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

Author: brianhou

.ci/docker/ubuntu-bionic

@@ -4,6 +4,10 @@ FROM ubuntu:bionic
 ENV APT_KEY_DONT_WARN_ON_DANGEROUS_USAGE=1
 
 RUN apt-get update -qq
+
+# To run dpkg without interactive dialogue
+ENV DEBIAN_FRONTEND=noninteractive
+
 RUN apt-get install -y \
     build-essential  \
     cmake \
@@ -13,4 +17,5 @@ RUN apt-get install -y \
     pkg-config \
     python \
     software-properties-common \
-    sudo
+    sudo \
+    tzdata

.ci/install_linux.sh

@@ -5,3 +5,7 @@ set -ex
 cd "${HOME}/workspace"
 cp -r "${TRAVIS_BUILD_DIR}" src
 ./scripts/internal-distro.py --workspace=src distribution.yml --repository "${REPOSITORY}" ${REQUIRED_ONLY}
+
+if [ $BUILD_NAME = TRUSTY_FULL_DEBUG ]; then
+  sudo apt-get install clang-format-3.8
+fi

.ci/script_linux.sh

@@ -13,7 +13,9 @@ if [ $BUILD_NAME = DOCS ]; then
 fi
 
 # Check code style
-./scripts/internal-run.sh catkin build --no-status --no-deps -p 1 -i --make-args check-format -- aikido
+if [ $BUILD_NAME = TRUSTY_FULL_DEBUG ]; then
+  ./scripts/internal-run.sh catkin build --no-status --no-deps -p 1 -i --make-args check-format -- aikido
+fi
 
 # Manually build Aikido's tests; they are not built automatically because it is not a Catkin package.
 if [ $BUILD_NAME = TRUSTY_FULL_DEBUG ]; then
@@ -28,8 +30,3 @@ if [ $BUILD_NAME = TRUSTY_FULL_DEBUG ]; then
 else
   ./scripts/internal-run.sh env CTEST_OUTPUT_ON_FAILURE=true make -C build/aikido test
 fi
-
-# Uploading report to CodeCov
-if [ $BUILD_NAME = TRUSTY_FULL_DEBUG ]; then
-  bash <(curl -s https://codecov.io/bash) || echo "Codecov did not collect coverage reports"
-fi

.travis.yml

@@ -17,13 +17,6 @@ cache:
 
 matrix:
   include:
-    - os: linux
-      compiler: gcc
-      env:
-        - BUILD_NAME=TRUSTY_DEBUG
-        - REQUIRED_ONLY=--required-only
-        - BUILD_TYPE=Debug
-        - CATKIN_CONFIG_OPTIONS="-DCMAKE_BUILD_TYPE=Debug -DTREAT_WARNINGS_AS_ERRORS=ON"
     - os: linux
       compiler: gcc
       env:
@@ -50,20 +43,13 @@ matrix:
         - BUILD_TYPE=Release
         - CATKIN_CONFIG_OPTIONS="-DCMAKE_BUILD_TYPE=Release -DTREAT_WARNINGS_AS_ERRORS=ON"
       services: docker
-    # Disabled until https://travis-ci.org/personalrobotics/aikido/jobs/375661536#L1561 is resolved
-    #- os: linux
-    #  env:
-    #    - BUILD_NAME=BIONIC_FULL_RELEASE
-    #    - DOCKER_FILE="ubuntu-bionic"
-    #    - BUILD_TYPE=Release
-    #    - CATKIN_CONFIG_OPTIONS="-DCMAKE_BUILD_TYPE=Release -DTREAT_WARNINGS_AS_ERRORS=ON"
-    #  services: docker
-    - os: osx
-      osx_image: xcode9.3
-      compiler: clang
+    - os: linux
       env:
-        - BUILD_NAME=XCODE93_DEBUG
-        - BUILD_TYPE=Debug
+        - BUILD_NAME=BIONIC_FULL_RELEASE
+        - DOCKER_FILE="ubuntu-bionic"
+        - BUILD_TYPE=Release
+        - CATKIN_CONFIG_OPTIONS="-DCMAKE_BUILD_TYPE=Release -DTREAT_WARNINGS_AS_ERRORS=ON"
+      services: docker
     - os: osx
       osx_image: xcode9.3
       compiler: clang

CHANGELOG.md

@@ -7,10 +7,13 @@
   * Fixed bug in StepSequence::getMaxSteps(): [#305](https://github.com/personalrobotics/aikido/pull/305)
   * 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)
-
+  * Fixed bug in compiling with Boost 1.58 on Kinetic + Xenial: [#490](https://github.com/personalrobotics/aikido/pull/490)
+  * Fixed bug in Interpolated::addWaypoint(): [#483](https://github.com/personalrobotics/aikido/pull/483)
 * Distance
 
