Update to 3.2.0

CHANGELOG.rst

@@ -2,6 +2,21 @@
 Changelog for package openhrp3
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.2.0 (2017-10-27)
+-----------
+* openhrp3.1.pc.in: fix path order in openhrp3.1.pc.in (`#129 <https://github.com/fkanehiro/openhrp3/issues/129>`_) 
+* JointPath.*: add local_p arg for calcJacobian (`#127 <https://github.com/fkanehiro/openhrp3/issues/127>`_)
+  * fix local_p coordinate
+  * add local_p arg for calcJacobian  
+* .travis.yml: Update Travis for trusty/indigo (`#128 <https://github.com/fkanehiro/openhrp3/issues/128>`_)
+* add a package list for debian7
+* add RTM repository without asking user
+* install packages without asking user
+* support debian8
+* add stdint.hto use uint64_t on arm, close (`#123 <https://github.com/fkanehiro/openhrp3/issues/123>`_)(`#124 <https://github.com/fkanehiro/openhrp3/issues/124>`_)
+* Update maintainer (`#122 <https://github.com/fkanehiro/openhrp3/issues/122>`_)
+* Contributors: Fumio KANEHIRO, Isaac I.Y. Saito, Kei Okada, Yasuhiro Ishiguro
+
 3.1.9 (2017-02-17)
 ------------------
 

CMakeLists.txt

@@ -27,8 +27,8 @@ if(BUILD_GOOGLE_TEST)
 endif()
 
 set(OPENHRP_VERSION_MAJOR 3)
-set(OPENHRP_VERSION_MINOR 1)
-set(OPENHRP_VERSION_MICRO 9)
+set(OPENHRP_VERSION_MINOR 2)
+set(OPENHRP_VERSION_MICRO 0)
 set(OPENHRP_VERSION_ADD_TAIL )
 set(CPACK_DEBIAN_PACKAGE_VERSION_TAIL 0)
 
@@ -430,7 +430,7 @@ option(ENABLE_CPACK "Enable CPack settings" OFF)
 
 if(ENABLE_CPACK)
   set(CPACK_MODULE_PATH ${PROJECT_SOURCE_DIR}/cpack_modules/)
-  set(CPACK_PACKAGE_NAME openhrp3.1)
+  set(CPACK_PACKAGE_NAME openhrp${OPENHRP_LIBRARY_VERSION})
 #  set(RELATIVE_DOC_INSTALL_PATH share/doc/${CPACK_PACKAGE_NAME})
   set(CPACK_PACKAGE_VENDOR "AIST")
   set(CPACK_PACKAGE_CONTACT "Shin'ichiro Nakaoka <[email protected]>")
@@ -465,7 +465,7 @@ if(ENABLE_CPACK)
     set(CPACK_NSIS_CONTACT "[email protected]")
     set(CPACK_NSIS_MODIFY_PATH ON)
     # set(CPACK_PACKAGE_EXECUTABLES "MyExecutable" "My Executable")
-    set(CPACK_PACKAGE_INSTALL_DIRECTORY "OpenHRP ${OPENHRP_VERSION_MAJOR}.${OPENHRP_VERSION_MINOR}")
+    set(CPACK_PACKAGE_INSTALL_DIRECTORY "OpenHRP ${OPENHRP_LIBRARY_VERSION}")
 
   else()
     include(${CPACK_MODULE_PATH}DEPENDENT${UBUNTU_VERSION_NUM}_BASENAMES.cmake)
@@ -585,7 +585,7 @@ if(need_catkin OR "${CATKIN_BUILD_BINARY_PACKAGE}")
   install(CODE "execute_process(COMMAND cmake -E create_symlink ../../bin/export-collada       export-collada       WORKING_DIRECTORY \$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/share/openhrp3)")
   install(CODE "
 execute_process(COMMAND cmake -E make_directory share WORKING_DIRECTORY \$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/share/openhrp3)
-execute_process(COMMAND cmake -E create_symlink ../../OpenHRP-3.1 share/OpenHRP-3.1 WORKING_DIRECTORY \$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/share/openhrp3)
+execute_process(COMMAND cmake -E create_symlink ../../OpenHRP-${OPENHRP_LIBRARY_VERSION} share/OpenHRP-${OPENHRP_LIBRARY_VERSION} WORKING_DIRECTORY \$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/share/openhrp3)
 ")
 endif()
 if(need_catkin)

