Merge pull request #45 from open-rdc/arm_ik

Enable Inverse Kinematics for Redundant Manipulators

choreonoid/rtc/ArmInverseKinematicsTest/.project

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+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>ArmInverseKinematicsTest</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+	</buildSpec>
+	<natures>
+	</natures>
+</projectDescription>

choreonoid/rtc/ArmInverseKinematicsTest/ArmInverseKinematicsTest.conf

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+# -*- sh -*-
+#------------------------------------------------------------
+# Configuration file for ArmInverseKinematicsTest
+#
+# This configuration file name should be specified in rtc.conf (or other
+# configuration file specified by -f option) by "config_file" property.
+#
+# test.ArmInverseKinematicsTest.config_file: ArmInverseKinematicsTest.conf
+# or
+# test.ArmInverseKinematicsTest0.config_file: ArmInverseKinematicsTest0.conf
+# test.ArmInverseKinematicsTest1.config_file: ArmInverseKinematicsTest1.conf
+# test.ArmInverseKinematicsTest2.config_file: ArmInverseKinematicsTest2.conf
+#
+# ------------------------------------------------------------
+# An example configuration file for ArmInverseKinematicsTest
+#
+# See details in the following reference manual
+#
+
+# Execution context configuration
+# exec_cxt.periodic.type: PeriodicExecutionContext
+# exec_cxt.periodic.rate: 1000
+#
+#
+# configuration.active_config: mode0
+
+# Additional configuration-set example named "mode0"
+#
+# conf.mode0.int_param0: 0
+# conf.mode0.int_param1: 1
+# conf.mode0.double_param0: 0.99
+# conf.mode0.double_param1: -0.99
+# conf.mode0.str_param0: default
+# conf.mode0.str_param1: default set in conf file
+# conf.mode0.vector_param0: 0.0,0.1,0.2,0.3,0.4,0.5,0.6
+#
+# Other configuration set named "mode1"
+#
+# conf.mode1.int_param0: 0
+# conf.mode1.int_param1: 1
+# conf.mode1.double_param0: 0.99
+# conf.mode1.double_param1: -0.99
+# conf.mode1.str_param0: default
+# conf.mode1.str_param1: default set in conf file
+# conf.mode1.vector_param0: 0.0,0.1,0.2,0.3,0.4,0.5,0.6
+
+
+
+
+
+##============================================================
+## Component configuration reference
+##
+
+##============================================================
+## Active configuration-set
+##============================================================
+##
+## Initial active configuration-set. The following "mode0" is a
+## configuration-set name.  A configuration-set named "mode0" should be
+## appear in this configuration file as follows.
+##
+## configuration.active_config: mode0
+##
+# conf.mode0.param0: hoge
+# conf.mode0.param1: fuga
+# conf.mode0.param2: munya
+
+##============================================================
+## GUI control option for RTSystemEditor
+##============================================================
+## Available GUI control options [__widget__]:
+##
+## - text:          text box [default].
+## - slider.<step>: Horizontal slider. <step> is step for the slider.
+##                  A range constraints option is required. 
+## - spin:          Spin button. A range constraitns option is required.
+## - radio:         Radio button. An enumeration constraints is required.
+## - checkbox:      Checkbox control. An enumeration constraints is
+##                  required. The parameter has to be able to accept a
+##                  comma separated list.
+## - orderd_list:   Orderd list control.  An enumeration constraint is
+##                  required. The parameter has to be able to accept a
+##                  comma separated list. In this control, Enumerated
+##                  elements can appear one or more times in the given list.
+##
+## Available GUI control constraint options [__constraints__]:
+##
+## - none:         blank
+## - direct value: 100 (constant value)
+## - range:        <, >, <=, >= can be used.
+## - enumeration:  (enum0, enum1, ...)
+## - array:        <constraints0>, ,constraints1>, ... for only array value
+## - hash:         {key0: value0, key1:, value0, ...}
+##
+## examples:
+# conf.__widget__.int_param0: slider.10
+# conf.__widget__.int_param1: spin
+# conf.__widget__.double_param0: slider.10
+# conf.__widget__.double_param1: text
+# conf.__widget__.str_param0: radio
+# conf.__widget__.vector_param0: checkbox
+# conf.__widget__.vector_param1: orderd_list
+
+
+# conf.__constraints__.int_param0: 0<=x<=150
+# conf.__constraints__.int_param1: 0<=x<=1000
+# conf.__constraints__.double_param0: 0<=x<=100
+# conf.__constraints__.double_param1:
+# conf.__constraints__.str_param0: (default,mode0,mode1)
+# conf.__constraints__.vector_param0: (dog,monky,pheasant,cat)
+# conf.__constraints__.vector_param1: (pita,gora,switch)
+
+##============================================================
+## Execution context settings
+##============================================================
+##
+## Periodic type ExecutionContext
+##
+## Other availabilities in OpenRTM-aist
+##
+## - ExtTrigExecutionContext: External triggered EC. It is embedded in
+##                            OpenRTM library.
+## - OpenHRPExecutionContext: External triggred paralell execution
+##                            EC. It is embedded in OpenRTM
+##                            library. This is usually used with
+##                            OpenHRP3.
+## - RTPreemptEC:             Real-time execution context for Linux
+##                            RT-preemptive pathed kernel.
+## - ArtExecutionContext:     Real-time execution context for ARTLinux
+##                            (http://sourceforge.net/projects/art-linux/)
+##
+# exec_cxt.periodic.type: PeriodicExecutionContext
+
+##
+## The execution cycle of ExecutionContext
+##
+exec_cxt.periodic.rate:1000.0
+

