Merge branch 'master' into enhancement/brianhou/saver-enumflags

Author: jslee02

CHANGELOG.md

@@ -8,35 +8,53 @@
   * Fixed bug in StepSequence iterator: [#320](https://github.com/personalrobotics/aikido/pull/320)
   * Cleaned up doxygen errors: [#357](https://github.com/personalrobotics/aikido/pull/357)
 
+* Distance
+
+  * Added methods to rank configurations based on specified metric: [#423](https://github.com/personalrobotics/aikido/pull/423)
+
+* State Space
+
+  * Refactored JointStateSpace and MetaSkeletonStateSpace: [#278](https://github.com/personalrobotics/aikido/pull/278)
+  * Added methods for checking compatibility between DART objects and state spaces: [#315](https://github.com/personalrobotics/aikido/pull/315)
+  * Added flags to MetaSkeletonStateSaver to specify what to save: [#339](https://github.com/personalrobotics/aikido/pull/339)
+  * Fixed bug in the representation of SO(2) statespace: [#408](https://github.com/personalrobotics/aikido/pull/408)
+  * Fixed const correctness of StateHandle::getState(): [#419](https://github.com/personalrobotics/aikido/pull/419)
+  * Fixed hidden compose function (in-place version): [#421](https://github.com/personalrobotics/aikido/pull/421)
+  * Added clone functionality to StateSpace: [#422](https://github.com/personalrobotics/aikido/pull/422)
+  * Used const StateSpaces everywhere: [#429](https://github.com/personalrobotics/aikido/pull/429)
+
 * Constraint
 
   * Added SequentialSampleable: [#393](https://github.com/personalrobotics/aikido/pull/393)
 
 * Control
 
   * Fixed CollisionGroup bugs in Hand executors: [#299](https://github.com/personalrobotics/aikido/pull/299)
-  * Rewrote executors for faster-than-realtime simulation: [#316](https://github.com/personalrobotics/aikido/pull/316)
+  * Rewrote executors for faster-than-realtime simulation: [#316](https://github.com/personalrobotics/aikido/pull/316), [#450](https://github.com/personalrobotics/aikido/pull/450)
   * Introduced uniform and dart namespaces: [#342](https://github.com/personalrobotics/aikido/pull/342)
   * Removed Barrett-specific hand executors: [#380](https://github.com/personalrobotics/aikido/pull/380)
-
-* State Space
-
-  * Refactored JointStateSpace and MetaSkeletonStateSpace: [#278](https://github.com/personalrobotics/aikido/pull/278)
-  * Added methods for checking compatibility between DART objects and state spaces: [#315](https://github.com/personalrobotics/aikido/pull/315)
-  * Added flags to MetaSkeletonStateSaver to specify what to save: [#339](https://github.com/personalrobotics/aikido/pull/339)
+  * Supported canceling in-progress trajectories: [#400](https://github.com/personalrobotics/aikido/pull/400)
 
 * Perception
 
   * Added integrated PoseEstimatorModule: [#336](https://github.com/personalrobotics/aikido/pull/336)
+  * Added voxel grid perception module: [#448](https://github.com/personalrobotics/aikido/pull/448)
+
+* Trajectory
+
+  * Added B-spline trajectory: [#453](https://github.com/personalrobotics/aikido/pull/453)
 
 * Planner
 
+  * Make all DART planners take MetaSkeleton, and add adapter for turning planners into DART planners: [#437](https://github.com/personalrobotics/aikido/pull/437)
   * Added parabolic timing for linear spline [#302](https://github.com/personalrobotics/aikido/pull/302), [#324](https://github.com/personalrobotics/aikido/pull/324)
   * Fixed step sequence iteration in VPF: [#303](https://github.com/personalrobotics/aikido/pull/303)
-  * Refactored planning API: [#314](https://github.com/personalrobotics/aikido/pull/314), [#414](https://github.com/personalrobotics/aikido/pull/414)
+  * Refactored planning API: [#314](https://github.com/personalrobotics/aikido/pull/314), [#414](https://github.com/personalrobotics/aikido/pull/414), [#426](https://github.com/personalrobotics/aikido/pull/426), [#432](https://github.com/personalrobotics/aikido/pull/432)
   * Added flags to WorldStateSaver to specify what to save: [#339](https://github.com/personalrobotics/aikido/pull/339)
   * Changed interface for TrajectoryPostProcessor: [#341](https://github.com/personalrobotics/aikido/pull/341)
   * Planning calls with InverseKinematicsSampleable constraints explicitly set MetaSkeleton to solve IK with: [#379](https://github.com/personalrobotics/aikido/pull/379)
+  * Added a kinodynamic timer that generates a time-optimal smooth trajectory without completely stopping at each waypoint: [#443](https://github.com/personalrobotics/aikido/pull/443)
+  * Fixed segmentation fault on 32-bit machines in vector-field planner: [#459](https://github.com/personalrobotics/aikido/pull/459)
 
 * Robot
 
@@ -50,6 +68,7 @@
 
   * Fixed Eigen memory alignment issues on 32bit Ubuntu: [#368](https://github.com/personalrobotics/aikido/pull/368)
   * Defined optional dependencies: [#376](https://github.com/personalrobotics/aikido/pull/376)
+  * Fixed compilation bug with Eigen 3.3.5: [#452](https://github.com/personalrobotics/aikido/pull/452)
 
 ### 0.2.0 (2018-01-09)
 
@@ -63,6 +82,10 @@
   * Renamed NonColliding to CollisionFree: [#256](https://github.com/personalrobotics/aikido/pull/256)
   * Added TestableOutcome class: [#266](https://github.com/personalrobotics/aikido/pull/266)
 