GrxUIonEclipse-project-0.9.8/src/com/generalrobotix/messages.properties

@@ -239,7 +239,7 @@ GrxOpenHRPView.dialog.message.noWorldState=There is no WorldState item.
 ApplicationActionBarAdvisor.menu.file=&File
 ApplicationActionBarAdvisor.menu.window=&Window
 ApplicationActionBarAdvisor.menu.view=&View
-GrxuiPreferencePage.projectDir.message=set (OpenHRP Install Director)/share/OpenHRP-3.1/sample/project
+GrxuiPreferencePage.projectDir.message=set (OpenHRP Install Director)/share/OpenHRP-3.2/sample/project
 GrxWorldStateItem.dialog.title.saveLog=Warning\! It is not possible to save log.
 GrxServerManagerPanel.filedialog.title=Select 
 GrxOpenHRPView.dialog.message.simTime0=\ \ \ (A)Sim. Time = 

GrxUIonEclipse-project-0.9.8/src/com/generalrobotix/messages_ja_JP.properties

@@ -239,7 +239,7 @@ GrxOpenHRPView.dialog.message.noWorldState=WorldState \u30a2\u30a4\u30c6\u30e0\u
 ApplicationActionBarAdvisor.menu.file=\u30d5\u30a1\u30a4\u30eb
 ApplicationActionBarAdvisor.menu.window=\u30a6\u30a3\u30f3\u30c9\u30a6
 ApplicationActionBarAdvisor.menu.view=\u30d3\u30e5\u30fc\u306e\u8868\u793a
-GrxuiPreferencePage.projectDir.message=(OpenHRP\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u30c7\u30a3\u30ec\u30af\u30c8\u30ea)/share/OpenHRP-3.1/sample/project\u3092\u8a2d\u5b9a\u3057\u3066\u304f\u3060\u3055\u3044\u3002
+GrxuiPreferencePage.projectDir.message=(OpenHRP\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u30c7\u30a3\u30ec\u30af\u30c8\u30ea)/share/OpenHRP-3.2/sample/project\u3092\u8a2d\u5b9a\u3057\u3066\u304f\u3060\u3055\u3044\u3002
 GrxWorldStateItem.dialog.title.saveLog=\u30ed\u30b0\u3092\u4fdd\u5b58\u3067\u304d\u307e\u305b\u3093
 GrxServerManagerPanel.filedialog.title=\u30d5\u30a1\u30a4\u30eb\u306e\u9078\u629e
 GrxOpenHRPView.dialog.message.simTime0=\ \ \ (A)Sim. Time = 

GrxUIonEclipse-project-0.9.8/src/com/generalrobotix/ui/grxui/Activator.java

@@ -60,8 +60,8 @@ public class Activator extends AbstractUIPlugin implements IWorkbenchListener, I
     private static Activator   plugin;
     private static final String  LINUX_HOME_DIR   = System.getenv("HOME") + File.separator ;
     private static final String  WIN_HOME_DIR     = System.getenv("APPDATA") + File.separator;
-    private static final String  LINUX_TMP_DIR   = LINUX_HOME_DIR + ".OpenHRP-3.1" + File.separator;
-    private static final String  WIN_TMP_DIR     = WIN_HOME_DIR + "OpenHRP-3.1" + File.separator;
+    private static final String  LINUX_TMP_DIR   = LINUX_HOME_DIR + ".OpenHRP-3.2" + File.separator;
+    private static final String  WIN_TMP_DIR     = WIN_HOME_DIR + "OpenHRP-3.2" + File.separator;
     private static final File HOME_DIR = initHomeDir();
     private static final File TMP_DIR = initTempDir();
     public GrxPluginManager    manager_;

GrxUIonEclipse-project-0.9.8/src/com/generalrobotix/ui/grxui/PreferenceInitializer.java.input

@@ -38,11 +38,11 @@ public class PreferenceInitializer extends AbstractPreferenceInitializer {
 		if (osname.equals("Linux") || osname.equals("Mac OS X")){
 			store.setDefault(PreferenceConstants.BIN_SFX, ".sh");
 			store.setDefault(PreferenceConstants.PROCESS+"."+PreferenceConstants.NAMESERVER+"."+PreferenceConstants.LOGGIR,
-					"$(HOME)/.OpenHRP-3.1/omninames-log");
+					"$(HOME)/.OpenHRP-3.2/omninames-log");
 		}else if(osname.contains("Windows")){
 			store.setDefault(PreferenceConstants.BIN_SFX, ".bat");
 			store.setDefault(PreferenceConstants.PROCESS+"."+PreferenceConstants.NAMESERVER+"."+PreferenceConstants.LOGGIR,
-					"\"$(APPDATA)/OpenHRP-3.1/omninames-log\"");
+					"\"$(APPDATA)/OpenHRP-3.2/omninames-log\"");
 			store.setDefault(PreferenceConstants.PROCESS+"."+PreferenceConstants.NAMESERVER+"."+PreferenceConstants.COM+0,
 					"\"$(OMNI_ROOT)/bin/x86_win32/omniNames\"");
 		}else{

