Merge pull request RobotLocomotion#9 from HarvardAgileRoboticsLab/upd…

…ate_from_robot_locomotion Update from robot locomotion
YeZhao · Dec 7, 2016 · 2bd39c8 · 2bd39c8
2 parents f4057b2 + 10ef071
commit 2bd39c8
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Showing 293 changed files with 12,149 additions and 3,221 deletions.
diff --git a/.gitignore b/.gitignore
@@ -59,3 +59,4 @@ drake/doc/DoxygenCPP
 Pendulum.pmd
 drake/doc/_build
 bazel-*
+xcode
diff --git a/.gitmodules b/.gitmodules
@@ -30,7 +30,7 @@
 	url = https://github.com/RobotLocomotion/gurobi.git
 [submodule "externals/mosek"]
 	path = externals/mosek
-	url = https://github.com/rdeits/mosek-pod.git
+	url = https://github.com/RobotLocomotion/mosek.git
 [submodule "externals/iris"]
 	path = externals/iris
 	url = https://github.com/rdeits/iris-distro.git

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -20,7 +20,6 @@ drake_setup_options()
 # External projects in order of dependencies; 'trivial' ones first
 drake_add_external(eigen PUBLIC CMAKE)
 drake_add_external(meshconverters PUBLIC CMAKE)
-drake_add_external(mosek PUBLIC MATLAB)
 drake_add_external(spdlog PUBLIC CMAKE)
 drake_add_external(swigmake PUBLIC CMAKE MATLAB PYTHON)
 drake_add_external(yalmip PUBLIC CMAKE MATLAB)
@@ -30,14 +29,9 @@ drake_add_external(yalmip PUBLIC CMAKE MATLAB)
 drake_add_external(avl PUBLIC CMAKE FORTRAN)
 
 # bullet
-if(WIN32)
-  set(BULLET_EXTRA_CMAKE_ARGS -DUSE_MSVC_RUNTIME_LIBRARY_DLL=ON)
-else()
-  set(BULLET_EXTRA_CMAKE_ARGS -DBUILD_SHARED_LIBS=ON)
-endif()
-
 drake_add_external(bullet PUBLIC CMAKE
   CMAKE_ARGS
+    -DBUILD_SHARED_LIBS=ON
     -DBUILD_BULLET2_DEMOS=OFF
     -DBUILD_CPU_DEMOS=OFF
     -DBUILD_EXTRAS=OFF
@@ -48,8 +42,7 @@ drake_add_external(bullet PUBLIC CMAKE
     -DCMAKE_RELWITHDEBINFO_POSTFIX=
     -DINSTALL_LIBS=ON
     -DPKGCONFIG_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}/lib/pkgconfig
-    -DUSE_DOUBLE_PRECISION=ON
-    ${BULLET_EXTRA_CMAKE_ARGS})
+    -DUSE_DOUBLE_PRECISION=ON)
 
 # ccd
 drake_add_external(ccd PUBLIC CMAKE
@@ -77,7 +70,6 @@ drake_add_external(gflags PUBLIC CMAKE
 drake_add_external(googletest PUBLIC CMAKE
   CMAKE_ARGS
     -DBUILD_SHARED_LIBS=ON
-    -DGTEST_CREATE_SHARED_LIBRARY=1 # Needed for parameterized tests on Windows
     -DCMAKE_INSTALL_NAME_DIR=${CMAKE_INSTALL_PREFIX}/lib)
 
 # google_styleguide
@@ -113,6 +105,13 @@ drake_add_external(ipopt PUBLIC AUTOTOOLS FORTRAN
     --with-lapack=BUILD
     --with-pic)
 
+# mosek
+drake_add_external(mosek PUBLIC CMAKE MATLAB
+  CMAKE_ARGS
+    -DBUILD_TESTING=OFF
+    -DWITH_MATLAB=${Matlab_FOUND}
+    -DWITH_PYTHON=OFF)
+
 # nlopt
 drake_add_external(nlopt PUBLIC CMAKE
   CMAKE_ARGS
@@ -214,6 +213,8 @@ drake_add_external(drake LOCAL PUBLIC CMAKE ALWAYS TEST MATLAB PYTHON
   BINARY_DIR ${PROJECT_BINARY_DIR}/drake
   CMAKE_ARGS
     -DDISABLE_MATLAB:BOOL=${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}

diff --git a/WORKSPACE b/WORKSPACE
@@ -5,6 +5,8 @@
 
 workspace(name = "drake")
 
