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Add planner_dart component for DART planners #567

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Add planner_dart component for DART planners #567

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928e428
Create planner_dart component
gilwoolee Mar 3, 2020
9915a80
Merge branch 'master' of github.com:personalrobotics/aikido into gilw…
gilwoolee Mar 3, 2020
1919374
Update CHANGELOG.md
gilwoolee Mar 3, 2020
76b90d0
Merge branch 'master' of https://github.com/personalrobotics/aikido i…
evil-sherdil Sep 25, 2020
6ea0741
Think I added CMake gaurds if dart_planners not built.
evil-sherdil Sep 25, 2020
a3654af
Merge branch 'master' into gilwoo/planner_dart
egordon Sep 17, 2021
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1 change: 1 addition & 0 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@
* Planner

* Fixed key bugs in CRRTs: [#574](https://github.com/personalrobotics/aikido/pull/574)
* Make planner_dart component and build all DART planners as planner_dart component: [#567](https://github.com/personalrobotics/aikido/pull/567)
* Added ConfigurationToConfigurations planner adapter: [#587](https://github.com/personalrobotics/aikido/pull/587)
* Cleaned up planning methods in robot/util: [#588](https://github.com/personalrobotics/aikido/pull/588)

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15 changes: 1 addition & 14 deletions src/planner/CMakeLists.txt
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Expand Up @@ -14,20 +14,6 @@ set(sources
SequenceMetaPlanner.cpp
World.cpp
WorldStateSaver.cpp
dart/ConfigurationToConfiguration.cpp
dart/ConfigurationToConfigurationPlanner.cpp
dart/ConfigurationToConfigurations.cpp
dart/ConfigurationToConfigurationsPlanner.cpp
dart/ConfigurationToEndEffectorOffset.cpp
dart/ConfigurationToEndEffectorPose.cpp
dart/ConfigurationToTSR.cpp
dart/ConfigurationToEndEffectorOffsetPlanner.cpp
# dart/ConfigurationToEndEffectorPosePlanner.cpp
dart/ConfigurationToTSRPlanner.cpp
dart/ConfigurationToConfiguration_to_ConfigurationToConfiguration.cpp
dart/ConfigurationToConfiguration_to_ConfigurationToConfigurations.cpp
dart/ConfigurationToConfiguration_to_ConfigurationToTSR.cpp
dart/util.cpp
)

add_library("${PROJECT_NAME}_planner" SHARED ${sources})
Expand Down Expand Up @@ -63,6 +49,7 @@ add_component_dependencies(${PROJECT_NAME} planner
clang_format_add_sources(${sources})

add_subdirectory("ompl") # [constraint], [distance], [statespace], [trajectory], dart, ompl
add_subdirectory("dart") # [constraint], [distance], [trajectory], [statespace], [planner_ompl], dart, ompl
add_subdirectory("parabolic") # [external], [common], [trajectory], [statespace], dart
add_subdirectory("vectorfield") # [common], [trajectory], [statespace], dart
add_subdirectory("kunzretimer") # [external], [common], [trajectory], [statespace], dart
62 changes: 62 additions & 0 deletions src/planner/dart/CMakeLists.txt
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@@ -0,0 +1,62 @@
if(CMAKE_COMPILER_IS_GNUCXX)
if(OMPL_VERSION VERSION_GREATER 1.2.0 OR OMPL_VERSION VERSION_EQUAL 1.2.0)
if(Boost_VERSION VERSION_LESS 106501)
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We do not need to check boost version here since this subdirectory does not have ompl code.

