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

# Conflicts: # dart/CMakeLists.txt # dart/io/CMakeLists.txt
dartsim · Feb 18, 2018 · b810e14 · b810e14
2 parents 04bfc09 + 4cb4054
commit b810e14
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Showing 30 changed files with 768 additions and 149 deletions.
diff --git a/.gitignore b/.gitignore
@@ -9,6 +9,7 @@ TAGS
 .DS_Store
 .cproject
 .project
+.vscode
 *.orig
 *.idb
 *.pdb

diff --git a/.travis.yml b/.travis.yml
@@ -22,9 +22,11 @@ matrix:
       compiler: clang
       env: BUILD_TYPE=Release CODECOV=OFF COMPILER=CLANG
     - os: osx
+      osx_image: xcode9.3beta
       compiler: clang
       env: BUILD_TYPE=Debug CODECOV=OFF COMPILER=CLANG
     - os: osx
+      osx_image: xcode9.3beta
       compiler: clang
       env: BUILD_TYPE=Release CODECOV=OFF COMPILER=CLANG
 
@@ -35,7 +37,7 @@ script:
   - 'ci/script.sh'
 
 after_success:
-  - bash <(curl -s https://codecov.io/bash) || echo "Codecov did not collect coverage reports"
+  - if [ $CODECOV = ON ]; then bash <(curl -s https://codecov.io/bash) || echo "Codecov did not collect coverage reports"; fi
 
 after_failure: 
   - cat build/Testing/Temporary/LastTest.log

diff --git a/Brewfile b/Brewfile
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -24,6 +24,7 @@
 
 * Kinematics/Dynamics
 
+  * 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)
   * Fixed NaN values caused by zero-length normals in ContactConstraint: [#881](https://github.com/dartsim/dart/pull/881)
@@ -36,6 +37,7 @@
 * GUI
 
   * Added support of rendering texture images: [#973](https://github.com/dartsim/dart/pull/973)
+  * Added OSG shadows: [#978](https://github.com/dartsim/dart/pull/978)
 
 * License
 
@@ -47,6 +49,7 @@
   * 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)
   * 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)
 
 ### [DART 6.3.0 (2017-10-04)](https://github.com/dartsim/dart/milestone/36?closed=1)
 

diff --git a/ci/appveyor_install.ps1 b/ci/appveyor_install.ps1
diff --git a/ci/install_linux.sh b/ci/install_linux.sh
@@ -17,7 +17,6 @@ libbullet-dev
 libflann-dev
 libnlopt-dev
 coinor-libipopt-dev
-libtinyxml-dev
 libtinyxml2-dev
 liburdfdom-dev
 liburdfdom-headers-dev

diff --git a/ci/install_osx.sh b/ci/install_osx.sh
@@ -1,2 +1,20 @@
+brew tap dartsim/dart # for ipopt
+
 brew update > /dev/null
-brew bundle
+
+brew install git
+brew install cmake
+brew install assimp
+brew install fcl
+brew install bullet --with-double-precision
+brew install ode --with-libccd --with-double-precision
+brew install flann
+brew install boost
+brew install eigen
+brew install tinyxml
+brew install tinyxml2
+brew install libccd
+brew install nlopt
+brew install ipopt
+brew install urdfdom
+brew install open-scene-graph
diff --git a/cmake/FindTINYXML.cmake b/cmake/FindTINYXML.cmake
diff --git a/dart/CMakeLists.txt b/dart/CMakeLists.txt
@@ -43,7 +43,7 @@ set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib")
 # dart-optimizer-ipopt - {dart}, optimizer/ipopt, [ipopt]
 # dart-optimizer-nlopt - {dart}, optimizer/nlopt, [nlopt]
 # dart-collision-bullet - {dart}, collision/bullet, [bullet]
-# dart-io - {dart}, io, io/sdf, [tinyxml, tinyxml2]
+# dart-io - {dart}, io, io/sdf, [tinyxml2]
 # dart-io-urdf - {dart-io}, io/urdf, [urdfdom]
 # dart-gui - {dart}, gui, [opengl, glut]
 # dart-gui-osg - {dart-gui}, gui/osg, gui/osg/render, [openscenegraph]
@@ -81,7 +81,7 @@ add_subdirectory(dynamics)
 add_subdirectory(collision)
 add_subdirectory(constraint)
 add_subdirectory(simulation)
-add_subdirectory(io) # tinyxml, tinyxml2, bullet
+add_subdirectory(io) # tinyxml2, bullet
 add_subdirectory(gui) # opengl, glut, bullet
 
 set(DART_CONFIG_HPP_IN ${CMAKE_SOURCE_DIR}/dart/config.hpp.in)

diff --git a/dart/dynamics/GenericJoint.hpp b/dart/dynamics/GenericJoint.hpp
@@ -175,12 +175,24 @@ class GenericJoint :
   // Documentation inherited
   double getPositionLowerLimit(std::size_t index) const override;
 
+  // Documentation inherited
+  void setPositionLowerLimits(const Eigen::VectorXd& lowerLimits) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getPositionLowerLimits() const override;
+
   // Documentation inherited
   void setPositionUpperLimit(std::size_t index, double position) override;
 
   // Documentation inherited
   double getPositionUpperLimit(std::size_t index) const override;
 
+  // Documentation inherited
+  void setPositionUpperLimits(const Eigen::VectorXd& upperLimits) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getPositionUpperLimits() const override;
+
   // Documentation inherited
   bool hasPositionLimit(std::size_t index) const override;
 
@@ -256,12 +268,24 @@ class GenericJoint :
   // Documentation inherited
   double getVelocityLowerLimit(std::size_t index) const override;
 
+  // Documentation inherited
+  void setVelocityLowerLimits(const Eigen::VectorXd& lowerLimits) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getVelocityLowerLimits() const override;
+
   // Documentation inherited
   void setVelocityUpperLimit(std::size_t index, double velocity) override;
 
   // Documentation inherited
   double getVelocityUpperLimit(std::size_t index) const override;
 
+  // Documentation inherited
+  void setVelocityUpperLimits(const Eigen::VectorXd& upperLimits) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getVelocityUpperLimits() const override;
+
   // Documentation inherited
   void resetVelocity(std::size_t index) override;
 
@@ -304,12 +328,24 @@ class GenericJoint :
   // Documentation inherited
   double getAccelerationLowerLimit(std::size_t index) const override;
 
+  // Documentation inherited
+  void setAccelerationLowerLimits(const Eigen::VectorXd& lowerLimits) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getAccelerationLowerLimits() const override;
+
   // Documentation inherited
   void setAccelerationUpperLimit(std::size_t index, double acceleration) override;
 
   // Documentation inherited
   double getAccelerationUpperLimit(std::size_t index) const override;
 
+  // Documentation inherited
+  void setAccelerationUpperLimits(const Eigen::VectorXd& upperLimits) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getAccelerationUpperLimits() const override;
+
   // Documentation inherited
   void resetAccelerations() override;
 
@@ -337,12 +373,24 @@ class GenericJoint :
   // Documentation inherited
   double getForceLowerLimit(std::size_t index) const override;
 
+  // Documentation inherited
+  void setForceLowerLimits(const Eigen::VectorXd& lowerLimits) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getForceLowerLimits() const override;
+
   // Documentation inherited
   void setForceUpperLimit(size_t index, double force) override;
 
   // Documentation inherited
   double getForceUpperLimit(size_t index) const override;
 
+  // Documentation inherited
+  void setForceUpperLimits(const Eigen::VectorXd& upperLimits) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getForceUpperLimits() const override;
+
   // Documentation inherited
   void resetForces() override;
-Original file line number
+Diff line change
@@ Expand Up / @@ -9,6 +9,7 @@ TAGS @@
     .DS_Store
     .cproject
     .project
+    .vscode
     *.orig
     *.idb
     *.pdb
@@ Expand Down @@