Merge remote-tracking branch 'origin' into new_docs

ci/install_magnum.sh

@@ -22,7 +22,7 @@ git clone https://github.com/mosra/magnum.git
 cd magnum
 mkdir build && cd build
 # Ubuntu
-cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DWITH_AUDIO=ON -DWITH_DEBUGTOOLS=ON -DWITH_GL=ON -DWITH_MESHTOOLS=ON -DWITH_PRIMITIVES=ON -DWITH_SCENEGRAPH=ON -DWITH_SHADERS=ON -DWITH_TEXT=ON -DWITH_TEXTURETOOLS=ON -DWITH_TRADE=ON -DWITH_GLFWAPPLICATION=ON -DWITH_WINDOWLESSGLXAPPLICATION=ON -DWITH_OPENGLTESTER=ON -DWITH_ANYAUDIOIMPORTER=ON -DWITH_ANYIMAGECONVERTER=ON -DWITH_ANYIMAGEIMPORTER=ON -DWITH_ANYSCENEIMPORTER=ON -DWITH_MAGNUMFONT=ON -DWITH_OBJIMPORTER=ON -DWITH_TGAIMPORTER=ON -DWITH_WAVAUDIOIMPORTER=ON -DCMAKE_INSTALL_PREFIX=/usr ..
+cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DMAGNUM_WITH_AUDIO=ON -DMAGNUM_WITH_DEBUGTOOLS=ON -DMAGNUM_WITH_GL=ON -DMAGNUM_WITH_MESHTOOLS=ON -DMAGNUM_WITH_PRIMITIVES=ON -DMAGNUM_WITH_SCENEGRAPH=ON -DMAGNUM_WITH_SHADERS=ON -DMAGNUM_WITH_TEXT=ON -DMAGNUM_WITH_TEXTURETOOLS=ON -DMAGNUM_WITH_TRADE=ON -DMAGNUM_WITH_GLFWAPPLICATION=ON -DMAGNUM_WITH_WINDOWLESSEGLAPPLICATION=ON -DMAGNUM_WITH_OPENGLTESTER=ON -DMAGNUM_WITH_ANYAUDIOIMPORTER=ON -DMAGNUM_WITH_ANYIMAGECONVERTER=ON -DMAGNUM_WITH_ANYIMAGEIMPORTER=ON -DMAGNUM_WITH_ANYSCENEIMPORTER=ON -DMAGNUM_WITH_MAGNUMFONT=ON -DMAGNUM_WITH_OBJIMPORTER=ON -DMAGNUM_WITH_TGAIMPORTER=ON -DMAGNUM_WITH_WAVAUDIOIMPORTER=ON -DMAGNUM_TARGET_EGL=ON -DCMAKE_INSTALL_PREFIX=/usr ..
 make -j
 sudo make install
 cd ../..
@@ -31,7 +31,7 @@ cd ../..
 git clone https://github.com/mosra/magnum-plugins.git
 cd magnum-plugins
 mkdir build && cd build
-cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DWITH_ASSIMPIMPORTER=ON -DWITH_DDSIMPORTER=ON -DWITH_JPEGIMPORTER=ON -DWITH_OPENGEXIMPORTER=ON -DWITH_PNGIMPORTER=ON -DWITH_TINYGLTFIMPORTER=ON -DWITH_STBTRUETYPEFONT=ON  -DCMAKE_INSTALL_PREFIX=/usr ..
+cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DMAGNUM_WITH_ASSIMPIMPORTER=ON -DMAGNUM_WITH_DDSIMPORTER=ON -DMAGNUM_WITH_JPEGIMPORTER=ON -DMAGNUM_WITH_OPENGEXIMPORTER=ON -DMAGNUM_WITH_PNGIMPORTER=ON -DMAGNUM_WITH_TINYGLTFIMPORTER=ON -DMAGNUM_WITH_STBTRUETYPEFONT=ON  -DCMAKE_INSTALL_PREFIX=/usr ..
 make -j
 sudo make install
 cd ../..
@@ -40,7 +40,7 @@ cd ../..
 git clone https://github.com/mosra/magnum-integration.git
 cd magnum-integration
 mkdir build && cd build
-cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DWITH_DART=ON -DWITH_EIGEN=ON  -DCMAKE_INSTALL_PREFIX=/usr -DDART_DIR=$DART_DIR ..
+cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DMAGNUM_WITH_DART=ON -DMAGNUM_WITH_EIGEN=ON  -DCMAKE_INSTALL_PREFIX=/usr -DDART_DIR=$DART_DIR ..
 make -j
 sudo make install
 cd ../..

