Merge branch 'master' into devel

Author: nim65s

.travis.yml

@@ -7,8 +7,7 @@ after_success:
 - cd _travis/build/doc && ../../../cmake/github/update-doxygen-doc.sh
 branches:
   only:
-  - master
-  - topic/sot-pinocchio
+  - disabled_travis_because_not_relevant_anymore
 compiler:
 - clang
 - gcc

CMakeLists.txt

@@ -36,18 +36,18 @@ PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
 ADD_PROJECT_DEPENDENCY(sot-tools REQUIRED PKG_CONFIG_REQUIRES sot-tools)
 ADD_PROJECT_DEPENDENCY(example-robot-data)
 
-SET(BOOST_COMPONENTS filesystem system unit_test_framework)
+IF(BUILD_TESTING)
+  FIND_PACKAGE(Boost REQUIRED COMPONENTS unit_test_framework)
+ENDIF(BUILD_TESTING)
 
 IF(BUILD_PYTHON_INTERFACE)
   FINDPYTHON()
+  SEARCH_FOR_BOOST_PYTHON(REQUIRED)
   STRING(REGEX REPLACE "-" "_" PYTHON_DIR ${CUSTOM_HEADER_DIR})
-  ADD_PROJECT_DEPENDENCY(dynamic-graph-python REQUIRED
+  ADD_PROJECT_DEPENDENCY(dynamic-graph-python 4.0.0 REQUIRED
     PKG_CONFIG_REQUIRES dynamic-graph-python)
-  SET(BOOST_COMPONENTS ${BOOST_COMPONENTS} python)
 ENDIF(BUILD_PYTHON_INTERFACE)
 
-SEARCH_FOR_BOOST()
-
 # Main Library
 SET(${PROJECT_NAME}_HEADERS
   include/${CUSTOM_HEADER_DIR}/dynamic-pinocchio.h
@@ -69,8 +69,7 @@ SET(${PROJECT_NAME}_SOURCES
 ADD_LIBRARY(${PROJECT_NAME} SHARED
   ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})
 TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
-TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${Boost_LIBRARIES}
-  sot-core::sot-core)
+TARGET_LINK_LIBRARIES(${PROJECT_NAME} sot-core::sot-core)
 
 IF(SUFFIX_SO_VERSION)
   SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})

cmake

@@ -17,6 +17,7 @@
 /* STD */
 #include <string>
 #include <map>
+#include <memory>
 
 /* SOT */
 #include <pinocchio/fwd.hpp>
@@ -29,6 +30,7 @@
 #include <sot/core/matrix-geometry.hh>
 /* Matrix */
 #include <dynamic-graph/linear-algebra.h>
+#include <sot/dynamic-pinocchio/deprecated.hh>
 
 /* PINOCCHIO */
 #include <pinocchio/macros.hpp>
@@ -80,7 +82,7 @@ class SOTDYNAMIC_EXPORT DynamicPinocchio : public dg::Entity {
 
   /*  --- MODEL ATRIBUTES --- */
   pinocchio::Model* m_model;
-  pinocchio::Data* m_data;
+  std::unique_ptr<pinocchio::Data> m_data;
 
   /*  --- MODEL ATRIBUTES --- */
 
@@ -164,7 +166,15 @@ class SOTDYNAMIC_EXPORT DynamicPinocchio : public dg::Entity {
 
   void setModel(pinocchio::Model*);
 
-  void setData(pinocchio::Data*);
+  void createData();
+
+  /// \deprecated this function does nothing. This class has its own
+  /// pinocchio::Data object, which can be access with \ref getData.
+  void setData(pinocchio::Data*) SOT_DYNAMIC_PINOCCHIO_DEPRECATED;
+
+  pinocchio::Model* getModel() { return m_model; };
+
+  pinocchio::Data* getData() { return m_data.get(); };
 
   /* --- GETTERS --- */
 

include/sot/dynamic-pinocchio/dynamic-pinocchio.h

@@ -1,6 +1,6 @@
 <package format="2">
   <name>sot-dynamic-pinocchio</name>
-  <version>3.5.2</version>
+  <version>3.6.0</version>
   <description>
     Pinocchio bindings for dynamic-graph
   </description>

package.xml

@@ -39,10 +39,15 @@ FOREACH(plugin ${plugins})
 
