merged codefinder2 fork

Author: rtv

.clang-format

@@ -0,0 +1,49 @@
+BasedOnStyle: WebKit
+AccessModifierOffset: -2
+AlignAfterOpenBracket: Align
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignOperands: true
+AlignTrailingComments: false
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortBlocksOnASingleLine: false
+AllowShortCaseLabelsOnASingleLine: true
+AllowShortFunctionsOnASingleLine: Inline
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: false
+AlwaysBreakTemplateDeclarations: false
+BinPackArguments: true
+BinPackParameters: true
+BreakBeforeBinaryOperators: NonAssignment
+BreakBeforeBraces: WebKit
+BreakConstructorInitializersBeforeComma: false
+# BreakStringLiterals: true
+ColumnLimit: 100
+ConstructorInitializerAllOnOneLineOrOnePerLine: false
+DerivePointerAlignment: false
+ForEachMacros: [RANGES_FOR, FOREACH, Q_FOREACH, FOR_EACH, foreach, BOOST_FOREACH, BOOST_REVERSE_FOREACH]
+IndentCaseLabels: false
+IndentWidth: 2
+KeepEmptyLinesAtTheStartOfBlocks: false
+Language: Cpp
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+PenaltyReturnTypeOnItsOwnLine: 1000000
+PointerAlignment: Right
+ReflowComments: true
+SortIncludes: false
+SpaceAfterCStyleCast: false
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeParens: ControlStatements
+SpaceInEmptyParentheses: false
+SpacesInAngles: false
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+Standard: Cpp03
+TabWidth: 2
+UseTab: Never
+

.gitignore

@@ -4,4 +4,5 @@ config.h
 *~
 *#
 .DS_Store
-docsrc/stage
+docsrc/stage
+*.txt.user

.travis.yml

@@ -0,0 +1,17 @@
+language: cpp
+compiler:
+  - gcc
+  - clang
+
+# Install all of the dependencies:
+install:
+  - sudo apt-get -qq update
+  - sudo apt-get install -y libfltk1.1-dev
+
+# Execute all of the commands which should make the build pass or fail
+script:
+  - mkdir build
+  - cd build
+  - cmake -DCMAKE_BUILD_TYPE=RELEASE -DBUILD_PLAYER_PLUGIN=OFF -DCMAKE_INSTALL_PREFIX=$(pwd)/install ..
+  - make
+  - make install

AUTHORS.txt

@@ -16,6 +16,7 @@ terms of the GNU General Public License version 2 or later:
 - Geoff Biggs ([email protected])
 - Rich Mattes ([email protected])
 - Abbas Sadat ([email protected])
+- Adrian Böckenkamp ([email protected])
 
 Many patches and bug reports have been contributed by users around the
 world.  Stage is part of the Player Project (http://playerstage.org), 

CMakeLists.txt

@@ -1,7 +1,8 @@
+cmake_minimum_required( VERSION 2.8.7 FATAL_ERROR )
 PROJECT(Stage)
 
 SET( V_MAJOR 4 )
-SET( V_MINOR 1 )
+SET( V_MINOR 2 )
 SET( V_BUGFIX 1 )
 
 SET( VERSION ${V_MAJOR}.${V_MINOR}.${V_BUGFIX} )
@@ -17,8 +18,6 @@ OPTION (CPACK_CFG "[release building] generate CPack configuration files" ON)
 # todo - this doesn't work yet. Run Stage headless with -g.
 # OPTION (BUILD_GUI "Build FLTK-based GUI. If OFF, build a gui-less Stage useful e.g. for headless compute clusters." ON ) 
 
-cmake_minimum_required( VERSION 2.4 FATAL_ERROR )
-
 IF (CMAKE_MAJOR_VERSION EQUAL 2 AND NOT CMAKE_MINOR_VERSION LESS 6)
 	cmake_policy( SET CMP0003 NEW )
 	cmake_policy( SET CMP0005 OLD )
@@ -53,9 +52,9 @@ endif( PROJECT_OS_OSX)
 # Build type cflags
 SET (OPTIMIZE "-O2")
 