   * Added methods to rank configurations based on specified metric: [#423](https://github.com/personalrobotics/aikido/pull/423)
+  * Added weights as optinal paramter to rankers: [#484] (https://github.com/personalrobotics/aikido/pull/484)
+
 
 * State Space
 
@@ -22,6 +25,7 @@
   * 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)
+  * Changed the SE(2) space representation to [x,y,theta]: [#458](https://github.com/personalrobotics/aikido/pull/458)
 
 * Constraint
 
@@ -43,6 +47,7 @@
 * Trajectory
 
   * Added B-spline trajectory: [#453](https://github.com/personalrobotics/aikido/pull/453)
+  * Added trajectory utility functions: [#462](https://github.com/personalrobotics/aikido/pull/462)
 
 * Planner
 
@@ -55,11 +60,16 @@
   * 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)
+  * Updated interface to OMPL planners to follow the style of the new refactored planning API: [#466](https://github.com/personalrobotics/aikido/pull/466)
 
 * Robot
 
   * Added Robot, Manipulator, Hand interfaces, and ConcreteRobot, ConcreteManipulator classes: [#325](https://github.com/personalrobotics/aikido/pull/325), [#392](https://github.com/personalrobotics/aikido/pull/392)
 
+* RViz
+
+  * Fixed bug of not joining Viewer threads when stopping auto-update: [#463](https://github.com/personalrobotics/aikido/pull/463)
+
 * IO
 
   * Added loadSkeletonFromURDF convenience function: [#388](https://github.com/personalrobotics/aikido/pull/388), [#401](https://github.com/personalrobotics/aikido/pull/401)
@@ -69,6 +79,10 @@
   * 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)
+  * Updated gtest version to 1.8.1: [#478](https://github.com/personalrobotics/aikido/pull/478)
+  * Added DART 6.7 support: [#480](https://github.com/personalrobotics/aikido/pull/480)
+  * Fixed use of dart::common::make_unique for C++14 enabled compilers: [#481](https://github.com/personalrobotics/aikido/pull/481)
+  * Changed to use own build script for GoogleTest: [#485](https://github.com/personalrobotics/aikido/pull/485)
 
 ### 0.2.0 (2018-01-09)
 

CMakeLists.txt

@@ -101,21 +101,6 @@ macro(aikido_check_package variable component dependency)
   endif()
 endmacro()
 
-#==============================================================================
-# Register an Aikido test.
-#
-set_property(GLOBAL PROPERTY AIKIDO_TESTS)
-
-function(aikido_add_test target_name)
-  add_executable("${target_name}" ${ARGN})
-  add_test("${target_name}" "${target_name}")
-
-  target_link_libraries("${target_name}" gtest gtest_main)
-
-  set_property(GLOBAL APPEND PROPERTY AIKIDO_TESTS "${target_name}")
-  format_add_sources(${ARGN})
-endfunction()
-
 #==============================================================================
 # Required Dependencies
 #
@@ -126,7 +111,7 @@ include(FindPkgConfig)
 
 find_package(Boost REQUIRED COMPONENTS filesystem)
 
-find_package(DART 6.6.0 REQUIRED
+find_package(DART 6.6.2 REQUIRED
   COMPONENTS optimizer-nlopt utils
   OPTIONAL_COMPONENTS utils-urdf # for 'perception' target
   CONFIG

cmake/CodeCoverage.cmake

@@ -35,6 +35,9 @@
 # - Added support for Clang.
 # - Some additional usage instructions.
 #
+# 2019-01-24, Brian Hou
+# - Added support for Codecov uploads.
+#
 # USAGE:
 
 # 0. (Mac only) If you use Xcode 5.1 make sure to patch geninfo as described here:
@@ -133,6 +136,8 @@ FUNCTION(SETUP_TARGET_FOR_COVERAGE _targetname _testrunner _outputname)
 	SET(coverage_info "${CMAKE_BINARY_DIR}/${_outputname}.info")
 	SET(coverage_cleaned "${coverage_info}.cleaned")
 
+	SET(codecov_script "${CMAKE_BINARY_DIR}/codecov.sh")
+
 	SEPARATE_ARGUMENTS(test_command UNIX_COMMAND "${_testrunner}")
 
