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Naoki-HiraokaNaoki-Hiraoka
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Merge branch 'master' into hrp2_with_3hand
2 parents 9eaf78a + 317c29c commit 50a9ae8

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‎.github/workflows/config.yml‎

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on:
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push:
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branches:
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- master
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pull_request:
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env:
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DISPLAY: '0:0'
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jobs:
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linux:
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strategy:
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matrix:
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include:
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- DOCKER_IMAGE: ubuntu:trusty
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- DOCKER_IMAGE: ubuntu:xenial
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- DOCKER_IMAGE: ubuntu:bionic
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- DOCKER_IMAGE: ubuntu:bionic
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COLLISION_LIB: PQP
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- DOCKER_IMAGE: ubuntu:bionic
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COLLISION_LIB: BULLET
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- DOCKER_IMAGE: ubuntu:focal
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- DOCKER_IMAGE: debian:stretch
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- DOCKER_IMAGE: osrf/ubuntu_armhf:trusty
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- DOCKER_IMAGE: osrf/ubuntu_armhf:xenial
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- DOCKER_IMAGE: osrf/ubuntu_arm64:trusty
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- DOCKER_IMAGE: osrf/ubuntu_arm64:xenial
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- DOCKER_IMAGE: osrf/ubuntu_arm64:bionic
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- DOCKER_IMAGE: osrf/ubuntu_arm64:focal
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- DOCKER_IMAGE: osrf/debian_arm64:stretch
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fail-fast: false
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runs-on: ubuntu-latest
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timeout-minutes: 90
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name: linux
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steps:
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- name: Checkout
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uses: actions/checkout@v2
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- name: Run test
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shell: bash
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run: |
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set -x
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export CI_SOURCE_PATH=$(pwd)
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export REPOSITORY_NAME=${PWD##*/}
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export TRAVIS_BRANCH=${GITHUB_REF#refs/heads/}
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export TRAVIS_OS_NAME=linux
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export DOCKER_IMAGE=${{matrix.DOCKER_IMAGE}}
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if [[ "$DOCKER_IMAGE" == *"arm"* ]]; then sudo apt-get install -y -qq qemu-user-static git; fi
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echo "Testing branch $TRAVIS_BRANCH of $REPOSITORY_NAME"
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docker run --rm -v $CI_SOURCE_PATH:$CI_SOURCE_PATH -e "DOCKER_IMAGE=$DOCKER_IMAGE" -e "COLLISION_LIB=$COLLISION_LIB" -e "CI_SOURCE_PATH=$CI_SOURCE_PATH" -e "HOME=$HOME" -t $DOCKER_IMAGE sh -c "cd $CI_SOURCE_PATH; ./.travis.sh"
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doc:
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runs-on: ubuntu-latest
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timeout-minutes: 60
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steps:
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- name: Checkout
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uses: actions/checkout@v2
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- name: Run test
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shell: bash
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run: |
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set -x
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sudo apt-get install -y -qq git make gcc g++ libjpeg-dev libxext-dev libx11-dev libgl1-mesa-dev libglu1-mesa-dev libpq-dev libpng-dev xfonts-100dpi xfonts-75dpi pkg-config libbullet-dev
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make
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sudo apt-get install -y -qq texlive-binaries texlive-lang-cjk texlive-lang-japanese poppler-utils nkf latex2html
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(source bashrc.eus; cd doc/; make pdf)
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(source bashrc.eus; cd doc/; make html)
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osx:
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runs-on: macos-latest
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timeout-minutes: 60
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steps:
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- name: Checkout
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uses: actions/checkout@v2
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- name: Get brew cache directory
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id: brew-cache
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run: echo "::set-output name=dir::$(brew --cache)/downloads"
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- name: Brew cache
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uses: actions/cache@v2
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with:
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path: ${{ steps.brew-cache.outputs.dir }}
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key: ${{ runner.os }}-${{ hashFiles('.github/workflows/Brewfile') }}
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- name: Brew config
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run: |
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cd .github/workflows/
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brew config
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- name: Run test
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shell: bash
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run: |
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set -x
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export CI_SOURCE_PATH=$(pwd)
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export REPOSITORY_NAME=${PWD##*/}
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export TRAVIS_BRANCH=${GITHUB_REF#refs/heads/}
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export LC_CTYPE=C
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echo insecure >> ~/.curlrc
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export HOMEBREW_CURLRC=1
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HOMEBREW_NO_AUTO_UPDATE=1 brew install coreutils
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export PATH="/usr/local/opt/coreutils/libexec/gnubin:$PATH"
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# since macos-11, we need to install GL/gl.h
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HOMEBREW_NO_AUTO_UPDATE=1 brew install mesa-glu
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./.travis-osx.sh
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- name: Cleanup some brew downloads
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run: cd ${{ steps.brew-cache.outputs.dir }} && ls -lsS | head -n 10 | awk '{ print $10 }' | xargs rm -rf

‎.travis-osx.sh‎

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travis_time_start() {
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set +x
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TRAVIS_START_TIME=$(gdate +%s%N)
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TRAVIS_TIME_ID=$(cat /dev/urandom | gtr -dc 'a-z0-9' | fold -w 8 | head -n 1)
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TRAVIS_TIME_ID=$(head /dev/urandom | base64 | head -c 8)
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TRAVIS_FOLD_NAME=$1
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echo -e "\e[0Ktraivs_fold:start:$TRAVIS_FOLD_NAME"
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echo -e "\e[0Ktraivs_time:start:$TRAVIS_TIME_ID"