-SET (CMAKE_CXX_FLAGS_RELEASE " ${FORCE_ARCH} ${OPTIMIZE} -DNDEBUG ${WALL} " CACHE INTERNAL "C Flags for release" FORCE)
-SET (CMAKE_CXX_FLAGS_DEBUG " -ggdb  ${FORCE_ARCH} ${WALL} -DDEBUG" CACHE INTERNAL "C Flags for debug" FORCE)
-SET (CMAKE_CXX_FLAGS_PROFILE " -ggdb -pg  ${FORCE_ARCH} ${WALL} " CACHE INTERNAL "C Flags for profile" FORCE)
+SET (CMAKE_CXX_FLAGS_RELEASE "${FORCE_ARCH} ${OPTIMIZE} -DNDEBUG ${WALL}" CACHE INTERNAL "CXX Flags for release" FORCE)
+SET (CMAKE_CXX_FLAGS_DEBUG "-ggdb  ${FORCE_ARCH} ${WALL} -DDEBUG" CACHE INTERNAL "CXX Flags for debug" FORCE)
+SET (CMAKE_CXX_FLAGS_PROFILE "-ggdb -pg  ${FORCE_ARCH} ${WALL}" CACHE INTERNAL "CXX Flags for profile" FORCE)
 
 #####################################
 # Set the default build type
@@ -118,19 +117,6 @@ SET( INDENT "  * " )
 
 MESSAGE( STATUS "Checking for optional libraries..." )
 
-# Player does not have a CMake package, but does provide pkgconfig info
-
-include(FindPkgConfig)
-   
-pkg_search_module( PLAYER playercore>=2.1.0 ) 
-IF( PLAYER_FOUND )
-  MESSAGE( STATUS ${INDENT} "Player version ${PLAYER_VERSION} detected at ${PLAYER_PREFIX}" )
-  MESSAGE( STATUS "    PLAYER_CFLAGS: ${PLAYER_CFLAGS}" )
-  MESSAGE( STATUS "    PLAYER_LDFLAGS: ${PLAYER_LDFLAGS}"  )
-ELSE( PLAYER_FOUND )
-  MESSAGE(STATUS ${INDENT} "Player not detected. If Player is installed but not detected, check your PKG_CONFIG_PATH." )
-ENDIF( PLAYER_FOUND )
-
 # Format the fltk libraries for inclusion in stage.pc
 SET(PC_LIBRARIES ${FLTK_LIBRARIES} ${OPENGL_LIBRARIES})
 SET(PC_INCLUDE_DIRS ${FLTK_INCLUDE_DIR} ${OPENGL_INCLUDE_DIR})
@@ -176,18 +162,31 @@ ADD_SUBDIRECTORY(assets)
 ADD_SUBDIRECTORY(worlds)
 #ADD_SUBDIRECTORY(avonstage)		 
 
-IF ( BUILD_PLAYER_PLUGIN AND PLAYER_FOUND )
-  ADD_SUBDIRECTORY(libstageplugin)
-ENDIF ( BUILD_PLAYER_PLUGIN AND PLAYER_FOUND )	 
+IF ( BUILD_PLAYER_PLUGIN )
+  # Player does not have a CMake package, but does provide pkgconfig info
+  include(FindPkgConfig)
+  pkg_search_module( PLAYER playercore>=2.1.0 ) 
+  IF( PLAYER_FOUND )
+    MESSAGE( STATUS ${INDENT} "Player version ${PLAYER_VERSION} detected at ${PLAYER_PREFIX}" )
+    MESSAGE( STATUS "    PLAYER_CFLAGS: ${PLAYER_CFLAGS}" )
+    MESSAGE( STATUS "    PLAYER_LDFLAGS: ${PLAYER_LDFLAGS}"  )
+  ELSE( PLAYER_FOUND )
+    MESSAGE(STATUS ${INDENT} "Player not detected. If Player is installed but not detected, check your PKG_CONFIG_PATH." )
+  ENDIF( PLAYER_FOUND )
+
+  IF ( PLAYER_FOUND )
+    ADD_SUBDIRECTORY(libstageplugin)
+  ENDIF ( PLAYER_FOUND )
+ENDIF ( BUILD_PLAYER_PLUGIN )
 
