Merge remote-tracking branch 'origin/master' into js/h_to_hpp

Conflicts:
	dart/dynamics/BodyNode.cpp
	dart/dynamics/BodyNode.hpp
	dart/dynamics/InverseKinematics.cpp
	dart/dynamics/Skeleton.hpp

.travis.yml

@@ -1,35 +1,35 @@
 language: cpp
 
-os:
-  - linux
-  - osx
-
 sudo: required
 
 dist: trusty
 
-compiler:
-  - gcc
-  - clang
-
-env:
-  - BUILD_TYPE=Debug   TREAT_WARNINGS_AS_ERRORS=ON COVERALLS=ON
-  - BUILD_TYPE=Release TREAT_WARNINGS_AS_ERRORS=ON COVERALLS=OFF
-
 matrix:
-  exclude:
-    - os: osx
+  include:
+    - os: linux
       compiler: gcc
+      env: BUILD_TYPE=Debug COVERALLS=ON COMPILER=GCC
+    - os: linux
+      compiler: gcc
+      env: BUILD_TYPE=Release COVERALLS=OFF COMPILER=GCC
+    - os: linux
+      compiler: clang
+      env: BUILD_TYPE=Debug COVERALLS=OFF COMPILER=CLANG
+    - os: linux
+      compiler: clang
+      env: BUILD_TYPE=Release COVERALLS=OFF COMPILER=CLANG
+    - os: osx
+      compiler: clang
+      env: BUILD_TYPE=Debug COVERALLS=OFF COMPILER=CLANG
+    - os: osx
+      compiler: clang
+      env: BUILD_TYPE=Release COVERALLS=OFF COMPILER=CLANG
 
 install:
-  - if [ "$TRAVIS_OS_NAME" = "linux" ]; then 'ci/install_linux.sh' ; fi
-  - if [ "$TRAVIS_OS_NAME" = "osx"   ]; then 'ci/install_osx.sh'   ; fi
+  - 'ci/install.sh'
 
 script:
-  - mkdir build && cd build
-  - 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
+  - 'ci/script.sh'
 
 after_failure: 
   - cat Testing/Temporary/LastTest.log

CMakeLists.txt

@@ -123,6 +123,13 @@ if(HAVE_BULLET_COLLISION)
 endif()
 include_directories("${CMAKE_BINARY_DIR}")
 
+set(DART_INCLUDE_DIRS
+    "${CMAKE_INSTALL_PREFIX}/include"
+    "${EIGEN3_INCLUDE_DIRS}")
+if(HAVE_BULLET_COLLISION)
+  list(APPEND DART_INCLUDE_DIRS "${BULLET_INCLUDE_DIRS}")
+endif()
+
 #===============================================================================
 # Check for non-case-sensitive filesystems
 #===============================================================================

ci/install.sh

@@ -0,0 +1,5 @@
+if [ "$TRAVIS_PULL_REQUEST" = "false" ] && [ "$COMPILER" = "CLANG" ]; then exit; fi
+
+if [ "$TRAVIS_OS_NAME" = "linux" ]; then 'ci/install_linux.sh' ; fi
+if [ "$TRAVIS_OS_NAME" = "osx"   ]; then 'ci/install_osx.sh'   ; fi
+

ci/script.sh

@@ -0,0 +1,7 @@
+if [ "$TRAVIS_PULL_REQUEST" = "false" ] && [ "$COMPILER" = "CLANG" ]; then exit; fi
+
+mkdir build && cd build
+cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DDART_TREAT_WARNINGS_AS_ERRORS=ON -DDART_COVERALLS=$COVERALLS ..
+make -j4 tutorials examples tests
+if [ $COVERALLS = ON ]; then make -j4 coveralls; else make -j4 test; fi
+

cmake/DARTConfig.cmake.in

@@ -9,10 +9,7 @@
 #===============================================================================
 # DART_INCLUDE_DIRS
 #===============================================================================
-set(DART_INCLUDE_DIRS
-    "@CMAKE_INSTALL_PREFIX@/include"
-    "@EIGEN3_INCLUDE_DIRS@"
-    "@BULLET_INCLUDE_DIRS@")
+set(DART_INCLUDE_DIRS "@DART_INCLUDE_DIRS@")
 
 #===============================================================================
 # DART_LIBRARIES

dart/constraint/BalanceConstraint.cpp

@@ -411,11 +411,11 @@ void BalanceConstraint::convertJacobianMethodOutputToGradient(
 
   mInitialPositionsCache = skel->getPositions();
 
-  for(size_t i=0; i < skel->getNumJoints(); ++i)
+  for(std::size_t i=0; i < skel->getNumJoints(); ++i)
     skel->getJoint(i)->integratePositions(1.0);
 
