Merge pull request #57 from ethz-adrl/devel

prepare release 3.0.2

.gitignore

@@ -3,9 +3,14 @@ CMakeCache.txt
 *.cmake
 !clang-cxx-dev-tools.cmake
 !compilerSettings.cmake
+!ct-cmake-helpers.cmake
 !FindIPOPT.cmake
 !Findblasfeo.cmake
 !Findhpipm.cmake
+!FindCppAD.cmake
+!FindCppADCG.cmake
+!Findllvm.cmake
+!Findclang.cmake
 !ct_core/cmake/ct_coreConfig.cmake
 !ct_optcon/cmake/ct_optconConfig.cmake
 !ct_rbd/cmake/ct_rbdConfig.cmake

.travis.yml

@@ -5,9 +5,9 @@ cache:
 language: generic
 matrix:
   include:
-  - name: "Xenial kinetic"
-    dist: xenial
-    env: ROS_DISTRO=kinetic
+  - name: "Bionic melodic"
+    dist: bionic
+    env: ROS_DISTRO=melodic
 
 env:
   global:
@@ -82,7 +82,7 @@ script:
   - cd ~/catkin_ws
   - catkin clean --all
   - catkin config --blacklist ct_doc
-  - catkin build -DBUILD_TESTS=true -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-w"
+  - catkin build -DUSE_CLANG=true -DBUILD_TESTS=true -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-w"
   # Run the tests, ensuring the path is set correctly.
   # we do not want to run the kindr tests
   - catkin config --blacklist kindr

NOTICE.txt

@@ -7,17 +7,11 @@ Copyright 2014-2018 ETH Zurich
 This software has been developed at the Agile & Dexterous Robotics Lab 
 at ETH Zurich under the lead of Michael Neunert and Markus Giftthaler.
 
-Software included in any folder named "external" and any subsequent
-subfolders is software developed by third parties and not by the 
-authors above. Thererfore, neither the developers nor the institution
-listed above holds copyright for this external software. Furthermore,
-external software might be distributed under different licences 
-agreements included in the subfolders.
 
 Authors:
 
-Michael Neunert,
 Markus Giftthaler,
+Michael Neunert,
 Markus Stäuble,
 Diego Pardo,
 Farbod Farshidian,

README.md

@@ -1,5 +1,5 @@
 # Control Toolbox
-![Travis (.org) branch](https://img.shields.io/travis/ethz-adrl/control-toolbox/3.0.1.svg?style=popout-square)
+![Travis (.org) branch](https://img.shields.io/travis/ethz-adrl/control-toolbox/3.0.2.svg?style=popout-square)
 ![GitHub top language](https://img.shields.io/github/languages/top/ethz-adrl/control-toolbox.svg?style=social)
 ![GitHub](https://img.shields.io/github/license/ethz-adrl/control-toolbox.svg?style=social)
 

ct/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.3)
-project(ct VERSION 3.0.1 LANGUAGES CXX)
+project(ct VERSION 3.0.2 LANGUAGES CXX)
 
 #Make sure metapackage does not fail when building documentation
 add_custom_target(doc

ct/cmake/ct-cmake-helpers.cmake

@@ -0,0 +1,12 @@
+
+# import interface compile definitions from ext_target as cmake option
+function(importInterfaceCompileDefinitionsAsOptions ext_target)
+
+    get_property(_if_compile_defs TARGET ${ext_target} PROPERTY INTERFACE_COMPILE_DEFINITIONS)
+
+    foreach( i ${_if_compile_defs} )
+        set(${i} ON PARENT_SCOPE) # mark all interface compile definitions as options
+        message(STATUS "Importing compile definition " ${i} " as option.")
+    endforeach()
+
+endfunction()