 
 # generate a cpack config file used to create packaged tarballs
 IF ( CPACK_CFG )
   INCLUDE(InstallRequiredSystemLibraries)
   SET(CPACK_PACKAGE_DESCRIPTION_SUMMARY "${PROJECT_NAME}: A Multiple Robot Simulator")
   SET(CPACK_PACKAGE_VENDOR "The Player Project")
-  SET(CPACK_PACKAGE_DESCRIPTION_FILE "${CMAKE_CURRENT_SOURCE_DIR}/README.txt")
-  SET(CPACK_RESOURCE_FILE_README "${CMAKE_CURRENT_SOURCE_DIR}/README.txt")
+  SET(CPACK_PACKAGE_DESCRIPTION_FILE "${CMAKE_CURRENT_SOURCE_DIR}/README.md")
+  SET(CPACK_RESOURCE_FILE_README "${CMAKE_CURRENT_SOURCE_DIR}/README.md")
   SET(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/COPYING.txt")
   SET(CPACK_PACKAGE_VERSION_MAJOR "${V_MAJOR}")
   SET(CPACK_PACKAGE_VERSION_MINOR "${V_MINOR}")

README.txt renamed to README.md

@@ -1,21 +1,19 @@
-Stage README.txt
-================
-
-This is the Stage README file, containing an introduction, license and
-citation information.
+# The Stage Simulator
+This is the Stage README file, containing an introduction, license and citation information. Stage is a 2(.5)D robotics standalone simulator and can also be used as a C++ library to build your own simulation environment. Up-to-date **documentation can be found [here](https://codedocs.xyz/CodeFinder2/Stage/)**.
 
 For release notes see RELEASE.txt
 For installation notes see INSTALL.txt
 
 Copyright Richard Vaughan and contributors 1998-2011
 Part of the Player Project (http://playerstage.org)
 
-License
--------
+[![Build Status](https://travis-ci.org/CodeFinder2/Stage.svg?branch=master)](https://travis-ci.org/CodeFinder2/Stage)
+
+# License
 This program is free software; you can redistribute it and/or modify
 it under the terms of the GNU General Public License version 2 as
 published by the Free Software Foundation.
- 
+
 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
@@ -26,36 +24,30 @@ A copy of the license is included with the sourcecode in the file
 terms of the license.
 
 
-Introduction
-------------
+# Introduction
 Stage is a robot simulator. It provides a virtual world populated by
 mobile robots and sensors, along with various objects for the robots
 to sense and manipulate.
 
-There are three ways to use Stage: 
-
-1. The "stage" program: a standalone robot simulation program
+There are three ways to use Stage:
+  1. The "stage" program: a standalone robot simulation program
 that loads your robot control program from a library that you provide.
-
-2. The Stage plugin for Player (libstageplugin) - provides a
+  2. The Stage plugin for Player (libstageplugin) - provides a
 population of virtual robots for the popular Player networked robot
 interface system.
-
-3. Write your own simulator: the "libstage" C++ library makes it
+  3. Write your own simulator: the "libstage" C++ library makes it
 easy to create, run and customize a Stage simulation from inside your
 own programs.
 
 
-Models
-------
+# Models
 Stage provides several sensor and actuator models, including sonar
 or infrared rangers, scanning laser rangefinder, color-blob tracking,
 fiducial tracking, bumpers, grippers and mobile robot bases with
 odometric or global localization.
 
 
-Design
-------
+# Design
 Stage was designed with multi-agent systems in mind, so it provides
 fairly simple, computationally cheap models of lots of devices rather
 than attempting to emulate any device with great fidelity. This design
@@ -67,31 +59,19 @@ controllers between Stage robots and real robots, while still being
 fast enough to simulate large populations. We also intend Stage to be
 comprehensible to undergraduate students, yet sophisticated enough for
 professional reseachers.
-  
+
 Player also contains several useful 'virtual devices'; including
 some sensor pre-processing or sensor-integration algorithms that help
 you to rapidly build powerful robot controllers. These are easy to use
 with Stage.
 
 
-Citations
----------
-If you use Stage in your work, we'd appreciate a citation. At the time 
-of writing, the most suitable reference is either:
-
-Richard Vaughan. "Massively Multiple Robot Simulations in Stage", Swarm
-Intelligence 2(2-4):189-208, 2008. Springer.
+# Citations
+If you use Stage in your work, we'd appreciate a citation. At the time of writing, the most suitable reference is either:
+- Richard Vaughan. "Massively Multiple Robot Simulations in Stage", Swarm Intelligence 2(2-4):189-208, 2008. Springer, [download PDF](http://autonomylab.org/doc/vaughan_si08.pdf)
 
 Or, if you are using Player/Stage:
-
-Brian Gerkey, Richard T. Vaughan and Andrew Howard. "The Player/Stage 
-Project: Tools for Multi-Robot and Distributed Sensor Systems" 
-Proceedings of the 11th International Conference on Advanced Robotics,
-pages 317-323, Coimbra, Portugal, June 2003 (ICAR'03)  
-http://www.isr.uc.pt/icar03/ .  
-
-[gzipped postscript](http://robotics.stanford.edu/~gerkey/research/final_papers/icar03-player.ps.gz), 
-[pdf](http://robotics.stanford.edu/~gerkey/research/final_papers/icar03-player.pdf)
+- Brian Gerkey, Richard T. Vaughan and Andrew Howard. "The Player/Stage Project: Tools for Multi-Robot and Distributed Sensor Systems" Proceedings of the 11th International Conference on Advanced Robotics, pages 317-323, Coimbra, Portugal, June 2003 (ICAR'03), [download PDF](http://robotics.stanford.edu/~gerkey/research/final_papers/icar03-player.pdf)
 
 Please help us keep track of what's being used out there by correctly
 naming the Player/Stage components you use. Player used on its own is
@@ -100,12 +80,9 @@ called "Player". Player and Stage used together are referred to as
 without Player, it's just called "Stage". When the Stage library is
 used to create your own custom simulator, it's called "libstage" or
 "the Stage library". When Player is used with its 3D ODE-based
-simulation backend, Gazebo, it's called Player/Gazebo. Gazebo without
-Player is just "Gazebo". All this software is part of the "Player
-Project".
+simulation backend, Gazebo, it's called Player/Gazebo. Gazebo without Player is just "Gazebo". All this software is part of the "Player Project".
 
-Support
--------
+# Support
 Funding for Stage has been provided in part by:
 
 - DARPA (USA)
@@ -119,8 +96,8 @@ Names
 -----
 The names "Player" and "Stage" were inspired by the lines:
 
-    "All the world's a stage,  
-     And all the men and women merely players"  
+  > All the world's a stage,  
+  > And all the men and women merely players
 
 from "As You Like It" by William Shakespeare.
 
@@ -130,7 +107,7 @@ References
 [4] Nick Jakobi (1997) "Evolutionary Robotics and the Radical Envelope
 of Noise Hypothesis", Adaptive Behavior Volume 6, Issue 2. pp.325 -
 368.
- 
+
 [5] Stuart Wilson (1985) "Knowledge Growth in an Artificial Animal",
 Proceedings of the First International Conference on Genetic Agorithms
 and Their Applications.  Hillsdale, New Jersey. pp.16-23.

RELEASE.txt

@@ -7,6 +7,25 @@ For introduction and license see README.txt
 For installation notes see INSTALL.txt
 
 
+Version 4.2.1
+-------------
+* add 'confirm_on_quit' option to world section to skip confirmation dialog on exit
+* add continuous integration support by Travis CI
+* fix segfault in ranger visualization
+* fix segfault in blockgroup.cc:236 (gluTessEndPolygon()) when model size (x,y,z) is 0.0
+* minor UI improvments (allow changing Stage's caption, allow centering the window)
+* add ability to load worlds/models from std::istream for more flexibility
+* fix compiler errors in debug build
+* make odom integration error publicly accessible (see #67)
+* don't crash/segfault in ctrl/wander when there's only 1 range sensor (see #59)
+* fix errors reported by the most recent gcc 6.3.1 (on Debian 9 SID), #63 in particular
+* improve/unify coding style (strip trailing spaces, use clang-format)
+* fix compiler error reported with strict flags (-Wall -Wextra -pedantic -Werror)
+* fix issues reported by cppcheck v1.72
+* minor updates in docs (cosmetics, make comments visible in doxygen)
+
+Adrian Böckenkamp (CodeFinder2) [email protected] - 2017.3.23
+
 Version 4.1.1
 -------------
 * fixed bugs in libstageplugin/p_ranger.cc that prevented the plugin from building