   // Clear out the velocities so we don't interfere with other Jacobian methods
-  for(size_t i=0; i < skel->getNumDofs(); ++i)
+  for(std::size_t i=0; i < skel->getNumDofs(); ++i)
     skel->setVelocity(i, 0.0);
 
   grad = skel->getPositions();

dart/constraint/ConstraintSolver.cpp

@@ -228,6 +228,7 @@ void ConstraintSolver::setCollisionDetector(
     dtwarn << "[ConstraintSolver::setCollisionDetector] Attempting to assign "
            << "nullptr as the new collision detector to the constraint solver, "
            << "which is not allowed. Ignoring.\n";
+    return;
   }
 
   if (mCollisionDetector == collisionDetector)

dart/dynamics/BodyNode.cpp

@@ -947,6 +947,13 @@ void BodyNode::removeAllShapeNodes()
 //==============================================================================
 DART_BAKE_SPECIALIZED_NODE_DEFINITIONS( BodyNode, EndEffector )
 
+//==============================================================================
+EndEffector* BodyNode::createEndEffector(
+    const EndEffector::BasicProperties& _properties)
+{
+  return createNode<EndEffector>(_properties);
+}
+
 //==============================================================================
 EndEffector* BodyNode::createEndEffector(const std::string& _name)
 {
@@ -978,6 +985,12 @@ Marker* BodyNode::createMarker(const std::string& name,
   return createNode<Marker>(properties);
 }
 
+//==============================================================================
+Marker* BodyNode::createMarker(const Marker::BasicProperties& properties)
+{
+  return createNode<Marker>(properties);
+}
+
 //==============================================================================
 bool BodyNode::dependsOn(std::size_t _genCoordIndex) const
 {
@@ -1399,8 +1412,8 @@ void BodyNode::processNewEntity(Entity* _newChildEntity)
 
   // Check if it's a child BodyNode (if not, then it's just some other arbitrary
   // type of Entity)
-  if(find(mChildBodyNodes.begin(), mChildBodyNodes.end(), _newChildEntity) !=
-     mChildBodyNodes.end())
+  if(std::find(mChildBodyNodes.begin(), mChildBodyNodes.end(),
+               _newChildEntity) != mChildBodyNodes.end())
     return;
 
   // Check if it's already accounted for in our Non-BodyNode Entities
@@ -1419,17 +1432,17 @@ void BodyNode::processNewEntity(Entity* _newChildEntity)
 //==============================================================================
 void BodyNode::processRemovedEntity(Entity* _oldChildEntity)
 {
-  std::vector<BodyNode*>::iterator it = find(mChildBodyNodes.begin(),
-                                             mChildBodyNodes.end(),
-                                             _oldChildEntity);
+  std::vector<BodyNode*>::iterator it = std::find(mChildBodyNodes.begin(),
+                                                  mChildBodyNodes.end(),
+                                                  _oldChildEntity);
   if(it != mChildBodyNodes.end())
     mChildBodyNodes.erase(it);
 
   if(JacobianNode* node = dynamic_cast<JacobianNode*>(_oldChildEntity))
     mChildJacobianNodes.erase(node);
 
-  if(find(mNonBodyNodeEntities.begin(), mNonBodyNodeEntities.end(),
-          _oldChildEntity) != mNonBodyNodeEntities.end())
+  if(std::find(mNonBodyNodeEntities.begin(), mNonBodyNodeEntities.end(),
+               _oldChildEntity) != mNonBodyNodeEntities.end())
     mNonBodyNodeEntities.erase(_oldChildEntity);
 }
 

dart/dynamics/BodyNode.hpp

@@ -76,7 +76,7 @@ class Marker;
 /// BodyNode of the BodyNode.
 class BodyNode :
     public detail::BodyNodeCompositeBase,
-    public virtual BodyNodeSpecializedFor<ShapeNode, EndEffector>,
+    public virtual BodyNodeSpecializedFor<ShapeNode, EndEffector, Marker>,
     public SkeletonRefCountingBase,
     public TemplatedJacobianNode<BodyNode>
 {
@@ -596,8 +596,8 @@ class BodyNode :
 
   /// Create an EndEffector attached to this BodyNode. Pass an
   /// EndEffector::Properties argument into this function.
-  template <class EndEffectorProperties>
-  EndEffector* createEndEffector(const EndEffectorProperties& _properties);
+  EndEffector* createEndEffector(
+      const EndEffector::BasicProperties& _properties);
 
   /// Create an EndEffector with the specified name
   EndEffector* createEndEffector(const std::string& _name = "EndEffector");
@@ -613,6 +613,9 @@ class BodyNode :
       const Eigen::Vector3d& position = Eigen::Vector3d::Zero(),
       const Eigen::Vector4d& color = Eigen::Vector4d::Constant(1.0));
 
+  /// Create a Marker given its basic properties
+  Marker* createMarker(const Marker::BasicProperties& properties);
+
   // Documentation inherited
   bool dependsOn(std::size_t _genCoordIndex) const override;
 

dart/dynamics/InverseKinematics.cpp

@@ -95,9 +95,9 @@ bool InverseKinematics::solve(bool _applySolution)
 
   // Many GradientMethod implementations use Joint::integratePositions, so we
   // need to clear out any velocities that might be in the Skeleton and then
-  // reset those velocities later.
+  // reset those velocities later. This has been opened as issue #699.
   Eigen::VectorXd originalVelocities = skel->getVelocities();
-  for(size_t i=0; i < skel->getNumDofs(); ++i)
+  for(std::size_t i=0; i < skel->getNumDofs(); ++i)
     skel->getDof(i)->setVelocity(0.0);
 
   if(_applySolution)
@@ -709,23 +709,23 @@ InverseKinematics::GradientMethod::getComponentWeights() const
 
 //==============================================================================
 void InverseKinematics::GradientMethod::convertJacobianMethodOutputToGradient(
-    Eigen::VectorXd& grad, const std::vector<size_t>& dofs)
+    Eigen::VectorXd& grad, const std::vector<std::size_t>& dofs)
 {
   const SkeletonPtr& skel = mIK->getNode()->getSkeleton();
   mInitialPositionsCache = skel->getPositions(dofs);
 
-  for(size_t i=0; i < dofs.size(); ++i)
+  for(std::size_t i=0; i < dofs.size(); ++i)
     skel->getDof(dofs[i])->setVelocity(grad[i]);
   // Velocities of unused DOFs should already be set to zero.
 
-  for(size_t i=0; i < dofs.size(); ++i)
+  for(std::size_t i=0; i < dofs.size(); ++i)
   {
     Joint* joint = skel->getDof(dofs[i])->getJoint();
     joint->integratePositions(1.0);
 
     // Reset this joint's velocities to zero to avoid double-integrating
-    const size_t numJointDofs = joint->getNumDofs();
-    for(size_t j=0; j < numJointDofs; ++j)
+    const std::size_t numJointDofs = joint->getNumDofs();
+    for(std::size_t j=0; j < numJointDofs; ++j)
       joint->setVelocity(j, 0.0);
   }
 
@@ -866,7 +866,7 @@ InverseKinematics::Analytical::Solution::Solution(
 
 //==============================================================================
 InverseKinematics::Analytical::UniqueProperties::UniqueProperties(
-    ExtraDofUtilization_t extraDofUtilization, double extraErrorLengthClamp)
+    ExtraDofUtilization extraDofUtilization, double extraErrorLengthClamp)
   : mExtraDofUtilization(extraDofUtilization),
     mExtraErrorLengthClamp(extraErrorLengthClamp)
 {
@@ -875,7 +875,7 @@ InverseKinematics::Analytical::UniqueProperties::UniqueProperties(
 
 //==============================================================================
 InverseKinematics::Analytical::UniqueProperties::UniqueProperties(
-    ExtraDofUtilization_t extraDofUtilization,
+    ExtraDofUtilization extraDofUtilization,
     double extraErrorLengthClamp,
     QualityComparison qualityComparator)
   : mExtraDofUtilization(extraDofUtilization),
@@ -1031,7 +1031,7 @@ const std::vector<IK::Analytical::Solution>& IK::Analytical::getSolutions(
 void InverseKinematics::Analytical::addExtraDofGradient(
     Eigen::VectorXd& grad,
     const Eigen::Vector6d& error,
-    ExtraDofUtilization_t /*utilization*/)
+    ExtraDofUtilization /*utilization*/)
 {
   mExtraDofGradCache.resize(mExtraDofs.size());
   const math::Jacobian& J = mIK->computeJacobian();
@@ -1049,9 +1049,9 @@ void InverseKinematics::Analytical::addExtraDofGradient(
 
   convertJacobianMethodOutputToGradient(mExtraDofGradCache, mExtraDofs);
 
-  for(size_t i=0; i < mExtraDofs.size(); ++i)
+  for(std::size_t i=0; i < mExtraDofs.size(); ++i)
   {
-    size_t depIndex = mExtraDofs[i];
+    std::size_t depIndex = mExtraDofs[i];
     int gradIndex = gradMap[depIndex];
     if(gradIndex == -1)
       continue;
@@ -1160,13 +1160,13 @@ Eigen::VectorXd InverseKinematics::Analytical::getPositions() const
 
 //==============================================================================
 void InverseKinematics::Analytical::setExtraDofUtilization(
-    ExtraDofUtilization_t _utilization)
+    ExtraDofUtilization _utilization)
 {
   mAnalyticalP.mExtraDofUtilization = _utilization;
 }
 
 //==============================================================================
-IK::Analytical::ExtraDofUtilization_t
+IK::Analytical::ExtraDofUtilization
 IK::Analytical::getExtraDofUtilization() const
 {
   return mAnalyticalP.mExtraDofUtilization;