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iDynUtils is an utility library to model and control robots with YARP bindings using iDynTree

License: GNU Lesser General Public License v3.0

CMake 3.78% C++ 95.84% Python 0.38%

idynutils's People

Contributors

alessandrosettimi avatar arocchi avatar corradopav avatar drdanz avatar duncanjovial avatar enricomingo avatar federicomoro avatar iitkryczka avatar iml-shared avatar kjyv avatar liesrock avatar luca-tardioli avatar mirkoferrati avatar valeriovarricchio avatar

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kjyv twoton

idynutils's Issues

collisions utils

There is still some work to do wrt collisions utils:

  • move loadACMFromSRDF into collision_utils - we could make multiple versions of this function, one accepting an srdf model and an acm, one accepting an srdf filename and an acm
  • add a broad phase on the collision detection (using AABBs)
  • tests for collision_utils:
    • check distance computation with ad-hoc distance computation for capsules
    • verify correctness of minimum distance points by verifying that the distance between them is the correct minimum distance
    • verify correctness of minimum distance points by verifying they lay on the surface of the capsule they belong to
    • check timings between ad-hoc and FCL distance computation
    • check timings for distance computation with and without closest points query
    • check timings of AABB vs capsule-capsule distance query (no closest points check)
    • compatibility with Ubuntu 12.04 and older FCL, or disabling for older FCL versions (conditional compilation), since tests don't pass with FCL version 2.8 (we need at least FCL 3)

C++11 support required by collision_utils

Trying to setup @duncanjovial desktop I find this error wile trying to compile collision_utils:

In file included from /usr/include/c++/4.8/cstdint:35:0,
                 from /home/juancastano/robotology-superbuild/build/install/include/fcl/data_types.h:42,
                 from /home/juancastano/robotology-superbuild/build/install/include/fcl/math/vec_3f.h:42,
                 from /home/juancastano/robotology-superbuild/build/install/include/fcl/BV/AABB.h:42,
                 from /home/juancastano/robotology-superbuild/build/install/include/fcl/collision_object.h:43,
                 from /home/juancastano/robotology-superbuild/build/install/include/fcl/broadphase/broadphase.h:43,
                 from /opt/ros/indigo/include/moveit/collision_detection_fcl/collision_common.h:43,
                 from /opt/ros/indigo/include/moveit/collision_detection_fcl/collision_robot_fcl.h:40,
                 from /opt/ros/indigo/include/moveit/collision_detection_fcl/collision_world_fcl.h:40,
                 from /home/juancastano/robotology-superbuild/external/idynutils/include/idynutils/idynutils.h:30,
                 from /home/juancastano/robotology-superbuild/external/idynutils/include/idynutils/collision_utils.h:24,
                 from /home/juancastano/robotology-superbuild/external/idynutils/src/collision_utils.cpp:2:
/usr/include/c++/4.8/bits/c++0x_warning.h:32:2: error: #error This file requires compiler and library support for the ISO C++ 2011 standard. This support is currently experimental, and must be enabled with the -std=c++11 or -std=gnu++11 compiler options.
 #error This file requires compiler and library support for the \

Can you add the C++11 support?

Ubuntu 16.04

Hi all.
I can't get to compile idynutils in the superbuild on ubuntu 16.04, with ros-kinetic installed.
I have the following error:

danilo@walkmanbox:~/projects/robotology-superbuild/build/external/idynutils$ make
[ 34%] Built target idynutils
[ 42%] Built target _pydynutils
[ 42%] Built target copy_robot_data_files
[ 63%] Built target GTest-ext
Scanning dependencies of target RobotUtilsTest
[ 65%] Linking CXX executable ../bin/RobotUtilsTest
/usr/bin/ld: cannot find -loctomap
/usr/bin/ld: cannot find -loctomath
collect2: error: ld returned 1 exit status
tests/CMakeFiles/RobotUtilsTest.dir/build.make:507: recipe for target 'bin/RobotUtilsTest' failed
make[2]: *** [bin/RobotUtilsTest] Error 1
CMakeFiles/Makefile2:2319: recipe for target 'tests/CMakeFiles/RobotUtilsTest.dir/all' failed
make[1]: *** [tests/CMakeFiles/RobotUtilsTest.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
danilo@walkmanbox:~/projects/robotology-superbuild/build/external/idynutils$

I installed ros-kinetic-octomap* but does not solve the issue.

Thanks for you support.

Danilo

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