fixed for ubuntu 8.04 and python 2.5

CMakeLists.txt

@@ -98,8 +98,9 @@ if( OPT_PYTHON )
       OUTPUT_VARIABLE _python_distpackage OUTPUT_STRIP_TRAILING_WHITESPACE
       RESULT_VARIABLE _python_failed1)
     execute_process(
-      COMMAND ${PYTHON_EXECUTABLE} -c "from distutils.sysconfig import get_python_lib; from os.path import relpath; print relpath(get_python_lib(1,prefix='${CMAKE_INSTALL_PREFIX}'),'${CMAKE_INSTALL_PREFIX}')"
+      COMMAND ${PYTHON_EXECUTABLE} -c "from distutils.sysconfig import get_python_lib; from myrelpath import relpath; print relpath(get_python_lib(1,prefix='${CMAKE_INSTALL_PREFIX}'),'${CMAKE_INSTALL_PREFIX}')"
       OUTPUT_VARIABLE OPENRAVE_PYTHON_INSTALL_DIR OUTPUT_STRIP_TRAILING_WHITESPACE
+      WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
       RESULT_VARIABLE _python_failed2)
 
     if( ${_python_failed0} EQUAL 0 AND ${_python_failed1} EQUAL 0 AND ${_python_failed2} EQUAL 0 )
@@ -125,7 +126,7 @@ if( OPT_PYTHON )
         message(STATUS "failed to get python version")
       endif()
     else()
-      message(STATUS "failed to get python site-package directories via get_pytho_lib")
+      message(STATUS "failed to get python site-package directories via get_python_lib")
       set(PYTHON_EXECUTABLE)
     endif()
   endif()
@@ -407,9 +408,17 @@ add_custom_target(interfacehashes_target ALL DEPENDS ${interfacehashes_h} ${EXTR
 # math libraries
 find_package(GMP)
 find_package(GMPXX)
-find_package(MPFR)
+find_package(MPFR 2.4)
+if( MPFR_FOUND )
+  check_library_exists(${MPFR_LIBRARIES} mpfr_div_d "${MPFR_LIBRARIES_DIR}" MPFR_DIV_D_FOUND)
+  if( NOT MPFR_DIV_D_FOUND )
+    message(WARNING "MPFR verison too old, does not support mpfr_div_d function")
+    set(MPFR_FOUND 0)
+  endif()
+endif()
 find_package(MPFI)
 
+
 if( OPT_ACCURATEMATH AND NOT MSVC )
   check_library_exists(crlibm crlibm_init "" CRLIBM_FOUND_LIB)
   check_include_file(crlibm.h HAVE_CRLIBM_H)

docs/en/changelog.rst

@@ -129,6 +129,8 @@ Misc
 
 * fixed qtcoin :meth:`.Viewer.GetCameraTransform` function. now compatible with :meth:`.Viewer.GetCameraImage`
 
+* everything compiles with Ubuntu 8.04/Python 2.5.
+
 Version 0.4.2
 =============
 

docs/en/tutorials/openravepy_examples.rst

@@ -18,7 +18,7 @@ Loads up an environment, attaches a viewer, loads a scene, and requests informat
   robot = env.GetRobots()[0] # get the first robot
 
   with env: # lock the environment since robot will be used
-      print "Robot ",robot.GetName()," has ",robot.GetDOF()," joints with values:\\n",robot.GetJointValues()
+      print "Robot ",robot.GetName()," has ",robot.GetDOF()," joints with values:\\n",robot.GetDOFValues()
       robot.SetDOFValues([0.5],[0]) # set joint 0 to value 0.5
       T = robot.GetLinks()[1].GetTransform() # get the transform of link 1
       print "The transformation of link 1 is:\n",T

docs/install.dox

@@ -192,6 +192,16 @@ sudo apt-get update
 sudo apt-get build-dep openrave
 \endverbatim
 
+\subsection ilinux_ubuntu804 Ubuntu 8.04 or earlier
+
+Install as many packages as possible:
+
+\verbatim
+sudo apt-get install g++ libqt4-dev qt4-dev-tools ffmpeg libavcodec-dev libavformat-dev libxvidcore-dev libx264-dev libfaac-dev libogg-dev libvorbis-dev libdc1394-dev liblame-dev libgsm1-dev libboost-dev libboost-regex-dev libxml2-dev libglew-dev  libboost-graph-dev libboost-wave-dev libboost-serialization-dev libboost-filesystem-dev libpcre3-dev libboost-thread-dev libmpfr-dev libboost-date-time-dev libqhull-dev libswscale-dev
+\endverbatim
+
+- CMake - need to use version >=2.6.0, default cmake in ubuntu 8.04 is 2.47, which will not work.
+
 \en \subsection ilinux_fedora Fedora Core Users
 
