Merge pull request #121 from k-okada/branch-3.1.9

update to 3.1.9

CHANGELOG.rst

@@ -2,6 +2,123 @@
 Changelog for package openhrp3
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.1.9 (2017-02-17)
+------------------
+
+* supports OpenRTM-aist 1.2.0 (`c04e9293 <https://github.com/fkanehiro/openhrp3/commit/c04e92930af318d6566213dd173c34331eb18898>`_)
+* supports trunk version of OpenRTM-aist (`#104 <https://github.com/fkanehiro/openhrp3/issues/104>`_)
+  * hrplib/{hrpModel/ModelNodeSet.h, TriangleMeshShaper.h} uses signals2 for BOOST_VERSION >= 103900 (`#103 <https://github.com/fkanehiro/openhrp3/issues/103>`_)
+* add configuration for openrtm ver-1.1.2 (`#84 <https://github.com/fkanehiro/openhrp3/issues/84>`_)
+* SUpport ARM64: aarch64(ARMv8) is also 64bit machine (`#100 <https://github.com/fkanehiro/openhrp3/issues/100>`_)
+  * hrplib/hrpPlanner/TimeUtil.cpp : fix get_tick() for arm processors (`#99 <https://github.com/fkanehiro/openhrp3/issues/99>`_ )
+* Support clang and Fix some memory leaks (conservative fixes only) (`#113 <https://github.com/fkanehiro/openhrp3/issues/113>`_)
+* supports ubuntu 16.04 (`2faa042f0 <https://github.com/fkanehiro/openhrp3/commit/2faa042f0ce5e2b8ac6b03c94feb3e95ab076e1d>`_)
+* CMakeLists.txt: fix to work on Boost 1.34.0 (`#89 <https://github.com/fkanehiro/openhrp3/issues/89>`_ )
+* .traivs.yml: add to check if this work with current hrpsys (`#70 <https://github.com/fkanehiro/openhrp3/issues/70>`_)
+* layout python stub to right place (`#69 <https://github.com/fkanehiro/openhrp3/issues/69>`_ )
+  * idl_py_files to lib/python${python_version}/dist-packages
+  * module_py_files to lib/python${python_version}/dist-packages/OpenHRP
+  * module_poa_py_files to lib/python${python_version}/dist-packages/OpenHRP__POA
+
+* installPackages
+  * util/installPackages.sh: Fixes on the script (`#96 <https://github.com/fkanehiro/openhrp3/issues/96>`_)
+    * Fix the tests on empty strings
+    * Fix shebang for better compatibility
+  * util/installPackages.sh: fixes a typo (`#95 <https://github.com/fkanehiro/openhrp3/issues/95>`_)
+  * util/packages.list.ubuntu.15.04 : adds a package list for ubuntu15.04 (`ce8dc77f <https://github.com/fkanehiro/openhrp3/commit/ce8dc77f20f2f755f242b0c8ca3c9af7da278bf9>`_)
+
+* Fix many compile warning
+  * fixes some of warnings detected by -Wall (`#118 <https://github.com/fkanehiro/openhrp3/issues/118>`_ )
+  * fixes warnings detected by -Wsign-compare / restores return type of calcSRInverse() (`#117 <https://github.com/fkanehiro/openhrp3/issues/117>`_)
+  * fixes warnings detected by -Wreorder (`#114 <https://github.com/fkanehiro/openhrp3/issues/114>`_)
+  * Reduce Warnings (`#102 <https://github.com/fkanehiro/openhrp3/issues/102>`_)
+    * Reorder includes for clang
+      Clang doesn't allow the overloaded operator <<= used in the template
+      function CORBA_Util::typecode::id() to be declared after that point of
+      use.  It seems to be a bug in clang.
+    * Add missing cases
+    * Remove "this != null" checks
+      These conditionals are never true in valid C++ programs.
+    * Add abort to "impossible" paths
+    * Add parens to indicate intentional assignment
+    * Fix comparison where it should be assignment
+    * Streamline definition of PI and PI_2
+      C++ standard (at least prior to C++11) specifies that static const
+      double members cannot be initialized within the class definition.  Move
+      the initialization of PI and PI_2 outside the class; also, update
+        feature test macros to use M_PI and M_PI_2 whenever they're available.
