Remove unused MATLAB-only external dependencies

RobotLocomotion · Jun 28, 2017 · e1117b5 · e1117b5
1 parent 52ff428
commit e1117b5
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diff --git a/.gitmodules b/.gitmodules
@@ -13,15 +13,9 @@
 [submodule "externals/libbot"]
 	path = externals/libbot
 	url = https://github.com/RobotLocomotion/libbot2.git
-[submodule "externals/spotless"]
-	path = externals/spotless
-	url = https://github.com/RobotLocomotion/spotless-pod.git
 [submodule "externals/director"]
 	path = externals/director
 	url = https://github.com/RobotLocomotion/director.git
-[submodule "externals/signalscope"]
-	path = externals/signalscope
-	url = https://github.com/mitdrc/signal-scope.git
 [submodule "externals/octomap"]
 	path = externals/octomap
 	url = https://github.com/OctoMap/octomap.git
@@ -34,24 +28,6 @@
 [submodule "externals/mosek"]
 	path = externals/mosek
 	url = https://github.com/RobotLocomotion/mosek.git
-[submodule "externals/iris"]
-	path = externals/iris
-	url = https://github.com/rdeits/iris-distro.git
-[submodule "externals/yalmip"]
-	path = externals/yalmip
-	url = https://github.com/RobotLocomotion/yalmip.git
-[submodule "externals/sedumi"]
-	path = externals/sedumi
-	url = https://github.com/RobotLocomotion/sedumi.git
-[submodule "externals/avl"]
-	path = externals/avl
-	url = https://github.com/RobotLocomotion/avl.git
-[submodule "externals/xfoil"]
-	path = externals/xfoil
-	url = https://github.com/RobotLocomotion/xfoil.git
-[submodule "externals/meshconverters"]
-	path = externals/meshconverters
-	url = https://github.com/RobotLocomotion/meshConverters.git
 [submodule "externals/yaml_cpp"]
 	path = externals/yaml_cpp
 	url = https://github.com/jbeder/yaml-cpp.git

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -20,13 +20,7 @@ drake_setup_options()
 # BEGIN external projects
 
 # External projects in order of dependencies; 'trivial' ones first
-drake_add_external(avl PUBLIC CMAKE FORTRAN)
-drake_add_external(meshconverters PUBLIC CMAKE)
 drake_add_external(qt_property_browser CMAKE QT)
-drake_add_external(sedumi PUBLIC CMAKE MATLAB)
-drake_add_external(spotless PUBLIC CMAKE MATLAB)
-drake_add_external(xfoil PUBLIC CMAKE FORTRAN)
-drake_add_external(yalmip PUBLIC CMAKE MATLAB)
 
 # eigen
 # N.B. See #5785; do your best not to have to bump this to a newer commit.
@@ -210,20 +204,6 @@ drake_add_external(yaml_cpp PUBLIC CMAKE
 drake_add_external(ctk_python_console CMAKE PYTHON QT
   DEPENDS pythonqt)
 
-# iris
-drake_add_external(iris PUBLIC CMAKE MATLAB PYTHON
-  CMAKE_ARGS
-    -DBUILD_TESTING=OFF
-    -DIRIS_WITH_CDD=ON
-    -DIRIS_WITH_EIGEN=OFF
-    -DIRIS_WITH_MATLAB=${Matlab_FOUND}
-    -DIRIS_WITH_MOSEK=OFF
-    -DIRIS_WITH_PYBIND11=OFF
-    -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
-    -DPYTHON_INCLUDE_DIR=${PYTHON_INCLUDE_DIR}
-    -DPYTHON_LIBRARY=${PYTHON_LIBRARY}
-  DEPENDS eigen mosek pybind11)
-
 # ignition_math
 drake_add_external(ignition_math PUBLIC CMAKE
   URL https://bitbucket.org/ignitionrobotics/ign-math/get/ignition-math3_3.2.0.tar.gz
@@ -264,10 +244,6 @@ drake_add_external(bot_core_lcmtypes PUBLIC CMAKE PYTHON
 drake_add_external(robotlocomotion_lcmtypes PUBLIC CMAKE PYTHON
   DEPENDS bot_core_lcmtypes lcm)
 
-# signalscope
-drake_add_external(signalscope PUBLIC CMAKE PYTHON QT
-  DEPENDS ctk_python_console lcm pythonqt)
-
 # Option to skip building drake proper via the superbuild. This allows the
 # superbuild to build everything BUT drake, which can still be built separately
 # from its build directory. This is used by the dashboards to make separate
@@ -287,7 +263,6 @@ drake_add_external(drake LOCAL PUBLIC CMAKE ALWAYS MATLAB PYTHON VTK
     -DDISABLE_MATLAB:BOOL=${DISABLE_MATLAB}
     -DDISABLE_PYTHON:BOOL=${DISABLE_PYTHON}
     -DDISABLE_FORTRAN:BOOL=${DISABLE_FORTRAN}
-    -DWITH_AVL:BOOL=${WITH_AVL}
     -DWITH_BOT_CORE_LCMTYPES:BOOL=${WITH_BOT_CORE_LCMTYPES}
     -DWITH_BULLET:BOOL=${WITH_BULLET}
     -DWITH_CCD:BOOL=${WITH_CCD}
@@ -300,33 +275,25 @@ drake_add_external(drake LOCAL PUBLIC CMAKE ALWAYS MATLAB PYTHON VTK
     -DWITH_IGNITION_MATH3:BOOL=${WITH_IGNITION_MATH}  # TODO(jamiesnape): Fix naming inconsistency
     -DWITH_IGNITION_RNDF0:BOOL=${WITH_IGNITION_RNDF}  # TODO(jamiesnape): Fix naming inconsistency
     -DWITH_IPOPT:BOOL=${WITH_IPOPT}
-    -DWITH_IRIS:BOOL=${WITH_IRIS}
     -DWITH_LCM:BOOL=${WITH_LCM}
     -DWITH_LIBBOT:BOOL=${WITH_LIBBOT}
-    -DWITH_MESHCONVERTERS:BOOL=${WITH_MESHCONVERTERS}
     -DWITH_MOSEK:BOOL=${WITH_MOSEK}
     -DWITH_NLOPT:BOOL=${WITH_NLOPT}
     -DWITH_OCTOMAP:BOOL=${WITH_OCTOMAP}
     -DWITH_PROTOBUF:BOOL=${WITH_PROTOBUF}
     -DWITH_PYBIND11:BOOL=${WITH_PYBIND11}
     -DWITH_PYTHON_3:BOOL=${WITH_PYTHON_3}
-    -DWITH_SEDUMI:BOOL=${WITH_SEDUMI}
-    -DWITH_SIGNALSCOPE:BOOL=${WITH_SIGNALSCOPE}
     -DWITH_SNOPT:BOOL=${WITH_SNOPT}
     -DWITH_SPDLOG:BOOL=${WITH_SPDLOG}
-    -DWITH_SPOTLESS:BOOL=${WITH_SPOTLESS}
     -DWITH_TEXTBOOK:BOOL=${WITH_TEXTBOOK}
     -DWITH_TINYOBJLOADER:BOOL=${WITH_TINYOBJLOADER}
-    -DWITH_XFOIL:BOOL=${WITH_XFOIL}
-    -DWITH_YALMIP:BOOL=${WITH_YALMIP}
     -DWITH_YAML_CPP:BOOL=${WITH_YAML_CPP}
     -DUSE_CLANG_TIDY:BOOL=${USE_CLANG_TIDY}
     -DUSE_INCLUDE_WHAT_YOU_USE:BOOL=${USE_INCLUDE_WHAT_YOU_USE}
     -DUSE_LINK_WHAT_YOU_USE:BOOL=${USE_LINK_WHAT_YOU_USE}
     -DUSE_SANITIZER:STRING=${USE_SANITIZER}
     -DUSE_VALGRIND:STRING=${USE_VALGRIND}
   DEPENDS
-    avl
     bot_core_lcmtypes
     bullet
     ccd
@@ -340,25 +307,19 @@ drake_add_external(drake LOCAL PUBLIC CMAKE ALWAYS MATLAB PYTHON VTK
     ignition-math
     ignition-rndf
     ipopt
-    iris
     lcm
     libbot
-    meshconverters
     mosek
     nlopt
     octomap
     protobuf
     pybind11
     robotlocomotion_lcmtypes
-    sedumi
     snopt
     spdlog
-    spotless
     textbook
     tinyobjloader
     vtk
-    xfoil
-    yalmip
     yaml_cpp
 )
 

diff --git a/cmake/options.cmake b/cmake/options.cmake
@@ -317,60 +317,21 @@ macro(drake_setup_options)
 
   # END external projects that are ON by default
   #~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-  # BEGIN external projects that are only needed when MATLAB is in use
-
-  # The following projects are default ON when MATLAB is present and enabled.
-  # Otherwise, they are hidden and default OFF.
-  drake_optional_external(SEDUMI ON
-    DEPENDS "NOT DISABLE_MATLAB\;Matlab_FOUND"
-    "semi-definite programming solver")
-
-  drake_optional_external(SPOTLESS ON
-    DEPENDS "NOT DISABLE_MATLAB\;Matlab_FOUND"
-    "polynomial optimization front-end for MATLAB")
-
-  # The following projects are default OFF when MATLAB is present and enabled.
-  # Otherwise, they are hidden and default OFF. Some of them may also be hidden
-  # on Windows regardless of the status of MATLAB.
-  drake_optional_external(YALMIP OFF
-    DEPENDS "NOT DISABLE_MATLAB\;Matlab_FOUND"
-    "free optimization front-end for MATLAB")
-
-  # END external projects that are only needed when MATLAB is in use
-  #~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   # BEGIN external projects that are OFF by default
 
-  drake_optional_external(AVL OFF
-    DEPENDS "NOT DISABLE_FORTRAN"
-    "use w/ AVL to compute aerodynamic coefficients for airfoils")
-
   drake_optional_external(GUROBI OFF
     "Convex/integer optimization solver\; free for academics")
 
-  drake_optional_external(IRIS OFF
-    DEPENDS "WITH_MOSEK"
-    "fast approximate convex segmentation")
-
-  drake_optional_external(MESHCONVERTERS OFF
-    "uses vcglib to convert a few standard filetypes")
-
   drake_optional_external(MOSEK OFF
     "Convex optimization solver\; free for academics")
 
-  drake_optional_external(SIGNALSCOPE OFF
-    "Live plotting tool for LCM messages")
-
   drake_optional_external(SNOPT OFF
     "Sparse Non-linear Optimizer\;"
     "requires access to RobotLocomotion/snopt-pod")
 
   drake_optional_external(TEXTBOOK OFF
     "The Underactuated Robotics textbook and its examples")
 
-  drake_optional_external(XFOIL OFF
-    DEPENDS "NOT DISABLE_FORTRAN"
-    "use w/ XFOIL to compute aerodynamic coefficients for airfoils")
-
   # END external projects that are OFF by default
   #~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   # BEGIN indirectly optional external projects

diff --git a/cmake/packages.cmake b/cmake/packages.cmake
@@ -156,7 +156,6 @@ macro(drake_find_packages)
   #~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   # BEGIN optional packages
 
-  drake_find_package(avl CONFIG)
   drake_find_package(bot2-core CONFIG)
   drake_find_package(bot2-lcmgl-client PKG_CONFIG)
   drake_find_package(Bullet MODULE)
@@ -167,7 +166,6 @@ macro(drake_find_packages)
   drake_find_package(ignition-rndf0 CONFIG)
   drake_find_package(ipopt PKG_CONFIG)
   drake_find_package(lcm CONFIG)
-  drake_find_package(meshconverters CONFIG)
   drake_find_package(mosek CONFIG)
   drake_find_package(NLopt CONFIG)
   drake_find_package(octomap CONFIG)
@@ -176,7 +174,6 @@ macro(drake_find_packages)
   drake_find_package(snopt CONFIG)
   drake_find_package(spdlog CONFIG)
   drake_find_package(VTK CONFIG)
-  drake_find_package(xfoil CONFIG)
   drake_find_package(yaml-cpp CONFIG)
 
   # END optional packages

diff --git a/drake/addpath_drake.m b/drake/addpath_drake.m
@@ -25,21 +25,6 @@
 end
 
 % add package directories to the matlab path
-addpath(fullfile(root,'matlab','systems'));
-addpath(fullfile(root,'matlab','systems','plants'));
-addpath(fullfile(root,'matlab','systems','plants','collision'));
-addpath(fullfile(root,'matlab','systems','plants','constraint'));
-addpath(fullfile(root,'matlab','systems','controllers'));
-addpath(fullfile(root,'matlab','systems','observers'));
-addpath(fullfile(root,'matlab','systems','trajectories'));
-addpath(fullfile(root,'matlab','systems','trajectories','TrajectoryLibraries'));
-addpath(fullfile(root,'matlab','systems','trajectories','FunnelLibraries'));
-addpath(fullfile(root,'matlab','systems','frames'));
-addpath(fullfile(root,'matlab','systems','visualizers'));
-addpath(fullfile(root,'matlab','systems','robotInterfaces'));
-addpath(fullfile(root,'matlab','systems','robotInterfaces','calibration'));
-addpath(fullfile(root,'matlab','solvers'));
-addpath(fullfile(root,'matlab','solvers','trajectoryOptimization'));
 addpath(fullfile(root,'thirdParty'));
 addpath(fullfile(root,'thirdParty','bsd'));
 addpath(fullfile(root,'thirdParty','bsd','arrow3d'));

diff --git a/drake/matlab/CMakeLists.txt b/drake/matlab/CMakeLists.txt
@@ -18,23 +18,6 @@ install(FILES
   "${CMAKE_CURRENT_BINARY_DIR}/drake_get_lib_path.m"
   DESTINATION matlab)
 
-find_program(FFMPEG_EXECUTABLE NAMES ffmpeg avconv
-  DOC "Path to the ffmpeg executable")
-
-if(avl_FOUND)
-  # Needs to be in cache to keep MATLAB happy. AVL_EXECUTABLE is set by
-  # find_package(avl).
-  set(AVL_EXECUTABLE "${AVL_EXECUTABLE}"
-    CACHE FILEPATH "Path to the avl executable")
-endif()
-
-if(xfoil_FOUND)
-  # Needs to be in cache to keep MATLAB happy. XFOIL_EXECUTABLE is set by
-  # find_package(xfoil).
-  set(XFOIL_EXECUTABLE "${XFOIL_EXECUTABLE}"
-    CACHE FILEPATH "Path to the xfoil executable")
-endif()
-
 if(lcm_FOUND)
   # Needs to be in cache to keep MATLAB happy. The target lcm-java is imported
   # by find_package(lcm).
@@ -52,27 +35,19 @@ if(BUILD_TESTING)
 
   drake_add_matlab_addpath_test(gurobi)
   drake_add_matlab_addpath_test(mosek)
-  drake_add_matlab_addpath_test(sedumi)
   drake_add_matlab_addpath_test(snopt)
-  drake_add_matlab_addpath_test(spotless)
-  drake_add_matlab_addpath_test(yalmip)
 
   function(drake_add_matlab_check_dependency_test dependency)
     drake_add_matlab_test(NAME matlab/check_dependency_${dependency}
       REQUIRES ${dependency} COMMAND "checkDependency('${dependency}')"
       CHECK_DEPENDENCY_STRICT SIZE small)
   endfunction()
 
-  drake_add_matlab_check_dependency_test(avl)
   drake_add_matlab_check_dependency_test(bullet)
   drake_add_matlab_check_dependency_test(gurobi)
-  drake_add_matlab_check_dependency_test(iris)
   drake_add_matlab_check_dependency_test(lcm)
   drake_add_matlab_check_dependency_test(mosek)
-  drake_add_matlab_check_dependency_test(sedumi)
   drake_add_matlab_check_dependency_test(snopt)
-  drake_add_matlab_check_dependency_test(spotless)
-  drake_add_matlab_check_dependency_test(xfoil)
 
   # Unknown dependency.
   drake_add_matlab_test(NAME matlab/check_dependency_unknown
@@ -91,12 +66,10 @@ if(BUILD_TESTING)
 
   # TODO(jamiesnape): These would still pass if MATLAB fails for a reason
   # other than a missing dependency.
-  drake_add_matlab_check_dependency_test_no(avl)
   drake_add_matlab_check_dependency_test_no(gurobi)
   drake_add_matlab_check_dependency_test_no(lcm)
   drake_add_matlab_check_dependency_test_no(mosek)
   drake_add_matlab_check_dependency_test_no(snopt)
-  drake_add_matlab_check_dependency_test_no(xfoil)
 
   if(NOT Bullet_FOUND)
     drake_add_matlab_test(NAME matlab/check_dependency_no_bullet
@@ -105,16 +78,6 @@ if(BUILD_TESTING)
       PROPERTIES WILL_FAIL ON)
   endif()
 
-  if(FFMPEG_EXECUTABLE)
-    drake_add_matlab_test(NAME matlab/check_dependency_ffmpeg
-      COMMAND "checkDependency('ffmpeg')" CHECK_DEPENDENCY_STRICT SIZE small)
-  else()
-    drake_add_matlab_test(NAME matlab/check_dependency_no_ffmpeg
-      COMMAND "checkDependency('ffmpeg')" CHECK_DEPENDENCY_STRICT SIZE small)
-    set_tests_properties(matlab/check_dependency_no_ffmpeg
-      PROPERTIES WILL_FAIL ON)
-  endif()
-
   if(Matlab_SIMULINK_FOUND)
     drake_add_matlab_test(NAME matlab/check_dependency_simulink
       COMMAND "checkDependency('simulink')" CHECK_DEPENDENCY_STRICT

diff --git a/drake/matlab/util/CMakeLists.txt b/drake/matlab/util/CMakeLists.txt
@@ -52,52 +52,6 @@ if(Matlab_FOUND)
   endif()
 endif()
 
-# Mex debugging tools:
-if(0)
-  drake_add_mex(drake_debug_mex EXECUTABLE drakeDebugMex.cpp)
-  target_link_libraries(drake_debug_mex drakeMexUtil)
-
-  message(STATUS "Writing drake_debug_mex.sh")
-  file(WRITE ${CMAKE_BINARY_DIR}/bin/drake_debug_mex.sh
-    "#!/bin/bash\n"
-    "\n"
-    "# Usage:\n"
-    "#   % drake_debug_mex.sh [args]\n"
-    "# will set up the environment and then run:\n"
-    "#   % args drake-debug-mex\n"
-    "#\n"
-    "# For example,\n"
-    "#   % drake_debug_mex.sh\n"
-    "# will simply run the executable,\n"
-    "#   % drake_debug_mex.sh gdb\n"
-    "# will run gdb on drake-debug-mex, and\n"
-    "#   % drake_debug_mex.sh valgrind --leak-check=full --dsymutil=yes --track-origins=yes --xml=yes\n"
-    "# will run valgrind with the appropriate arguments passed in.\n"
-    "#\n"
-    "# It's not pretty, but seems to work for the use\n"
-    "# cases I've imagined so far. - RussT\n"
-    "\n")
-
-  if(APPLE)
-    file(APPEND ${CMAKE_BINARY_DIR}/bin/drake_debug_mex.sh
-      "export DYLD_LIBRARY_PATH=$DYLD_LIBRARY_PATH:${MATLAB_ROOT}/bin/${MATLAB_CPU}\n"
-      "export DYLD_FORCE_FLAT_NAMESPACE=1\n"
-      "export DYLD_INSERT_LIBRARIES=${CMAKE_BINARY_DIR}/lib/libdebugMex.dylib\n")
-  else()
-    file(APPEND ${CMAKE_BINARY_DIR}/bin/drake_debug_mex.sh
-      "export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${MATLAB_ROOT}/bin/${MATLAB_CPU}\n"
-      "export LD_PRELOAD=${CMAKE_BINARY_DIR}/lib/libdebugMex.so\n")
-  endif()
-
-  file(APPEND ${CMAKE_BINARY_DIR}/bin/drake_debug_mex.sh
-    "\n"
-    "\"\$@\" ${CMAKE_BINARY_DIR}/bin/drake_debug_mex\n")
-
-  install(FILES ${CMAKE_BINARY_DIR}/bin/drake_debug_mex.sh
-    DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
-    PERMISSIONS OWNER_READ OWNER_EXECUTE GROUP_READ GROUP_EXECUTE WORLD_READ WORLD_EXECUTE)
-endif()
-
 add_subdirectory(geometry/test)
 
 if(BUILD_TESTING)