Feature/cmake

.gitignore

@@ -3,6 +3,9 @@ CMakeCache.txt
 *.cmake
 !clang-cxx-dev-tools.cmake
 !compilerSettings.cmake
+!FindIPOPT.cmake
+!Findblasfeo.cmake
+!Findhpipm.cmake
 *.a
 *.o
 *.so
@@ -26,3 +29,6 @@ solution.mat
 .settings/
 *.aux
 *.doc*
+*.vscode
+
+*/build/*

.travis.yml

@@ -21,25 +21,32 @@ env:
 
 ################################################################################
 
-# Install system dependencies, namely a very barebones ROS setup.
 before_install:
-   #install lapack
-  - sudo apt-get update
-  - sudo apt-get install liblapack-dev
-  - sudo apt-get install libeigen3-dev
+
+   #install gtest
+  - sudo apt-get update                     >/dev/null # suppress output
+  - sudo apt-get install cmake              >/dev/null # suppress output
+  - sudo apt install libgtest-dev           >/dev/null # suppress output
+  - cd /usr/src/gtest/                      >/dev/null # suppress output
+  - sudo mkdir build && cd build            >/dev/null # suppress output
+  - sudo cmake .. -DBUILD_SHARED_LIBS=ON    >/dev/null # suppress output
+  - sudo make                               >/dev/null # suppress output
+  - sudo cp *.so /usr/lib                   >/dev/null # suppress output
+  - cd ~/                                   >/dev/null # suppress output
+
    #install ros kinetic
-  - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
-  - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
-  - sudo apt-get update
-  - sudo apt-get install python-catkin-tools
-  - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
-  - sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
-  - sudo apt-get update -qq
-  - sudo apt-get install -y ros-$ROS_DISTRO-ros-base
-  - source /opt/ros/$ROS_DISTRO/setup.bash
+  - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'  >/dev/null # suppress output
+  - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -   >/dev/null # suppress output
+  - sudo apt-get update   >/dev/null # suppress output
+  - sudo apt-get install python-catkin-tools  >/dev/null # suppress output
+  - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"  >/dev/null # suppress output
+  - sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116  >/dev/null # suppress output
+  - sudo apt-get update   >/dev/null # suppress output
+  - sudo apt-get install -y python-catkin-pkg python-rosdep ros-$ROS_DISTRO-ros-base  >/dev/null # suppress output
+  - source /opt/ros/$ROS_DISTRO/setup.bash  >/dev/null # suppress output
   # Prepare rosdep to install dependencies.
-  - sudo rosdep init
-  - rosdep update
+  - sudo rosdep init  >/dev/null # suppress output
+  - rosdep update  >/dev/null # suppress output
 
 # Create a catkin workspace with the package under integration.
 install:
@@ -49,7 +56,14 @@ install:
   # Add the package under integration to the workspace using a symlink.
   - cd ~/catkin_ws/src
   - ln -s $CI_SOURCE_PATH .
+
+  #install deb-packaged dependencies
+  - cd ~/catkin_ws/src/control-toolbox/ct
+  - chmod 775 install_deps.sh
+  - ./install_deps.sh   >/dev/null # suppress output
+
   #install kindr
+  - cd ~/catkin_ws/src/
   - git clone https://github.com/ANYbotics/kindr.git
 
 # Install all dependencies, using wstool first and rosdep second.
@@ -67,7 +81,19 @@ script:
   - source /opt/ros/$ROS_DISTRO/setup.bash
   - cd ~/catkin_ws
   - catkin clean --all
-  - catkin build -DCMAKE_BUILD_TYPE=Release
+  - catkin config --blacklist ct_doc
+  - catkin build -DBUILD_TESTS=true -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-w"
   # Run the tests, ensuring the path is set correctly.
+  # we do not want to run the kindr tests
+  - catkin config --blacklist kindr
+  # run unit tests
   - source devel/setup.bash
-  - catkin run_tests && catkin_test_results
+  - cd ~/catkin_ws/src/control-toolbox/ct_core
+  - catkin run_tests --this --no-deps >/dev/null # suppress output
+  - cd ~/catkin_ws/src/control-toolbox/ct_optcon
+  - catkin run_tests --this --no-deps >/dev/null # suppress output
+  - cd ~/catkin_ws/src/control-toolbox/ct_rbd
+  - catkin run_tests --this --no-deps >/dev/null # suppress output
+  - cd ~/catkin_ws/src/control-toolbox/ct_models
+  - catkin run_tests --this --no-deps >/dev/null # suppress output
+  - catkin_test_results

README.md

@@ -1,5 +1,5 @@
 # Control Toolbox
-![Travis (.org) branch](https://img.shields.io/travis/ethz-adrl/control-toolbox/3.0.0.svg?style=popout-square)
+![Travis (.org) branch](https://img.shields.io/travis/ethz-adrl/control-toolbox/3.0.1.svg?style=popout-square)
 ![GitHub top language](https://img.shields.io/github/languages/top/ethz-adrl/control-toolbox.svg?style=social)
 ![GitHub](https://img.shields.io/github/license/ethz-adrl/control-toolbox.svg?style=social)
 

ct/CMakeLists.txt

@@ -1,7 +1,5 @@
-cmake_minimum_required(VERSION 2.6)
-project(ct)
-find_package(catkin REQUIRED)
-catkin_metapackage()
+cmake_minimum_required(VERSION 3.3)
+project(ct VERSION 3.0.1 LANGUAGES CXX)
 
 #Make sure metapackage does not fail when building documentation
 add_custom_target(doc
@@ -10,8 +8,4 @@ add_custom_target(doc
 
 add_custom_target(clang-format
         COMMAND ${CMAKE_COMMAND} -E echo_append "Running clang-format on CT..."
-        VERBATIM)
-
-add_custom_target(clang-tidy
-        COMMAND ${CMAKE_COMMAND} -E echo_append "Running clang-tidy on CT..."
-        VERBATIM)    
+        VERBATIM)

ct/build_ct.sh

@@ -0,0 +1,56 @@
+#!/bin/bash
+
+build_module(){
+# if module directory exists
+if [ -d "../$1" ]; then  
+
+  echo " === Starting module " $1 " === "
+  # go to that module
+  cd ../$1  
+  echo "Current directory is " $PWD
+
+  # collect array of all args, remove first arg because that is equal to the module to be built
+  build_flags=( "$@" )
+  unset build_flags[0]
+
+  # make and go to build directory
+  mkdir -p build && cd build
+
+  echo "Building with the following flags ... "
+  printf '%s\n' "${build_flags[@]}"
+
+  cmake .. ${build_flags[*]}
+  make -j4
+  sudo make install  >/dev/null
+  cd ..
+  echo " === completed " $1 " === "
+else
+    echo "ERROR: an error occurred during building or installing. Try building manually."
+    exit 1
+fi
+}
+
+## get current folder and make sure it is *ct*
+curr_folder=${PWD##*/}
+if [ $curr_folder != "ct" ]; then
+    echo "ERROR: you need to start the installer from the control-toolbox/ct directory."
+    exit 1
+fi
+
+# check number of user input args
+# no args
+if [ -z "$1" ] 
+  then
+    echo "No build flags supplied, using -DCMAKE_BUILD_TYPE=Release"
+    BUILD_FLAGS="-DCMAKE_BUILD_TYPE=Release"
+else 
+  # entire user input is interpreted as build flags
+  BUILD_FLAGS="$@"
+fi
+
+build_module ct_core $BUILD_FLAGS 
+build_module ct_optcon $BUILD_FLAGS
+build_module ct_rbd $BUILD_FLAGS 
+build_module ct_models $BUILD_FLAGS
+
+exit 0

ct/build_doc.sh

@@ -0,0 +1,39 @@
+#!/bin/bash
+
+build_doc(){
+# if module directory exists
+if [ -d "../$1" ]; then  
+
+  echo " === Starting doc for module " $1 " === "
+  # go to that module
+  cd ../$1  
+  echo "Current directory is " $PWD
+
+  # make and go to build directory
+  mkdir -p build && cd build
+
+  cmake .. 
+  make doc
+  cd ..
+  echo " === completed doc for " $1 "."
+else
+    echo "ERROR: an error occurred during building the doc."
+    exit 1
+fi
+}
+
+## get current folder and make sure it is *ct*
+curr_folder=${PWD##*/}
+if [ $curr_folder != "ct" ]; then
+    echo "ERROR: you need to start the doc build from the control-toolbox/ct directory."
+    exit 1
+fi
+
+
+build_doc ct_core 
+build_doc ct_optcon
+build_doc ct_rbd
+build_doc ct_models
+build_doc ct_doc
+
+exit 0

ct/clean_ct.sh

@@ -0,0 +1,34 @@
+#!/bin/bash
+
+clean_module(){
+# if module directory exists
+if [ -d "../$1" ]; then  
+
+  echo "Now cleaning module " $1 " ... "
+  # go to that module
+  cd ../$1  
+
+  # make and go to build directory
+  mkdir -p build && cd build
+  rm -r -f *
+  cd ..
+else
+    echo "ERROR: an error occurred during cleaning. Try cleaning manually."
+    exit 1
+fi
+}
+
+## get current folder and make sure it is *ct*
+curr_folder=${PWD##*/}
+if [ $curr_folder != "ct" ]; then
+    echo "ERROR: you need to start the cleaner from the control-toolbox/ct directory."
+    exit 1
+fi
+
+clean_module ct_core
+clean_module ct_optcon
+clean_module ct_rbd
+clean_module ct_models
+clean_module ct_doc
+
+exit 0

ct/cmake/clang-cxx-dev-tools.cmake

@@ -1,8 +1,8 @@
-# CLANG-TIDY AND CLANG-FORMAT
-##############################
-
-# Additional targets to perform clang-format/clang-tidy
+##############
+# CLANG-FORMAT
+##############
 
+# Additional targets to perform clang-format
 
 # function to exclude user-defined folders from the clang format- and tidy process     
 function(filter_ct_directories allItems excludeDir)
@@ -70,46 +70,3 @@ else()
     VERBATIM
     )
 endif()
-
-# Adding clang-tidy target if clang-tidy executable is found
-function(ct_configure_clang_tidy TIDY_INC_DIRS)
-
-    ct_get_all_srcs(FALSE)
-
-    set(CURRENT_INC_DIRS "")
-
-    #message(FATAL_ERROR "Inc dirs: ${${TIDY_INC_DIRS}}")
-
-    foreach (THIS_INC_DIR ${${TIDY_INC_DIRS}})
-        #message(WARNING "this inc dir: ${THIS_INC_DIR}")
-        list(APPEND CURRENT_INC_DIRS "-I${THIS_INC_DIR}")
-    endforeach()
-
-    #message(FATAL_ERROR "Current inc dirs: ${CURRENT_INC_DIRS}")
-
-    find_program(CLANG_TIDY_BIN "clang-tidy")
-    if(NOT CLANG_TIDY_BIN)
-      find_program(CLANG_TIDY_BIN "clang-tidy-3.9")
-    endif()
-    if(NOT CLANG_TIDY_BIN)
-      find_program(CLANG_TIDY_BIN "clang_tidy")
-    endif()
-        message(STATUS ${CLANG_TIDY_BIN})
-    if(NOT CLANG_TIDY_BIN)
-        add_custom_target(clang-tidy
-            COMMAND ${CMAKE_COMMAND} -E echo_append "clang-tidy executable not found"
-            VERBATIM)
-    else()
-        message (STATUS "FOUND CLANG-TIDY")
-        set(CLANG_TIDY_COMMAND COMMAND ${CLANG_TIDY_BIN} ${ALL_CXX_SOURCE_FILES} -config='' -header-filter=\".*\\/ct\\/.*\" -- -std=c++11 -fopenmp ${CURRENT_INC_DIRS})
-
-        add_custom_target(
-            clang-tidy
-            COMMAND ${CLANG_TIDY_COMMAND}
-            COMMENT "Launching clang-tidy"
-            WORKING_DIRECTORY ${CMAKE_PROJECT_DIR}
-
-        )
-    endif() #CLANG_TIDY_BIN
-
-endfunction()

ct/cmake/explicitTemplateHelpers.cmake

@@ -92,7 +92,7 @@ function(ct_configureFiles ConfigDir STATE_DIM_PRESPEC, CONTROL_DIM_PRESPEC, SCA
         set(outputFile "${outputFile}-${STATE_DIM_PRESPEC}-${CONTROL_DIM_PRESPEC}-${SCALAR_PRESPEC_CLEAN}-${POS_DIM_PRESPEC}-${VEL_DIM_PRESPEC}.cpp")
         #message(WARNING "configuring file \n ${file} to \n ${outputFile} ")
         set(DOUBLE_OR_FLOAT false)
-        if(SCALAR_PRESPEC STREQUAL "double" OR SCALAR_PRESPEC STREQUAL "float")
+        if((SCALAR_PRESPEC MATCHES "double") OR (SCALAR_PRESPEC MATCHES "float")) #STREQUAL did not work
             set(DOUBLE_OR_FLOAT true)
         endif()
         configure_file(${file} ${outputFile})
@@ -104,20 +104,7 @@ function(ct_configureFiles ConfigDir STATE_DIM_PRESPEC, CONTROL_DIM_PRESPEC, SCA
 endfunction()
 
 
-# creates a target for each explicit template lib and adds its sources to it
-function(ct_add_explicit_template_libs)
-    foreach(lib_name ${PRESPEC_LIB_NAMES})
-      #get_filename_component(raw_filename ${file} NAME_WE)
-      #message(WARNING "sources for lib ${lib_name}: \n ${${lib_name}_SRCS}")
-      add_library(${lib_name}
-           ${${lib_name}_SRCS}
-      )
-      target_link_libraries(${lib_name} ${catkin_LIBRARIES} ${PYTHON_LIBRARY})
-    endforeach()
-endfunction()
-
-
-# link external library (for example to link optcon against lapack)
+# link external library (for example to link optcon against lapack) # todo this should go away
 function(ct_link_external_library extLibs)
 foreach(lib_name ${PRESPEC_LIB_NAMES})
       target_link_libraries(${lib_name} "${extLibs}")

ct/config/explicit_templates.cfg

@@ -1,4 +1,4 @@
 STATE_DIM=2, CONTROL_DIM=1, POS_DIM=1, VEL_DIM=1, SCALAR=double
 STATE_DIM=12, CONTROL_DIM=4, POS_DIM=6, VEL_DIM=6, SCALAR=double
-STATE_DIM=12, CONTROL_DIM=6, POS_DIM=6, VEL_DIM=6, SCALAR=double
+#STATE_DIM=12, CONTROL_DIM=6, POS_DIM=6, VEL_DIM=6, SCALAR=double
 #STATE_DIM=2, CONTROL_DIM=2, POS_DIM=1, VEL_DIM=1, SCALAR=ct::core::ADScalar

ct/install_deps.sh

@@ -0,0 +1,18 @@
+#!/bin/bash
+
+sudo apt-get update                 
+
+## get lapack
+sudo apt-get install liblapack-dev
+
+## get eigen3
+sudo apt-get install libeigen3-dev
+
+## get cmake
+sudo apt-get install cmake
+
+## get IPOPT
+sudo apt-get install coinor-libipopt-dev
+
+## get boost
+sudo apt-get install libboost-all-dev

ct/package.xml

@@ -1,8 +1,8 @@
 <package>
   <name>ct</name>
-  <version>0.3.0</version>
+  <version>3.0.1</version>
   <description>
-    ADRL Control Toolbox v3.0
+    ADRL Control Toolbox 3.0.1
   </description>
   <maintainer email="markusgft@gmail.com">Markus Giftthaler</maintainer>  
   <license>BSD-2</license>