+    * Disambiguate if-else
+    * Fix friend declarations
+      friend declarations can't contain default parameters unless the function
+      body is defined at the same site.
+  * hrplib/hrpModel/Body.cpp, ModelLoaderUtil.cpp, fixes warnings (false -> NULL) (`#101 <https://github.com/fkanehiro/openhrp3/issues/101>`_)
+
+* hrplib/hrpModel
+  * hrplib/hrpModel/World.h: changes return type of World::numBodies() from int to unsinged int (`#116 <https://github.com/fkanehiro/openhrp3/issues/116>`_ )
+  * hrplib/hrpModel/{Body.h,JointPath.h,LinkTraverse.h} : changes return types of numXXX() (`#115 <https://github.com/fkanehiro/openhrp3/issues/115>`_ )
+  * hrplib/hrpModel/Body.cpp: supports slide joints (Link:SLIDE_JOINT) in calcCMJacobian() (`7b674f88 <https://github.com/fkanehiro/openhrp3/commit/7b674f88af1100ae0d85bdc6c45cb1f18ae648ea>`_)
+  * hrplib/hrpModel/Body.cpp: fixes a bug in calcInverseKinematics (`1ce8d36d7 <https://github.com/fkanehiro/openhrp3/commit/1ce8d36d72685e4bfe92912ec13cced754c0240a>`_)
+  * hrplib/hrpModel/ModelNodeSet.cpp: PROTO Surfaceのあるモデルが読み込めないバグの修正 (`#66 <https://github.com/fkanehiro/openhrp3/issues/66>`_)
+
+* hrplib/hrpPlanner
+  * Extend planner (`#112 <https://github.com/fkanehiro/openhrp3/issues/112>`_, `#111 <https://github.com/fkanehiro/openhrp3/issues/111>`_)
+    * removes redundant way point in a path /
+    * changes type of extraConnectionCheckFunc
+    * enables to add an extra connection check between trees
+    * adds == and != operators
+  * hrplib/hrpPlanner/Algorithm.cpp: adds Algorithm::ignoreCollisionAtStart() and Algorithm::ignoreCollisionAtGoal() (`#110 <https://github.com/fkanehiro/openhrp3/issues/110>`_)
+  * hrplib/hrpPlanner/PathPlanner.cpp : Fix bugs, uses attitude() instead of R ( `#109 <https://github.com/fkanehiro/openhrp3/issues/109>`_)
+
+  * hrplib/hrpPlanner/PathPlanner.cpp: outputs debug messages to stderr not to stdout (`#108 <https://github.com/fkanehiro/openhrp3/issues/108>`_)
+  * hrplib/hrpPlanner/Algorithm.cpp: makes error messages more informative (`#107 <https://github.com/fkanehiro/openhrp3/issues/107>`_)
+
+* hrplib/hrpCollision
+  * hrplib/hrpCollision/Opcode/OPC_Common.h: modifies CreateSSV() to prevent Zero Div.(`#106 <https://github.com/fkanehiro/openhrp3/issues/106>`_)
+  * hrplib/hrpCollision/ColdetModel.cpp: 隣接する三角形の判断を修正 (`#75 <https://github.com/fkanehiro/openhrp3/issues/75>`_)
+
+* hrplib/hrpUtil
+  * hrplib/hrpUtil/TriangleMeshShaper.cpp: checks values to prevent NaN (`#105 <https://github.com/fkanehiro/openhrp3/issues/105>`_)
+
+  * {hrplib/hrpModel/ModelNodeSet.h, server/ModelLoader/BodyInfo_impl.cpp} uses aligned allocator (`b6b03af8 <https://github.com/fkanehiro/openhrp3/commit/b6b03af8c9d122f891d94387a5cbb8c8f00f9ef6>`_)
+  * hrplib/hrpModel: Add angular momentum jacobian (`#98 <https://github.com/fkanehiro/openhrp3/issues/98>`_)
+    * [hrplib/hrpModel/Body.cpp,Body.h] Add calcTotalMomentumFromJacobian and calcAngularMomentumJacobian
+    * [hrplib/hrpModel/Link.cpp,Link.h] Add subIw (inertia tensor)
+  * hrplib/hrpUtil/{Eigen3d.cpp,testEigen3d.cpp}: add the correction of floating point error (`#85 <https://github.com/fkanehiro/openhrp3/issues/85>`_)
+    * display input matrix
+    * add the correction of floating point error
+  * hrplib/hrpUtil/testEigen3d.cpp : add google test for Eigen3d.cpp (`#64 <https://github.com/fkanehiro/openhrp3/issues/64>`_)
+
+* server/ModelLoader
+  * server/ModelLoader/ColladaWriter.h: check that a base link and an effector links exist, Fix `#93 <https://github.com/fkanehiro/openhrp3/issues/93>`_ (`#94 <https://github.com/fkanehiro/openhrp3/issues/94>`_)