 	# Setup target
@@ -148,6 +153,13 @@ FUNCTION(SETUP_TARGET_FOR_COVERAGE _targetname _testrunner _outputname)
 		COMMAND ${LCOV_PATH} --directory . --capture --output-file ${coverage_info}
 		COMMAND ${LCOV_PATH} --remove ${coverage_info} 'tests/*' '/usr/*' --output-file ${coverage_cleaned}
 		COMMAND ${GENHTML_PATH} -o ${_outputname} ${coverage_cleaned}
+
+		# Upload to Codecov (added by @brianhou)
+		COMMAND curl -s "https://codecov.io/bash" > ${codecov_script}
+		COMMAND chmod +x ${codecov_script}
+		COMMAND ${codecov_script} -X gcov -f ${coverage_cleaned}
+
+		# Clean up reports
 		COMMAND ${CMAKE_COMMAND} -E remove ${coverage_info} ${coverage_cleaned}
 
 		WORKING_DIRECTORY ${CMAKE_BINARY_DIR}

cmake/CompilerSettings.cmake

@@ -15,7 +15,9 @@ if(CMAKE_COMPILER_IS_GNUCXX)
     )
   endif()
 
-  set(AIKIDO_CXX_STANDARD_FLAGS -std=c++11)
+  # Adding -fext-numeric-literals based on
+  # https://svn.boost.org/trac10/ticket/9240.
+  set(AIKIDO_CXX_STANDARD_FLAGS -std=c++11 -fext-numeric-literals)
 
   add_compile_options(-Wall -Wextra -Wpedantic)
   if(TREAT_WARNINGS_AS_ERRORS)

include/aikido/constraint/dart/detail/JointStateSpaceHelpers-impl.hpp

@@ -19,8 +19,6 @@ namespace constraint {
 namespace dart {
 namespace detail {
 
-using ::dart::common::make_unique;
-
 //==============================================================================
 using JointStateSpaceTypeList
     = common::type_list<const statespace::dart::R0Joint,
@@ -69,15 +67,15 @@ std::unique_ptr<OutputConstraint> createBoxConstraint(
 
   if (properties.isPositionLimited())
   {
-    return make_unique<uniform::RBoxConstraint<N>>(
+    return ::dart::common::make_unique<uniform::RBoxConstraint<N>>(
         std::move(_stateSpace),
         std::move(_rng),
         properties.getPositionLowerLimits(),
         properties.getPositionUpperLimits());
   }
   else
   {
-    return make_unique<Satisfied>(std::move(_stateSpace));
+    return ::dart::common::make_unique<Satisfied>(std::move(_stateSpace));
   }
 }
 
@@ -135,7 +133,7 @@ struct createSampleableFor_impl<const statespace::dart::RJoint<N>>
 
     if (properties.isPositionLimited())
     {
-      return make_unique<uniform::RBoxConstraint<N>>(
+      return ::dart::common::make_unique<uniform::RBoxConstraint<N>>(
           std::move(_stateSpace),
           std::move(_rng),
           properties.getPositionLowerLimits(),
@@ -160,7 +158,7 @@ struct createDifferentiableFor_impl<const statespace::dart::SO2Joint>
     if (_stateSpace->getProperties().isPositionLimited())
       throw std::invalid_argument("SO2Joint must not have limits.");
 
-    return make_unique<Satisfied>(std::move(_stateSpace));
+    return ::dart::common::make_unique<Satisfied>(std::move(_stateSpace));
   }
 };
 
@@ -176,7 +174,7 @@ struct createTestableFor_impl<const statespace::dart::SO2Joint>
     if (_stateSpace->getProperties().isPositionLimited())
       throw std::invalid_argument("SO2Joint must not have limits.");
 
-    return make_unique<Satisfied>(std::move(_stateSpace));
+    return ::dart::common::make_unique<Satisfied>(std::move(_stateSpace));
   }
 };
 
@@ -192,7 +190,7 @@ struct createProjectableFor_impl<const statespace::dart::SO2Joint>
     if (_stateSpace->getProperties().isPositionLimited())
       throw std::invalid_argument("SO2Joint must not have limits.");
 
-    return make_unique<Satisfied>(std::move(_stateSpace));
+    return ::dart::common::make_unique<Satisfied>(std::move(_stateSpace));
   }
 };
 
@@ -209,7 +207,7 @@ struct createSampleableFor_impl<const statespace::dart::SO2Joint>
     if (_stateSpace->getProperties().isPositionLimited())
       throw std::invalid_argument("SO2Joint must not have limits.");
 