choreonoid/rtc/ArmInverseKinematicsTest/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
+if(POLICY CMP0048)
+  cmake_policy(SET CMP0048 OLD)
+endif()
+
+project(ArmInverseKinematicsTest)
+string(TOLOWER ${PROJECT_NAME} PROJECT_NAME_LOWER)
+include("${PROJECT_SOURCE_DIR}/cmake/utils.cmake")
+set(PROJECT_VERSION 1.0.0 CACHE STRING "ArmInverseKinematicsTest version")
+DISSECT_VERSION()
+set(PROJECT_DESCRIPTION "Test code for arm control using inverse kinematics")
+set(PROJECT_VENDOR "CIT")
+set(PROJECT_AUTHOR "CIT")
+set(PROJECT_AUTHOR_SHORT "CIT")
+
+# Add an "uninstall" target
+CONFIGURE_FILE ("${PROJECT_SOURCE_DIR}/cmake/uninstall_target.cmake.in"
+    "${PROJECT_BINARY_DIR}/uninstall_target.cmake" IMMEDIATE @ONLY)
+ADD_CUSTOM_TARGET (uninstall "${CMAKE_COMMAND}" -P
+    "${PROJECT_BINARY_DIR}/uninstall_target.cmake")
+
+#option(BUILD_EXAMPLES "Build and install examples" OFF)
+option(BUILD_DOCUMENTATION "Build the documentation" ON)
+#option(BUILD_TESTS "Build the tests" OFF)
+#option(BUILD_TOOLS "Build the tools" OFF)
+option(BUILD_IDL "Build and install idl" ON)
+option(BUILD_SOURCES "Build and install sources" OFF)
+
+option(STATIC_LIBS "Build static libraries" OFF)
+if(STATIC_LIBS)
+    set(LIB_TYPE STATIC)
+else(STATIC_LIBS)
+    set(LIB_TYPE SHARED)
+endif(STATIC_LIBS)
+
+if (${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
+   # Mac OS X specific code
+   SET(CMAKE_CXX_COMPILER "g++")
+endif (${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
+
+
+# Set up installation directories
+set(BIN_INSTALL_DIR "components/bin")
+set(LIB_INSTALL_DIR "components/lib")
+set(INC_INSTALL_DIR
+    "components/include/${PROJECT_NAME_LOWER}-${PROJECT_VERSION_MAJOR}")
+set(SHARE_INSTALL_DIR
+    "components/share/${PROJECT_NAME_LOWER}-${PROJECT_VERSION_MAJOR}")
+
+# Get necessary dependency information
+find_package(OpenRTM HINTS /usr/lib64/openrtm-1.1/cmake)
+if(${OpenRTM_FOUND})
+  MESSAGE(STATUS "OpenRTM configuration Found")
+else(${OpenRTM_FOUND})
+  message(STATUS "Use cmake/Modules/FindOpenRTM.cmake in the project")
+  list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake/Modules)
+  find_package(OpenRTM REQUIRED)
+endif(${OpenRTM_FOUND})
+
+# Universal settings
+#enable_testing()
+
+# Subdirectories
+add_subdirectory(cmake)
+if(BUILD_DOCUMENTATION)
+    add_subdirectory(doc)
+endif(BUILD_DOCUMENTATION)
+
+#if(BUILD_EXAMPLES)
+#    add_subdirectory(examples)
+#endif(BUILD_EXAMPLES)
+
+if(BUILD_IDL)
+    add_subdirectory(idl)
+endif(BUILD_IDL)
+
+add_subdirectory(include)
+MAP_ADD_STR(headers  "include/" comp_hdrs)
+add_subdirectory(src)
+
+#if(BUILD_TESTS)
+#    add_subdirectory(test)
+#endif(BUILD_TESTS)
+
+#if(BUILD_TOOLS)
+#    add_subdirectory(tools)
+#endif(BUILD_TOOLS)
+
+if(BUILD_SOURCES)
+    add_subdirectory(include)
+    add_subdirectory(src)
+endif(BUILD_SOURCES)
+
+# Package creation
+# By default, do not warn when built on machines using only VS Express:
+IF(NOT DEFINED CMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_NO_WARNINGS)
+SET(CMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_NO_WARNINGS ON)
+ENDIF()
+include(InstallRequiredSystemLibraries)
+set(PROJECT_EXECUTABLES ${PROJECT_NAME_LOWER}Comp
+    "${PROJECT_NAME_LOWER}Comp")
+
+set(cpack_options "${PROJECT_BINARY_DIR}/cpack_options.cmake")
+
+configure_file("${PROJECT_SOURCE_DIR}/cmake/cpack_options.cmake.in"
+    ${cpack_options} @ONLY)
+
+set(CPACK_PROJECT_CONFIG_FILE ${cpack_options})
+include(${CPACK_PROJECT_CONFIG_FILE})
+include(CPack)
+
+