‎.travis.sh‎

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travis_time_end
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travis_time_start setup.apt-get_install
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# set non interactive tzdata https://stackoverflow.com/questions/8671308/non-interactive-method-for-dpkg-reconfigure-tzdata
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# set DEBIAN_FRONTEND=noninteractive
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echo 'debconf debconf/frontend select Noninteractive' | sudo debconf-set-selections
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#
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sudo apt-get install -qq -y git make gcc g++ libjpeg-dev libxext-dev libx11-dev libgl1-mesa-dev libglu1-mesa-dev libpq-dev libpng-dev xfonts-100dpi xfonts-75dpi pkg-config libbullet-dev # msttcorefonts could not install on 14.04 travis
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# sudo apt-get install -qq -y texlive-latex-base ptex-bin latex2html nkf poppler-utils || echo "ok" # 16.04 does ont have ptex bin
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travis_time_end

‎CHANGELOG.rst‎

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Changelog for package jskeus
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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1.2.5 (2021-12-01)
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------------------
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* copy gnuplotlib from euslib/jsk.l (`#261 <https://github.com/euslisp/jskeus/issues/261>`_)
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* [irtgeo.l] fix triangulation (`#585 <https://github.com/euslisp/jskeus/issues/585>`_)
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* [irtsensor.l] add :no-window arg in camera-model (`#588 <https://github.com/euslisp/jskeus/issues/588>`_)
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* [irtviewer.l] add irtviewer-no-window, irtviewer without xwindow (`#574 <https://github.com/euslisp/jskeus/issues/574>`_)
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* [irtgraph.l] do not set cost when arc is not costed-arc (`#603 <https://github.com/euslisp/jskeus/issues/603>`_)
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* .travise-osx.sh : osx 10.14-: fix for new libX11.dylib location (/opt/X11/lib:/opt/local/lib -> /usr/local/lib) (`#607 <https://github.com/euslisp/jskeus/issues/607>`_)
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* [irtutil.l] fix minjerk interpolation sometimes returns large acceleration (`#596 <https://github.com/euslisp/jskeus/issues/596>`_)
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* [demo/sample-robot-camera.l] add sample-robot-camera.l : demo to manipulatie camera model (:ray, :screen-point) (`#597 <https://github.com/euslisp/jskeus/issues/597>`_)
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* [irtcollada.l] fix irtcollada problem that mesh poses are incorrect if root link is moved from origin (`#600 <https://github.com/euslisp/jskeus/issues/600>`_)
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* [irtmath.l] add comment to quaternion (`#589 <https://github.com/euslisp/jskeus/issues/589>`_)
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* doc/conf.py: download deb archive.ubuntu.com manually (`#581 <https://github.com/euslisp/jskeus/issues/581>`_)
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* Contributors: Kei Okada, Naoki Hiraoka, Naoya Yamaguchi, Shingo Kitagawa, Yohei Kakiuchi
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1.2.4 (2020-07-03)
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------------------
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* fix for debian release

‎doc/Makefile‎

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(cd ${TMPDIR};for x in fig/*.jpg; do extractbb $$x; done) # workaround for https://github.com/backtracking/bibtex2html/issues/9
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cp *.tex ${TMPDIR}
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platex --version | grep utf8 || nkf --in-place -e ${TMPDIR}/*.tex
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for x in irtrobot irtmodel irtsensor irtscene irtdyna irtgeo irtgl irtutil irtviewer irtx irtmath irtbvh irtcollada irtgraph irtimage irtpointcloud png irtcollision pqp bullet; do\
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for x in irtrobot irtmodel irtsensor irtscene irtdyna irtgeo irtgl irtutil irtviewer irtx irtmath irtbvh irtcollada irtgraph gnuplotlib irtimage irtpointcloud png irtcollision pqp bullet; do\
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irteusgl ../eus/lib/llib/documentation.l "(make-document \"../irteus/$$x.l\" \"${TMPDIR}/$$x-func.tex\")" "(exit)"; \
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done
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‎doc/irtext.tex‎

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\input{irtx-func}
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\subsection{ユーティリティ関数}
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\input{irtutil-func}
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\input{gnuplotlib-func}
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\subsection{数学関数}
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\input{irtmath-func}
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\subsection{画像関数}

‎doc/jmanual.dvi‎

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‎doc/jmanual.pdf‎

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‎irteus/Makefile‎

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MODULES.L=irt_modules.l
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EUSLIB_MODULES.L=$(addprefix $(EUSDIR)/lib/,$(MODULES.L))
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IRTEUS=irtmath irtutil irtgraph pgsql time
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IRTEUS=irtmath irtutil irtgraph gnuplotlib pgsql time
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IRTEUSG=irtgeo pqp bullet irtcollision irtscene irtmodel irtsensor irtdyna irtrobot irtbvh irtcollada irtpointcloud irtstl irtwrl
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IRTEUSX=irtx
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IRTEUSIMG=irtimage eusjpeg png
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$(INSTALLOBJDIR)/irtviewer.$(OSFX): irtviewer.l
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$(INSTALLOBJDIR)/irtimage.$(OSFX): irtimage.l
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$(INSTALLOBJDIR)/irtcollision.$(OSFX): irtcollision.l
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$(INSTALLOBJDIR)/gnuplotlib.$(OSFX): gnuplotlib.l
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$(INSTALLOBJDIR)/pqp.$(OSFX): pqp.l
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$(INSTALLOBJDIR)/bullet.$(OSFX): bullet.l
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$(INSTALLOBJDIR)/png.$(OSFX): png.l

‎irteus/compile_irt.l‎

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(comp:compile-file-if-src-newer "irtmath.l" *objdir*)
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(comp:compile-file-if-src-newer "irtutil.l" *objdir*)
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(comp:compile-file-if-src-newer "irtgraph.l" *objdir*)
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(comp:compile-file-if-src-newer "gnuplotlib.l" *objdir*)
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(defun comp::compile-llib-file-if-src-newer (fname)
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(print (list 'compile fname))

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