ct/install_cppadcg.sh

@@ -0,0 +1,28 @@
+#!/bin/bash
+
+## get llvm
+yes Y | sudo apt-get install llvm
+
+## get clang
+# todo
+
+## install CppAD
+mkdir /tmp/cppadcg_deps
+cd /tmp/cppadcg_deps
+wget https://github.com/coin-or/CppAD/archive/20190200.4.tar.gz
+tar -xzf 20190200.4.tar.gz
+cd CppAD-20190200.4
+mkdir build
+cd build
+cmake -Dcppad_prefix:PATH='/usr/local' ..
+sudo make install
+
+
+## install CppADCodeGen
+git clone https://github.com/joaoleal/CppADCodeGen.git /tmp/CppADCodeGen
+cd /tmp/CppADCodeGen
+mkdir -p build
+cd build
+cmake .. #-DLLVM_VERSION=6.0
+make
+sudo make install

ct/install_deps.sh

@@ -3,16 +3,25 @@
 sudo apt-get update                 
 
 ## get lapack
-sudo apt-get install liblapack-dev
+yes Y | sudo apt-get install liblapack-dev
 
 ## get eigen3
-sudo apt-get install libeigen3-dev
+yes Y | sudo apt-get install libeigen3-dev
 
 ## get cmake
-sudo apt-get install cmake
+yes Y | sudo apt-get install cmake
 
 ## get IPOPT
-sudo apt-get install coinor-libipopt-dev
+yes Y | sudo apt-get install coinor-libipopt-dev
 
 ## get boost
-sudo apt-get install libboost-all-dev
+yes Y | sudo apt-get install libboost-all-dev
+
+## get open mp
+yes Y | sudo apt install libomp-dev
+
+## get clang
+yes Y | sudo apt install clang
+
+## get CppAD and CppADCodeGen
+sudo ./install_cppadcg.sh

ct/install_hpipm.sh

@@ -0,0 +1,20 @@
+#!/bin/bash
+
+## get blasfeo 0.1.1
+echo "now installing blasfeo 0.1.1 ..."
+cd /tmp
+git clone https://github.com/giaf/blasfeo.git
+cd /tmp/blasfeo
+git checkout 0.1.1 # we currently are on this release
+make static_library
+sudo make install_static
+
+## get hpipm 0.1.1
+echo "now installing hpipm 0.1.1 ..."
+cd /tmp
+git clone https://github.com/giaf/hpipm.git
+cd /tmp/hpipm
+git checkout 806c845
+make static_library
+make examples
+sudo make install_static

ct/package.xml

@@ -1,8 +1,8 @@
 <package>
   <name>ct</name>
-  <version>3.0.1</version>
+  <version>3.0.2</version>
   <description>
-    ADRL Control Toolbox 3.0.1
+    ADRL Control Toolbox 3.0.2
   </description>
   <maintainer email="[email protected]">Markus Giftthaler</maintainer>  
   <license>BSD-2</license>

ct_core/CMakeLists.txt

@@ -5,7 +5,7 @@ include(${CMAKE_CURRENT_SOURCE_DIR}/../ct/cmake/explicitTemplateHelpers.cmake)
 include(${CMAKE_CURRENT_SOURCE_DIR}/../ct/cmake/clang-cxx-dev-tools.cmake)
 
 
-project(ct_core VERSION 3.0.1 LANGUAGES CXX)
+project(ct_core VERSION 3.0.2 LANGUAGES CXX)
 
 
 set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
@@ -14,13 +14,44 @@ set(CMAKE_EXE_LINKER_FLAGS  "${CMAKE_EXE_LINKER_FLAGS} -pthread -std=c++14 -Wall
 set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)
 
 
+set(ct_core_LIBS "")
+
 ## find and include required dependencies
 find_package(Eigen3 REQUIRED)
 find_package(Boost COMPONENTS REQUIRED)
 