+load("//tools/third_party/kythe/tools/build_rules/config:pkg_config.bzl", "pkg_config_package")
+
 new_http_archive(
     name = "gtest",
     url = "https://github.com/google/googletest/archive/release-1.7.0.zip",
@@ -13,6 +15,12 @@ new_http_archive(
     strip_prefix = "googletest-release-1.7.0",
 )
 
+git_repository(
+    name   = "gflags",
+    commit = "a69b2544d613b4bee404988710503720c487119a",
+    remote = "https://github.com/gflags/gflags.git"
+)
+
 new_git_repository(
     name = "eigen",
     remote = "https://github.com/RobotLocomotion/eigen-mirror.git",
@@ -27,15 +35,14 @@ new_git_repository(
     build_file = "tools/spdlog.BUILD",
 )
 
-new_local_repository(
-    name = "gtk",
-    path = "/usr",
-    build_file = "tools/gtk.BUILD",
-)
-
 new_git_repository(
     name = "lcm",
     remote = "https://github.com/lcm-proj/lcm.git",
     commit = "a8cda6a64b31739a781b67408c63bec08b15ab32",
     build_file = "tools/lcm.BUILD",
 )
+
+pkg_config_package(
+    name = "glib",
+    modname = "glib-2.0",
+)
diff --git a/cmake/config.cmake b/cmake/config.cmake
@@ -170,8 +170,15 @@ macro(drake_setup_fortran)
   mark_as_advanced(DISABLE_FORTRAN)
 
   if(NOT DISABLE_FORTRAN)
-    if(CMAKE_GENERATOR STREQUAL "Ninja")
-      # The Ninja generator does not support Fortran, so manually find the Fortran
+    if(CMAKE_GENERATOR STREQUAL "Unix Makefiles")
+      enable_language(Fortran)
+
+      if(CMAKE_Fortran_COMPILER_ID STREQUAL "GNU" AND CMAKE_Fortran_COMPILER_VERSION VERSION_LESS "4.9")
+        message(FATAL_ERROR "GNU Fortran compiler version must be at least 4.9 \
+                             (detected version ${CMAKE_Fortran_COMPILER_VERSION})")
+      endif()
+    else()
+      # Ninja and Xcode may not support Fortran, so manually find the Fortran
       # compiler and set any flags passed in by environment variable
       find_program(CMAKE_Fortran_COMPILER
         NAMES "$ENV{FC}" gfortran gfortran-6 gfortran-5 gfortran-4
@@ -183,12 +190,6 @@ macro(drake_setup_fortran)
       endif()
       set(CMAKE_Fortran_FLAGS "$ENV{FFLAGS}" CACHE STRING
         "Flags for Fortran compiler")
-    else()
-      enable_language(Fortran)
-
-      if(CMAKE_Fortran_COMPILER_ID STREQUAL "GNU" AND CMAKE_Fortran_COMPILER_VERSION VERSION_LESS "4.9")
-        message(FATAL_ERROR "GCC version must be at least 4.9")
-      endif()
     endif()
   endif()
 endmacro()
@@ -249,7 +250,6 @@ macro(drake_setup_platform)
   mark_as_advanced(LIB_SUFFIX)
 
   drake_setup_compiler()
-  drake_setup_fortran()
   drake_setup_matlab()
   drake_setup_java()
   drake_setup_python()
@@ -281,6 +281,9 @@ macro(drake_setup_superbuild)
       FORCE)
   endif()
   message(STATUS CMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX})
+
+  # Drake itself does not contain Fortran code.
+  drake_setup_fortran()
 endmacro()
 
 ###############################################################################

diff --git a/cmake/externals.cmake b/cmake/externals.cmake
@@ -182,8 +182,8 @@ macro(drake_add_cmake_external PROJECT)
       CMAKE_Fortran_COMPILER
       CMAKE_Fortran_FLAGS)
 