+  * server/ModelLoader/exportCollada.cpp: fix help message for adding information of manipulator to collada file, Fix `#91 <https://github.com/fkanehiro/openhrp3/issues/91>`_  (`#92 <https://github.com/fkanehiro/openhrp3/issues/92>`_ )
+  * server/ModelLoader/BodyInfo_impl.cpp: set default mass properties (`#90 <https://github.com/fkanehiro/openhrp3/issues/90>`_)
+  * server/ModelLoader/projectGenerator.cpp: Add outport for root link actual pos and rot. (`#81 <https://github.com/fkanehiro/openhrp3/issues/81>`_)
+  * [server/ModelLoader/projectGenerator.cpp, REAME.md] Add integration method (EULER, RUNGE_KUTTA...) argument and update readme (`#79 <https://github.com/fkanehiro/openhrp3/issues/79>`_ )
+  * server/ModelLoader/projectGenerator.cpp: generating default outport:dq in project file by projectGenerator (`#74 <https://github.com/fkanehiro/openhrp3/issues/74>`_)
+  * server/ModelLoader/ModelLoader_impl.cpp: fix ModelLoader to enable the compile without collada (`#73 <https://github.com/fkanehiro/openhrp3/issues/73>`_)
+  * server/ModelLoader/ModelLoader_impl.cpp: support PROJECT_DIR in ModelLoader, Fix `#55 <https://github.com/fkanehiro/openhrp3/issues/55>`_ (`#68 <https://github.com/fkanehiro/openhrp3/issues/68>`_)
+  * server/ModelLoader/ColladaWriter.h: fix for reducing CORBA communication on 32bit machine on models with many shapes (`#63 <https://github.com/fkanehiro/openhrp3/issues/63>`_)
+  * server/ModelLoader/README.md: add README.md with options and an example for projectGenerator (`#62 <https://github.com/fkanehiro/openhrp3/issues/62>`_, `#60 <https://github.com/fkanehiro/openhrp3/issues/60>`_)
+
+* sample
+  * [sample/example/customizer/sample1_bush_customizer_param.conf, sample/model/sample1_bush.wrl] Add hand bush for sample1_bush.wrl. Currently do not fix indent to check diff. Update bush parameters. (`#82 <https://github.com/fkanehiro/openhrp3/issues/82>`_)
+  * [sample/model/sample_special_joint_robot.wrl] Add sample robot to check special joints (`#80 <https://github.com/fkanehiro/openhrp3/issues/80>`_ )
+
+  * Fix sample4legrobot conf robot name (`#78 <https://github.com/fkanehiro/openhrp3/issues/78>`_)
+    * [sample/model/sample_4leg_robot*.wrl] Fix leg origin pos left/right
+    * [sample/example/customizer/sample_4leg_robot_bush_customizer_param.conf] Fix sample4legrobot conf robot name
+* Add 4leg robot (`#77 <https://github.com/fkanehiro/openhrp3/issues/77>`_ )
+    * [sample/example/customizer/CMakeLists.txt] Install bush customizer file for sample_4leg_robot_bush
+    * [sample/model/sample_4leg_robot*, sample/example/customizer/sample_4leg_robot_bush_customizer_param.conf] Add 4legged robot and bush setting
+  * [sample/model/sample1_bush.wrl,sample1.wrl] Add vlimit for sample1 and sample1_bush (`#72 <https://github.com/fkanehiro/openhrp3/issues/72>`_)
+  * Add bush customizer (`#71 <https://github.com/fkanehiro/openhrp3/issues/71>`_)
+    * [sample/example/customizer/CMakeLists.txt] Install BUSH_CUSTOMIZER_CONFIG file
+    * [sample/example/customizer/sample1*.conf] Add example config file for sample1_bush.wrl param
+    * [sample/example/customizer/CMakeLists.txt,sample/example/customizer/bush_customizer.cpp] Add customizer for rubber bush.
+    * [sample/model/sample1_bush.wrl] Add sample1 model with rubber bush.
+
+* Contributors: Eisoku Kuroiwa, Fumio Kanehiro, Shizuko Hattori, Jun Inoue, Kei Okada, Mehdi Benallegue, Shin'ichiro Nakaoka, Shunichi Nozawa, Takasugi Noriaki, Yohei Kakiuchi, Yosuke Matsusaka
+
 3.1.8 (2015-04-21)
 ------------------
 