+* Control
+
+  * Added Instantaneous and Queued TrajectoryExecutors: [#259](https://github.com/personalrobotics/aikido/pull/259)
+
 * Perception
 
   * Added RcnnPoseModule: [#264](https://github.com/personalrobotics/aikido/pull/264)

CMakeLists.txt

@@ -126,11 +126,29 @@ include(FindPkgConfig)
 
 find_package(Boost REQUIRED COMPONENTS filesystem)
 
-find_package(DART 6.3.0 REQUIRED
+find_package(DART 6.6.0 REQUIRED
   COMPONENTS optimizer-nlopt utils
   OPTIONAL_COMPONENTS utils-urdf # for 'perception' target
   CONFIG
 )
+# Check if DART is built with octomap so that it supports VoxelGridShape
+include(CheckCXXSourceCompiles)
+set(CMAKE_REQUIRED_DEFINITIONS "")
+set(CMAKE_REQUIRED_FLAGS "-std=c++11")
+set(CMAKE_REQUIRED_INCLUDES ${DART_INCLUDE_DIRS})
+set(CMAKE_REQUIRED_LIBRARIES ${DART_LIBRARIES})
+check_cxx_source_compiles(
+"
+#include <dart/dart.hpp>
+int main()
+{
+  auto voxel = new dart::dynamics::VoxelGridShape();
+  delete voxel;
+  return 0;
+}
+"
+DART_HAS_VOXELGRIDSHAPE
+)
 
 find_package(ompl REQUIRED)
 

README.md

@@ -28,7 +28,7 @@ $ sudo add-apt-repository ppa:fcl-debs/ppa
 $ sudo add-apt-repository ppa:dartsim/ppa
 $ sudo add-apt-repository ppa:personalrobotics/ppa
 $ sudo apt-get update
-$ sudo apt-get install libaikido0-all-dev
+$ sudo apt-get install libaikido-all-dev
 ```
 
 ### On macOS using [Homebrew]
@@ -39,9 +39,9 @@ $ /usr/bin/ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/inst
 # Add Homebrew tap for Personal Robotics Lab software
 $ brew tap personalrobotics/tap
 # Install AIKIDO
-$ brew install aikido0
+$ brew install aikido
 ```
-> Note: While ROS seems to be [available on macOS](http://wiki.ros.org/indigo/Installation/OSX/Homebrew/Source), we haven't tested it with AIKIDO. For now, `brew install aikido0` installs AIKIDO without the ROS-dependent components.
+> Note: While ROS seems to be [available on macOS](http://wiki.ros.org/indigo/Installation/OSX/Homebrew/Source), we haven't tested it with AIKIDO. For now, `brew install aikido` installs AIKIDO without the ROS-dependent components.
 
 ## Building from Source
 

cmake/FindEIGEN3.cmake

@@ -0,0 +1,36 @@
+# Copyright (c) 2011-2018, The DART development contributors
+# All rights reserved.
+#
+# The list of contributors can be found at:
+#   https://github.com/dartsim/dart/blob/master/LICENSE
+#
+# This file is provided under the "BSD-style" License
+
+# Find Eigen
+#
+# This sets the following variables:
+# EIGEN3_FOUND
+# EIGEN3_INCLUDE_DIRS
+# EIGEN3_VERSION
+
+find_package(PkgConfig QUIET)
+
+# Check to see if pkgconfig is installed.
+pkg_check_modules(PC_EIGEN3 eigen3 QUIET)
+
+# Include directories
+find_path(EIGEN3_INCLUDE_DIRS
+    NAMES Eigen/Core
+    PATHS "${CMAKE_INSTALL_PREFIX}/include"
+    PATH_SUFFIXES eigen3 eigen)
+
+# Version
+set(EIGEN3_VERSION ${PC_EIGEN3_VERSION})
+
+# Set (NAME)_FOUND if all the variables and the version are satisfied.
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(EIGEN3
+    FAIL_MESSAGE  DEFAULT_MSG
+    REQUIRED_VARS EIGEN3_INCLUDE_DIRS
+    VERSION_VAR   EIGEN3_VERSION)
+

cmake/Findoctomap_ros.cmake

@@ -0,0 +1,40 @@
+# Find octomap_ros
+#
+# This sets the following variables:
+# octomap_ros_FOUND
+# octomap_ros_INCLUDE_DIRS
+# octomap_ros_LIBRARIES
+# octomap_ros_VERSION
+
+# Note: This find module is necessary because the config file imports "gtest",
+# "tests", and "run_tests" that conflict with the targets defined by Aikido.
+
+find_package(PkgConfig QUIET REQUIRED)
+
+# Check to see if pkgconfig is installed.
+set(PKG_CONFIG_USE_CMAKE_PREFIX_PATH TRUE)
+pkg_check_modules(PC_octomap_ros octomap_ros QUIET)
+
+# Include directories
+find_path(octomap_ros_INCLUDE_DIRS
+  NAMES octomap_ros/conversions.h
+  HINTS ${PC_octomap_ros_INCLUDE_DIRS}
+)
+
+# Libraries
+find_library(octomap_ros_LIBRARIES
+  octomap_ros
+  HINTS ${PC_octomap_ros_LIBRARY_DIRS}
+)
+
+# Version
+set(octomap_ros_VERSION ${PC_octomap_ros_VERSION})
+
+# Set (NAME)_FOUND if all the variables and the version are satisfied.
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(octomap_ros
+    FOUND_VAR octomap_ros_FOUND
+    FAIL_MESSAGE  DEFAULT_MSG
+    REQUIRED_VARS octomap_ros_INCLUDE_DIRS octomap_ros_LIBRARIES
+    VERSION_VAR   octomap_ros_VERSION
+)