Merge pull request #34 from nim65s/devel

[CI][CMake] add .gitlab-ci.yml & badges, sync submodules, update cmake

Author: Guilhem Saurel

.gitlab-ci.yml

@@ -0,0 +1,53 @@
+variables:
+  GIT_SUBMODULE_STRATEGY: "recursive"
+  GIT_DEPTH: "3"
+  CCACHE_BASEDIR: "${CI_PROJECT_DIR}"
+  CCACHE_DIR: "${CI_PROJECT_DIR}/ccache"
+
+cache:
+  paths:
+    - ccache
+
+.robotpkg-sot-dynamic-pinocchio-v3: &robotpkg-sot-dynamic-pinocchio-v3
+  except:
+    - gh-pages
+  script:
+    - mkdir -p ccache
+    - cd /root/robotpkg/wip/sot-dynamic-pinocchio-v3
+    - git pull
+    - make checkout MASTER_REPOSITORY="dir ${CI_PROJECT_DIR}"
+    - make install
+    - cd work.$(hostname)/$(make show-var VARNAME=DISTNAME)
+    - make test
+
+robotpkg-sot-dynamic-pinocchio-v3-14.04-release:
+  <<: *robotpkg-sot-dynamic-pinocchio-v3
+  image: eur0c.laas.fr:5000/stack-of-tasks/sot-dynamic-pinocchio/sot-dynamic-pinocchio-v3:14.04
+
+robotpkg-sot-dynamic-pinocchio-v3-16.04-release:
+  <<: *robotpkg-sot-dynamic-pinocchio-v3
+  image: eur0c.laas.fr:5000/stack-of-tasks/sot-dynamic-pinocchio/sot-dynamic-pinocchio-v3:16.04
+
+robotpkg-sot-dynamic-pinocchio-v3-18.04-release:
+  <<: *robotpkg-sot-dynamic-pinocchio-v3
+  image: eur0c.laas.fr:5000/stack-of-tasks/sot-dynamic-pinocchio/sot-dynamic-pinocchio-v3:18.04
+
+doc-coverage:
+  <<: *robotpkg-sot-dynamic-pinocchio-v3
+  image: eur0c.laas.fr:5000/stack-of-tasks/sot-dynamic-pinocchio/sot-dynamic-pinocchio-v3:16.04
+  before_script:
+    - echo -e 'CXXFLAGS+= --coverage\nLDFLAGS+= --coverage\nPKG_DEFAULT_OPTIONS= debug' >> /opt/openrobots/etc/robotpkg.conf
+  after_script:
+    - cd /root/robotpkg/wip/sot-dynamic-pinocchio-v3
+    - cd work.$(hostname)/$(make show-var VARNAME=DISTNAME)
+    - make doc
+    - mv doc/doxygen-html ${CI_PROJECT_DIR}
+    - mkdir -p ${CI_PROJECT_DIR}/coverage/
+    - gcovr -r .
+    - gcovr -r . --html --html-details -o ${CI_PROJECT_DIR}/coverage/index.html
+  artifacts:
+    expire_in: 1 day
+    paths:
+      - doxygen-html/
+      - coverage/
+

CMakeLists.txt

@@ -20,13 +20,15 @@ INCLUDE(cmake/boost.cmake)
 INCLUDE(cmake/eigen.cmake)
 INCLUDE(cmake/lapack.cmake)
 INCLUDE(cmake/cpack.cmake)
+INCLUDE(cmake/python.cmake)
 
 SET(PROJECT_NAME sot-dynamic-pinocchio)
 
 SET(PROJECT_DESCRIPTION "pinocchio bindings for dynamic-graph.")
 SET(PROJECT_URL "https://github.com/stack-of-tasks/sot-dynamic-pinocchio/")
 
 SET(CUSTOM_HEADER_DIR "${PROJECT_NAME}")
+SET(DOXYGEN_USE_MATHJAX YES)
 
 # Disable -Werror on Unix for now.
 SET(CXX_DISABLE_WERROR True)
@@ -62,15 +64,13 @@ SET(plugins
 SET(LIBRARY_NAME ${PROJECT_NAME})
 LIST(APPEND plugins dynamic)
 
-
-LIST(APPEND LOGGING_WATCHED_TARGETS ${plugins})
-
 # Add dependency toward sot-dynamic-pinocchio library in pkg-config file.
 PKG_CONFIG_APPEND_LIBS(${LIBRARY_NAME})
 
 # Search for dependencies.
 # Boost
 SET(BOOST_COMPONENTS filesystem system unit_test_framework python)
+FINDPYTHON()
 SEARCH_FOR_BOOST()
 SEARCH_FOR_EIGEN()
 

README.md

@@ -2,8 +2,10 @@ sot-dynamic-pinocchio
 Encapsulate Pinocchio in SoT
 ===========
 