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This is related to the below comment as well: this PR is set up for #566. Sorry, I totally should have made that more clear: because the ultimate goal here is deprecating a lot of the old robot/util stuff, we need to move some of the planTo methods that use ompl into this new dart_planner module. That's what #566 starts to do, but we set up the ompl dependency here 😄

message(STATUS "OMPL planners are disabled for OMPL (>=1.2.0) + GCC + "
"Boost (< 1.65.1). For details, please see: "
" https://github.com/personalrobotics/aikido/issues/363"
)
return()
endif()
endif()
endif()

#==============================================================================
# Libraries
#
set(sources
ConfigurationToConfiguration.cpp
ConfigurationToConfigurationPlanner.cpp
ConfigurationToConfiguration_to_ConfigurationToConfiguration.cpp
ConfigurationToConfiguration_to_ConfigurationToTSR.cpp
ConfigurationToEndEffectorOffset.cpp
ConfigurationToEndEffectorPose.cpp
ConfigurationToEndEffectorOffsetPlanner.cpp
ConfigurationToTSR.cpp
ConfigurationToTSRPlanner.cpp
util.cpp
)

add_library("${PROJECT_NAME}_planner_dart" SHARED ${sources})
target_include_directories("${PROJECT_NAME}_planner_dart" SYSTEM
PUBLIC
${DART_INCLUDE_DIRS}
${OMPL_INCLUDE_DIRS}
)
target_link_libraries("${PROJECT_NAME}_planner_dart"
PUBLIC
"${PROJECT_NAME}_common"
"${PROJECT_NAME}_constraint"
"${PROJECT_NAME}_distance"
"${PROJECT_NAME}_trajectory"
"${PROJECT_NAME}_statespace"
"${PROJECT_NAME}_planner"
"${PROJECT_NAME}_planner_ompl"
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do we need ompl here?

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See previous comment! 😸

${DART_LIBRARIES}
${OMPL_LIBRARIES}
)
target_compile_options("${PROJECT_NAME}_planner_dart"
PUBLIC ${AIKIDO_CXX_STANDARD_FLAGS}
)

add_component(${PROJECT_NAME} planner_dart)
add_component_targets(${PROJECT_NAME} planner_dart "${PROJECT_NAME}_planner_dart")
add_component_dependencies(${PROJECT_NAME} planner_dart
constraint
distance
planner
planner_ompl
statespace
trajectory
)

clang_format_add_sources(${sources})
5 changes: 5 additions & 0 deletions src/planner/vectorfield/CMakeLists.txt
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@@ -1,3 +1,7 @@
if(NOT TARGET ${PROJECT_NAME}_planner_dart)
return()
endif()

set(sources
VectorFieldPlanner.cpp
VectorField.cpp
Expand All @@ -19,6 +23,7 @@ target_link_libraries("${PROJECT_NAME}_planner_vectorfield"
"${PROJECT_NAME}_trajectory"
"${PROJECT_NAME}_statespace"
"${PROJECT_NAME}_planner"
"${PROJECT_NAME}_planner_dart"
${DART_LIBRARIES}
${Boost_LIBRARIES}
)
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3 changes: 2 additions & 1 deletion src/robot/CMakeLists.txt
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@@ -1,7 +1,8 @@
#==============================================================================
# Dependencies
#
if(NOT TARGET ${PROJECT_NAME}_planner_ompl)
if(NOT TARGET ${PROJECT_NAME}_planner_ompl OR
NOT TARGET ${PROJECT_NAME}_planner_vectorfield)
return()
endif()
set(CMAKE_REQUIRED_DEFINITIONS "")
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15 changes: 10 additions & 5 deletions tests/planner/CMakeLists.txt
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Expand Up @@ -10,13 +10,18 @@ target_link_libraries(test_SnapPlanner
"${PROJECT_NAME}_trajectory"
"${PROJECT_NAME}_planner")

aikido_add_test(test_World test_World.cpp)
target_link_libraries(test_World
"${PROJECT_NAME}_planner")

if(NOT TARGET ${PROJECT_NAME}_planner_dart)
return()
endif()

aikido_add_test(test_DartPlanners test_DartPlanners.cpp)
target_link_libraries(test_DartPlanners
"${PROJECT_NAME}_constraint"
"${PROJECT_NAME}_distance"
"${PROJECT_NAME}_trajectory"
"${PROJECT_NAME}_planner")

aikido_add_test(test_World test_World.cpp)
target_link_libraries(test_World
"${PROJECT_NAME}_planner")
"${PROJECT_NAME}_planner"
"${PROJECT_NAME}_planner_dart")