Merge branch 'packaging/osgdart' into packaging/components

Conflicts:
	CMakeLists.txt
	appveyor.yml
	ci/script_linux.sh
	ci/script_osx.sh
	dart/gui/osg/examples/CMakeLists.txt
	tutorials/CMakeLists.txt

CMakeLists.txt

@@ -69,9 +69,6 @@ if(MSVC)
 else()
   option(BUILD_SHARED_LIBS "Build shared libraries" ON)
 endif()
-option(DART_BUILD_EXAMPLES "Build examples" ON)
-option(DART_BUILD_TUTORIALS "Build tutorials" ON)
-option(DART_BUILD_UNITTESTS "Build unit tests" ON)
 option(DART_COVERALLS "Turn on coveralls support" OFF)
 option(DART_COVERALLS_UPLOAD "Upload the generated coveralls json" ON)
 
@@ -223,9 +220,6 @@ message(STATUS "Build type       : ${CMAKE_BUILD_TYPE}")
 message(STATUS "BUILD_SHARED_LIBS: ${BUILD_SHARED_LIBS}")
 message(STATUS "ENABLE_OPENMP    : ${ENABLE_OPENMP}")
 message(STATUS "Build osgDart    : ${DART_BUILD_OSGDART}")
-message(STATUS "Build examples   : ${DART_BUILD_EXAMPLES}")
-message(STATUS "Build tutorials  : ${DART_BUILD_TUTORIALS}")
-message(STATUS "Build unit tests : ${DART_BUILD_UNITTESTS}")
 message(STATUS "Install path     : ${CMAKE_INSTALL_PREFIX}")
 message(STATUS "CXX_FLAGS        : ${CMAKE_CXX_FLAGS}")
 if(${CMAKE_BUILD_TYPE_UPPERCASE} STREQUAL "RELEASE")
@@ -274,25 +268,67 @@ install(FILES ${PC_CONFIG_OUT} DESTINATION lib/pkgconfig)
 # Install a Catkin 'package.xml' file. This is required by REP-136.
 install(FILES package.xml DESTINATION share/${PROJECT_NAME})
 
+#===============================================================================
+# Helper Functions
+#===============================================================================
+
+set_property(GLOBAL PROPERTY DART_EXAMPLES)
+set_property(GLOBAL PROPERTY DART_TUTORIALS)
+set_property(GLOBAL PROPERTY DART_UNITTESTS)
+
+function(dart_add_example target_name)
+  set_property(GLOBAL APPEND PROPERTY DART_EXAMPLES "${target_name}")
+endfunction(dart_add_example)
+
+function(dart_add_tutorial target_name)
+  set_property(GLOBAL APPEND PROPERTY DART_TUTORIALS "${target_name}")
+endfunction(dart_add_tutorial)
+
+function(dart_add_unittest target_name)
+  set_property(GLOBAL APPEND PROPERTY DART_UNITTESTS "${target_name}")
+endfunction(dart_add_unittest)
+
 #===============================================================================
 # Add sub-directories
 #===============================================================================
+
 add_subdirectory(dart)
+add_subdirectory(apps EXCLUDE_FROM_ALL)
+add_subdirectory(tutorials EXCLUDE_FROM_ALL)
 
-# Unit tests
-if(DART_BUILD_UNITTESTS)
-  enable_testing()
-  add_subdirectory(unittests)
-endif(DART_BUILD_UNITTESTS)
+# Add a "tutorials" target to build tutorials.
+get_property(tutorials GLOBAL PROPERTY DART_TUTORIALS)
+add_custom_target(tutorials DEPENDS ${tutorials})
 
-# Examples
-if(DART_BUILD_EXAMPLES)
-  add_subdirectory(apps)
-endif(DART_BUILD_EXAMPLES)
+message(STATUS "")
+message(STATUS "[ Tutorials ]")
+foreach(tutorial ${tutorials})
+  message(STATUS "Adding tutorial: ${tutorial}")
+endforeach(tutorial ${tutorials})
 
-if(DART_BUILD_TUTORIALS)
-  add_subdirectory(tutorials)
-endif()
+# Add an "examples" target to build examples.
+get_property(examples GLOBAL PROPERTY DART_EXAMPLES)
+add_custom_target(examples DEPENDS ${examples})
+
+message(STATUS "")
+message(STATUS "[ Examples ]")
+
+foreach(example ${examples})
+  message(STATUS "Adding example: ${example}")
+endforeach(example ${examples})
+
+# Add a "tests" target to build unit tests.
+enable_testing()
+add_subdirectory(unittests EXCLUDE_FROM_ALL)
+
+get_property(unittests GLOBAL PROPERTY DART_UNITTESTS)
+add_custom_target(tests DEPENDS ${unittests})
+
+message(STATUS "")
+message(STATUS "[ Unit Tests ]")
+foreach(unittest ${unittests})
+  message(STATUS "Adding test: ${unittest}")
+endforeach(unittest ${unittests})
 
 #===============================================================================
 # Export targets

apps/CMakeLists.txt

@@ -1,16 +1,12 @@
 # A list of applications
 set_property(DIRECTORY PROPERTY FOLDER Apps)
 
-message(STATUS "")
-message(STATUS "[ Applications ]")
-
 # Automatically identify all directories in the apps folder
 file(GLOB children RELATIVE ${CMAKE_CURRENT_LIST_DIR} "*")
 set(directories "")
 foreach(child ${children})
   if(IS_DIRECTORY "${CMAKE_CURRENT_LIST_DIR}/${child}")
     if(EXISTS "${CMAKE_CURRENT_LIST_DIR}/${child}/CMakeLists.txt")
-      message(STATUS "Adding application: " ${child})
       list(APPEND directories ${child})
     endif(EXISTS "${CMAKE_CURRENT_LIST_DIR}/${child}/CMakeLists.txt")
   endif(IS_DIRECTORY "${CMAKE_CURRENT_LIST_DIR}/${child}")
@@ -19,12 +15,5 @@ endforeach(child)
 # List of all the subdirectories to include
 foreach(APPDIR ${directories})
   add_subdirectory(${APPDIR})
-  if(WIN32)
-    if(TARGET ${APPTARGET})
-      set_target_properties(${APPTARGET} PROPERTIES FOLDER Apps
-          #EXCLUDE_FROM_DEFAULT_BUILD ON
-          )
-      set_target_properties(${APPTARGET} PROPERTIES STATIC_LIBRARY_FLAGS_RELEASE "/LTCG")
-    endif(TARGET ${APPTARGET})
-  endif(WIN32)
+  dart_add_example(${APPDIR})
 endforeach(APPDIR)

appveyor.yml

@@ -14,8 +14,6 @@ environment:
   MSVC_DEFAULT_OPTIONS: ON
   BOOST_ROOT: C:\Libraries\boost_1_59_0
   BOOST_LIBRARYDIR: C:\Libraries\boost_1_59_0\lib32-msvc-14.0
-  BUILD_EXAMPLES: OFF  # don't build examples to not exceed allowed build time (40 min)
-  BUILD_TUTORIALS: OFF  # don't build tutorials to not exceed allowed build time (40 min)
 
 # build configuration, i.e. Debug, Release, etc.
 configuration:
@@ -52,7 +50,7 @@ before_build:
   # We generate project files for Visual Studio 12 because the boost binaries installed on the test server are for Visual Studio 12.
   - cmd: if "%platform%"=="Win32" set CMAKE_GENERATOR_NAME=Visual Studio 14 2015
   - cmd: if "%platform%"=="x64"   set CMAKE_GENERATOR_NAME=Visual Studio 14 2015 Win64
-  - cmd: cmake -G "%CMAKE_GENERATOR_NAME%" -DCMAKE_BUILD_TYPE=%configuration% -DDART_BUILD_EXAMPLES="%BUILD_EXAMPLES%" -DDART_BUILD_TUTORIALS="%BUILD_TUTORIALS%" -DBOOST_ROOT="%BOOST_ROOT%" -DBOOST_LIBRARYDIR="%BOOST_LIBRARYDIR%" -DBoost_USE_STATIC_LIBS="ON" -Durdfdom_DIR="%urdfdom_DIR%" -Durdfdom_headers_DIR="%urdfdom_headers_DIR%" -DDART_MSVC_DEFAULT_OPTIONS="%MSVC_DEFAULT_OPTIONS%" ..
+  - cmd: cmake -G "%CMAKE_GENERATOR_NAME%" -DCMAKE_BUILD_TYPE=%configuration% -DBOOST_ROOT="%BOOST_ROOT%" -DBOOST_LIBRARYDIR="%BOOST_LIBRARYDIR%" -DBoost_USE_STATIC_LIBS="ON" -Durdfdom_DIR="%urdfdom_DIR%" -Durdfdom_headers_DIR="%urdfdom_headers_DIR%" -DDART_MSVC_DEFAULT_OPTIONS="%MSVC_DEFAULT_OPTIONS%" ..
 
 build: off
 #build:

ci/before_install_linux.sh

@@ -13,6 +13,7 @@ libfcl-dev
 freeglut3-dev
 libxi-dev
 libxmu-dev
+libbullet-dev
 libflann-dev
 libnlopt-dev
 coinor-libipopt-dev

ci/script_linux.sh

@@ -1,5 +1,4 @@
 make
 if [ $COVERALLS = ON ]; then make coveralls; fi
 sudo ldconfig --verbose # So the test executeables can detect libtinyxml2
-make test
-
+make all tutorials examples tests test

ci/script_osx.sh

@@ -1,2 +1,2 @@
 make
-make test
+make all tutorials examples tests test

dart/dynamics/detail/MultiDofJointProperties.h

@@ -165,7 +165,8 @@ class MultiDofJointAddon final :
   MultiDofJointAddon(const MultiDofJointAddon&) = delete;
 
   MultiDofJointAddon(common::AddonManager* mgr,
-        const typename MultiDofJointAddon::PropertiesData& properties);
+        const typename MultiDofJointAddon::PropertiesData& properties =
+            typename MultiDofJointAddon::PropertiesData());
 
   constexpr static size_t NumDofs = DOF;
   using Vector = Eigen::Matrix<double, DOF, 1>;

dart/gui/osg/CMakeLists.txt

@@ -27,9 +27,7 @@ configure_file(
   ${CMAKE_CURRENT_BINARY_DIR}/osg.h
 )
 
-if(${DART_BUILD_EXAMPLES})
-  add_subdirectory(examples)
-endif(${DART_BUILD_EXAMPLES})
+add_subdirectory(examples EXCLUDE_FROM_ALL)
 
 install(
   FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/osg.h

dart/gui/osg/DefaultEventHandler.h

@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef OSGDART_DEFAULTEVENTHANDLER_H
-#define OSGDART_DEFAULTEVENTHANDLER_H
+#ifndef DART_GUI_OSG_DEFAULTEVENTHANDLER_H
+#define DART_GUI_OSG_DEFAULTEVENTHANDLER_H
 
 #include <vector>
 #include <array>
@@ -199,7 +199,7 @@ class DefaultEventHandler : public ::osgGA::GUIEventHandler,
   virtual void handleDestructionNotification(
       const dart::common::Subject* _subject) override;
 
-  /// osgDart::Viewer that this event handler is tied to
+  /// dart::gui::osg::Viewer that this event handler is tied to
   Viewer* mViewer;
 
   /// Set of MouseEventHandlers that are tied to this DefaultEventHandler
@@ -236,4 +236,4 @@ class DefaultEventHandler : public ::osgGA::GUIEventHandler,
 } // namespace gui
 } // namespace dart
 
-#endif // OSGDART_DEFAULTEVENTHANDLER_H
+#endif // DART_GUI_OSG_DEFAULTEVENTHANDLER_H

dart/gui/osg/DragAndDrop.h

@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef OSGDART_DRAGANDDROP_H
-#define OSGDART_DRAGANDDROP_H
+#ifndef DART_GUI_OSG_DRAGANDDROP_H
+#define DART_GUI_OSG_DRAGANDDROP_H
 
 #include <functional>
 
@@ -59,7 +59,7 @@ class Viewer;
 class InteractiveFrame;
 
 /// DragAndDrop is a class that facilitates enabling various kinds of dart
-/// Entities to be dragged and dropped in an osgDart environment
+/// Entities to be dragged and dropped in an dart::gui::osg environment
 class DragAndDrop : public dart::common::Subject,
                     public dart::common::Observer
 {
@@ -364,4 +364,4 @@ class BodyNodeDnD : public DragAndDrop
 } // namespace gui
 } // namespace dart
 
-#endif // OSGDART_DRAGANDDROP_H
+#endif // DART_GUI_OSG_DRAGANDDROP_H

dart/gui/osg/InteractiveFrame.h

@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef OSGDART_INTERACTIVEFRAME_H
-#define OSGDART_INTERACTIVEFRAME_H
+#ifndef DART_GUI_OSG_INTERACTIVEFRAME_H
+#define DART_GUI_OSG_INTERACTIVEFRAME_H
 
 #include "dart/dynamics/SimpleFrame.h"
 
@@ -171,4 +171,4 @@ typedef std::shared_ptr<InteractiveFrame> InteractiveFramePtr;
 } // namespace gui
 } // namespace dart
 
-#endif // OSGDART_INTERACTIVEFRAME_H
+#endif // DART_GUI_OSG_INTERACTIVEFRAME_H

dart/gui/osg/MouseEventHandler.h

@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef OSGDART_MOUSEEVENTHANDLER_H
-#define OSGDART_MOUSEEVENTHANDLER_H
+#ifndef DART_GUI_OSG_MOUSEEVENTHANDLER_H
+#define DART_GUI_OSG_MOUSEEVENTHANDLER_H
 
 #include "dart/common/Subject.h"
 #include "dart/common/Observer.h"
@@ -77,4 +77,4 @@ class MouseEventHandler : public virtual dart::common::Subject,
 } // namespace gui
 } // namespace dart
 
-#endif // OSGDART_MOUSEEVENTHANDLER_H
+#endif // DART_GUI_OSG_MOUSEEVENTHANDLER_H

dart/gui/osg/ShapeFrameNode.cpp

@@ -156,9 +156,9 @@ void ShapeFrameNode::refreshShapeNode(
 static void warnAboutUnsuccessfulCast(const std::string& shapeType,
                                       const std::string& entityName)
 {
-  dtwarn << "[osgDart::EntityNode::createShapeNode] A Shape in '" << entityName
-         << "' claimed to be a '" << shapeType << "' but it failed to be "
-         << "dynamically cast to that type. "
+  dtwarn << "[dart::gui::osg::EntityNode::createShapeNode] A Shape in '"
+         << entityName << "' claimed to be a '" << shapeType
+         << "' but it failed to be dynamically cast to that type. "
          << "It will not be added to the OSG tree, "
          << "and therefore will not be rendered\n";
 }

dart/gui/osg/ShapeFrameNode.h

@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef OSGDART_SHAPEFRAMENODE_H
-#define OSGDART_SHAPEFRAMENODE_H
+#ifndef DART_GUI_OSG_SHAPEFRAMENODE_H
+#define DART_GUI_OSG_SHAPEFRAMENODE_H
 
 #include <map>
 #include <memory>
@@ -117,4 +117,4 @@ class ShapeFrameNode : public ::osg::MatrixTransform
 } // namespace gui
 } // namespace dart
 
-#endif // OSGDART_SHAPEFRAMENODE_H
+#endif // DART_GUI_OSG_SHAPEFRAMENODE_H

dart/gui/osg/SupportPolygonVisual.h

@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef OSGDART_SUPPORTPOLYGONVISUAL_H
-#define OSGDART_SUPPORTPOLYGONVISUAL_H
+#ifndef DART_GUI_OSG_SUPPORTPOLYGONVISUAL_H
+#define DART_GUI_OSG_SUPPORTPOLYGONVISUAL_H
 
 #include <osg/Geode>
 
@@ -202,4 +202,4 @@ class SupportPolygonVisual : public ViewerAttachment
 } // namespace gui
 } // namespace dart
 
-#endif // OSGDART_SUPPORTPOLYGONVISUAL_H
+#endif // DART_GUI_OSG_SUPPORTPOLYGONVISUAL_H

dart/gui/osg/TrackballManipulator.h

@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef OSGDART_TRACKBALLMANIPULATOR_H
-#define OSGDART_TRACKBALLMANIPULATOR_H
+#ifndef DART_GUI_OSG_TRACKBALLMANIPULATOR_H
+#define DART_GUI_OSG_TRACKBALLMANIPULATOR_H
 
 #include <osgGA/OrbitManipulator>
 
@@ -77,11 +77,11 @@ class OSGGA_EXPORT TrackballManipulator : public ::osgGA::OrbitManipulator
                                                const double dy) override;
 
   DART_META_Object( dart-gui-osg, TrackballManipulator )
-  // TODO(MXG): Consider applying the META macros to every osgDart Node
+  // TODO(MXG): Consider applying the META macros to every dart::gui::osg Node
 };
 
 } // namespace osg
 } // namespace gui
 } // namespace dart
 
-#endif // OSGDART_TRACKBALLMANIPULATOR_H
+#endif // DART_GUI_OSG_TRACKBALLMANIPULATOR_H

dart/gui/osg/Utils.h

@@ -35,8 +35,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef OSGDART_UTILS_H
-#define OSGDART_UTILS_H
+#ifndef DART_GUI_OSG_UTILS_H
+#define DART_GUI_OSG_UTILS_H
 
 #include <Eigen/Geometry>
 
@@ -90,4 +90,4 @@ inline Eigen::Vector4d osgToEigVec4(const ::osg::Vec4d& vec)
   return Eigen::Vector4d(vec[0], vec[1], vec[2], vec[3]);
 }
 
-#endif // OSGDART_UTILS_H
+#endif // DART_GUI_OSG_UTILS_H