cmake/FindEGL.cmake

@@ -0,0 +1,86 @@
+#.rst:
+# Find EGL
+# --------
+#
+# Finds the EGL library. This module defines:
+#
+#  EGL_FOUND            - True if EGL library is found
+#  EGL::EGL             - EGL imported target
+#
+# Additionally these variables are defined for internal usage:
+#
+#  EGL_LIBRARY          - EGL library
+#  EGL_INCLUDE_DIR      - Include dir
+#
+
+#
+#   This file is part of Magnum.
+#
+#   Copyright © 2010, 2011, 2012, 2013, 2014, 2015, 2016, 2017, 2018, 2019,
+#               2020, 2021, 2022 Vladimír Vondruš <mosra@centrum.cz>
+#
+#   Permission is hereby granted, free of charge, to any person obtaining a
+#   copy of this software and associated documentation files (the "Software"),
+#   to deal in the Software without restriction, including without limitation
+#   the rights to use, copy, modify, merge, publish, distribute, sublicense,
+#   and/or sell copies of the Software, and to permit persons to whom the
+#   Software is furnished to do so, subject to the following conditions:
+#
+#   The above copyright notice and this permission notice shall be included
+#   in all copies or substantial portions of the Software.
+#
+#   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+#   IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+#   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+#   THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+#   LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+#   FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+#   DEALINGS IN THE SOFTWARE.
+#
+
+# Under Emscripten, GL is linked implicitly. With MINIMAL_RUNTIME you need to
+# specify -lGL. Simply set the library name to that.
+if(CORRADE_TARGET_EMSCRIPTEN)
+    set(EGL_LIBRARY GL CACHE STRING "Path to a library." FORCE)
+else()
+    find_library(EGL_LIBRARY NAMES
+        EGL
+
+        # ANGLE (CMake doesn't search for lib prefix on Windows)
+        libEGL
+
+        # On iOS a part of OpenGLES
+        OpenGLES)
+endif()
+
+# Include dir
+find_path(EGL_INCLUDE_DIR NAMES
+    EGL/egl.h
+
+    # iOS
+    EAGL.h)
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(EGL DEFAULT_MSG
+    EGL_LIBRARY
+    EGL_INCLUDE_DIR)
+
+if(NOT TARGET EGL::EGL)
+    # Work around BUGGY framework support on macOS. Do this also in case of
+    # Emscripten, since there we don't have a location either.
+    # http://public.kitware.com/pipermail/cmake/2016-April/063179.html
+    if((APPLE AND ${EGL_LIBRARY} MATCHES "\\.framework$") OR CORRADE_TARGET_EMSCRIPTEN)
+        add_library(EGL::EGL INTERFACE IMPORTED)
+        set_property(TARGET EGL::EGL APPEND PROPERTY
+            INTERFACE_LINK_LIBRARIES ${EGL_LIBRARY})
+    else()
+        add_library(EGL::EGL UNKNOWN IMPORTED)
+        set_property(TARGET EGL::EGL PROPERTY
+            IMPORTED_LOCATION ${EGL_LIBRARY})
+    endif()
+
+    set_target_properties(EGL::EGL PROPERTIES
+        INTERFACE_INCLUDE_DIRECTORIES ${EGL_INCLUDE_DIR})
+endif()
+
+mark_as_advanced(EGL_LIBRARY EGL_INCLUDE_DIR)

cmake/FindGLFW.cmake

@@ -20,8 +20,8 @@
 #
 #   This file is part of Magnum.
 #
-#   Copyright © 2010, 2011, 2012, 2013, 2014, 2015, 2016, 2017, 2018, 2019
-#             Vladimír Vondruš <mosra@centrum.cz>
+#   Copyright © 2010, 2011, 2012, 2013, 2014, 2015, 2016, 2017, 2018, 2019,
+#               2020, 2021, 2022 Vladimír Vondruš <mosra@centrum.cz>
 #   Copyright © 2016 Jonathan Hale <squareys@googlemail.com>
 #
 #   Permission is hereby granted, free of charge, to any person obtaining a
@@ -43,11 +43,17 @@
 #   DEALINGS IN THE SOFTWARE.
 #
 
-# GLFW installs cmake package config files to shared/ folder which handles
-# dependencies in case GLFW is built statically. Try to find first, quietly, so
-# it doesn't print loud messages when it's not found, since that's okay.
-find_package(glfw3 CONFIG QUIET)
+# GLFW installs cmake package config files which handles dependencies in case
+# GLFW is built statically. Try to find first, quietly, so it doesn't print
+# loud messages when it's not found, since that's okay. If the glfw target
+# already exists, it means we're using it through a CMake subproject -- don't
+# attempt to find the package in that case.
+if(NOT TARGET glfw)
+    find_package(glfw3 CONFIG QUIET)
+endif()
 
