.1/debian/ChangeLog b/deb/ubuntu/roboptim-core/0.1/debian/ChangeLog
new file mode 100644
index 0000000..6ab6450
--- /dev/null
+++ b/deb/ubuntu/roboptim-core/0.1/debian/ChangeLog
@@ -0,0 +1,17 @@
+2009-04-29 Thomas Moulard <tho...@gm...>
+
+ * control: Fix Boost dependency.
+
+2009-04-28 Thomas Moulard <tho...@gm...>
+
+ * control: Add Boost dependency and more meta information.
+
+2009-03-24 Thomas Moulard <tho...@gm...>
+
+ * changelog,
+ * ChangeLog,
+ * compat,
+ * control,
+ * copyright,
+ * docs,
+ * rules: Initial release.
diff --git a/deb/ubuntu/roboptim-core/0.1/debian/changelog b/deb/ubuntu/roboptim-core/0.1/debian/changelog
new file mode 100644
index 0000000..701b4f4
--- /dev/null
+++ b/deb/ubuntu/roboptim-core/0.1/debian/changelog
@@ -0,0 +1,5 @@
+roboptim-core (0.1-0ubuntu1) hardy; urgency=low
+
+ * Initial release.
+
+ -- Thomas Moulard <tho...@gm...> Fri, 01 May 2009 16:30:28 +0900
diff --git a/deb/ubuntu/roboptim-core/0.1/debian/compat b/deb/ubuntu/roboptim-core/0.1/debian/compat
new file mode 100644
index 0000000..7ed6ff8
--- /dev/null
+++ b/deb/ubuntu/roboptim-core/0.1/debian/compat
@@ -0,0 +1 @@
+5
diff --git a/deb/ubuntu/roboptim-core/0.1/debian/control b/deb/ubuntu/roboptim-core/0.1/debian/control
new file mode 100644
index 0000000..1961b12
--- /dev/null
+++ b/deb/ubuntu/roboptim-core/0.1/debian/control
@@ -0,0 +1,37 @@
+Source: roboptim-core
+Section: libs
+Priority: optional
+Maintainer: Thomas Moulard <tho...@gm...>
+Standards-Version: 3.8.0
+Build-Depends: debhelper (>= 5), autotools-dev, doxygen, libboost-dev (>= 1.34)
+Homepage: http://roboptim.sourceforge.net/
+
+Package: libroboptim-core
+Section: libs
+Depends: ${shlibs:Depends}
+Architecture: any
+Description: Roboptim Core library (numeric optimization for robotics)
+ RobOptim Core defines a standard C++ interface
+ to define non-linear optimization problems independently
+ of a specific solver.
+
+
+Package: libroboptim-core-dev
+Section: libdevel
+Depends: libroboptim-core (= ${binary:Version}), libboost-dev (>= 1.34), libstdc++-dev
+Architecture: any
+Recommends: libroboptim-core-doc
+Description: RobOptim Core library development files
+ RobOptim Core defines a standard C++ interface
+ to define non-linear optimization problems independently
+ of a specific solver.
+
+
+Package: libroboptim-core-doc
+Section: doc
+Architecture: all
+Suggests: libboost-dev (>= ${source:Version})
+Description: RobOptim Core documentation
+ RobOptim Core defines a standard C++ interface
+ to define non-linear optimization problems independently
+ of a specific solver.
diff --git a/deb/ubuntu/roboptim-core/0.1/debian/copyright b/deb/ubuntu/roboptim-core/0.1/debian/copyright
new file mode 100644
index 0000000..155298f
--- /dev/null
+++ b/deb/ubuntu/roboptim-core/0.1/debian/copyright
@@ -0,0 +1,23 @@
+This package was debianized by Thomas Moulard <tho...@gm...> on
+Fri, 01 May 2009 16:24:57 +0900.
