Merge remote-tracking branch 'origin/release-6.4'

# Conflicts: # cmake/FindFLANN.cmake # dart/planning/Path.cpp # dart/planning/Path.hpp # dart/planning/PathFollowingTrajectory.cpp # dart/planning/PathFollowingTrajectory.hpp # dart/planning/PathPlanner.hpp # dart/planning/PathShortener.cpp # dart/planning/PathShortener.hpp # dart/planning/RRT.cpp # dart/planning/RRT.hpp # dart/planning/Trajectory.hpp
dartsim · Feb 24, 2018 · 071ead1 · 071ead1
2 parents 6d949f9 + b3156ef
commit 071ead1
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diff --git a/.appveyor.yml b/.appveyor.yml
@@ -38,8 +38,9 @@ install:
   - if "%platform%"=="x64"   set VCPKG_ARCH=x64-windows
 
   # install pacakges
-  # ---- required dependencies: boost, eigen3, libccd, fcl, assimp
-  - vcpkg install boost:%VCPKG_ARCH%
+  # ---- required dependencies: boost-system, boost-filesystem, eigen3, libccd, fcl, assimp
+  - vcpkg install boost-system:%VCPKG_ARCH%
+  - vcpkg install boost-filesystem:%VCPKG_ARCH%
   - vcpkg install eigen3:%VCPKG_ARCH%
   - vcpkg install ccd:%VCPKG_ARCH%
   - vcpkg install fcl:%VCPKG_ARCH%

diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -24,9 +24,11 @@
 
 * Kinematics/Dynamics
 
+  * Added relative Jacobian functions to MetaSkeleton: [#997](https://github.com/dartsim/dart/pull/997)
   * Added vectorized joint limit functions: [#996](https://github.com/dartsim/dart/pull/996)
   * Added lazy evaluation for shape's volume and bounding-box computation: [#959](https://github.com/dartsim/dart/pull/959)
   * Added IkFast support as analytic IK solver: [#887](https://github.com/dartsim/dart/pull/887)
+  * Added TranslationalJoint2D: [#1003](https://github.com/dartsim/dart/pull/1003)
   * Fixed NaN values caused by zero-length normals in ContactConstraint: [#881](https://github.com/dartsim/dart/pull/881)
   * Extended BodyNode::createShapeNode() to accept more types of arguments: [#986](https://github.com/dartsim/dart/pull/986)
 
@@ -46,8 +48,10 @@
 * Misc
 
   * Added World::create(): [#962](https://github.com/dartsim/dart/pull/962)
+  * Added MetaSkeleton::hasBodyNode() and MetaSkeleton::hasJoint(): [#1000](https://github.com/dartsim/dart/pull/1000)
   * Suppressed -Winjected-class-name warnings from Clang 5.0.0: [#964](https://github.com/dartsim/dart/pull/964)
   * Suppressed -Wdangling-else warnings from GCC 7.2.0: [#937](https://github.com/dartsim/dart/pull/937)
+  * Changed console macros to use global namespace resolutions: [#1010](https://github.com/dartsim/dart/pull/1010)
   * Fixed various build issues with Visual Studio: [#956](https://github.com/dartsim/dart/pull/956)
   * Removed TinyXML dependency: [#993](https://github.com/dartsim/dart/pull/993)
 

diff --git a/LICENSE b/LICENSE
@@ -1,8 +1,8 @@
 Copyright (c) 2011-2016, Humanoid Lab, Georgia Tech Research Corporation
 Copyright (c) 2016-2017, Personal Robotics Lab, Carnegie Mellon University
-Copyright (c) 2011-2017, Graphics Lab, Georgia Tech Research Corporation
-Copyright (c) 2017, Personal Robotics Lab, University of Washington
-Copyright (c) 2017, Open Source Robotics Foundation
+Copyright (c) 2011-2018, Graphics Lab, Georgia Tech Research Corporation
+Copyright (c) 2017-2018, Personal Robotics Lab, University of Washington
+Copyright (c) 2017-2018, Open Source Robotics Foundation
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

diff --git a/ci/script.sh b/ci/script.sh
@@ -5,3 +5,12 @@ cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DDART_VERBOSE=ON -DDART_TREAT_WARNINGS_AS_
 if [ "$TRAVIS_OS_NAME" = "linux" ]; then make -j4 tutorials examples tests; else make -j4 tests; fi
 if [ "$TRAVIS_OS_NAME" = "linux" ]; then make check-format; fi
 if [ $CODECOV = ON ]; then make -j4 codecov; else make -j4 test; fi
+
+# Make sure we can install with no issues
+sudo make -j4 install
+
+# Build an example using installed DART
+cd $TRAVIS_BUILD_DIR/examples/rigidCubes
+mkdir build && cd build
+cmake ..
+make -j4
diff --git a/cmake/DARTFindDependencies.cmake b/cmake/DARTFindDependencies.cmake
@@ -88,13 +88,17 @@ endif()
 add_definitions(-DBOOST_TEST_DYN_LINK)
 set(Boost_USE_MULTITHREADED ON)
 set(Boost_USE_STATIC_RUNTIME OFF)
+if(MSVC)
+  set(BOOST_REQUIRED_COMPONENTS system filesystem)
+else()
+  set(BOOST_REQUIRED_COMPONENTS regex system filesystem)
+endif()
 if(DART_VERBOSE)
-  find_package(Boost ${DART_MIN_BOOST_VERSION} REQUIRED COMPONENTS regex system filesystem)
+  find_package(Boost ${DART_MIN_BOOST_VERSION} REQUIRED COMPONENTS ${BOOST_REQUIRED_COMPONENTS})
 else()
-  find_package(Boost ${DART_MIN_BOOST_VERSION} QUIET REQUIRED COMPONENTS regex system filesystem)
+  find_package(Boost ${DART_MIN_BOOST_VERSION} QUIET REQUIRED COMPONENTS ${BOOST_REQUIRED_COMPONENTS})
 endif()
 
-
 #--------------------
 # Misc. dependencies
 #--------------------

diff --git a/cmake/FindASSIMP.cmake b/cmake/FindASSIMP.cmake
@@ -1,4 +1,4 @@
-# Copyright (c) 2011-2017, The DART development contributors
+# Copyright (c) 2011-2018, The DART development contributors
 # All rights reserved.
 #
 # The list of contributors can be found at:

diff --git a/cmake/FindCCD.cmake b/cmake/FindCCD.cmake
@@ -1,4 +1,4 @@
-# Copyright (c) 2011-2017, The DART development contributors
+# Copyright (c) 2011-2018, The DART development contributors
 # All rights reserved.
 #
 # The list of contributors can be found at:

diff --git a/cmake/FindEIGEN3.cmake b/cmake/FindEIGEN3.cmake
@@ -1,4 +1,4 @@
-# Copyright (c) 2011-2017, The DART development contributors
+# Copyright (c) 2011-2018, The DART development contributors
 # All rights reserved.
 #
 # The list of contributors can be found at:

diff --git a/cmake/FindFCL.cmake b/cmake/FindFCL.cmake
@@ -1,4 +1,4 @@
-# Copyright (c) 2011-2017, The DART development contributors
+# Copyright (c) 2011-2018, The DART development contributors
 # All rights reserved.
 #
 # The list of contributors can be found at:

diff --git a/cmake/FindIPOPT.cmake b/cmake/FindIPOPT.cmake
@@ -1,4 +1,4 @@
-# Copyright (c) 2011-2017, The DART development contributors
+# Copyright (c) 2011-2018, The DART development contributors
 # All rights reserved.
 #
 # The list of contributors can be found at:

diff --git a/cmake/FindNLOPT.cmake b/cmake/FindNLOPT.cmake
@@ -1,4 +1,4 @@
-# Copyright (c) 2011-2017, The DART development contributors
+# Copyright (c) 2011-2018, The DART development contributors
 # All rights reserved.
 #
 # The list of contributors can be found at:

diff --git a/cmake/FindODE.cmake b/cmake/FindODE.cmake
@@ -1,4 +1,4 @@
-# Copyright (c) 2011-2017, The DART development contributors
+# Copyright (c) 2011-2018, The DART development contributors
 # All rights reserved.
 #
 # The list of contributors can be found at:

diff --git a/cmake/FindSHARK.cmake b/cmake/FindSHARK.cmake
@@ -1,4 +1,4 @@
-# Copyright (c) 2011-2017, The DART development contributors
+# Copyright (c) 2011-2018, The DART development contributors
 # All rights reserved.
 #
 # The list of contributors can be found at:
@@ -43,4 +43,3 @@ find_package_handle_standard_args(SHARK
     FAIL_MESSAGE  DEFAULT_MSG
     REQUIRED_VARS SHARK_INCLUDE_DIRS SHARK_LIBRARIES
     VERSION_VAR   SHARK_VERSION)
-
diff --git a/cmake/FindTINYXML2.cmake b/cmake/FindTINYXML2.cmake
@@ -1,4 +1,4 @@
-# Copyright (c) 2011-2017, The DART development contributors
+# Copyright (c) 2011-2018, The DART development contributors
 # All rights reserved.
 #
 # The list of contributors can be found at:

diff --git a/dart/collision/CollisionDetector.cpp b/dart/collision/CollisionDetector.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2017, The DART development contributors
+ * Copyright (c) 2011-2018, The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at:

diff --git a/dart/collision/CollisionDetector.hpp b/dart/collision/CollisionDetector.hpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2017, The DART development contributors
+ * Copyright (c) 2011-2018, The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at:

diff --git a/dart/collision/CollisionFilter.cpp b/dart/collision/CollisionFilter.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2017, The DART development contributors
+ * Copyright (c) 2011-2018, The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at:

diff --git a/dart/collision/CollisionFilter.hpp b/dart/collision/CollisionFilter.hpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2017, The DART development contributors
+ * Copyright (c) 2011-2018, The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at:

diff --git a/dart/collision/CollisionGroup.cpp b/dart/collision/CollisionGroup.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2017, The DART development contributors
+ * Copyright (c) 2011-2018, The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at:

diff --git a/dart/collision/CollisionGroup.hpp b/dart/collision/CollisionGroup.hpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2017, The DART development contributors
+ * Copyright (c) 2011-2018, The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at:

diff --git a/dart/collision/CollisionObject.cpp b/dart/collision/CollisionObject.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2017, The DART development contributors
+ * Copyright (c) 2011-2018, The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at:

diff --git a/dart/collision/CollisionObject.hpp b/dart/collision/CollisionObject.hpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2017, The DART development contributors
+ * Copyright (c) 2011-2018, The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at:

diff --git a/dart/collision/CollisionOption.cpp b/dart/collision/CollisionOption.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2017, The DART development contributors
+ * Copyright (c) 2011-2018, The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at:

diff --git a/dart/collision/CollisionOption.hpp b/dart/collision/CollisionOption.hpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2017, The DART development contributors
+ * Copyright (c) 2011-2018, The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at:

diff --git a/dart/collision/CollisionResult.cpp b/dart/collision/CollisionResult.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2017, The DART development contributors
+ * Copyright (c) 2011-2018, The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at:

diff --git a/dart/collision/CollisionResult.hpp b/dart/collision/CollisionResult.hpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2017, The DART development contributors
+ * Copyright (c) 2011-2018, The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at:

diff --git a/dart/collision/Contact.cpp b/dart/collision/Contact.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2017, The DART development contributors
+ * Copyright (c) 2011-2018, The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at:

diff --git a/dart/collision/Contact.hpp b/dart/collision/Contact.hpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2017, The DART development contributors
+ * Copyright (c) 2011-2018, The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at:

diff --git a/dart/collision/DistanceFilter.cpp b/dart/collision/DistanceFilter.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2017, The DART development contributors
+ * Copyright (c) 2011-2018, The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at:

diff --git a/dart/collision/DistanceFilter.hpp b/dart/collision/DistanceFilter.hpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2017, The DART development contributors
+ * Copyright (c) 2011-2018, The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at:

diff --git a/dart/collision/DistanceOption.cpp b/dart/collision/DistanceOption.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2017, The DART development contributors
+ * Copyright (c) 2011-2018, The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at:

diff --git a/dart/collision/DistanceOption.hpp b/dart/collision/DistanceOption.hpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2017, The DART development contributors
+ * Copyright (c) 2011-2018, The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at:

diff --git a/dart/collision/DistanceResult.cpp b/dart/collision/DistanceResult.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2017, The DART development contributors
+ * Copyright (c) 2011-2018, The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at:

diff --git a/dart/collision/DistanceResult.hpp b/dart/collision/DistanceResult.hpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2017, The DART development contributors
+ * Copyright (c) 2011-2018, The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at:

diff --git a/dart/collision/Option.hpp b/dart/collision/Option.hpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2017, The DART development contributors
+ * Copyright (c) 2011-2018, The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at:

diff --git a/dart/collision/Result.hpp b/dart/collision/Result.hpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2017, The DART development contributors
+ * Copyright (c) 2011-2018, The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at:

diff --git a/dart/collision/SmartPointer.hpp b/dart/collision/SmartPointer.hpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2017, The DART development contributors
+ * Copyright (c) 2011-2018, The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at:

diff --git a/dart/collision/bullet/BulletCollisionDetector.cpp b/dart/collision/bullet/BulletCollisionDetector.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2017, The DART development contributors
+ * Copyright (c) 2011-2018, The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at:

diff --git a/dart/collision/bullet/BulletCollisionDetector.hpp b/dart/collision/bullet/BulletCollisionDetector.hpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2017, The DART development contributors
+ * Copyright (c) 2011-2018, The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at:

diff --git a/dart/collision/bullet/BulletCollisionGroup.cpp b/dart/collision/bullet/BulletCollisionGroup.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2017, The DART development contributors
+ * Copyright (c) 2011-2018, The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at:

diff --git a/dart/collision/bullet/BulletCollisionGroup.hpp b/dart/collision/bullet/BulletCollisionGroup.hpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2017, The DART development contributors
+ * Copyright (c) 2011-2018, The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at:

diff --git a/dart/collision/bullet/BulletCollisionObject.cpp b/dart/collision/bullet/BulletCollisionObject.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2017, The DART development contributors
+ * Copyright (c) 2011-2018, The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at:

diff --git a/dart/collision/bullet/BulletCollisionObject.hpp b/dart/collision/bullet/BulletCollisionObject.hpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2017, The DART development contributors
+ * Copyright (c) 2011-2018, The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at:

diff --git a/dart/collision/bullet/BulletTypes.cpp b/dart/collision/bullet/BulletTypes.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2017, The DART development contributors
+ * Copyright (c) 2011-2018, The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at:

diff --git a/dart/collision/bullet/BulletTypes.hpp b/dart/collision/bullet/BulletTypes.hpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2017, The DART development contributors
+ * Copyright (c) 2011-2018, The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at:

diff --git a/dart/collision/bullet/detail/BulletCollisionDispatcher.cpp b/dart/collision/bullet/detail/BulletCollisionDispatcher.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2017, The DART development contributors
+ * Copyright (c) 2011-2018, The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at:

diff --git a/dart/collision/bullet/detail/BulletCollisionDispatcher.hpp b/dart/collision/bullet/detail/BulletCollisionDispatcher.hpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2017, The DART development contributors
+ * Copyright (c) 2011-2018, The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at:

diff --git a/dart/collision/bullet/detail/BulletOverlapFilterCallback.cpp b/dart/collision/bullet/detail/BulletOverlapFilterCallback.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2017, The DART development contributors
+ * Copyright (c) 2011-2018, The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at:

diff --git a/dart/collision/bullet/detail/BulletOverlapFilterCallback.hpp b/dart/collision/bullet/detail/BulletOverlapFilterCallback.hpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2017, The DART development contributors
+ * Copyright (c) 2011-2018, The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at:

diff --git a/dart/collision/dart/DARTCollide.cpp b/dart/collision/dart/DARTCollide.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2017, The DART development contributors
+ * Copyright (c) 2011-2018, The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at:

diff --git a/dart/collision/dart/DARTCollide.hpp b/dart/collision/dart/DARTCollide.hpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2017, The DART development contributors
+ * Copyright (c) 2011-2018, The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at: