Merge pull request #190 from NASA-Tensegrity-Robotics-Toolkit/Structu…

…reFileSpec

YAML Model Builder

.gitignore

@@ -24,6 +24,7 @@ src/.settings/org.eclipse.cdt.codan.core.prefs
 
 *~
 *#
+*.DS_Store
 
 *.pdfsync
 *.bbl

bin/setup/setup_yamlcpp.sh

@@ -0,0 +1,219 @@
+#!/bin/bash
+
+# Copyright © 2012, United States Government, as represented by the
+# Administrator of the National Aeronautics and Space Administration.
+# All rights reserved.
+#
+# The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
+# under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+# http://www.apache.org/licenses/LICENSE-2.0.
+#
+# Unless required by applicable law or agreed to in writing,
+# software distributed under the License is distributed on an
+# "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
+# either express or implied. See the License for the specific language
+# governing permissions and limitations under the License.
+
+# Purpose: YamlCPP setup
+# Date:    2015-12-12
+
+##############################################################################
+#                         START DO NOT MODIFY                                #
+##############################################################################
+SCRIPT_PATH="`dirname \"$0\"`"
+SCRIPT_PATH="`( cd \"$SCRIPT_PATH\" && pwd )`"
+##############################################################################
+#                          END DO NOT MODIFY                                 #
+##############################################################################
+
+# Add the relative path from this script to the helpers folder.
+pushd "${SCRIPT_PATH}/helpers/" > /dev/null
+
+##############################################################################
+#                         START DO NOT MODIFY                                #
+##############################################################################
+if [ ! -f "helper_functions.sh" ]; then
+    echo "Could not find helper_functions.sh. Are we in the bash helpers folder?"
+    exit 1;
+fi
+
+# Import our common files
+source "helper_functions.sh"
+source "helper_paths.sh"
+source "helper_definitions.sh"
+
+# Get out of the bash helpers folder.
+popd > /dev/null
+##############################################################################
+#                          END DO NOT MODIFY                                 #
+##############################################################################
+
+#Source this package's configuration
+source_conf "general.conf"
+source_conf "yamlcpp.conf"
+
+# Variables
+yamlcpp_pkg=`echo $YAMLCPP_URL|awk -F/ '{print $NF}'`  # get the package name from the url
+
+# Check to see if yamlcpp has been built already
+function check_yamlcpp_built()
+{
+    # Check for a library that's created when yamlcpp is built
+    fname=$(find "$YAMLCPP_BUILD_DIR" -iname libyaml-cpp* 2>/dev/null)
+    if [ -f "$fname" ]; then
+        return $TRUE
+    fi
+    return $FALSE
+}
+
+# Download the package to env/downloads
+function download_yamlcpp()
+{
+
+    yamlcpp_pkg_path="$DOWNLOADS_DIR/$yamlcpp_pkg"
+
+    if [ -f "$yamlcpp_pkg_path" ]; then
+        echo "- YamlCPP package already exists ('$yamlcpp_pkg_path') -- skipping download."
+        return
+    fi
+
+    echo "Downloading $yamlcpp_pkg to $yamlcpp_pkg_path"
+    download_file "$YAMLCPP_URL" "$yamlcpp_pkg_path"
+}
+
+# Unpack to the build directory specified in install.conf
+function unpack_yamlcpp()
+{
+    # Create directory and unpack
+    if check_directory_exists "$YAMLCPP_BUILD_DIR"; then
+        echo "- YamlCPP is already unpacked to '$YAMLCPP_BUILD_DIR' -- skipping."
+        return
+    fi
+
+    echo "Unpacking yamlcpp to $YAMLCPP_BUILD_DIR (this may take a minute...)"
+    # TODO: Do we need to remove the dir if it already exists?
+    create_directory_if_noexist $YAMLCPP_BUILD_DIR
+
+    # Unzip
+    pushd "$YAMLCPP_BUILD_DIR" > /dev/null
+    unzip "$DOWNLOADS_DIR/$yamlcpp_pkg" || { echo "- ERROR: Failed to unpack YamlCPP"; exit 1; }
+    mv yaml*/* .
+    popd > /dev/null
+}
+
+# Build the package under the build directory specified in in install.conf
+function build_yamlcpp()
+{
+
+    echo "- Building YamlCPP under $YAMLCPP_BUILD_DIR"
+    pushd "$YAMLCPP_BUILD_DIR" > /dev/null
+
+    # Perform the build
+    # If you turn double precision on, turn it on in inc.CMakeYamlCPP.txt as well for the NTRT build
+    "$ENV_DIR/bin/cmake" . -G "Unix Makefiles" \
+        -DBUILD_SHARED_LIBS=OFF \
+        -DBUILD_EXTRAS=ON \
+        -DCMAKE_INSTALL_PREFIX="$YAMLCPP_INSTALL_PREFIX" \
+        -DCMAKE_C_COMPILER="gcc" \
+        -DCMAKE_CXX_COMPILER="g++" \
+        -DCMAKE_C_FLAGS="-fPIC" \
+        -DCMAKE_CXX_FLAGS="-fPIC" \
+        -DCMAKE_EXE_LINKER_FLAGS="-fPIC" \
+        -DCMAKE_MODULE_LINKER_FLAGS="-fPIC" \
+        -DCMAKE_SHARED_LINKER_FLAGS="-fPIC" \
+        -DUSE_DOUBLE_PRECISION=OFF \
+        -DCMAKE_INSTALL_NAME_DIR="$YAMLCPP_INSTALL_PREFIX" || { echo "- ERROR: CMake for YamlCPP failed."; exit 1; }
+    #If you turn this on, turn it on in inc.CMakeYamlCPP.txt as well for the NTRT build
+    # Additional yamlcpp options:
+    # -DFRAMEWORK=ON
+    # -DBUILD_DEMOS=ON
+
+    make || { echo "- ERROR: YamlCPP build failed"; exit 1; }
+
+    popd > /dev/null
+}
+
+# Install the package under the package install prefix from install.conf
+function install_yamlcpp()
+{
+
+    echo "- Installing YamlCPP under $YAMLCPP_INSTALL_PREFIX"
+
+    pushd "$YAMLCPP_BUILD_DIR" > /dev/null
+
+    make install || { echo "Install failed -- maybe you need to use sudo when running setup?"; exit 1; }
+
+    popd > /dev/null
+}
+
+# Create symlinks under env for building our applications and IDE integration
+function env_link_yamlcpp()
+{
+
+    # Build
+    pushd "$ENV_DIR/build" > /dev/null
+    rm yamlcpp 2>/dev/null   # Note: this will fail if 'yamlcpp' is a directory, which is what we want.
+
+    # If we're building under env, use a relative path for the link; otherwise use an absolute one.
+    if str_contains "$YAMLCPP_BUILD_DIR" "$ENV_DIR"; then
+        current_pwd=`pwd`
+        rel_path=$(get_relative_path "$current_pwd" "$YAMLCPP_BUILD_DIR" )
+        create_exist_symlink "$rel_path" yamlcpp
+    else
+        create_exist_symlink "$YAMLCPP_BUILD_DIR" yamlcpp  # this links directly to the most recent build...
+    fi
+
+    popd > /dev/null
+
+}
+
+function main()
+{
+
+    ensure_install_prefix_writable $YAMLCPP_INSTALL_PREFIX
+
+    if check_package_installed "$YAMLCPP_INSTALL_PREFIX/lib/libyaml-cpp*"; then
+        echo "- YamlCPP is installed under prefix $YAMLCPP_INSTALL_PREFIX -- skipping."
+        env_link_yamlcpp
+        return
+    fi
+
+    if check_yamlcpp_built; then
+        echo "- YamlCPP is already built under $YAMLCPP_BUILD_DIR -- skipping."
+        install_yamlcpp
+        env_link_yamlcpp
+        return
+    fi
+
+    # @todo: add check yamlcpp patched
+
+    if check_file_exists "$YAMLCPP_PACKAGE_DIR/CMakeLists.txt"; then
+        echo "- YamlCPP is already unpacked to $YAMLCPP_BUILD_DIR -- skipping."
+        build_yamlcpp
+        install_yamlcpp
+        env_link_yamlcpp
+        return
+    fi
+
+    if check_file_exists "$DOWNLOADS_DIR/$yamlcpp_pkg"; then
+        echo "- YamlCPP package already exists under env/downloads -- skipping download."
+        unpack_yamlcpp
+        build_yamlcpp
+        install_yamlcpp
+        env_link_yamlcpp
+        return
+    fi
+
+    # If we haven't returned by now, we have to do everything
+    download_yamlcpp
+    unpack_yamlcpp
+    build_yamlcpp
+    install_yamlcpp
+    env_link_yamlcpp
+
+}
+
+
+main

conf/default/yamlcpp.conf.default

@@ -0,0 +1,42 @@
+#!/bin/bash
+
+# Copyright © 2012, United States Government, as represented by the
+# Administrator of the National Aeronautics and Space Administration.
+# All rights reserved.
+#
+# The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
+# under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+# http://www.apache.org/licenses/LICENSE-2.0.
+#
+# Unless required by applicable law or agreed to in writing,
+# software distributed under the License is distributed on an
+# "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
+# either express or implied. See the License for the specific language
+# governing permissions and limitations under the License.
+
+# Purpose: Define configuration directives for setup_yamlcpp.sh.
+# Date:    2015-12-12
+# Usage:   Copy/rename this file to '../yamlcpp.conf' and run setup.sh
+
+# YamlCPP installation prefix
+
+# Global install: /usr/local, env install: "$ENV_DIR"
+# By default, setup will download and install YamlCPP under your env directory.
+# If you have an existing YamlCPP install, you should change
+# YAMLCPP_INSTALL_PREFIX to what was used for installation (likely /usr/local).
+YAMLCPP_INSTALL_PREFIX="$ENV_DIR"
+
+# Location where YamlCPP is to be built if necessary, or where it was built if
+# you're using an existing package. This doesn't need to be set unless yamlcpp is
+# not already installed.
+YAMLCPP_BUILD_DIR="$ENV_DIR/build/yamlcpp_0_5_2"
+
+# This is the location where you unzipped the package (or, where it will
+# be unzipped if necessary).
+YAMLCPP_PACKAGE_DIR="$YAMLCPP_BUILD_DIR"
+
+# YAMLCPP_URL can be either a web address or a local file address,
+# e.g. http://url.com/for/yamlcpp.tgz or file:///path/to/yamlcpp.tgz
+YAMLCPP_URL="https://github.com/jbeder/yaml-cpp/archive/release-0.5.2.zip"

resources/YamlStructures/BaseStructures/3Prism.yaml

@@ -0,0 +1,47 @@
+nodes:
+  bottom1: [-5, 0, 0]
+  bottom2: [5, 0, 0]
+  bottom3: [0, 0, 8.66]
+
+  top1: [-5, 5, 0]
+  top2: [5, 5, 0]
+  top3: [0, 5, 8.66]
+
+pair_groups:
+  prism_rod:
+    - [bottom1, top2]
+    - [bottom2, top3]
+    - [bottom3, top1]
+
+  horizontal_string:
+    - [bottom1, bottom2]
+    - [bottom2, bottom3]
+    - [bottom1, bottom3]
+
+    - [top1, top2]
+    - [top2, top3]
+    - [top1, top3]
+
+  vertical_string:
+    - [bottom1, top1]
+    - [bottom2, top2]
+    - [bottom3, top3]
+
+builders:
+  prism_rod:
+    class: tgRodInfo
+    parameters:
+      density: 0.688
+      radius: 0.31
+  horizontal_string:
+    class: tgBasicActuatorInfo
+    parameters:
+      stiffness: 1000
+      damping: 10
+      pretension: 3000
+  vertical_string:
+    class: tgBasicActuatorInfo
+    parameters:
+      stiffness: 1000
+      damping: 10
+      pretension: 1000

resources/YamlStructures/BaseStructures/3PrismSymmetric.yaml

@@ -0,0 +1,40 @@
+nodes:
+  bottom1: [-5, 0, 0]
+  bottom2: [5, 0, 0]
+  bottom3: [0, 0, 8.66]
+
+  top1: [-5, 5, 0]
+  top2: [5, 5, 0]
+  top3: [0, 5, 8.66]
+
+pair_groups:
+  prism_rod:
+    - [bottom1, top2]
+    - [bottom2, top3]
+    - [bottom3, top1]
+
+  prism_string:
+    - [bottom1, bottom2]
+    - [bottom2, bottom3]
+    - [bottom1, bottom3]
+
+    - [top1, top2]
+    - [top2, top3]
+    - [top1, top3]
+
+    - [bottom1, top1]
+    - [bottom2, top2]
+    - [bottom3, top3]
+
+builders:
+  prism_rod:
+    class: tgRodInfo
+    parameters:
+      density: 0.688
+      radius: 0.31
+  prism_string:
+    class: tgBasicActuatorInfo
+    parameters:
+      stiffness: 1000
+      damping: 10
+      pretension: 1000