utils.h and geometry.h can be used standalone, added db tests

rdiankov · Feb 11, 2012 · 65d6ba8 · 65d6ba8
1 parent e2332fb
commit 65d6ba8
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diff --git a/docs/en/changelog.rst b/docs/en/changelog.rst
@@ -3,8 +3,8 @@
 ChangeLog
 #########
 
-Version 0.6.3 Unstable
-======================
+Version 0.6.3 Development
+=========================
 
 Subversion Revision: **Unreleased**
 

diff --git a/include/openrave/geometry.h b/include/openrave/geometry.h
@@ -1,5 +1,5 @@
 // -*- coding: utf-8 -*-
-// Copyright (C) 2006-2011 Rosen Diankov <rosen.diankov@gmail.com>
+// Copyright (C) 2006-2012 Rosen Diankov <rosen.diankov@gmail.com>
 //
 // This file is part of OpenRAVE.
 // OpenRAVE is free software: you can redistribute it and/or modify
@@ -16,15 +16,17 @@
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 /** \file   geometry.h
     \brief  Basic gemoetric primitives and affine math functions on them.
+
+    This file can be used stand-alone without \ref openrave.h .
  */
 #ifndef OPENRAVE_GEOMETRY_H
 #define OPENRAVE_GEOMETRY_H
 
 #include <cmath>
-#include <iostream>
+#include <vector>
+#include <string>
 #include <limits>
 #include <utility> // for std::pair
-#include <cstring>
 #include <cstdlib>
 
 #ifndef RAVE_DEPRECATED

diff --git a/include/openrave/openrave.h b/include/openrave/openrave.h
@@ -99,7 +99,7 @@ typedef float dReal;
 #endif
 
 /// \brief openrave constant for PI, could be replaced by accurate precision number depending on choice of dReal.
-static const dReal PI = (dReal)3.14159265358979323846;
+static const dReal PI = dReal(3.14159265358979323846);
 
 /// Wrappers of common basic math functions, allows OpenRAVE to control the precision requirements.
 /// \ingroup affine_math

diff --git a/include/openrave/utils.h b/include/openrave/utils.h
@@ -1,5 +1,5 @@
 // -*- coding: utf-8 -*-
-// Copyright (C) 2006-2011 Rosen Diankov <rosen.diankov@gmail.com>
+// Copyright (C) 2006-2012 Rosen Diankov <rosen.diankov@gmail.com>
 //
 // This file is part of OpenRAVE.
 // OpenRAVE is free software: you can redistribute it and/or modify
@@ -18,17 +18,25 @@
 /** \file utils.h
     \brief Programming related utilities likes tokenizers, timers, name checkers, etc.
 
-    This file is optional and not automatically included with \ref openrave.h
+    This file is optional and not automatically included with \ref openrave.h . Furthermore, it can be used stand-alone without \ref openrave.h .
  */
 #ifndef OPENRAVE_UTILS_H
 #define OPENRAVE_UTILS_H
 
-#include <openrave/openrave.h>
+#include <openrave/config.h>
+#include <stdint.h>
+#include <string>
+#include <istream>
+#include <vector>
+
+#include <boost/shared_ptr.hpp>
+#include <boost/weak_ptr.hpp>
+#include <boost/function.hpp>
 
 #include <time.h>
 
 #ifndef _WIN32
-#if POSIX_TIMERS <= 0 && _POSIX_TIMERS <= 0
+#if !(defined(CLOCK_GETTIME_FOUND) && (POSIX_TIMERS > 0 || _POSIX_TIMERS > 0))
 #include <sys/time.h>
 #endif
 #else
@@ -256,15 +264,17 @@ template <typename T>
 inline T NormalizeCircularAngle(T theta, T min, T max)
 {
     if (theta < min) {
-        theta += T(2*PI);
+        T range = max-min;
+        theta += range;
         while (theta < min) {
-            theta += T(2*PI);
+            theta += range;
         }
     }
     else if (theta > max) {
-        theta -= T(2*PI);
+        T range = max-min;
+        theta -= range;
         while (theta > max) {
-            theta -= T(2*PI);
+            theta -= range;
         }
     }
     return theta;
@@ -273,6 +283,7 @@ inline T NormalizeCircularAngle(T theta, T min, T max)
 template <typename T>
 inline T SubtractCircularAngle(T f0, T f1)
 {
+    const T PI = T(3.14159265358979323846);
     return NormalizeCircularAngle(f0-f1, T(-PI), T(PI));
 }
 
@@ -312,7 +323,6 @@ inline std::string ConvertToOpenRAVEName(const std::string& name)
             newname[i] = '_';
         }
     }
-    RAVELOG_WARN(boost::str(boost::format("name '%s' is not a valid OpenRAVE name, converting to '%s'")%name%newname));
     return newname;
 }
 

diff --git a/openrave_completion.bash.in b/openrave_completion.bash.in
@@ -10,7 +10,7 @@ function _complete_openravepy {
         if [[ $COMP_CWORD == 2 ]]; then
             case ${COMP_WORDS[1]} in
                 --listinterfaces)
-                    opts="planner robot sensorsystem controller probleminstance inversekinematicssolver kinbody physicsengine sensor collisionchecker trajectory viewer spacesampler"
+                    opts="planner robot sensorsystem controller module inversekinematicssolver kinbody physicsengine sensor collisionchecker trajectory viewer spacesampler"
                     COMPREPLY=($(compgen -W "$opts" -- ${cur}))
                     return 0
                     ;;
@@ -128,7 +128,7 @@ function _complete_openrave_robotpy {
 function _complete_openrave_createpluginpy {
     cur="${COMP_WORDS[COMP_CWORD]}"
     prev="${COMP_WORDS[COMP_CWORD-1]}"
-    opts="--usecore --planner --robot --sensorsystem --controller --probleminstance --iksolver --kinbody --physicsengine --sensor --collisionchecker --trajectory --viewer --spacesampler --help"
+    opts="--usecore --planner --robot --sensorsystem --controller --module --iksolver --kinbody --physicsengine --sensor --collisionchecker --trajectory --viewer --spacesampler --help"
     COMPREPLY=($(compgen -W "$opts" -- ${cur}))
 }
 complete -F "_complete_openravepy" -o filenames -o plusdirs "openrave.py"