+
+It was downloaded from http://roboptim.sourceforge.net/
+
+Upstream Authors:
+
+ Copyright (C) 2009 Florent Lamiraux
+ Copyright (C) 2009 Thomas Moulard
+ Copyright (C) 2009 Olivier Stasse
+ Copyright (C) 2009 Pierre-Brice Wieber
+
+Copyright:
+
+ Copyright (C) 2009 Thomas Moulard
+
+License:
+
+This program is released under the LGPL v3, see:
+`/usr/share/common-licenses/LGPL-3'
+
+The Debian packaging is (C) 2009, Thomas Moulard <tho...@gm...> and
+is licensed under the LGPL v3, see `/usr/share/common-licenses/LGPL-3'.
diff --git a/deb/ubuntu/roboptim-core/0.1/debian/docs b/deb/ubuntu/roboptim-core/0.1/debian/docs
new file mode 100644
index 0000000..6f83607
--- /dev/null
+++ b/deb/ubuntu/roboptim-core/0.1/debian/docs
@@ -0,0 +1,3 @@
+AUTHORS
+NEWS
+README
diff --git a/deb/ubuntu/roboptim-core/0.1/debian/libroboptim-core-dev.install b/deb/ubuntu/roboptim-core/0.1/debian/libroboptim-core-dev.install
new file mode 100644
index 0000000..77b686b
--- /dev/null
+++ b/deb/ubuntu/roboptim-core/0.1/debian/libroboptim-core-dev.install
@@ -0,0 +1,2 @@
+debian/tmp/usr/include/*
+debian/tmp/usr/lib/pkgconfig/*
diff --git a/deb/ubuntu/roboptim-core/0.1/debian/libroboptim-core-doc.doc-base b/deb/ubuntu/roboptim-core/0.1/debian/libroboptim-core-doc.doc-base
new file mode 100644
index 0000000..a4b8794
--- /dev/null
+++ b/deb/ubuntu/roboptim-core/0.1/debian/libroboptim-core-doc.doc-base
@@ -0,0 +1,12 @@
+Document: roboptim-core
+Title: RobOptim Core Manual
+Author: RobOptim Team
+Abstract: This manual describes what roboptim-core is
+ and how it can be used to
+ solve numeric optimization problems for humanoid
+ robotics.
+Section: Programming
+
+Format: HTML
+Index: /usr/share/doc/roboptim-core/html/index.html
+Files: /usr/share/doc/roboptim-core/html/*.*
diff --git a/deb/ubuntu/roboptim-core/0.1/debian/libroboptim-core-doc.install b/deb/ubuntu/roboptim-core/0.1/debian/libroboptim-core-doc.install
new file mode 100644
index 0000000..09c4081
--- /dev/null
+++ b/deb/ubuntu/roboptim-core/0.1/debian/libroboptim-core-doc.install
@@ -0,0 +1 @@
+debian/tmp/usr/share/doc/*
diff --git a/deb/ubuntu/roboptim-core/0.1/debian/libroboptim-core.install b/deb/ubuntu/roboptim-core/0.1/debian/libroboptim-core.install
new file mode 100644
index 0000000..d17b3c8
--- /dev/null
+++ b/deb/ubuntu/roboptim-core/0.1/debian/libroboptim-core.install
@@ -0,0 +1,3 @@
+debian/tmp/usr/lib/lib*.a
+debian/tmp/usr/lib/lib*.so
+debian/tmp/usr/lib/*.la
diff --git a/deb/ubuntu/roboptim-core/0.1/debian/rules b/deb/ubuntu/roboptim-core/0.1/debian/rules
new file mode 100755
index 0000000..966d7e6
--- /dev/null
+++ b/deb/ubuntu/roboptim-core/0.1/debian/rules
@@ -0,0 +1,83 @@
+#!/usr/bin/make -f
+# -*- makefile -*-
+# This file was originally written by Joey Hess and Craig Small.
+# As a special exception, when this file is copied by dh-make into a
+# dh-make output file, you may use that output file without restriction.
+# This special exception was added by Craig Small in version 0.37 of dh-make.
+
+# Uncomment this to turn on verbose mode.