-    return make_unique<uniform::SO2UniformSampler>(
+    return ::dart::common::make_unique<uniform::SO2UniformSampler>(
         std::move(_stateSpace), std::move(_rng));
   }
 };
@@ -226,7 +224,7 @@ struct createDifferentiableFor_impl<const statespace::dart::SO3Joint>
     if (_stateSpace->getProperties().isPositionLimited())
       throw std::invalid_argument("SO3Joint must not have limits.");
 
-    return make_unique<Satisfied>(std::move(_stateSpace));
+    return ::dart::common::make_unique<Satisfied>(std::move(_stateSpace));
   }
 };
 
@@ -242,7 +240,7 @@ struct createTestableFor_impl<const statespace::dart::SO3Joint>
     if (_stateSpace->getProperties().isPositionLimited())
       throw std::invalid_argument("SO3Joint must not have limits.");
 
-    return make_unique<Satisfied>(std::move(_stateSpace));
+    return ::dart::common::make_unique<Satisfied>(std::move(_stateSpace));
   }
 };
 
@@ -258,7 +256,7 @@ struct createProjectableFor_impl<const statespace::dart::SO3Joint>
     if (_stateSpace->getProperties().isPositionLimited())
       throw std::invalid_argument("SO3Joint must not have limits.");
 
-    return make_unique<Satisfied>(std::move(_stateSpace));
+    return ::dart::common::make_unique<Satisfied>(std::move(_stateSpace));
   }
 };
 
@@ -275,7 +273,7 @@ struct createSampleableFor_impl<const statespace::dart::SO3Joint>
     if (_stateSpace->getProperties().isPositionLimited())
       throw std::invalid_argument("SO3Joint must not have limits.");
 
-    return make_unique<uniform::SO3UniformSampler>(
+    return ::dart::common::make_unique<uniform::SO3UniformSampler>(
         std::move(_stateSpace), std::move(_rng));
   }
 };
@@ -290,15 +288,15 @@ std::unique_ptr<OutputConstraint> createBoxConstraint(
 
   if (properties.isPositionLimited())
   {
-    return make_unique<uniform::SE2BoxConstraint>(
+    return ::dart::common::make_unique<uniform::SE2BoxConstraint>(
         std::move(_stateSpace),
         std::move(_rng),
         properties.getPositionLowerLimits().tail<2>(),
         properties.getPositionUpperLimits().tail<2>());
   }
   else
   {
-    return make_unique<Satisfied>(std::move(_stateSpace));
+    return ::dart::common::make_unique<Satisfied>(std::move(_stateSpace));
   }
 }
 
@@ -381,7 +379,7 @@ struct createSampleableFor_impl<const statespace::dart::SE2Joint>
     }
     else
     {
-      return make_unique<uniform::SE2BoxConstraint>(
+      return ::dart::common::make_unique<uniform::SE2BoxConstraint>(
           std::move(stateSpace),
           std::move(rng),
           properties.getPositionLowerLimits().tail<2>(),
@@ -451,7 +449,7 @@ std::unique_ptr<OutputConstraint> createBoxConstraint(
     std::shared_ptr<const statespace::dart::WeldJoint> _stateSpace,
     std::unique_ptr<common::RNG> /*_rng*/)
 {
-  return make_unique<Satisfied>(std::move(_stateSpace));
+  return ::dart::common::make_unique<Satisfied>(std::move(_stateSpace));
 }
 
 //==============================================================================
@@ -506,7 +504,7 @@ struct createSampleableFor_impl<const statespace::dart::WeldJoint>
     // A WeldJoint has zero DOFs
     Eigen::VectorXd positions = Eigen::Matrix<double, 0, 1>();
 
-    return make_unique<uniform::R0ConstantSampler>(
+    return ::dart::common::make_unique<uniform::R0ConstantSampler>(
         std::move(_stateSpace), positions);
   }
 };

include/aikido/constraint/uniform/SE2BoxConstraint.hpp

@@ -65,12 +65,12 @@ class SE2BoxConstraint : public constraint::Projectable,
 
   std::unique_ptr<common::RNG> mRng;
 
-  /// Lower limits on the state. The first element encodes the rotational limit
-  /// and the last two elements encode the translational limits.
+  /// Lower limits on the state. The first two elements encode the translational
+  /// limits and the last element encodes the rotational limit.
   Eigen::Vector3d mLowerLimits;
 
-  /// Upper limits on the state. The first element encodes the rotational limit
-  /// and the last two elements encode the translational limits.
+  /// Upper limits on the state. The first two elements encode the translational
+  /// limits and the last element encodes the rotational limit.
   Eigen::Vector3d mUpperLimits;
 
   // DOFs of joint that have limits, in this case translational DOFs.