GrxUIonEclipse-project-0.9.8/src/com/generalrobotix/ui/grxui/PreferenceInitializer.java.winrcp

@@ -19,7 +19,7 @@ public class PreferenceInitializer extends AbstractPreferenceInitializer {
 	public void initializeDefaultPreferences() {
 		IPreferenceStore store = Activator.getDefault()
 				.getPreferenceStore();
-		String pdir = new File(System.getenv("OPENHRP_SDK_ROOT"), "share/OpenHRP-3.1/sample/project").getPath();
+		String pdir = new File(System.getenv("OPENHRP_SDK_ROOT"), "share/OpenHRP-3.2/sample/project").getPath();
 		if(new File(pdir).isDirectory() == false)
 			pdir = "";
 		store.setDefault(PreferenceConstants.PROJECT_DIR, pdir);
@@ -34,11 +34,11 @@ public class PreferenceInitializer extends AbstractPreferenceInitializer {
 		if (osname.equals("Linux") || osname.equals("Mac OS X")){
 			store.setDefault(PreferenceConstants.BIN_SFX, ".sh");
 			store.setDefault(PreferenceConstants.PROCESS+"."+PreferenceConstants.NAMESERVER+"."+PreferenceConstants.LOGGIR,
-					"$(HOME)/.OpenHRP-3.1/omninames-log");
+					"$(HOME)/.OpenHRP-3.2/omninames-log");
 		}else if(osname.contains("Windows")){
 			store.setDefault(PreferenceConstants.BIN_SFX, ".bat");
 			store.setDefault(PreferenceConstants.PROCESS+"."+PreferenceConstants.NAMESERVER+"."+PreferenceConstants.LOGGIR,
-					"\"$(APPDATA)/OpenHRP-3.1/omninames-log\"");
+					"\"$(APPDATA)/OpenHRP-3.2/omninames-log\"");
 			store.setDefault(PreferenceConstants.PROCESS+"."+PreferenceConstants.NAMESERVER+"."+PreferenceConstants.COM+0,
 					"\"$(OMNI_ROOT)/bin/x86_win32/omniNames\"");
 		}else{

cmake_modules/ConfigurePkgConfig.cmake

@@ -1,7 +1,7 @@
 #  @author Takafumi Tawara
 
 if(PKG_CONFIG_FOUND)
-  set(PACKAGE_NAME "OpenHRP3.1")
+  set(PACKAGE_NAME "OpenHRP${OPENHRP_LIBRARY_VERSION}")
   set(OPENHRP_URL "http://www.openrtp.jp/openhrp3/")
   set(PKG_CONF_REQUIRES "")
   set(PKG_CONF_LINK_DEPEND_OPTS "''")
@@ -91,6 +91,6 @@ if(PKG_CONFIG_FOUND)
        PKG_CONF_CXXFLAG_OPTIONS ${PKG_CONF_CXXFLAG_OPTIONS})
   endif()
 
-  configure_file(openhrp3.1.pc.in openhrp3.1.pc @ONLY)
-  install(FILES ${CMAKE_CURRENT_BINARY_DIR}/openhrp3.1.pc DESTINATION lib/pkgconfig)
+  configure_file(openhrp${OPENHRP_LIBRARY_VERSION}.pc.in openhrp${OPENHRP_LIBRARY_VERSION}.pc @ONLY)
+  install(FILES ${CMAKE_CURRENT_BINARY_DIR}/openhrp${OPENHRP_LIBRARY_VERSION}.pc DESTINATION lib/pkgconfig)
 endif(PKG_CONFIG_FOUND)

cpack_modules/shlibs

@@ -1,6 +1,6 @@
-libhrpCollision-3.1 0 openhrp3.1
-libhrpModel-3.1 0 openhrp3.1
-libhrpPlanner-3.1 0 openhrp3.1
-libhrpRTM-3.1 0 openhrp3.1
-libhrpUtil-3.1 0 openhrp3.1
-libsDIMS 0 openhrp3.1
+libhrpCollision-${OPENHRP_LIBRARY_VERSION} 0 openhrp${OPENHRP_LIBRARY_VERSION}
+libhrpModel-${OPENHRP_LIBRARY_VERSION} 0 openhrp${OPENHRP_LIBRARY_VERSION}
+libhrpPlanner-${OPENHRP_LIBRARY_VERSION} 0 openhrp${OPENHRP_LIBRARY_VERSION}
+libhrpRTM-${OPENHRP_LIBRARY_VERSION} 0 openhrp${OPENHRP_LIBRARY_VERSION}
+libhrpUtil-${OPENHRP_LIBRARY_VERSION} 0 openhrp${OPENHRP_LIBRARY_VERSION}
+libsDIMS 0 openhrp${OPENHRP_LIBRARY_VERSION}