CMakeLists.txt

@@ -28,7 +28,7 @@ endif()
 
 set(OPENHRP_VERSION_MAJOR 3)
 set(OPENHRP_VERSION_MINOR 1)
-set(OPENHRP_VERSION_MICRO 8)
+set(OPENHRP_VERSION_MICRO 9)
 set(OPENHRP_VERSION_ADD_TAIL )
 set(CPACK_DEBIAN_PACKAGE_VERSION_TAIL 0)
 

HISTORY-en.txt

@@ -1,5 +1,78 @@
 OpenHRP3 Updates History (Release Notes)
 
+Ver.3.1.9
+=========================
+・ supports OpenRTM-aist 1.1.2, 1.2.0, trunk
+
+・ supports ARM64
+
+・ supports Ubuntu 16.04
+
+・ supports Boost 1.34.0
+
+・ Support clang
+
+・ layout python stub to right place
+
+・ Fix many compile warning
+
+・ hrplib/hrpModel : changes return type of World::numBodies(),numXXX() from int to unsigned
+
+・ hrplib/hrpModel : supports slide joints (Link:SLIDE_JOINT) in calcCMJacobian()
+
+・ hrplib/hrpModel : fixes a bug in calcInverseKinematics
+
+・ hrplib/hrpModel : fixes bugs when loading PROTO Surface
+
+・ hrplib/hrpPlanner : enables to add an extra connection check between trees
+
+・ hrplib/hrpPlanner : Algorithm::ignoreCollisionAtStart() and Algorithm::ignoreCollisionAtGoal()
+
+・ hrplib/hrpPlanner : Fix bugs, uses attitude() instead of R
+
+・ hrplib/hrpCollision : modifies CreateSSV() to prevent Zero Div
+
+・ hrplib/hrpCollision : fix detection of triangle
+
+・ hrplib/hrpUtil : TriangleMeshShaper.cpp: checks values to prevent NaN
+
+・ hrplib/hrpUtil : ModelNodeSet.h,BodyInfo_impl.cpp: uses aligned allocator
+
+・ hrplib/hrpUtil : Add angular momentum jacobian
+
+・ hrplib/hrpUtil : Eigen3d.cpp,testEigen3d.cpp: add the correction of floating point error
+
+・ hrplib/hrpUtil : Add google test for Eigen3d.cpp
+
+・ server/ModelLoader : ColladaWriter.h: check that a base link and an effector links exist
+
+・ server/ModelLoader : exportCollada.cpp help message for adding information of manipulator to collada file
+
+・ server/ModelLoader : BodyInfo_impl.cpp: set default mass properties
+
+・ server/ModelLoader : projectGenerator.cpp: Add outport for root link actual pos and rot
+
+・ server/ModelLoader : projectGenerator.cpp: Add integration method (EULER, RUNGE_KUTTA..) argument and update readme
+
+・ server/ModelLoader : projectGenerator.cpp: projectGenerator.cpp: generating default outport:dq in project file by projectGenerator
+
+・ server/ModelLoader : ModelLoader_impl.cpp: fix ModelLoader to enable the compile without collada
+
+・ server/ModelLoader : ModelLoader_impl.cpp: support PROJECT_DIR in ModelLoader
+
+・ server/ModelLoader : ColladaWriter.h: fix for reducing CORBA communication on 32bit machine on models with many shapes
+
+・ server/ModelLoader : README.md: add README.md with options and an example for projectGenerator
+
+・ sample : Add hand bush for sample1_bush.wrl. Currently do not fix indent to check diff. Update bush parameters
+
+・ sample : sample_special_joint_robot.wrl: Add sample robot to check special joints, 6dof+ leg, toe foot etc..
+
+・ sample : sample_4leg_robot*.wrl: Add 4leg robot
+
+・ sample : sample1_bush.wrl, example/customizer:: Add sample1 model with rubber bush and bush customizer
+
+
 Ver.3.1.8
 =========================
 ・ sample/model/sample1.wrl rotate imu mount coordinate for debug

HISTORY-ja.txt

@@ -1,5 +1,78 @@
 OpenHRP3 改版リスト (リリースノート)
 