+# If either a glfw config file was found or we have a subproject, point
+# GLFW::GLFW to that and exit -- nothing else to do here.
 if(TARGET glfw)
     if(NOT TARGET GLFW::GLFW)
         # Aliases of (global) targets are only supported in CMake 3.11, so we
@@ -81,6 +87,8 @@ if(CORRADE_TARGET_WINDOWS)
             set(_GLFW_LIBRARY_PATH_SUFFIX lib-vc2017)
         elseif(MSVC_VERSION VERSION_LESS 1930)
             set(_GLFW_LIBRARY_PATH_SUFFIX lib-vc2019)
+        elseif(MSVC_VERSION VERSION_LESS 1940)
+            set(_GLFW_LIBRARY_PATH_SUFFIX lib-vc2022)
         else()
             message(FATAL_ERROR "Unsupported MSVC version")
         endif()

cmake/RobotDARTConfig.cmake.in

@@ -53,7 +53,7 @@ add_library(RobotDART::Simu INTERFACE IMPORTED)
 set_target_properties(RobotDART::Simu PROPERTIES
   INTERFACE_INCLUDE_DIRECTORIES "${RobotDART_INCLUDE_DIRS}"
   INTERFACE_LINK_DIRECTORIES "${RobotDART_LIBRARY_DIRS}"
-  INTERFACE_LINK_LIBRARIES "${RobotDART_LIBRARY};${RobotDART_LIBRARIES}"
+  INTERFACE_LINK_LIBRARIES "${RobotDART_LIBRARY};${RobotDART_LIBRARIES}@RobotDART_EXTRA_LIBS@"
   INTERFACE_COMPILE_OPTIONS "@RobotDART_CXX_FLAGS@")
 
 if(RobotDART_USE_MAGNUM)

cmake/UthequeConfig.cmake.in

@@ -12,17 +12,13 @@ include(FindPackageHandleStandardArgs)
 # CMAKE_MODULE_PATH
 set(CMAKE_MODULE_PATH "@Utheque_CMAKE_MODULE_PATH@")
 
-find_package(Boost REQUIRED filesystem)
-
 set(Utheque_INCLUDE_DIRS "@Utheque_INCLUDE_DIRS@")
 
-set(Utheque_LIBRARIES "Boost::filesystem")
-
 add_library(Utheque INTERFACE IMPORTED)
 set_target_properties(Utheque PROPERTIES
-  INTERFACE_LINK_LIBRARIES "${Utheque_LIBRARIES}"
   INTERFACE_COMPILE_DEFINITIONS @Utheque_PREFIX@
-  INTERFACE_INCLUDE_DIRECTORIES "${Utheque_INCLUDE_DIRS}")
+  INTERFACE_INCLUDE_DIRECTORIES "${Utheque_INCLUDE_DIRS}"@Utheque_DEPS@
+  INTERFACE_COMPILE_OPTIONS "@Utheque_CXX_FLAGS@")
 
 # Handle the QUIET and REQUIRED arguments
 find_package_handle_standard_args(

cmake/example_utheque/CMakeLists.txt

@@ -4,5 +4,5 @@ project(utheque_example)
 find_package(Utheque REQUIRED)
 
 add_executable(utheque_example example_utheque.cpp)
-set_target_properties(utheque_example PROPERTIES CXX_STANDARD 11 CXX_STANDARD_REQUIRED YES)
+set_target_properties(utheque_example PROPERTIES CXX_STANDARD 17 CXX_STANDARD_REQUIRED YES) # This is not really needed!
 target_link_libraries(utheque_example PUBLIC Utheque)

src/docs/docs/install.md

@@ -129,7 +129,7 @@ git clone https://github.com/mosra/magnum.git
 cd magnum
 mkdir build && cd build
 # Ubuntu
-cmake -DCMAKE_BUILD_TYPE=Release -DWITH_AUDIO=ON -DWITH_DEBUGTOOLS=ON -DWITH_GL=ON -DWITH_MESHTOOLS=ON -DWITH_PRIMITIVES=ON -DWITH_SCENEGRAPH=ON -DWITH_SHADERS=ON -DWITH_TEXT=ON -DWITH_TEXTURETOOLS=ON -DWITH_TRADE=ON -DWITH_GLFWAPPLICATION=ON -DWITH_WINDOWLESSGLXAPPLICATION=ON -DWITH_OPENGLTESTER=ON -DWITH_ANYAUDIOIMPORTER=ON -DWITH_ANYIMAGECONVERTER=ON -DWITH_ANYIMAGEIMPORTER=ON -DWITH_ANYSCENEIMPORTER=ON -DWITH_MAGNUMFONT=ON -DWITH_OBJIMPORTER=ON -DWITH_TGAIMPORTER=ON -DWITH_WAVAUDIOIMPORTER=ON .. # this will enable almost all features of Magnum that are not necessarily needed for robot_dart (please refer to the documentation of Magnum for more details on selecting only the ones that you need)
+cmake -DCMAKE_BUILD_TYPE=Release -DWITH_AUDIO=ON -DWITH_DEBUGTOOLS=ON -DWITH_GL=ON -DWITH_MESHTOOLS=ON -DWITH_PRIMITIVES=ON -DWITH_SCENEGRAPH=ON -DWITH_SHADERS=ON -DWITH_TEXT=ON -DWITH_TEXTURETOOLS=ON -DWITH_TRADE=ON -DWITH_GLFWAPPLICATION=ON -DWITH_WINDOWLESSEGLAPPLICATION=ON -DWITH_OPENGLTESTER=ON -DWITH_ANYAUDIOIMPORTER=ON -DWITH_ANYIMAGECONVERTER=ON -DWITH_ANYIMAGEIMPORTER=ON -DWITH_ANYSCENEIMPORTER=ON -DWITH_MAGNUMFONT=ON -DWITH_OBJIMPORTER=ON -DWITH_TGAIMPORTER=ON -DWITH_WAVAUDIOIMPORTER=ON -DTARGET_HEADLESS=ON .. # this will enable almost all features of Magnum that are not necessarily needed for robot_dart (please refer to the documentation of Magnum for more details on selecting only the ones that you need)
 # Mac OSX
 cmake -DCMAKE_BUILD_TYPE=Release -DWITH_AUDIO=ON -DWITH_DEBUGTOOLS=ON -DWITH_GL=ON -DWITH_MESHTOOLS=ON -DWITH_PRIMITIVES=ON -DWITH_SCENEGRAPH=ON -DWITH_SHADERS=ON -DWITH_TEXT=ON -DWITH_TEXTURETOOLS=ON -DWITH_TRADE=ON -DWITH_GLFWAPPLICATION=ON -DWITH_WINDOWLESSCGLAPPLICATION=ON -DWITH_OPENGLTESTER=ON -DWITH_ANYAUDIOIMPORTER=ON -DWITH_ANYIMAGECONVERTER=ON -DWITH_ANYIMAGEIMPORTER=ON -DWITH_ANYSCENEIMPORTER=ON -DWITH_MAGNUMFONT=ON -DWITH_OBJIMPORTER=ON -DWITH_TGAIMPORTER=ON -DWITH_WAVAUDIOIMPORTER=ON .. # this will enable almost all features of Magnum that are not necessarily needed for robot_dart (please refer to the documentation of Magnum for more details on selecting only the ones that you need)
 make -j

src/examples/vx300.cpp

@@ -0,0 +1,39 @@
+#include <robot_dart/control/pd_control.hpp>
+#include <robot_dart/robot_dart_simu.hpp>
+#include <robot_dart/robots/vx300.hpp>
+
+#ifdef GRAPHIC
+#include <robot_dart/gui/magnum/graphics.hpp>
+#endif
+
+int main()
+{
+    auto robot = std::make_shared<robot_dart::robots::Vx300>();
+    robot->set_actuator_types("servo");
+
+    Eigen::VectorXd ctrl = robot_dart::make_vector({0.0, 1.0, -1.5, 1.0, 0.5, 0.});
+
+    auto controller = std::make_shared<robot_dart::control::PDControl>(ctrl);
+    robot->add_controller(controller);
+
+    robot_dart::RobotDARTSimu simu;
+    simu.set_collision_detector("fcl");
+#ifdef GRAPHIC
+    simu.set_graphics(std::make_shared<robot_dart::gui::magnum::Graphics>());
+#endif
+    simu.add_robot(robot);
+    simu.add_checkerboard_floor();
+
+    for (auto& n : robot->dof_names()) {
+        std::cout << n << std::endl;
+    }
+
+    simu.run(2.5);
+
+    ctrl << 0.0, -0.5, 0.5, -0.5, 0., 1.;
+    controller->set_parameters(ctrl);
+    controller->set_pd(20., 0.);
+    simu.run(2.5);
+
+    return 0;
+}