Merge pull request #31 from francois-keith/master

Update travis, correct windows dependency, close #27

Author: Olivier Stasse

.gitmodules

@@ -1,3 +1,6 @@
 [submodule "cmake"]
 	path = cmake
 	url = git://github.com/jrl-umi3218/jrl-cmakemodules.git
+[submodule ".travis"]
+	path = .travis
+	url = git://github.com/jrl-umi3218/jrl-travis

.travis

@@ -1,29 +1,24 @@
-branches: 
-  only: 
-  - master
-before_install: 
-- git submodule update --init --recursive
-- sudo apt-get update -qq
-- sudo apt-get install -qq doxygen doxygen-latex libboost-all-dev libeigen3-dev liblapack-dev libblas-dev gfortran python-dev python-sphinx
-- sudo pip install cpp-coveralls --use-mirrors
-env: 
-  global: 
-    secure: SnIBG/xLIHX3CSvUbqqsX8xTVqIqQ7fFS6HWO6KZQVBsT6yugTwYHbyhNiU531JejYJ/I3ZrDhXfYH3qFZiYxnH1sifvwV+fnTtMXpPN7qPZwIymkjcmm6gJF51e0C7VOfUbvKFv0ngwj+ul21rgZSMuoEvxPK0WxtE3/ZSfn9c=
+language: cpp
 compiler: 
 - clang
 - gcc
-script: ./.travis/build
-language: cpp
-notifications: 
-  email: 
+env:
+  global:
+  - secure: "SnIBG/xLIHX3CSvUbqqsX8xTVqIqQ7fFS6HWO6KZQVBsT6yugTwYHbyhNiU531JejYJ/I3ZrDhXfYH3qFZiYxnH1sifvwV+fnTtMXpPN7qPZwIymkjcmm6gJF51e0C7VOfUbvKFv0ngwj+ul21rgZSMuoEvxPK0WxtE3/ZSfn9c="
+  - APT_DEPENDENCIES="doxygen doxygen-latex libboost-all-dev libeigen3-dev liblapack-dev libblas-dev gfortran python-dev python-sphinx"
+  - GIT_DEPENDENCIES="jrl-umi3218/jrl-mathtools jrl-umi3218/jrl-mal stack-of-tasks/dynamic-graph stack-of-tasks/dynamic-graph-python"
+  - DEBSIGN_KEYID=5AE5CD75
+notifications:
+  email:
   - hpp-source@laas.fr
-after_success: 
-- coveralls -e _travis/install -e tests
-- git config --global user.name "Travis CI"
-- git config --global user.email "thomas.moulard+travis@gmail.com"
-- git remote set-url origin https://thomas-moulard:${GH_TOKEN}@github.com/stack-of-tasks/sot-core.git
-- git fetch origin gh-pages:gh-pages
-- cd _travis/build/doc && ../../../cmake/github/update-doxygen-doc.sh
+branches:
+  only:
+  - master
+  - debian
 matrix: 
   allow_failures: 
   - compiler: clang
+script: ./.travis/run build
+after_success: ./.travis/run after_success
+after_failure: ./.travis/run after_failure
+before_install: ./.travis/run before_install

.travis.yml

@@ -189,7 +189,7 @@ namespace dynamicgraph {
       virtual std::ostream & writeGraph(std::ostream & os) const;
 
       /// Return true for children that provide the errordot output signal
-      virtual bool withErrorDot( void ) const SOT_CORE_DEPRECATED
+      SOT_CORE_DEPRECATED virtual bool withErrorDot( void ) const
       {
 	return true;
       }

.travis/build

@@ -59,40 +59,45 @@ namespace dynamicgraph { namespace sot {
 
 namespace dg = dynamicgraph;
 