-[![Build Status](https://travis-ci.org/stack-of-tasks/sot-dynamic-pinocchio.png?branch=master)](https://travis-ci.org/stack-of-tasks/sot-dynamic-pinocchio)
-[![Coverage Status](https://coveralls.io/repos/stack-of-tasks/sot-dynamic-pinocchio/badge.png)](https://coveralls.io/r/stack-of-tasks/sot-dynamic-pinocchio)
+[![Building Status](https://travis-ci.org/stack-of-tasks/sot-dynamic-pinocchio.svg?branch=master)](https://travis-ci.org/stack-of-tasks/sot-dynamic-pinocchio)
+[![Pipeline status](https://gepgitlab.laas.fr/stack-of-tasks/sot-dynamic-pinocchio/badges/master/pipeline.svg)](https://gepgitlab.laas.fr/stack-of-tasks/sot-dynamic-pinocchio/commits/master)
+[![Coverage report](https://gepgitlab.laas.fr/stack-of-tasks/sot-dynamic-pinocchio/badges/master/coverage.svg?job=doc-coverage)](http://projects.laas.fr/gepetto/doc/stack-of-tasks/sot-dynamic-pinocchio/master/coverage/)
+
 
 This software provides robot dynamic computation for dynamic-graph
 by using pinocchio.
@@ -41,4 +43,3 @@ have to be available on your machine.
 [dynamic-graph]: http://github.com/stack-of-tasks/dynamic-graph
 [pinocchio]: http://github.com/stack-of-tasks/pinocchio
 [sot-core]: http://github.com/stack-of-tasks/sot-core
->>>>>>> devel

cmake

@@ -1,6 +1,3 @@
-INCLUDE(../cmake/python.cmake)
-FINDPYTHON()
-
 INSTALL(
   FILES kine_romeo.py kine_romeo_small.py
   DESTINATION ${PYTHON_SITELIB}/dynamic_graph/tutorial

custom_cmake/python.cmake

@@ -14,8 +14,6 @@
 # received a copy of the GNU Lesser General Public License along with
 # sot-dynamic-pinocchio. If not, see <http://www.gnu.org/licenses/>.
 
-INCLUDE(../custom_cmake/python.cmake)
-INCLUDE(../cmake/python.cmake)
 LINK_DIRECTORIES(${Boost_LIBRARY_DIRS})
 
 # Verbosity level
@@ -54,7 +52,7 @@ FOREACH(lib ${plugins})
   # build python submodule
   STRING(REPLACE - _ PYTHON_LIBRARY_NAME ${lib})
 
-  SOT_DYNAMIC_PYTHON_MODULE("sot/dynamics_pinocchio/${PYTHON_LIBRARY_NAME}"
+  DYNAMIC_GRAPH_PYTHON_MODULE("sot/dynamics_pinocchio/${PYTHON_LIBRARY_NAME}"
     ${libname}
     sot-dynamic-pinocchio-${PYTHON_LIBRARY_NAME}-wrap
     )
@@ -81,4 +79,4 @@ INSTALL(FILES
   ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics_pinocchio/tools.py
   ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics_pinocchio/parser.py
   DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio
-  )
+  )

python/CMakeLists.txt

@@ -12,7 +12,6 @@
 # General Lesser Public License for more details.  You should have
 # received a copy of the GNU Lesser General Public License along with
 # sot-dynamic-pinocchio. If not, see <http://www.gnu.org/licenses/>.
-INCLUDE(../cmake/python.cmake)
 
 ADD_DEFINITIONS(-DDEBUG=2)
 
@@ -30,9 +29,6 @@ test_constructor
 # Install procedure for the urdf files
 #----------------------------------------------------
 
-FILE(COPY ${CMAKE_CURRENT_SOURCE_DIR}/two_link.urdf
-  DESTINATION urdf)
-
 SET(test_dyn_plugins_dependencies dynamic)
 
 # Make Boost.Test generates the main function in test cases.
@@ -50,8 +46,6 @@ ADD_DEFINITIONS(-DBOOST_TEST_DYN_LINK -DBOOST_TEST_MAIN)
 #SET(sampleinitconfig
 #  ${JRL_DYNAMICS_PKGDATAROOTDIR}/jrl-dynamics/examples/data/sampleInitConfig.dat)
 
-FINDPYTHON()
-
 LIST(APPEND LOGGING_WATCHED_VARIABLES samplespec sampleljr)
 
 FOREACH(test ${tests})
@@ -60,7 +54,7 @@ FOREACH(test ${tests})
     ${test}.cpp)
   MESSAGE("PYTHON_INCLUDE_PATH: ${PYTHON_INCLUDE_PATH}")
   INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_PATH})
-  
+
   TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME}
     dp-zmpreffromcom
     dp-force-compensation
@@ -77,7 +71,7 @@ FOREACH(test ${tests})
   PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} sot-core)
   PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} dynamic-graph)
   PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} dynamic-graph-python)
-  
+
   IF(${test}_plugins_dependencies)
     ADD_DEPENDENCIES(${EXECUTABLE_NAME} "${${test}_plugins_dependencies}")
     TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME} "${${test}_plugins_dependencies}")
@@ -89,7 +83,7 @@ FOREACH(test ${tests})
 
   IF (UNIX)
     SET(EXTRA_LD_LIBRARY_PATH $ENV{LD_LIBRARY_PATH})
-    SET_PROPERTY(TEST ${test} PROPERTY 
+    SET_PROPERTY(TEST ${test} PROPERTY
       ENVIRONMENT "LD_LIBRARY_PATH=${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}:${CMAKE_BINARY_DIR}/src:${BOOST_ROOT}/lib:${EXTRA_LD_LIBRARY_PATH}")
   ENDIF(UNIX)