java/CMakeLists.txt

@@ -13,7 +13,7 @@ set(FIXED_CONFIGURE_COMMENT "# CMAKE generated file: DO NOT EDIT!
 if(CMAKE_INSTALL_PREFIX)
   STRING(REGEX REPLACE "\\\\" "/" CMAKE_INSTALL_PREFIX_TMP "${CMAKE_INSTALL_PREFIX}")
   STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX_TMP "${CMAKE_INSTALL_PREFIX_TMP}")
-  set(PREFERENCE_PROJECT_DIR "${CMAKE_INSTALL_PREFIX_TMP}/share/OpenHRP-3.1/sample/project")
+  set(PREFERENCE_PROJECT_DIR "${CMAKE_INSTALL_PREFIX_TMP}/share/OpenHRP-3.2/sample/project")
   set(PREFERENCE_SERVER_DIR "${CMAKE_INSTALL_PREFIX_TMP}/bin")
 else()
   set(PREFERENCE_PROJECT_DIR "")

package.xml

@@ -1,6 +1,6 @@
 <package>
   <name>openhrp3</name>
-  <version>3.1.9</version>
+  <version>3.2.0</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>

script/openhrp-jython-prompt.in

@@ -1,3 +1,3 @@
 #!/bin/sh
-export CLASSPATH=@CMAKE_INSTALL_PREFIX@/share/OpenHRP-3.1/java/openhrpstubskel.jar:$CLASSPATH
-jython -DNS_OPT="-ORBInitRef NameService=corbaloc:iiop:@NS_HOST@:@NS_PORT@/NameService" -Dpython.path=@CMAKE_INSTALL_PREFIX@/share/OpenHRP-3.1/sample/script $@
+export CLASSPATH=@CMAKE_INSTALL_PREFIX@/share/OpenHRP-@OPENHRP_LIBRARY_VERSION@/java/openhrpstubskel.jar:$CLASSPATH
+jython -DNS_OPT="-ORBInitRef NameService=corbaloc:iiop:@NS_HOST@:@NS_PORT@/NameService" -Dpython.path=@CMAKE_INSTALL_PREFIX@/share/OpenHRP-3.2/sample/script $@

server/ModelLoader/README.md

@@ -40,7 +40,7 @@ input files shold be VRML or COLLADA files.
 #### example
 
 ```bash
-openhrp-project-generator `rospack find openhrp3`/share/OpenHRP-3.1/sample/model/sample1.wrl `rospack find openhrp3`/share/OpenHRP-3.1/sample/model/longfloor.wrl --use-highgain-mode false --output /tmp/SampleRobot_for_torquecontrol.xml --timeStep 0.001 --dt 0.002
+openhrp-project-generator `rospack find openhrp3`/share/OpenHRP-3.2/sample/model/sample1.wrl `rospack find openhrp3`/share/OpenHRP-3.2/sample/model/longfloor.wrl --use-highgain-mode false --output /tmp/SampleRobot_for_torquecontrol.xml --timeStep 0.001 --dt 0.002
 ```
 
 ## NOTE

test/test_modelloader.py

@@ -81,9 +81,9 @@ def print_ok(self, fmt, ok):
 
     def loadFiles(self, wrl_file, dae_file):
         """ Override this method for loading model files from another directory """
-        openhrp3_prefix=subprocess.check_output('pkg-config openhrp3.1 --variable=prefix', shell=True).rstrip()
-        self.wrl_url = openhrp3_prefix+"/share/OpenHRP-3.1/sample/model/"+wrl_file
-        self.dae_url = openhrp3_prefix+"/share/OpenHRP-3.1/sample/model/"+dae_file
+        openhrp3_prefix=subprocess.check_output('pkg-config openhrp3.2 --variable=prefix', shell=True).rstrip()
+        self.wrl_url = openhrp3_prefix+"/share/OpenHRP-3.2/sample/model/"+wrl_file
+        self.dae_url = openhrp3_prefix+"/share/OpenHRP-3.2/sample/model/"+dae_file
         self.wrl_binfo = self.ml.getBodyInfo(self.wrl_url)
         self.dae_binfo = self.ml.getBodyInfo(self.dae_url)
         self.wrl_links = self.wrl_binfo._get_links()