 Might need to add the livna yum repository for ffmpeg. To install the necessary packages type
@@ -264,7 +274,13 @@ In order to use the python bindings through the \openravepy{openravepy} module,
 \openravepy{openravepy}を利用するために%OpenRAVEをコンパイルする前に以下のパッケージをインストールしてください．
 
 \verbatim
-sudo apt-get install libboost-python-dev python python-dev python-numpy python-scipy ipython
+sudo apt-get install libboost-python-dev python python-dev python-numpy ipython
+\endverbatim
+
+Optional:
+
+\verbatim
+sudo apt-get install python-scipy
 \endverbatim
 
 Pythonパスを設定するために，bashファイルに以下の行を追加してください．

plugins/logging/viewerrecorder.cpp

@@ -607,7 +607,11 @@ class ViewerRecorder : public ModuleBase
             s_pVideoGlobalState.reset(new VideoGlobalState());
         }
         lcodecs.clear();
+#if LIBAVFORMAT_VERSION_INT >= (52<<16)
         AVOutputFormat *fmt = av_oformat_next(NULL); //first_oformat;
+#else
+        AVOutputFormat *fmt = first_oformat;
+#endif
         while (fmt != NULL) {
             lcodecs.push_back(make_pair((int)fmt->video_codec,fmt->long_name));
             fmt = fmt->next;
@@ -624,7 +628,11 @@ class ViewerRecorder : public ModuleBase
         AVCodec *codec;
 
         CodecID video_codec = codecid == -1 ? CODEC_ID_MPEG4 : (CodecID)codecid;
+#if LIBAVFORMAT_VERSION_INT >= (52<<16)
         AVOutputFormat *fmt = av_oformat_next(NULL); //first_oformat;
+#else
+        AVOutputFormat *fmt = first_oformat;
+#endif
         while (fmt != NULL) {
             if (fmt->video_codec == video_codec) {
                 break;

python/bindings/openravepy_int.cpp

@@ -207,7 +207,7 @@ class PyEnvironmentBase : public boost::enable_shared_from_this<PyEnvironmentBas
         if( !!plink ) {
             return _penv->CheckCollision(plink);
         }
-        KinBodyPtr pbody = openravepy::GetKinBody(o1);
+        KinBodyConstPtr pbody = openravepy::GetKinBody(o1);
         if( !!pbody ) {
             return _penv->CheckCollision(pbody);
         }
@@ -223,7 +223,7 @@ class PyEnvironmentBase : public boost::enable_shared_from_this<PyEnvironmentBas
             bCollision = _penv->CheckCollision(plink,openravepy::GetCollisionReport(pReport));
         }
         else {
-            KinBodyPtr pbody = openravepy::GetKinBody(o1);
+            KinBodyConstPtr pbody = openravepy::GetKinBody(o1);
             if( !!pbody ) {
                 bCollision = _penv->CheckCollision(pbody,openravepy::GetCollisionReport(pReport));
             }
@@ -245,7 +245,7 @@ class PyEnvironmentBase : public boost::enable_shared_from_this<PyEnvironmentBas
             if( !!plink2 ) {
                 return _penv->CheckCollision(plink,plink2);
             }
-            KinBodyPtr pbody2 = openravepy::GetKinBody(o2);
+            KinBodyConstPtr pbody2 = openravepy::GetKinBody(o2);
             if( !!pbody2 ) {
                 return _penv->CheckCollision(plink,pbody2);
             }
@@ -257,13 +257,13 @@ class PyEnvironmentBase : public boost::enable_shared_from_this<PyEnvironmentBas
             }
             throw OPENRAVE_EXCEPTION_FORMAT0("invalid argument 2",ORE_InvalidArguments);
         }
-        KinBodyPtr pbody = openravepy::GetKinBody(o1);
+        KinBodyConstPtr pbody = openravepy::GetKinBody(o1);
         if( !!pbody ) {
             KinBody::LinkConstPtr plink2 = openravepy::GetKinBodyLinkConst(o2);
             if( !!plink2 ) {
                 return _penv->CheckCollision(plink2,pbody);
             }
-            KinBodyPtr pbody2 = openravepy::GetKinBody(o2);
+            KinBodyConstPtr pbody2 = openravepy::GetKinBody(o2);
             if( !!pbody2 ) {
                 return _penv->CheckCollision(pbody,pbody2);
             }
@@ -289,7 +289,7 @@ class PyEnvironmentBase : public boost::enable_shared_from_this<PyEnvironmentBas
                 bCollision = _penv->CheckCollision(plink,plink2, openravepy::GetCollisionReport(pReport));
             }
             else {
-                KinBodyPtr pbody2 = openravepy::GetKinBody(o2);
+                KinBodyConstPtr pbody2 = openravepy::GetKinBody(o2);
                 if( !!pbody2 ) {
                     bCollision = _penv->CheckCollision(plink,pbody2, openravepy::GetCollisionReport(pReport));
                 }
@@ -299,14 +299,14 @@ class PyEnvironmentBase : public boost::enable_shared_from_this<PyEnvironmentBas
             }
         }
         {
-            KinBodyPtr pbody = openravepy::GetKinBody(o1);
+            KinBodyConstPtr pbody = openravepy::GetKinBody(o1);
             if( !!pbody ) {
                 KinBody::LinkConstPtr plink2 = openravepy::GetKinBodyLinkConst(o2);
                 if( !!plink2 ) {
                     bCollision = _penv->CheckCollision(plink2,pbody, openravepy::GetCollisionReport(pReport));
                 }
                 else {
-                    KinBodyPtr pbody2 = openravepy::GetKinBody(o2);
+                    KinBodyConstPtr pbody2 = openravepy::GetKinBody(o2);
                     if( !!pbody2 ) {
                         bCollision = _penv->CheckCollision(pbody,pbody2, openravepy::GetCollisionReport(pReport));
                     }
@@ -332,7 +332,7 @@ class PyEnvironmentBase : public boost::enable_shared_from_this<PyEnvironmentBas
         if( !!plink ) {
             return _penv->CheckCollision(plink,pbody2);
         }
-        KinBodyPtr pbody1 = openravepy::GetKinBody(o1);
+        KinBodyConstPtr pbody1 = openravepy::GetKinBody(o1);
         if( !!pbody1 ) {
             return _penv->CheckCollision(pbody1,pbody2);
         }
@@ -350,7 +350,7 @@ class PyEnvironmentBase : public boost::enable_shared_from_this<PyEnvironmentBas
             bCollision = _penv->CheckCollision(plink,pbody2,openravepy::GetCollisionReport(pReport));
         }
         else {
-            KinBodyPtr pbody1 = openravepy::GetKinBody(o1);
+            KinBodyConstPtr pbody1 = openravepy::GetKinBody(o1);
             if( !!pbody1 ) {
                 bCollision = _penv->CheckCollision(pbody1,pbody2,openravepy::GetCollisionReport(pReport));
             }

python/databases/__init__.py

@@ -208,10 +208,15 @@ def RunFromParser(Model=None,env=None,parser=None,args=None,robotatts=dict(),def
             if destroyenv and env is not None:
                 env.Destroy()
 
-import convexdecomposition
-import linkstatistics
-import grasping
-import inversekinematics
-import kinematicreachability
-import inversereachability
-import visibilitymodel
+# python 2.5 raises 'import *' not allowed with 'from .'
+from sys import version_info
+if version_info[0:3]>=(2,6,0):
+    import convexdecomposition
+    import linkstatistics
+    import grasping
+    import inversekinematics
+    import kinematicreachability
+    import inversereachability
+    import visibilitymodel
+else:
+    print 'openravepy.datbases cannot be used python versions < 2.6'

python/examples/cubeassembly.py

@@ -39,7 +39,10 @@
 else:
     from numpy import eye
 
-import multiprocessing
+try:
+    from multiprocessing import cpu_count
+except:
+    def cpu_count(): return 1
 
 from openravepy.examples import graspplanning
 
@@ -97,7 +100,7 @@ def CreateBlocks(self,side=0.015,T=eye(4),generategrasps=True):
                 if generategrasps:
                     if not gmodel.load():
                         approachrays = gmodel.computeBoxApproachRays(delta=0.01,normalanglerange=0,directiondelta=0)
-                        gmodel.numthreads = multiprocessing.cpu_count()
+                        gmodel.numthreads = cpu_count()
                         gmodel.generate(standoffs=array([0,0.04,0.08]),approachrays=approachrays, friction=0.1)
                         gmodel.save()
                 self.gmodels.append(gmodel)

python/examples/fastgraspingthreaded.py

@@ -32,7 +32,11 @@
     from openravepy import *
     from numpy import *
 
-import multiprocessing
+try:
+    from multiprocessing import cpu_count
+except:
+    def cpu_count(): return 1
+
 import time
 
 class FastGraspingThreaded:
@@ -132,7 +136,7 @@ def computeGrasp(self):
             forceclosurethreshold=1e-9
             avoidlinks = []
             friction = 0.4
-            numthreads = multiprocessing.cpu_count()
+            numthreads = cpu_count()
             maxgrasps = 1
             checkik = True
             grasps = []