+#export DH_VERBOSE=1
+
+
+# These are used for cross-compiling and for saving the configure script
+# from having to guess our platform (since we know it already)
+DEB_HOST_GNU_TYPE ?= $(shell dpkg-architecture -qDEB_HOST_GNU_TYPE)
+DEB_BUILD_GNU_TYPE ?= $(shell dpkg-architecture -qDEB_BUILD_GNU_TYPE)
+
+
+version=`ls src/.libs/lib*.so.* | \
+# awk '{if (match($$0,/[0-9]+\.[0-9]+\.[0-9]+$$/)) print substr($$0,RSTART)}'`
+major=`ls src/.libs/lib*.so.* | \
+ awk '{if (match($$0,/\.so\.[0-9]+$$/)) print substr($$0,RSTART+4)}'`
+
+config.status: configure
+ dh_testdir
+ ./configure --host=$(DEB_HOST_GNU_TYPE) --build=$(DEB_BUILD_GNU_TYPE) \
+ --prefix=/usr --mandir=\$${prefix}/share/man \
+ --infodir=\$${prefix}/share/info \
+ --enable-static --enable-shared \
+ CFLAGS="$(CFLAGS)" LDFLAGS="-Wl,-z,defs"
+
+
+build: build-stamp
+build-stamp: config.status
+ dh_testdir
+ # Add here commands to compile the package.
+ $(MAKE)
+ touch $@
+
+clean:
+ dh_testdir
+ dh_testroot
+ rm -f build-stamp
+
+ if test -f Makefile; then $(MAKE) distclean; fi
+
+ dh_clean
+
+install: build
+ dh_testdir
+ dh_testroot
+ dh_clean -k
+ dh_installdirs
+
+ # Add here commands to install the package into debian/tmp
+ $(MAKE) DESTDIR=$(CURDIR)/debian/tmp install
+
+ # Remove empty files to avoid lintian warnings.
+ find $(CURDIR)/debian/tmp install -empty -type f | xargs rm -f
+
+
+# Build architecture-independent files here.
+binary-indep: build install
+# We have nothing to do by default.
+
+# Build architecture-dependent files here.
+binary-arch: build install
+ dh_testdir
+ dh_testroot
+ dh_installchangelogs ChangeLog
+ dh_installdocs
+ dh_install
+ dh_link
+ dh_strip
+ dh_compress
+ dh_fixperms
+ dh_installdeb
+ dh_shlibdeps
+ dh_gencontrol
+ dh_md5sums
+ dh_builddeb
+
+binary: binary-indep binary-arch
+.PHONY: build clean binary-indep binary-arch binary install
diff --git a/deb/ubuntu/roboptim-core/0.1/debian/watch b/deb/ubuntu/roboptim-core/0.1/debian/watch
new file mode 100644
index 0000000..9d9dda8
--- /dev/null
+++ b/deb/ubuntu/roboptim-core/0.1/debian/watch
@@ -0,0 +1,10 @@
+# Example watch control file for uscan
+# Rename this file to "watch" and then you can run the "uscan" command
+# to check for upstream updates and more.
+# See uscan(1) for format
+
+# Compulsory line, this is a version 3 file
+version=3
+
+# Watch SourceForge website.
+http://sf.net/roboptim/roboptim-core-(.*).tar.gz debian uupdate
diff --git a/deb/ubuntu/roboptim-core/0.2/debian/changelog b/deb/ubuntu/roboptim-core/0.2/debian/changelog
new file mode 100644
index 0000000..eb225d2
--- /dev/null
+++ b/deb/ubuntu/roboptim-core/0.2/debian/changelog
@@ -0,0 +1,23 @@
+roboptim-core (0.2-2ubuntu1) hardy; urgency=low
+
+ * Add missing libraries to package.
+
+ -- Thomas Moulard <tho...@gm...> Tue, 05 May 2009 17:37:08 +0900
+
+roboptim-core (0.2-1ubuntu1) hardy; urgency=low
+
+ * Add missing plug-in to package.
+
+ -- Thomas Moulard <tho...@gm...> Tue, 05 May 2009 01:15:17 +0900
+
+roboptim-core (0.2-0ubuntu1) hardy; urgency=low
+
+ * Package new upstream version.
+
+ -- Thomas Moulard <tho...@gm...> Mon, 04 May 2009 00:37:17 +0900
+
+roboptim-core (0.1-0ubuntu1) hardy; urgency=low
+
+ * Initial release.
+
+ -- Thomas Moulard <tho...@gm...> Fri, 01 May 2009 16:30:28 +0900
diff --git a/deb/ubuntu/roboptim-core/0.2/debian/compat b/deb/ubuntu/roboptim-core/0.2/debian/compat
new file mode 100644
index 0000000..7ed6ff8
--- /dev/null
+++ b/deb/ubuntu/roboptim-core/0.2/debian/compat
@@ -0,0 +1 @@
+5
diff --git a/deb/ubuntu/roboptim-core/0.2/debian/control b/deb/ubuntu/roboptim-core/0.2/debian/control
new file mode 100644
index 0000000..fbb7d4c
--- /dev/null
+++ b/deb/ubuntu/roboptim-core/0.2/debian/control
@@ -0,0 +1,37 @@
+Source: roboptim-core
+Section: libs
+Priority: optional
+Maintainer: Thomas Moulard <tho...@gm...>
+Standards-Version: 3.8.0
+Build-Depends: debhelper (>= 5), autotools-dev, doxygen, libboost-dev (>= 1.34), libltdl3-dev (>=1.5.26)
+Homepage: http://roboptim.sourceforge.net/
+
+Package: libroboptim-core
+Section: libs
+Depends: ${shlibs:Depends}, libltdl3 (>=1.5.26)
+Architecture: any
+Description: Roboptim Core library (numeric optimization for robotics)
+ RobOptim Core defines a standard C++ interface
+ to define non-linear optimization problems independently
+ of a specific solver.
+
+
+Package: libroboptim-core-dev
+Section: libdevel
+Depends: libroboptim-core (= ${binary:Version}), libboost-dev (>= 1.34), libltdl3-dev (>=1.5.26), libstdc++-dev
+Architecture: any
+Recommends: libroboptim-core-doc
+Description: RobOptim Core library development files
+ RobOptim Core defines a standard C++ interface
+ to define non-linear optimization problems independently
+ of a specific solver.
+
+
+Package: libroboptim-core-doc
+Section: doc
+Architecture: all
+Suggests: libroboptim-core-dev (>= ${source:Version})
+Description: RobOptim Core documentation
+ RobOptim Core defines a standard C++ interface
+ to define non-linear optimization problems independently
+ of a specific solver.
diff --git a/deb/ubuntu/roboptim-core/0.2/debian/copyright b/deb/ubuntu/roboptim-core/0.2/debian/copyright
new file mode 100644
index 0000000..155298f
--- /dev/null
+++ b/deb/ubuntu/roboptim-core/0.2/debian/copyright
@@ -0,0 +1,23 @@
+This package was debianized by Thomas Moulard <tho...@gm...> on
+Fri, 01 May 2009 16:24:57 +0900.
+
+It was downloaded from http://roboptim.sourceforge.net/
+
+Upstream Authors:
+
+ Copyright (C) 2009 Florent Lamiraux
+ Copyright (C) 2009 Thomas Moulard
+ Copyright (C) 2009 Olivier Stasse
+ Copyright (C) 2009 Pierre-Brice Wieber
+
+Copyright:
+
+ Copyright (C) 2009 Thomas Moulard
+
+License:
+
+This program is released under the LGPL v3, see:
+`/usr/share/common-licenses/LGPL-3'
+
+The Debian packaging is (C) 2009, Thomas Moulard <tho...@gm...> and
+is licensed under the LGPL v3, see `/usr/share/common-licenses/LGPL-3'.
diff --git a/deb/ubuntu/roboptim-core/0.2/debian/docs b/deb/ubuntu/roboptim-core/0.2/debian/docs
new file mode 100644
index 0000000..0430391
--- /dev/null
+++ b/deb/ubuntu/roboptim-core/0.2/debian/docs
@@ -0,0 +1,5 @@
+AUTHORS
+NEWS
+README
+THANKS
+TODO
diff --git a/deb/ubuntu/roboptim-core/0.2/debian/libroboptim-core-dev.install b/deb/ubuntu/roboptim-core/0.2/debian/libroboptim-core-dev.install
new file mode 100644
index 0000000..77b686b
--- /dev/null
+++ b/deb/ubuntu/roboptim-core/0.2/debian/libroboptim-core-dev.install
@@ -0,0 +1,2 @@
+debian/tmp/usr/include/*
+debian/tmp/usr/lib/pkgconfig/*
diff --git a/deb/ubuntu/roboptim-core/0.2/debian/libroboptim-core-doc.doc-base b/deb/ubuntu/roboptim-core/0.2/debian/libroboptim-core-doc.doc-base
new file mode 100644
index 0000000..a4b8794
--- /dev/null
+++ b/deb/ubuntu/roboptim-core/0.2/debian/libroboptim-core-doc.doc-base
@@ -0,0 +1,12 @@
+Document: roboptim-core
+Title: RobOptim Core Manual
+Author: RobOptim Team
+Abstract: This manual describes what roboptim-core is
+ and how it can be used to
+ solve numeric optimization problems for humanoid
+ robotics.
+Section: Programming
+
+Format: HTML
+Index: /usr/share/doc/roboptim-core/html/index.html
+Files: /usr/share/doc/roboptim-core/html/*.*
diff --git a/deb/ubuntu/roboptim-core/0.2/debian/libroboptim-core-doc.install b/deb/ubuntu/roboptim-core/0.2/debian/libroboptim-core-doc.install
new file mode 100644
index 0000000..09c4081
--- /dev/null
+++ b/deb/ubuntu/roboptim-core/0.2/debian/libroboptim-core-doc.install
@@ -0,0 +1 @@
+debian/tmp/usr/share/doc/*
diff --git a/deb/ubuntu/roboptim-core/0.2/debian/libroboptim-core.install b/deb/ubuntu/roboptim-core/0.2/debian/libroboptim-core.install
new file mode 100644
index 0000000..1affbed
--- /dev/null
+++ b/deb/ubuntu/roboptim-core/0.2/debian/libroboptim-core.install
@@ -0,0 +1,3 @@
+debian/tmp/usr/lib/*.a*
+debian/tmp/usr/lib/*.so*
+debian/tmp/usr/lib/*.la
diff --git a/deb/ubuntu/roboptim-core/0.2/debian/patches/predeclare_functions.patch b/deb/ubuntu/roboptim-core/0.2/debian/patches/predeclare_functions.patch
new file mode 100644
index 0000000..852a070
--- /dev/null
+++ b/deb/ubuntu/roboptim-core/0.2/debian/patches/predeclare_functions.patch
@@ -0,0 +1,44 @@
+diff -Nurp old/include/roboptim/core/visualization/gnuplot-commands.hh new/include/roboptim/core/visualization/gnuplot-commands.hh
+--- old/include/roboptim/core/visualization/gnuplot-commands.hh 2009-05-03 12:36:13.000000000 +0900
++++ new/include/roboptim/core/visualization/gnuplot-commands.hh 2009-05-05 18:08:40.000000000 +0900
+@@ -47,6 +47,7 @@ namespace roboptim
+ };
+
+ # define GNUPLOT_UNARY_COMMAND(NAME) \
++ Command NAME () throw (); \
+ Command \
+ NAME () throw () \
+ { \
+@@ -54,6 +55,7 @@ namespace roboptim
+ }
+
+ # define GNUPLOT_STR_COMMAND(NAME, FARG, ARG) \
++ Command NAME (const char* ARG) throw (); \
+ Command \
+ NAME (const char* FARG) throw () \
+ { \
+@@ -67,6 +69,11 @@ namespace roboptim
+ return Command (command); \
+ }
+
++ Command comment (const char*) throw ();
++ Command set (const char*, const char*) throw ();
++ Command unset (const char*) throw ();
++ Command show (const char*, const char*) throw ();
++
+ Command
+ comment (const char* content) throw ()
+ {
+diff -Nurp old/src/roboptim-core-dummy-plugin.cc new/src/roboptim-core-dummy-plugin.cc
+--- old/src/roboptim-core-dummy-plugin.cc 2009-05-03 14:05:49.000000000 +0900
++++ new/src/roboptim-core-dummy-plugin.cc 2009-05-05 18:08:26.000000000 +0900
+@@ -48,6 +48,9 @@ extern "C"
+ using namespace roboptim;
+ typedef DummySolver::parent_t solver_t;
+
++ solver_t* create (const DummySolver::problem_t& pb);
++ void destroy (solver_t* p);
++
+ solver_t* create (const DummySolver::problem_t& pb)
+ {
+ return new DummySolver (pb);
diff --git a/deb/ubuntu/roboptim-core/0.2/debian/rules b/deb/ubuntu/roboptim-core/0.2/debian/rules
new file mode 100755
index 0000000..6ff7889
--- /dev/null
+++ b/deb/ubuntu/roboptim-core/0.2/debian/rules
@@ -0,0 +1,109 @@
+#!/usr/bin/make -f
+# -*- makefile -*-
+# This file was originally written by Joey Hess and Craig Small.
+# As a special exception, when this file is copied by dh-make into a
+# dh-make output file, you may use that output file without restriction.
+# This special exception was added by Craig Small in version 0.37 of dh-make.
+
+# Uncomment this to turn on verbose mode.
+#export DH_VERBOSE=1
+
+
+# These are used for cross-compiling and for saving the configure script
+# from having to guess our platform (since we know it already)
+DEB_HOST_GNU_TYPE ?= $(shell dpkg-architecture -qDEB_HOST_GNU_TYPE)
+DEB_BUILD_GNU_TYPE ?= $(shell dpkg-architecture -qDEB_BUILD_GNU_TYPE)
+
+
+version=`ls src/.libs/lib*.so.* | \
+# awk '{if (match($$0,/[0-9]+\.[0-9]+\.[0-9]+$$/)) print substr($$0,RSTART)}'`
+major=`ls src/.libs/lib*.so.* | \
+ awk '{if (match($$0,/\.so\.[0-9]+$$/)) print substr($$0,RSTART+4)}'`
+
+config.status: configure
+ dh_testdir
+ ./configure --host=$(DEB_HOST_GNU_TYPE) --build=$(DEB_BUILD_GNU_TYPE) \
+ --prefix=/usr --mandir=\$${prefix}/share/man \
+ --infodir=\$${prefix}/share/info \
+ CFLAGS="$(CFLAGS)"
+
+build: patch-stamp build-stamp
+build-stamp: config.status
+ dh_testdir
+ # Add here commands to compile the package.
+ $(MAKE)
+ touch $@
+
+clean:
+ dh_testdir
+ dh_testroot
+ rm -f build-stamp
+
+ if test -f Makefile; then $(MAKE) distclean; fi
+
+ dh_clean
+
+install: build
+ dh_testdir
+ dh_testroot
+ dh_clean -k
+ dh_installdirs
+
+ # Add here commands to install the package into debian/tmp
+ $(MAKE) DESTDIR=$(CURDIR)/debian/tmp install
+
+ # Remove empty files to avoid lintian warnings.
+ find $(CURDIR)/debian/tmp -empty -type f | xargs rm -f
+
+
+# Build architecture-independent files here.
+binary-indep: build install
+# We have nothing to do by default.
+
+# Build architecture-dependent files here.
+binary-arch: build install
+ dh_testdir
+ dh_testroot
+ dh_installchangelogs ChangeLog
+ dh_installdocs
+ dh_install
+ dh_link
+ dh_strip
+ dh_compress
+ dh_fixperms
+ dh_installdeb
+ dh_shlibdeps
+ dh_gencontrol
+ dh_md5sums
+ dh_builddeb
+
+binary: binary-indep binary-arch
+
+# Apply patches to the package
+patch: patch-stamp
+patch-stamp:
+ dh_testdir
+ @patches=debian/patches/*.patch; for patch in $$patches; do \
+ test -f $$patch || continue; \
+ echo "Applying $$patch"; \
+ patch -stuN -p1 < $$patch || exit 1; \
+ done
+ touch $@
+
+# Remove patches from the package
+unpatch:
+ dh_testdir
+ @if test -f patch-stamp; then \
+ patches=debian/patches/*.patch; \
+ for patch in $$patches; do \
+ reversepatches="$$patch $$reversepatches"; \
+ done; \
+ for patch in $$reversepatches; do \
+ test -f $$patch || continue; \
+ echo "Reversing $$patch"; \
+ patch -suRf -p1 < $$patch || exit 1; \
+ done; \
+ rm -f patch-stamp; \
+ fi
+
+.PHONY: build clean binary-indep binary-arch binary install patch unpatch
diff --git a/deb/ubuntu/roboptim-core/0.2/debian/watch b/deb/ubuntu/roboptim-core/0.2/debian/watch
new file mode 100644
index 0000000..9d9dda8
--- /dev/null
+++ b/deb/ubuntu/roboptim-core/0.2/debian/watch
@@ -0,0 +1,10 @@
+# Example watch control file for uscan
+# Rename this file to "watch" and then you can run the "uscan" command
+# to check for upstream updates and more.
+# See uscan(1) for format
+
+# Compulsory line, this is a version 3 file
+version=3
+
+# Watch SourceForge website.
+http://sf.net/roboptim/roboptim-core-(.*).tar.gz debian uupdate
diff --git a/ebuild/roboptim-core/ChangeLog b/ebuild/roboptim-core/ChangeLog
new file mode 100644
index 0000000..9d7f22a
--- /dev/null
+++ b/ebuild/roboptim-core/ChangeLog
@@ -0,0 +1,12 @@
+2009-10-03 Thomas Moulard <tho...@gm...>
+
+ * roboptim-0.3.ebuild: Add new ebuild. Roboptim now
+ depends on libltdl, add Libtool to dependency list.
+
+2009-03-24 Thomas Moulard <tho...@gm...>
+
+ * ChangeLog,
+ * roboptim-0.1.ebuild,
+ * roboptim-9999.ebuild,
+ * Makefile.am,
+ * metadata.xml: Initial work.
diff --git a/ebuild/roboptim-core/metadata.xml b/ebuild/roboptim-core/metadata.xml
new file mode 100644
index 0000000..03d0521
--- /dev/null
+++ b/ebuild/roboptim-core/metadata.xml
@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE pkgmetadata SYSTEM "http://www.gentoo.org/dtd/metadata.dtd">
+<pkgmetadata>
+<herd>no-herd</herd>
+<maintainer>
+ <email>tho...@gm...</email>
+ <name>Thomas Moulard</name>
+</maintainer>
+<longdescription>
+The generic optimization library allows user to independently solve
+numerical problems with one of the many available solvers.
+</longdescription>
+</pkgmetadata>
diff --git a/ebuild/roboptim-core/roboptim-core-0.1.ebuild b/ebuild/roboptim-core/roboptim-core-0.1.ebuild
new file mode 100644
index 0000000..3f8a8d5
--- /dev/null
+++ b/ebuild/roboptim-core/roboptim-core-0.1.ebuild
@@ -0,0 +1,26 @@
+# Copyright 1999-2009 Gentoo Foundation
+# Distributed under the terms of the GNU General Public License v2
+# $Header: $
+
+inherit eutils base
+
+DESCRIPTION="Robotics numerical optimization library."
+HOMEPAGE="http://roboptim.sourceforge.net/"
+SRC_URI="mirror://sourceforge/roboptim/${P}.tar.bz2"
+
+LICENSE="LGPL-3"
+SLOT="0"
+KEYWORDS="~x86"
+IUSE=""
+
+DEPEND="dev-libs/boost >= 1.34"
+RDEPEND="${DEPEND}"
+
+src_compile() {
+ econf || die "econf failed"
+ emake FLAGS="${CFLAGS}" || die "compile problem"
+}
+
+src_install() {
+ emake DESTDIR="${D}" install || die "make install failed"
+}
diff --git a/ebuild/roboptim-core/roboptim-core-0.3.ebuild b/ebuild/roboptim-core/roboptim-core-0.3.ebuild
new file mode 100644
index 0000000..0cf5edf
--- /dev/null
+++ b/ebuild/roboptim-core/roboptim-core-0.3.ebuild
@@ -0,0 +1,26 @@
+# Copyright 1999-2009 Gentoo Foundation
+# Distributed under the terms of the GNU General Public License v2
+# $Header: $
+
+inherit eutils base
+
+DESCRIPTION="Robotics numerical optimization library."
+HOMEPAGE="http://roboptim.sourceforge.net/"
+SRC_URI="mirror://sourceforge/roboptim/${P}.tar.bz2"
+
+LICENSE="LGPL-3"
+SLOT="0"
+KEYWORDS="~x86"
+IUSE=""
+
+DEPEND="dev-libs/boost >= 1.34, sys-devel/libtool"
+RDEPEND="${DEPEND}"
+
+src_compile() {
+ econf || die "econf failed"
+ emake FLAGS="${CFLAGS}" || die "compile problem"
+}
+
+src_install() {
+ emake DESTDIR="${D}" install || die "make install failed"
+}
diff --git a/ebuild/roboptim-core/roboptim-core-9999.ebuild b/ebuild/roboptim-core/roboptim-core-9999.ebuild
new file mode 100644
index 0000000..8051758
--- /dev/null
+++ b/ebuild/roboptim-core/roboptim-core-9999.ebuild
@@ -0,0 +1,28 @@
+# Copyright 1999-2009 Gentoo Foundation
+# Distributed under the terms of the GNU General Public License v2
+# $Header: $
+
+inherit git
+
+EGIT_REPO_URI="git://roboptim.git.sourceforge.net/gitroot/roboptim/core"
+
+DESCRIPTION="Robotics numerical optimization library."
+HOMEPAGE="http://roboptim.sourceforge.net/"
+SRC_URI=""
+
+LICENSE="LGPL-3"
+SLOT="0"
+KEYWORDS="~x86"
+
+DEPEND="dev-libs/boost >= 1.34"
+RDEPEND="${DEPEND}"
+
+src_compile() {
+ test -x "./bootstrap" && ./bootstrap || die "bootstrap failed"
+ econf $(use_with ice) || die "econf failed"
+ emake FLAGS="${CFLAGS}" || die "compile failed"
+}
+
+src_install() {
+ emake DESTDIR="${D}" install || die "make install failed"
+}
diff --git a/rpm/roboptim-core/0.1/ChangeLog b/rpm/roboptim-core/0.1/ChangeLog
new file mode 100644
index 0000000..0566a58
--- /dev/null
+++ b/rpm/roboptim-core/0.1/ChangeLog
@@ -0,0 +1,5 @@
+2009-03-24 Thomas Moulard <tho...@gm...>
+
+ * ChangeLog,
+ * roboptim.spec,
+ * Makefile.am: Initial work.
diff --git a/rpm/roboptim-core/0.1/roboptim-core.spec b/rpm/roboptim-core/0.1/roboptim-core.spec
new file mode 100644
index 0000000..bba8745
--- /dev/null
+++ b/rpm/roboptim-core/0.1/roboptim-core.spec
@@ -0,0 +1,37 @@
+Name: roboptim-core
+Summary: Generic optimization library.
+Vendor: FIXME
+Version: 0.1
+Release: 1
+License: LGPL
+URL: http://roboptim.sourceforge.net/
+Group: Development/Tools
+Source: %{name}-%{version}.tar.gz
+BuildRoot: /var/tmp/%{name}-%{version}-%{release}-buildroot
+Prefix: /usr
+
+%description
+The generic optimization library allows user to independently solve
+numerical problems with one of the many available solvers.
+
+%prep
+%setup -q
+
+%configure --docdir=%{_datadir}/doc/%{name}-%{version}
+%build
+make
+
+%install
+rm -rf $RPM_BUILD_ROOT
+make DESTDIR=$RPM_BUILD_ROOT install
+
+%clean
+rm -rf $RPM_BUILD_ROOT
+
+%files
+%defattr(-,root,root,-)
+%{_datadir}/doc/%{name}-%{version}/*
+%{_libdir}/*
+%{_includedir}/*
+
+%changelog
-----------------------------------------------------------------------
hooks/post-receive
--
RobOptim packaging
|
|
From: Thomas M. <tho...@us...> - 2009-10-02 22:56:35
|
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 54ee4976fb0014a6f727aeb8530cc0941a09042e (commit)
from ff821051a7b4b8f58b53bb112c784de244d80749 (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 54ee4976fb0014a6f727aeb8530cc0941a09042e
Author: Thomas Moulard <tho...@gm...>
Date: Sat Oct 3 00:56:07 2009 +0200
Synchronize.
* build-aux: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 9849fb0..89e0339 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,8 @@
+2009-10-03 Thomas Moulard <tho...@gm...>
+
+ Synchronize.
+ * build-aux: Here.
+
2009-09-25 Thomas Moulard <tho...@gm...>
Synchronize.
diff --git a/build-aux b/build-aux
index b223dcd..fb97464 160000
--- a/build-aux
+++ b/build-aux
@@ -1 +1 @@
-Subproject commit b223dcdab0f8e59ecca5f2c72f2d4443c1abafec
+Subproject commit fb974647be8a62a5eae9ad63b3ee3ac02977945d
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 5 +++++
build-aux | 2 +-
2 files changed, 6 insertions(+), 1 deletions(-)
hooks/post-receive
--
roboptim-core
|
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