+/*! \brief The goal of this entity is to ensure that the maximal torque will not
+ * be exceeded during a grasping task.
+ * If the maximal torque is reached, then the current position of the gripper is 
+kept
+ *
+ */
 class SOTGRIPPERCONTROL_EXPORT GripperControl
 {
  protected:
 
   double offset;
   static const double OFFSET_DEFAULT;
+  //! \brief The multiplication
   ml::Vector factor;
 
  public:
   GripperControl( void );
 
+  //! \brief Computes the
+  // if the torque limit is reached, the normalized position is reduced by
+  // (offset)
   void computeIncrement( const ml::Vector& torques,
-			 const ml::Vector& torqueLimits,
-			 const ml::Vector& currentNormPos );
-
-  static void computeNormalizedPosition( const ml::Vector& currentPos,
-					 const ml::Vector& upperLim,
-					 const ml::Vector& lowerLim,
-					 ml::Vector& currentNormPos );
-  static void computeDenormalizedPosition( const ml::Vector& currentNormPos,
-					   const ml::Vector& upperLim,
-					   const ml::Vector& lowerLim,
-					   ml::Vector& currentPos );
+                         const ml::Vector& torqueLimits,
+                         const ml::Vector& currentNormVel );
 
+  //! \brief
   ml::Vector& computeDesiredPosition( const ml::Vector& currentPos,
-				      const ml::Vector& torques,
-				      const ml::Vector& upperLim,
-				      const ml::Vector& lowerLim,
-				      const ml::Vector& torqueLimits,
-				      ml::Vector& desPos );
+                                      const ml::Vector& desiredPos,
+                                      const ml::Vector& torques,
+                                      const ml::Vector& torqueLimits,
+                                      ml::Vector& referencePos );
+
+  /*! \brief select only some of the values of the vector fullsize,
+  *   based on the Flags vector.
+  */
 
   static ml::Vector& selector( const ml::Vector& fullsize,
-			       const Flags& selec,
-			       ml::Vector& desPos );
+                               const Flags& selec,
+                               ml::Vector& desPos );
 };
 
 /* --------------------------------------------------------------------- */
@@ -119,19 +124,14 @@ class SOTGRIPPERCONTROL_EXPORT GripperControlPlugin
 
   /* --- INPUTS --- */
   dg::SignalPtr<ml::Vector,int> positionSIN;
-  dg::SignalPtr<ml::Vector,int> upperLimitSIN;
-  dg::SignalPtr<ml::Vector,int> lowerLimitSIN;
+  dg::SignalPtr<ml::Vector,int> positionDesSIN;
   dg::SignalPtr<ml::Vector,int> torqueSIN;
   dg::SignalPtr<ml::Vector,int> torqueLimitSIN;
   dg::SignalPtr<Flags,int> selectionSIN;
 
   /* --- INTERMEDIARY --- */
   dg::SignalPtr<ml::Vector,int> positionFullSizeSIN;
   dg::SignalTimeDependent<ml::Vector,int> positionReduceSOUT;
-  dg::SignalPtr<ml::Vector,int> upperLimitFullSizeSIN;
-  dg::SignalTimeDependent<ml::Vector,int> upperLimitReduceSOUT;
-  dg::SignalPtr<ml::Vector,int> lowerLimitFullSizeSIN;
-  dg::SignalTimeDependent<ml::Vector,int> lowerLimitReduceSOUT;
   dg::SignalPtr<ml::Vector,int> torqueFullSizeSIN;
   dg::SignalTimeDependent<ml::Vector,int> torqueReduceSOUT;
   dg::SignalPtr<ml::Vector,int> torqueLimitFullSizeSIN;

debian/changelog

@@ -37,7 +37,7 @@ namespace ml= maal::boost;
 // API
 
 #if defined (WIN32)
-#  if defined (sot_joint_trajectory_entity_EXPORTS)
+#  if defined (joint_trajectory_entity_EXPORTS)
 #    define SOTJOINT_TRAJECTORY_ENTITY_EXPORT __declspec(dllexport)
 #  else
 #    define SOTJOINT_TRAJECTORY_ENTITY_EXPORT __declspec(dllimport)