python/examples/graspplanning.py

@@ -98,7 +98,11 @@
     from openravepy import *
     from numpy import *
 
-import multiprocessing
+try:
+    from multiprocessing import cpu_count
+except:
+    def cpu_count(): return 1
+
 
 class GraspPlanning:
     def __init__(self,robot,randomize=False,dests=None,nodestinations=False,switchpatterns=None,plannername=None,minimumgoalpaths=1):
@@ -136,7 +140,7 @@ def __init__(self,robot,randomize=False,dests=None,nodestinations=False,switchpa
                 if len(targets) > 0:
                     gmodel = databases.grasping.GraspingModel(robot=self.robot,target=targets[0])
                     if not gmodel.load():
-                        gmodel.numthreads = multiprocessing.cpu_count()
+                        gmodel.numthreads = cpu_count()
                         gmodel.autogenerate()
                         self.graspables = self.getGraspables(dests=dests)
 

python/interfaces/BaseManipulation.py

@@ -12,10 +12,13 @@
 __author__ = 'Rosen Diankov'
 __copyright__ = 'Copyright (C) 2009-2011 Rosen Diankov <rosen.diankov@gmail.com>'
 __license__ = 'Apache License, Version 2.0'
-from ..openravepy_ext import *
-from ..openravepy_int import *
+# python 2.5 raises 'import *' not allowed with 'from .'
+from ..openravepy_int import RaveCreateModule, RaveCreateTrajectory
+from ..openravepy_ext import planning_error
+
 import numpy
 from copy import copy as shallowcopy
+
 class BaseManipulation:
     """Interface wrapper for :ref:`module-basemanipulation`
     """

python/interfaces/Grasper.py

@@ -12,8 +12,10 @@
 __author__ = 'Rosen Diankov'
 __copyright__ = 'Copyright (C) 2009-2011 Rosen Diankov <rosen.diankov@gmail.com>'
 __license__ = 'Apache License, Version 2.0'
-from ..openravepy_ext import *
-from ..openravepy_int import *
+# python 2.5 raises 'import *' not allowed with 'from .'
+from ..openravepy_int import RaveCreateModule, RaveCreateTrajectory
+from ..openravepy_ext import planning_error
+
 from numpy import *
 from copy import copy as shallowcopy
 

python/interfaces/TaskManipulation.py

@@ -12,8 +12,10 @@
 __author__ = 'Rosen Diankov'
 __copyright__ = 'Copyright (C) 2009-2011 Rosen Diankov <rosen.diankov@gmail.com>'
 __license__ = 'Apache License, Version 2.0'
-from ..openravepy_ext import *
-from ..openravepy_int import *
+# python 2.5 raises 'import *' not allowed with 'from .'
+from ..openravepy_int import RaveCreateModule, RaveCreateTrajectory
+from ..openravepy_ext import planning_error
+
 from numpy import *
 from copy import copy as shallowcopy
 class TaskManipulation:

python/interfaces/VisualFeedback.py

@@ -12,9 +12,11 @@
 __author__ = 'Rosen Diankov'
 __copyright__ = 'Copyright (C) 2009-2011 Rosen Diankov <rosen.diankov@gmail.com>'
 __license__ = 'Apache License, Version 2.0'
+# python 2.5 raises 'import *' not allowed with 'from .
+from ..openravepy_int import RaveCreateModule, RaveCreateTrajectory
+from ..openravepy_ext import planning_error
+
 import numpy
-from ..openravepy_ext import *
-from ..openravepy_int import *
 from copy import copy as shallowcopy
 
 class VisualFeedback:

python/openrave.py.in

@@ -86,8 +86,8 @@ if __name__ == "__main__":
                         m=__import__('openravepy.databases.'+name)
                         if type(m) is ModuleType:
                             print name
-                    except ImportError:
-                        pass
+                    except ImportError, e:
+                        print e
 
             RaveDestroy()        
             sys.exit(0)
@@ -99,8 +99,8 @@ if __name__ == "__main__":
                         m=__import__('openravepy.examples.'+name)
                         if type(m) is ModuleType:
                             print name
-                    except ImportError:
-                        pass
+                    except ImportError, e:
+                        print e
 
             RaveDestroy()        
             sys.exit(0)

src/libopenrave/libopenrave.h

@@ -48,6 +48,7 @@
 #include <set>
 #include <string>
 #include <algorithm>
+#include <complex>
 
 #define FOREACH(it, v) for(typeof((v).begin())it = (v).begin(), __itend__=(v).end(); it != __itend__; (it)++)
 #define FOREACH_NOINC(it, v) for(typeof((v).begin())it = (v).begin(), __itend__=(v).end(); it != __itend__; )