+Ver.3.1.9
+=========================
+・ OpenRTM-aist 1.1.2, 1.2.0, trunk 対応しました
+
+・ ARM64 対応しました
+
+・ Ubuntu 16.04 対応しました
+
+・ Boost 1.34.0 対応しました
+
+・ clang  対応しました
+
+・ python stub のレイアウトを変更しました
+
+・ コンパイル時のワーニングを無くしました
+
+・ hrplib/hrpModel : World::numBodies(),numXXX() の返り値を int から unsigned int に変更しました
+
+・ hrplib/hrpModel : calcCMJacobian() で　Link:SLIDE_JOINT　をサポートしました
+
+・ hrplib/hrpModel : calcInverseKinematics のバグを修正しました
+
+・ hrplib/hrpModel : PROTO Surfaceのあるモデルが読み込めないバグの修正しました
+
+・ hrplib/hrpPlanner : ツリーの間に接続を追加できるように変更しました
+
+・ hrplib/hrpPlanner : Algorithm::ignoreCollisionAtStart() Algorithm::ignoreCollisionAtGoal() を追加しました．
+
+・ hrplib/hrpPlanner : バグの修正．R の代わりに attitude() を利用するようにしました
+
+・ hrplib/hrpCollision : CreateSSV() を変更しゼロ除算が起こらないようにしました
+
+・ hrplib/hrpCollision : 隣接する三角形の判断を修正
+
+・ hrplib/hrpUtil : TriangleMeshShaper.cpp: NaN にならないように値をチェックするようにしました
+
+・ hrplib/hrpUtil : ModelNodeSet.h,BodyInfo_impl.cpp: aligned allocator を利用するようにしました．
+
+・ hrplib/hrpUtil : 角運動量ヤコビアンを計算する関数calcAngularMomentum(), 運動量ヤコビアンと角運動量ヤコビアンを使って重心周りの運動量と角運動量を計算する関数calcTotalMomentumFromJacobian() を追加しました
+
+・ hrplib/hrpUtil : Eigen3d.cpp,testEigen3d.cpp: 浮動小数点エラーを修正しました
+
+・ hrplib/hrpUtil : google test で Eigen3d.cpp をテストしました．
+
+・ server/ModelLoader : ColladaWriter.h: base link と effector links が存在することを確認するようにしました
+
+・ server/ModelLoader : exportCollada.cpp manipulator を collada ファイルに追加すある時のヘルプ情報を追加しました
+
+・ server/ModelLoader : BodyInfo_impl.cpp: デフォルトの重量プロパティをセットするようにしました．
+
+・ server/ModelLoader : projectGenerator.cpp: ルートリンクの実際の位置姿勢を出力するポートを追加しました
+
+・ server/ModelLoader : projectGenerator.cpp: integration method (EULER, RUNGE_KUTTAなど)を設定できるようにする引数を追加しました
+
+・ server/ModelLoader : projectGenerator.cpp: projectGenerator.cpp: outport:dq をプロジェクトファイルに出力するようにしました．
+
+・ server/ModelLoader : ModelLoader_impl.cpp: ModelLoader を collada 無しでもコンパイルできるようにしました
+
+・ server/ModelLoader : ModelLoader_impl.cpp: ModelLoader 内で PROJECT_DIR を展開するようにしました
+
+・ server/ModelLoader : ColladaWriter.h: 32bitOSでshapeが多いときにcolladaの書き出し時にsegfaultするので、shapeへのアクセスを減らしました
+
+・ server/ModelLoader : README.md: README.md に projectGenerator のオプションや例を追科しました
+
+・ sample : sample1_bush.wrl に手のBushを追加しました
+
+・ sample : sample_special_joint_robot.wrl:  脚が６自由度以上だったり、つま先がついていたり、特殊な関節のテスト用のサンプルロボットを追加しました。
+
+・ sample : sample_4leg_robot*.wrl: ４脚ロボットのモデルを追加しました
+
+・ sample : sample1_bush.wrl, example/customizer:: sample1 モデルにBushとBush Customizerを追加しました
+
+
 Ver.3.1.8
 =========================
 ・ sample/model/sample1.wrl　でimuの座標系を変更しました．

package.xml

@@ -1,6 +1,6 @@
 <package>
   <name>openhrp3</name>
-  <version>3.1.8</version>
+  <version>3.1.9</version>
   <description>
    <p>This package does not only wrap <a href = "http://www.openrtp.jp/openhrp3/en/index.html">OpenHRP3</a> but actually provides the built artifact from the code from its <a href = "https://openrtp.jp/svn/hrg/openhrp">mainstream repository</a>. Being ROS-agnostic by itself, you can also use this via ROS together with the packages in <a href = "http://www.ros.org/wiki/rtmros_common">rtmros_common</a> that bridge between two framework.</p>
    <p><i>OpenHRP3 (Open Architecture Human-centered Robotics Platform version 3) is an integrated software platform for robot simulations and software developments. It allows the users to inspect an original robot model and control program by dynamics simulation. In addition, OpenHRP3 provides various software components and calculation libraries that can be used for robotics related software developments</i> (<a href = "http://www.openrtp.jp/openhrp3/en/about.html">excerpts from here</a>). </p>