   IF(BUILD_PYTHON_INTERFACE)
     STRING(REPLACE - _ PYTHON_LIBRARY_NAME ${LIBRARY_NAME})
-    DYNAMIC_GRAPH_PYTHON_MODULE("${PYTHON_DIR}/${PYTHON_LIBRARY_NAME}"
-      ${LIBRARY_NAME} ${PROJECT_NAME}-${PYTHON_LIBRARY_NAME}-wrap
-      1 "src/python-module-py.cpp")
-    TARGET_LINK_BOOST_PYTHON(${PROJECT_NAME}-${PYTHON_LIBRARY_NAME}-wrap)
+    if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/${plugin}-python-module-py.cc")
+      DYNAMIC_GRAPH_PYTHON_MODULE("${PYTHON_DIR}/${PYTHON_LIBRARY_NAME}"
+        ${LIBRARY_NAME} ${PROJECT_NAME}-${PYTHON_LIBRARY_NAME}-wrap
+        SOURCE_PYTHON_MODULE "${CMAKE_CURRENT_SOURCE_DIR}/${plugin}-python-module-py.cc")
+    elseif(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/${plugin}-python.hh")
+      DYNAMIC_GRAPH_PYTHON_MODULE("${PYTHON_DIR}/${PYTHON_LIBRARY_NAME}"
+        ${LIBRARY_NAME} ${PROJECT_NAME}-${PYTHON_LIBRARY_NAME}-wrap
+        MODULE_HEADER "${CMAKE_CURRENT_SOURCE_DIR}/${plugin}-python.hh")
+    endif()
   ENDIF(BUILD_PYTHON_INTERFACE)
 ENDFOREACH(plugin)
 

src/CMakeLists.txt

@@ -0,0 +1,3 @@
+#include <sot/dynamic-pinocchio/angle-estimator.h>
+
+typedef boost::mpl::vector< dynamicgraph::sot::AngleEstimator > entities_t;

src/angle-estimator-python.hh

@@ -75,8 +75,7 @@ class GetJointNames : public Command {
     }
     const std::vector<std::string>& jointNames = robot.m_model->names;
     // Remove first joint names 'universe'
-    std::size_t n(jointNames.size());
-    assert(n >= 1);
+    assert(jointNames.size() >= 1);
     std::vector<Value> res;
     for (std::size_t i = 1; i < jointNames.size(); ++i) {
       res.push_back(Value(jointNames[i]));

src/dynamic-command.h

@@ -0,0 +1,26 @@
+#include <dynamic-graph/python/module.hh>
+
+#include <sot/dynamic-pinocchio/dynamic-pinocchio.h>
+
+namespace dg = dynamicgraph;
+namespace dgs = dynamicgraph::sot;
+
+typedef bp::return_value_policy<bp::reference_existing_object> reference_existing_object;
+
+BOOST_PYTHON_MODULE(wrap)
+{
+  bp::import("dynamic_graph");
+  bp::import("pinocchio");
+
+  dg::python::exposeEntity<dgs::DynamicPinocchio, bp::bases<dg::Entity>, dg::python::AddCommands>()
+    .add_property("model",
+        bp::make_function(&dgs::DynamicPinocchio::getModel, reference_existing_object()),
+        bp::make_function(&dgs::DynamicPinocchio::setModel))
+    .add_property("data",
+        bp::make_function(&dgs::DynamicPinocchio::getData, reference_existing_object()),
+        bp::make_function(&dgs::DynamicPinocchio::setData))
+    .def("setModel", &dgs::DynamicPinocchio::setModel)
+    .def("createData", &dgs::DynamicPinocchio::createData)
+    .def("setData", &dgs::DynamicPinocchio::setData)
+    ;
+}

src/dynamic-python-module-py.cc

@@ -1,27 +1,7 @@
 import numpy as np
 from numpy import cos, sin, sqrt
 
-from .dynamic import DynamicPinocchio as DynamicCpp
-
-# DynamicOld = Dynamic
-
-
-class DynamicPinocchio(DynamicCpp):
-    def __init__(self, name):
-        DynamicCpp.__init__(self, name)
-        self.model = None
-        self.data = None
-
-    def setData(self, pinocchio_data):
-        dynamic.wrap.set_pinocchio_data(self.obj, pinocchio_data)  # noqa TODO
-        self.data = pinocchio_data
-        return
-
-    def setModel(self, pinocchio_model):
-        dynamic.wrap.set_pinocchio_model(self.obj, pinocchio_model)  # noqa TODO
-        self.model = pinocchio_model
-        return
-
+from .dynamic import DynamicPinocchio
 
 def fromSotToPinocchio(q_sot, freeflyer=True):
     if freeflyer: