Merge pull request #75 from ju6ge/casadi

RBDL version 3.1.2 with Casadi \o/
ORB-HD · Sep 21, 2021 · 7787c19 · 7787c19
2 parents f1a2622 + a0c1f2c
commit 7787c19
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diff --git a/.gitignore b/.gitignore
@@ -1,5 +1,135 @@
-debug
-build
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+env/
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+.hypothesis/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# pyenv
+.python-version
+
+# celery beat schedule file
+celerybeat-schedule
+
+# SageMath parsed files
+*.sage.py
+
+# dotenv
+.env
+
+# virtualenv
+.venv
+venv/
+ENV/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+Pipfile.lock
+.idea
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+
+# Visual code
+.vscode
+
+# Visual studio
+.vs
+
+# CMake
+CMakeCache.txt
+CMakeFiles
+CMakeScripts
+Testing
+Makefile
+cmake_install.cmake
+install_manifest.txt
+compile_commands.json
+CTestTestfile.cmake
+CMakeLists.txt.user
+
+# Specific project files and folders
+build*
+debug*
+install*
+*.user*
+includes/numpy
+S2MSource
+pyomeca
+release*
+*.DS_Store
+
 doc/html
 **/build
-CMakeLists.txt.user
diff --git a/CMake/FindCasadi.cmake b/CMake/FindCasadi.cmake
@@ -0,0 +1,29 @@
+# - Find Casadi
+# Find the native Casadi includes and libraries
+#
+#  Casadi_INCLUDE_DIR - where to find casadi.hpp, etc.
+#  Casadi_LIBRARIES   - List of libraries when using Casadi.
+#  Casadi_FOUND       - True if Casadi is found.
+
+if (Casadi_INCLUDE_DIR)
+  # Already in cache, be silent
+  set (Casadi_FIND_QUIETLY TRUE)
+endif (Casadi_INCLUDE_DIR)
+
+find_path (Casadi_INCLUDE_DIR "casadi.hpp" 
+    PATHS ${CMAKE_INSTALL_PREFIX}/include/casadi ${CMAKE_INSTALL_PREFIX}/Library/include/casadi
+)
+find_library (Casadi_LIBRARY NAMES casadi 
+    PATHS ${CMAKE_INSTALL_PREFIX}/lib ${CMAKE_INSTALL_PREFIX}/Library/lib
+)
+
+# handle the QUIETLY and REQUIRED arguments and set Casadi_FOUND to TRUE if
+# all listed variables are TRUE
+include (FindPackageHandleStandardArgs)
+find_package_handle_standard_args (Casadi DEFAULT_MSG 
+    Casadi_LIBRARY
+    Casadi_INCLUDE_DIR
+)
+
+
+
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,8 +1,8 @@
 CMAKE_MINIMUM_REQUIRED(VERSION 3.10)
 
 SET ( RBDL_VERSION_MAJOR 3 )
-SET ( RBDL_VERSION_MINOR 0 )
-SET ( RBDL_VERSION_PATCH 0 )
+SET ( RBDL_VERSION_MINOR 1 )
+SET ( RBDL_VERSION_PATCH 2 )
 SET ( RBDL_VERSION 
 	${RBDL_VERSION_MAJOR}.${RBDL_VERSION_MINOR}.${RBDL_VERSION_PATCH}
 )
@@ -16,7 +16,6 @@ LIST( APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/CMake )
 
 INCLUDE_DIRECTORIES ( 
 	${CMAKE_CURRENT_SOURCE_DIR}/include
-	${CMAKE_CURRENT_BINARY_DIR}/include
 )
 
 
@@ -36,15 +35,6 @@ IF(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
   SET_PROPERTY(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
 ENDIF()
 
-# Find and use the system's Eigen3 library
-FIND_PACKAGE (Eigen3 3.0.0)
-
-IF (NOT EIGEN3_FOUND)
-	MESSAGE (WARNING "Could not find Eigen3 on your system. Please install it!")
-ENDIF (NOT EIGEN3_FOUND)
-
-INCLUDE_DIRECTORIES (${EIGEN3_INCLUDE_DIR})
-
 IF (MSVC)
   SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /bigobj /permissive- /std:c++17")
 ENDIF (MSVC)
@@ -61,6 +51,9 @@ ELSE( ${CMAKE_VERSION} VERSION_LESS 3.12.0 )
 ENDIF( ${CMAKE_VERSION} VERSION_LESS 3.12.0 )
 
 
+SET (RBDL_BUILD_COMPILER_ID ${CMAKE_CXX_COMPILER_ID})
+SET (RBDL_BUILD_COMPILER_VERSION ${CMAKE_CXX_COMPILER_VERSION})
+
 # Options
 SET (RBDL_BUILD_STATIC_DEFAULT OFF)
 OPTION (RBDL_BUILD_STATIC "Build statically linked library (otherwise dynamiclly linked)" ${RBDL_BUILD_STATIC_DEFAULT})
@@ -76,10 +69,17 @@ OPTION (RBDL_BUILD_ADDON_MUSCLE "Build the muscle library" OFF)
 OPTION (RBDL_BUILD_ADDON_MUSCLE_FITTING "Build muscle library fitting functions (requires Ipopt)" OFF)
 OPTION (RBDL_BUILD_EXECUTABLES "Build addon executables, disable this if you only want to build the libraries." ON)
 OPTION (RBDL_USE_PYTHON_2 "Use python 2 instead of python 3" OFF)
+OPTION (RBDL_USE_CASADI_MATH "Use the CasADi backend" OFF)
 
-SET (RBDL_BUILD_COMPILER_ID ${CMAKE_CXX_COMPILER_ID})
-SET (RBDL_BUILD_COMPILER_VERSION ${CMAKE_CXX_COMPILER_VERSION})
 
+# Find and use the system's Eigen3 library
+FIND_PACKAGE (Eigen3 3.0.0)
+
+IF (NOT EIGEN3_FOUND)
+    MESSAGE (WARNING "Could not find Eigen3 on your system. Please install it!")
+ENDIF (NOT EIGEN3_FOUND)
+
+INCLUDE_DIRECTORIES (${EIGEN3_INCLUDE_DIR})
 
 # Addons
 IF (RBDL_BUILD_ADDON_URDFREADER)
@@ -90,7 +90,9 @@ IF (RBDL_BUILD_ADDON_BENCHMARK)
   ADD_SUBDIRECTORY ( addons/benchmark )
 ENDIF (RBDL_BUILD_ADDON_BENCHMARK)
 
-
+IF (RBDL_USE_CASADI_MATH)
+  ADD_SUBDIRECTORY( casadi )
+ENDIF (RBDL_USE_CASADI_MATH)
 
 IF(RBDL_BUILD_ADDON_MUSCLE)
   SET(RBDL_BUILD_ADDON_GEOMETRY ON CACHE BOOL "Build the geometry library" FORCE)
@@ -138,16 +140,13 @@ SET ( RBDL_SOURCES
 	src/Kinematics.cc
 	)
 
-#IF (MSVC AND NOT RBDL_BUILD_STATIC)
-#  MESSAGE (FATAL_ERROR, "Compiling RBDL as a DLL currently not supported. Please enable RBDL_BUILD_STATIC.")
-#ENDIF (MSVC AND NOT RBDL_BUILD_STATIC)
-
 # Static / dynamic builds
 IF (RBDL_BUILD_STATIC)
   ADD_LIBRARY ( rbdl-static STATIC ${RBDL_SOURCES} )
-  IF (NOT WIN32)
+  TARGET_INCLUDE_DIRECTORIES(rbdl-static PUBLIC ${CMAKE_CURRENT_BINARY_DIR}/include)
+  IF (NOT MSVC)
     SET_TARGET_PROPERTIES ( rbdl-static PROPERTIES PREFIX "lib")
-  ENDIF (NOT WIN32)
+  ENDIF (NOT MSVC)
   SET_TARGET_PROPERTIES ( rbdl-static PROPERTIES OUTPUT_NAME "rbdl")
 
 	IF (RBDL_BUILD_ADDON_LUAMODEL)
@@ -160,6 +159,11 @@ IF (RBDL_BUILD_STATIC)
 			rbdl_urdfreader-static
 			)
   ENDIF (RBDL_BUILD_ADDON_URDFREADER)
+  IF (RBDL_USE_CASADI_MATH)
+      TARGET_LINK_LIBRARIES ( rbdl-static
+                          ${Casadi_LIBRARY}
+                          )
+  ENDIF (RBDL_USE_CASADI_MATH)
 
 	INSTALL (TARGETS rbdl-static
 	  LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
@@ -168,11 +172,18 @@ IF (RBDL_BUILD_STATIC)
 	)
 ELSE (RBDL_BUILD_STATIC)
 	ADD_LIBRARY ( rbdl SHARED ${RBDL_SOURCES} )
+  TARGET_INCLUDE_DIRECTORIES(rbdl PUBLIC ${CMAKE_CURRENT_BINARY_DIR}/include)
 	SET_TARGET_PROPERTIES ( rbdl PROPERTIES
 		VERSION ${RBDL_VERSION}
 		SOVERSION ${RBDL_SO_VERSION}
 		)
 
+        IF (RBDL_USE_CASADI_MATH)
+            TARGET_LINK_LIBRARIES ( rbdl
+                ${Casadi_LIBRARY}
+                )
+        ENDIF (RBDL_USE_CASADI_MATH)
+
 	INSTALL (TARGETS rbdl
 		LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
 		ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
@@ -217,14 +228,31 @@ INSTALL ( FILES ${headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/rbdl )
 