-set(ct_core_LIBS "")
-
 ## find and include optional dependencies
+find_package(llvm QUIET)
+find_package(clang QUIET)
+if(LLVM_FOUND AND CLANG_FOUND)
+    message(STATUS "Found LLVM/CLANG version " ${LLVM_VERSION_MAJOR}.${LLVM_VERSION_MINOR})
+    set (LLVM ON)
+    list(APPEND ct_core_COMPILE_DEFINITIONS LLVM_VERSION_MAJOR=${LLVM_VERSION_MAJOR})
+    list(APPEND ct_core_COMPILE_DEFINITIONS LLVM_VERSION_MINOR=${LLVM_VERSION_MINOR})
+    list(APPEND ct_core_LIBS ${CLANG_LIBS})
+    list(APPEND ct_core_LIBS ${LLVM_MODULE_LIBS})
+    list(APPEND ct_core_target_include_dirs ${LLVM_INCLUDE_DIRS})
+    list(APPEND ct_core_target_include_dirs ${CLANG_INCLUDE_DIRS})
+else()
+    message(STATUS "Could not find LLVM/CLANG, LLVM-JIT will not be available")
+endif()
+find_package(CppAD QUIET)
+if(CPPAD_FOUND)
+    set(CPPAD ON)
+    list(APPEND ct_core_COMPILE_DEFINITIONS CPPAD)
+    list(APPEND ct_core_target_include_dirs ${CPPAD_INCLUDE_DIRS})
+else()
+    message(STATUS "Could not find CppAD, auto-diff will not be available")
+endif()
+find_package(CppADCG QUIET)
+if(CPPADCG_FOUND)
+    set(CPPADCG ON)
+    list(APPEND ct_core_COMPILE_DEFINITIONS CPPADCG)
+    list(APPEND ct_core_target_include_dirs ${CPPADCG_INCLUDE_DIRS})
+else()
+    message(STATUS "Could not find CppADCodeGen, derivative code generation will not be available")
+endif()
+
 find_package(Qwt QUIET)
 find_package(Qt4 QUIET)
 if(QWT_FOUND AND Qt4_FOUND)
@@ -32,15 +63,14 @@ else()
     message(STATUS "COMPILING WITHOUT QWT")
 endif()
 
-## find and include optional dependencies
 find_package(PythonLibs 2.7 QUIET)
 if (PYTHONLIBS_FOUND)
-   message(STATUS "Python found")
-   list(APPEND ct_plot_COMPILE_DEFINITIONS PLOTTING_ENABLED)
+   message(STATUS "Found python 2.7")
+   list(APPEND ct_core_COMPILE_DEFINITIONS PLOTTING_ENABLED)
    message(STATUS "Python library path ... " ${PYTHON_LIBRARY})
    list(APPEND ct_core_LIBS ${PYTHON_LIBRARY})
 else() 
-   message(STATUS "Python not found") 
+   message(STATUS "Python not found, plotting will not be available") 
 endif()
 
 
@@ -55,16 +85,12 @@ configure_file(${CMAKE_CURRENT_SOURCE_DIR}/include/ct/core/templateDir.h.in ${CM
 ###################
 
 ## define the directories to be included in all ct_core targets
-set(ct_core_target_include_dirs
-    ${EIGEN3_INCLUDE_DIR} 
-    ${PYTHON_INCLUDE_DIRS}
-    ${QWT_INCLUDE_DIR}
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/ct/external>
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/examples/include>
-    $<INSTALL_INTERFACE:include>
-    $<INSTALL_INTERFACE:include/ct/external>
-)
+list(APPEND ct_core_target_include_dirs ${EIGEN3_INCLUDE_DIR})
+list(APPEND ct_core_target_include_dirs ${PYTHON_INCLUDE_DIRS})
+list(APPEND ct_core_target_include_dirs ${QWT_INCLUDE_DIR})
+list(APPEND ct_core_target_include_dirs $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>)
+list(APPEND ct_core_target_include_dirs $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/examples/include>)
+list(APPEND ct_core_target_include_dirs $<INSTALL_INTERFACE:include>)
 
 ## declare prespec libraries
 set(PRESPEC_LIB_NAMES "")
@@ -88,11 +114,12 @@ endif()
 ## create ct_core libraries
 add_library(ct_plot SHARED src/core/plot/plot.cpp)
 target_include_directories(ct_plot PUBLIC ${ct_core_target_include_dirs})
-target_compile_definitions(ct_plot PUBLIC ${ct_plot_COMPILE_DEFINITIONS})
+target_compile_definitions(ct_plot PUBLIC ${ct_core_COMPILE_DEFINITIONS})
 target_link_libraries(ct_plot ${ct_core_LIBS})
 
 add_library(ct_core INTERFACE)
 target_include_directories(ct_core INTERFACE ${ct_core_target_include_dirs})
+target_compile_definitions(ct_core INTERFACE ${ct_core_COMPILE_DEFINITIONS})
 target_link_libraries(ct_core INTERFACE
     ${ct_core_LIBS}
     ${PRESPEC_LIB_NAMES}
@@ -135,7 +162,6 @@ include(GNUInstallDirs)
 
 ## copy the header files
 install(DIRECTORY include/ct/core DESTINATION include/ct)
-install(DIRECTORY include/ct/external DESTINATION include/ct)
 install(DIRECTORY examples/include/ct/core DESTINATION include/ct)
 
 ## copy the cmake files required for find_package()

ct_core/cmake/FindCppAD.cmake

@@ -0,0 +1,63 @@
+
+IF (CPPAD_INCLUDES AND CPPAD_LIBRARIES)
+  SET(CPPAD_FIND_QUIETLY TRUE)
+ENDIF ()
+
+
+IF(DEFINED CPPAD_HOME)
+
+  FIND_PATH(CPPAD_INCLUDE_DIR NAMES cppad/cppad.hpp
+            PATHS  "${CPPAD_HOME}"
+            NO_DEFAULT_PATH)
+
+  FIND_LIBRARY(CPPAD_IPOPT_LIBRARY
+               cppad_ipopt
+               PATHS  "${CPPAD_HOME}/lib"
+               NO_DEFAULT_PATH)
+
+  SET(CPPAD_INCLUDE_DIRS ${CPPAD_INCLUDE_DIR})
+  SET(CPPAD_LIBRARIES ${CPPAD_IPOPT_LIBRARY})
+
+ELSE()
+
+  FIND_PACKAGE(PkgConfig)
+
+  IF( PKG_CONFIG_FOUND )
+    pkg_check_modules( CPPAD QUIET cppad)
+  ENDIF()
+
+
+  IF( NOT CPPAD_FOUND )
+    FIND_PATH(CPPAD_INCLUDE_DIR NAMES cppad/cppad.hpp
+              HINTS  "$ENV{CPPAD_HOME}"
+                     "/usr/include" )
+
+    FIND_LIBRARY(CPPAD_IPOPT_LIBRARY
+                 cppad_ipopt
+                 HINTS "$ENV{CPPAD_HOME}/lib"
+                       "/usr/lib" )
+
+    IF( CPPAD_INCLUDE_DIR )
+      SET(CPPAD_INCLUDE_DIRS ${CPPAD_INCLUDE_DIR})
+    ENDIF()
+
+    IF( CPPAD_IPOPT_LIBRARY )
+        SET(CPPAD_LIBRARIES ${CPPAD_IPOPT_LIBRARY})
+    ENDIF()
+
+    INCLUDE(FindPackageHandleStandardArgs)
+    # handle the QUIETLY and REQUIRED arguments and set CPPAD_FOUND to TRUE
+    # if all listed variables are TRUE
+    find_package_handle_standard_args(CppAD  DEFAULT_MSG
+                                      CPPAD_INCLUDE_DIRS)
+
+    MARK_AS_ADVANCED(CPPAD_INCLUDE_DIRS CPPAD_LIBRARIES)
+
+  ENDIF()
+ENDIF()
+
+
+IF( CPPAD_FOUND AND NOT CPPAD_FIND_QUIETLY )
+  MESSAGE(STATUS "package CppAD found")
+ENDIF()
+