Merged in latest master changes

dartsim · Apr 25, 2016 · 5eab0d1 · 5eab0d1
2 parents 9d9a8a0 + a3d24ac
commit 5eab0d1
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Showing 525 changed files with 4,456 additions and 3,980 deletions.
diff --git a/.travis.yml b/.travis.yml
@@ -13,8 +13,8 @@ compiler:
   - clang
 
 env:
-  - BUILD_TYPE=Debug   COVERALLS=ON COVERALLS_REPO_TOKEN=FKh1HgwfV5uzNrYxIT6ZWjcFqybYZSUym
-  - BUILD_TYPE=Release COVERALLS=OFF
+  - BUILD_TYPE=Debug   TREAT_WARNINGS_AS_ERRORS=ON COVERALLS=ON
+  - BUILD_TYPE=Release TREAT_WARNINGS_AS_ERRORS=ON COVERALLS=OFF
 
 matrix:
   exclude:
@@ -27,7 +27,7 @@ install:
 
 script:
   - mkdir build && cd build
-  - cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DDART_COVERALLS=$COVERALLS ..
+  - cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DDART_TREAT_WARNINGS_AS_ERRORS=$TREAT_WARNINGS_AS_ERRORS -DDART_COVERALLS=$COVERALLS ..
   - make -j4 all tutorials examples tests test
   - if [ $COVERALLS = ON ] && [ "$TRAVIS_OS_NAME" = "linux" ]; then make -j4 coveralls; fi
 

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -72,6 +72,7 @@ endif()
 option(DART_BUILD_GUI_OSG "Build osgDart library" ON)
 option(DART_COVERALLS "Turn on coveralls support" OFF)
 option(DART_COVERALLS_UPLOAD "Upload the generated coveralls json" ON)
+option(DART_TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" OFF)
 
 if(DART_COVERALLS)
   include(Coveralls)
@@ -141,13 +142,19 @@ if(MSVC)
   if(MSVC_VERSION VERSION_LESS 1900)
     message(FATAL_ERROR "${PROJECT_NAME} requires VS 2015 or greater.")
   endif()
+  if(DART_TREAT_WARNINGS_AS_ERRORS)
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /WX")
+  endif()
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /MP4")
   set(CMAKE_EXE_LINKER_FLAGS_RELEASE "/LTCG /INCREMENTAL:NO")
   if(NOT DART_MSVC_DEFAULT_OPTIONS)
     set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} ${DART_RUNTIME_LIBRARY}d /Zi /Gy /W1 /EHsc")
     set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} ${DART_RUNTIME_LIBRARY} /Zi /GL /Gy /W1 /EHsc /arch:SSE2")
   endif(NOT DART_MSVC_DEFAULT_OPTIONS)
 elseif(CMAKE_COMPILER_IS_GNUCXX)
+  if(DART_TREAT_WARNINGS_AS_ERRORS)
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Werror")
+  endif()
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -msse2 -fPIC")
   execute_process(
     COMMAND ${CMAKE_CXX_COMPILER} -dumpversion OUTPUT_VARIABLE GCC_VERSION)
@@ -162,6 +169,11 @@ elseif(CMAKE_COMPILER_IS_GNUCXX)
   set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "${CMAKE_CXX_FLAGS_RELEASE} ${CMAKE_CXX_FLAGS_DEBUG}")
   set(CMAKE_CXX_FLAGS_PROFILE "${CMAKE_CXX_FLAGS_DEBUG} -pg")
 elseif("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
+  if(DART_TREAT_WARNINGS_AS_ERRORS)
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Werror -Wno-error=deprecated-declarations")
+    # Turn warning "deprecated-declarations" into an warning even if -Werror is
+    # specified until we abandon glut.
+  endif()
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -msse2 -fPIC")
   execute_process(
     COMMAND ${CMAKE_CXX_COMPILER} -dumpversion OUTPUT_VARIABLE CLANG_VERSION)
@@ -267,7 +279,7 @@ endfunction(dart_add_unittest)
 #===============================================================================
 
 add_subdirectory(dart)
-add_subdirectory(apps EXCLUDE_FROM_ALL)
+add_subdirectory(examples EXCLUDE_FROM_ALL)
 add_subdirectory(tutorials EXCLUDE_FROM_ALL)
 
 # Add a "tutorials" target to build tutorials.
@@ -326,6 +338,7 @@ if(DOXYGEN_FOUND)
   set(DOXYGEN_DOXYFILE     ${PROJECT_BINARY_DIR}/doxygen/Doxyfile       )
   set(DOXYGEN_HTML_INDEX   ${PROJECT_SOURCE_DIR}/doxygen/html/index.html)
   set(DOXYGEN_OUTPUT_ROOT  ${PROJECT_SOURCE_DIR}/doxygen/html           ) # Pasted into Doxyfile.in
+  set(DOXYGEN_GENERATE_TAGFILE ${DOXYGEN_OUTPUT_ROOT}/${PROJECT_NAME}.tag)
   set(DOXYGEN_INPUT_ROOT   ${PROJECT_SOURCE_DIR}/dart                   ) # Pasted into Doxyfile.in
   set(DOXYGEN_EXTRA_INPUTS ${PROJECT_SOURCE_DIR}/doxygen/mainpage.dox   ) # Pasted into Doxyfile.in
 

diff --git a/Changelog.md b/Changelog.md
@@ -1,8 +1,12 @@
+## DART 6
+
 ### Version 6.0.0 (2015-12-19)
 
 1. Added missing `liburdfdom-dev` dependency in Ubuntu package
     * [Pull request #574](https://github.com/dartsim/dart/pull/574)
 
+## DART 5
+
 ### Version 5.1.1 (2015-11-06)
 
 1. Add bullet dependency to package.xml
@@ -300,6 +304,19 @@
 1. Added specification of minimum dependency version
     * [Pull request #306](https://github.com/dartsim/dart/pull/306)
 
+## DART 4
+
+### Version 4.3.6 (2016-04-16)
+
+1. Fixed duplicate entries in Skeleton::mBodyNodes causing segfault in destructor
+    * [Issue #671](https://github.com/dartsim/dart/issues/671)
+    * [Pull request #672](https://github.com/dartsim/dart/pull/672)
+
+### Version 4.3.5 (2016-01-09)
+
+1. Fixed incorrect applying of joint constraint impulses (backported from 6.0.0)
+    * [Pull request #578](https://github.com/dartsim/dart/pull/578)
+
 ### Version 4.3.4 (2015-01-24)
 
 1. Fixed build issue with gtest on Mac
@@ -424,6 +441,8 @@
   * [Issue #122](https://github.com/dartsim/dart/issues/122)
   * [Pull request #168](https://github.com/dartsim/dart/pull/168)
 
+## DART 3
+
 ### Version 3.0 (2013-11-04)
 
 1. Removed Transformation classes. Their functionality is now included in joint classes.
@@ -434,6 +453,8 @@
 1. Added constraint namespace
 1. Added "common" namespace
 
+## DART 2
+
 ### Version 2.6 (2013-09-07)
 
 1. Clean-up of build system:

diff --git a/LICENSE b/LICENSE
@@ -1,4 +1,4 @@
-Copyright (c) 2011-2015, Georgia Tech Research Corporation
+Copyright (c) 2011-2016, Georgia Tech Research Corporation
 All rights reserved.
 
 Georgia Tech Graphics Lab and Humanoid Robotics Lab
@@ -28,4 +28,4 @@ This file is provided under the following "BSD-style" License:
   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-  POSSIBILITY OF SUCH DAMAGE.
+  POSSIBILITY OF SUCH DAMAGE.
diff --git a/apps/addDeleteSkels/CMakeLists.txt b/apps/addDeleteSkels/CMakeLists.txt
diff --git a/apps/atlasSimbicon/CMakeLists.txt b/apps/atlasSimbicon/CMakeLists.txt
diff --git a/apps/bipedStand/CMakeLists.txt b/apps/bipedStand/CMakeLists.txt
diff --git a/apps/hardcodedDesign/CMakeLists.txt b/apps/hardcodedDesign/CMakeLists.txt
diff --git a/apps/hybridDynamics/CMakeLists.txt b/apps/hybridDynamics/CMakeLists.txt
diff --git a/apps/jointConstraints/CMakeLists.txt b/apps/jointConstraints/CMakeLists.txt
diff --git a/apps/mixedChain/CMakeLists.txt b/apps/mixedChain/CMakeLists.txt
diff --git a/apps/operationalSpaceControl/CMakeLists.txt b/apps/operationalSpaceControl/CMakeLists.txt
diff --git a/apps/rigidChain/CMakeLists.txt b/apps/rigidChain/CMakeLists.txt
diff --git a/apps/rigidCubes/CMakeLists.txt b/apps/rigidCubes/CMakeLists.txt
diff --git a/apps/rigidLoop/CMakeLists.txt b/apps/rigidLoop/CMakeLists.txt
diff --git a/apps/rigidShapes/CMakeLists.txt b/apps/rigidShapes/CMakeLists.txt
diff --git a/apps/simpleFrames/CMakeLists.txt b/apps/simpleFrames/CMakeLists.txt
diff --git a/apps/softBodies/CMakeLists.txt b/apps/softBodies/CMakeLists.txt
diff --git a/apps/speedTest/CMakeLists.txt b/apps/speedTest/CMakeLists.txt
diff --git a/apps/vehicle/CMakeLists.txt b/apps/vehicle/CMakeLists.txt
diff --git a/cmake/FindASSIMP.cmake b/cmake/FindASSIMP.cmake
@@ -1,4 +1,4 @@
-# Copyright (c) 2015, Georgia Tech Graphics Lab and Humanoid Robotics Lab
+# Copyright (c) 2015-2016, Georgia Tech Graphics Lab and Humanoid Robotics Lab
 # This file is provided under the "BSD-style" License
 
 # Find ASSIMP

diff --git a/cmake/FindCCD.cmake b/cmake/FindCCD.cmake
@@ -1,4 +1,4 @@
-# Copyright (c) 2015, Georgia Tech Graphics Lab and Humanoid Robotics Lab
+# Copyright (c) 2015-2016, Georgia Tech Graphics Lab and Humanoid Robotics Lab
 # This file is provided under the "BSD-style" License
 
 # Find CCD

diff --git a/cmake/FindEIGEN3.cmake b/cmake/FindEIGEN3.cmake
@@ -1,4 +1,4 @@
-# Copyright (c) 2015, Georgia Tech Graphics Lab and Humanoid Robotics Lab
+# Copyright (c) 2015-2016, Georgia Tech Graphics Lab and Humanoid Robotics Lab
 # This file is provided under the "BSD-style" License
 
 # Find Eigen

diff --git a/cmake/FindFCL.cmake b/cmake/FindFCL.cmake
@@ -1,4 +1,4 @@
-# Copyright (c) 2015, Georgia Tech Graphics Lab and Humanoid Robotics Lab
+# Copyright (c) 2015-2016, Georgia Tech Graphics Lab and Humanoid Robotics Lab
 # This file is provided under the "BSD-style" License
 
 # Find FCL

diff --git a/cmake/FindFLANN.cmake b/cmake/FindFLANN.cmake
@@ -1,4 +1,4 @@
-# Copyright (c) 2015, Georgia Tech Graphics Lab and Humanoid Robotics Lab
+# Copyright (c) 2015-2016, Georgia Tech Graphics Lab and Humanoid Robotics Lab
 # This file is provided under the "BSD-style" License
 
 # Find FLANN

diff --git a/cmake/FindIPOPT.cmake b/cmake/FindIPOPT.cmake
@@ -1,4 +1,4 @@
-# Copyright (c) 2015, Georgia Tech Graphics Lab and Humanoid Robotics Lab
+# Copyright (c) 2015-2016, Georgia Tech Graphics Lab and Humanoid Robotics Lab
 # This file is provided under the "BSD-style" License
 
 # Find IPOPT

diff --git a/cmake/FindNLOPT.cmake b/cmake/FindNLOPT.cmake
@@ -1,4 +1,4 @@
-# Copyright (c) 2015, Georgia Tech Graphics Lab and Humanoid Robotics Lab
+# Copyright (c) 2015-2016, Georgia Tech Graphics Lab and Humanoid Robotics Lab
 # This file is provided under the "BSD-style" License
 
 # Find NLOPT

diff --git a/cmake/FindSHARK.cmake b/cmake/FindSHARK.cmake
@@ -1,4 +1,4 @@
-# Copyright (c) 2015, Georgia Tech Graphics Lab and Humanoid Robotics Lab
+# Copyright (c) 2015-2016, Georgia Tech Graphics Lab and Humanoid Robotics Lab
 # This file is provided under the "BSD-style" License
 
 # Find SHARK

diff --git a/cmake/FindTINYXML.cmake b/cmake/FindTINYXML.cmake
@@ -1,4 +1,4 @@
-# Copyright (c) 2015, Georgia Tech Graphics Lab and Humanoid Robotics Lab
+# Copyright (c) 2015-2016, Georgia Tech Graphics Lab and Humanoid Robotics Lab
 # This file is provided under the "BSD-style" License
 
 # Find TINYXML

diff --git a/cmake/FindTINYXML2.cmake b/cmake/FindTINYXML2.cmake
@@ -1,4 +1,4 @@
-# Copyright (c) 2015, Georgia Tech Graphics Lab and Humanoid Robotics Lab
+# Copyright (c) 2015-2016, Georgia Tech Graphics Lab and Humanoid Robotics Lab
 # This file is provided under the "BSD-style" License
 
 # Find TINYXML2

diff --git a/dart/CMakeLists.txt b/dart/CMakeLists.txt
@@ -1,6 +1,6 @@
 # Enable multi-threaded compilation.
-# We do this here and not in the root folder since the example apps
-# do not have enough source files to benefit from this.
+# We do this here and not in the root folder since the examples and the
+# tutorials do not have enough source files to benefit from this.
 if(MSVC)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /MP")
 endif()

diff --git a/dart/collision/CollisionDetector.cpp b/dart/collision/CollisionDetector.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2013-2015, Georgia Tech Research Corporation
+ * Copyright (c) 2013-2016, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Jeongseok Lee <[email protected]>,

diff --git a/dart/collision/CollisionDetector.h b/dart/collision/CollisionDetector.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2013-2015, Georgia Tech Research Corporation
+ * Copyright (c) 2013-2016, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Jeongseok Lee <[email protected]>,

diff --git a/dart/collision/CollisionGroup.cpp b/dart/collision/CollisionGroup.cpp
@@ -149,7 +149,7 @@ bool CollisionGroup::hasShapeFrame(
 }
 
 //==============================================================================
-size_t CollisionGroup::getNumShapeFrames() const
+std::size_t CollisionGroup::getNumShapeFrames() const
 {
   return mShapeFrameMap.size();
 }

diff --git a/dart/collision/CollisionGroup.h b/dart/collision/CollisionGroup.h
@@ -166,7 +166,7 @@ class CollisionGroup
   bool hasShapeFrame(const dynamics::ShapeFrame* shapeFrame) const;
 
   /// Return number of ShapeFrames added to this CollisionGroup
-  size_t getNumShapeFrames() const;
+  std::size_t getNumShapeFrames() const;
 
   /// Perform collision detection within this CollisionGroup.
   bool collide(const CollisionOption& option, CollisionResult& result);

diff --git a/dart/collision/Option.cpp b/dart/collision/Option.cpp
@@ -43,7 +43,7 @@ namespace collision {
 CollisionOption::CollisionOption(
     bool enableContact,
     bool binaryCheck,
-    size_t maxNumContacts,
+    std::size_t maxNumContacts,
     const std::shared_ptr<CollisionFilter>& collisionFilter)
   : enableContact(enableContact),
     binaryCheck(binaryCheck),