 # pkg-config
 CONFIGURE_FILE (
-  ${CMAKE_CURRENT_SOURCE_DIR}/rbdl.pc.cmake
+  ${CMAKE_CURRENT_SOURCE_DIR}/share/rbdl.pc.cmake
   ${CMAKE_CURRENT_BINARY_DIR}/rbdl.pc @ONLY
   )
 INSTALL (
   FILES  ${CMAKE_CURRENT_BINARY_DIR}/rbdl.pc
   DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig
   )
 
+# Prepare share
+if(WIN32 AND NOT CYGWIN)
+  set(CMAKE_SHARE_DIR cmake)
+else()
+  set(CMAKE_SHARE_DIR lib/cmake/RBDL)
+endif()
+include(CMakePackageConfigHelpers)
+configure_package_config_file(
+  share/RBDLConfig.cmake.in
+  ${CMAKE_CURRENT_BINARY_DIR}/RBDLConfig.cmake
+  INSTALL_DESTINATION ${CMAKE_SHARE_DIR}
+)
+INSTALL (
+  FILES  ${CMAKE_CURRENT_BINARY_DIR}/RBDLConfig.cmake
+  DESTINATION ${CMAKE_SHARE_DIR}
+  )
+
 # Packaging
 SET(CPACK_GENERATOR "DEB")
 SET(CPACK_DEBIAN_PACKAGE_MAINTAINER "Martin Felis <[email protected]>")

diff --git a/Doxyfile b/Doxyfile
@@ -676,7 +676,8 @@ INPUT                  = ./src \
                          addons/muscle/MuscleFunctionFactory.h \
                          addons/muscle/TorqueMuscleFunctionFactory.h \                         
                          addons/muscle/TorqueMuscleFittingToolkit.h \                         
-                         ./include/rbdl
+                         ./include/rbdl \
+                         casadi/info.h
 
 # This tag can be used to specify the character encoding of the source files 
 # that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is 
@@ -772,6 +773,7 @@ EXAMPLE_PATH           = doc \
                          examples/luamodel \
                          examples/simple \
                          examples/python \
+                         examples
 
 
 # If the value of the EXAMPLE_PATH tag contains directories, you can use the 

diff --git a/README.md b/README.md
@@ -206,10 +206,10 @@ at which point you will see full list of build options for RBDL. We recommend th
   - Install Ipopt. One of the easier ways to do this is to follow these instructions from [Ipopt's online documentation](https://www.coin-or.org/Ipopt/documentation/node12.html#SECTION00042300000000000000) which guides you through the process. Instructions to build the code appear in the README located in the Ipopt folder
   - Configure RBDL's cmake file with these flags set to 'On'
   ```
-          RBDL_BUILD_ADDON_GEOMETRY        ON                                           
-          RBDL_BUILD_ADDON_LUAMODEL        ON                                           
-          RBDL_BUILD_ADDON_MUSCLE          ON                                          
-          RBDL_BUILD_ADDON_MUSCLE_FITTING  ON  
+          RBDL_BUILD_ADDON_GEOMETRY        ON
+          RBDL_BUILD_ADDON_LUAMODEL        ON
+          RBDL_BUILD_ADDON_MUSCLE          ON
+          RBDL_BUILD_ADDON_MUSCLE_FITTING  ON
   ```
 
   - Set the CUSTOM_IPOPT_PATH to the main Ipopt directory.

diff --git a/addons/geometry/CMakeLists.txt b/addons/geometry/CMakeLists.txt
@@ -75,5 +75,5 @@ FILE ( GLOB headers
 
 INSTALL ( FILES ${GEOMETRY_HEADERS} 
 	DESTINATION 
-	${CMAKE_INSTALL_INCLUDEDIR}/rbdl/addons/geometry 
+	${CMAKE_INSTALL_INCLUDEDIR}/rbdl/addons/geometry
 	)
diff --git a/addons/luamodel/CMakeLists.txt b/addons/luamodel/CMakeLists.txt
@@ -119,7 +119,7 @@ ELSE (RBDL_BUILD_STATIC)
     RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
     LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
     ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
-    )
+  )
 ENDIF (RBDL_BUILD_STATIC)
 
 FILE ( GLOB headers 
@@ -128,5 +128,5 @@ FILE ( GLOB headers
 
 INSTALL ( FILES ${headers} 
   DESTINATION 
-  ${CMAKE_INSTALL_INCLUDEDIR}/rbdl/addons/luamodel 
+  ${CMAKE_INSTALL_INCLUDEDIR}/rbdl/addons/luamodel
   )