-    if(_ext_GENERATOR STREQUAL "Ninja")
-      # The Ninja generator does not support Fortran.
+    if(NOT _ext_GENERATOR STREQUAL "Unix Makefiles")
+      # Ninja and Xcode may not support Fortran.
       set(_ext_GENERATOR "Unix Makefiles")
     endif()
   endif()

diff --git a/cmake/options.cmake b/cmake/options.cmake
@@ -215,7 +215,7 @@ macro(drake_setup_options)
   drake_optional_external(CCD ON "Convex shape Collision Detection library")
 
   drake_optional_external(DIRECTOR ON
-    DEPENDS "HAVE_LCM\;HAVE_BOT_CORE_LCMTYPES"
+    DEPENDS "HAVE_LCM\;HAVE_BOT_CORE_LCMTYPES\;NOT DISABLE_PYTHON"
     "VTK-based visualization tool and robot user interface")
 
   drake_optional_external(GOOGLE_STYLEGUIDE ON

diff --git a/cmake/packages.cmake b/cmake/packages.cmake
@@ -92,7 +92,7 @@ macro(drake_find_packages)
   drake_find_package(gurobi CONFIG)
   drake_find_package(lcm CONFIG)
   drake_find_package(meshconverters CONFIG)
-  drake_find_package(mosek PKG_CONFIG)
+  drake_find_package(mosek CONFIG)
   drake_find_package(NLopt CONFIG)
   drake_find_package(octomap CONFIG)
   drake_find_package(robotlocomotion-lcmtypes CONFIG)

diff --git a/cmake/pods.cmake b/cmake/pods.cmake
@@ -191,22 +191,13 @@ endfunction()
 # manually.
 macro(pods_config_search_paths)
     if(NOT DEFINED __pods_setup)
-      # set where files should be output locally
-      set(LIBRARY_OUTPUT_PATH ${PROJECT_BINARY_DIR}/lib)
-      foreach(OUTPUTCONFIG ${CMAKE_CONFIGURATION_TYPES})
-        string(TOUPPER ${OUTPUTCONFIG} OUTPUTCONFIG)
-        set(CMAKE_LIBRARY_OUTPUT_DIRECTORY_${OUTPUTCONFIG} ${LIBRARY_OUTPUT_PATH})
-      endforeach()
-
       # set where files should be installed to
       set(LIBRARY_INSTALL_PATH "${DRAKE_LIBRARY_DIR}")
 
-      # add build/lib/pkgconfig to the pkg-config search path
-      set(ENV{PKG_CONFIG_PATH} "${DRAKE_PKGCONFIG_DIR}:$ENV{PKG_CONFIG_PATH}")
-
-      # add build/lib to the link path
-      link_directories(${LIBRARY_OUTPUT_PATH})
-      link_directories(${LIBRARY_INSTALL_PATH})
+      # add install/lib/pkgconfig to the pkg-config search path so we find
+      # .pc files installed by externals (use both the correct library dir, and
+      # plain 'lib', as some externals may not use the correct library dir)
+      set(ENV{PKG_CONFIG_PATH} "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}/pkgconfig:${CMAKE_INSTALL_PREFIX}/lib/pkgconfig:$ENV{PKG_CONFIG_PATH}")
 
       # abuse RPATH
       if(CMAKE_INSTALL_RPATH)

diff --git a/drake/CMakeLists.txt b/drake/CMakeLists.txt
@@ -32,13 +32,6 @@ option(LONG_RUNNING_TESTS "some tests should be run nightly for coverage, but ar
 
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
-if(WITH_PYTHON_3)
-  set(Python_ADDITIONAL_VERSIONS 3.5)
-  find_package(PythonInterp 3 MODULE REQUIRED)
-else()
-  find_package(PythonInterp MODULE REQUIRED)
-endif()
-
 find_package(BLAS MODULE)
 find_package(Doxygen MODULE)
 find_package(Perl MODULE)
@@ -86,6 +79,7 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   # https://gcc.gnu.org/bugzilla/show_bug.cgi?id=57709
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Werror=shadow")
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Werror=inconsistent-missing-override")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Werror=sign-compare")
 else()
   # TODO(jwnimmer-tri) Get a similar complement of flags working on clang.
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Werror=extra -Wno-unused-parameter")
@@ -181,7 +175,10 @@ if(Matlab_FOUND)
   add_subdirectory(matlab)
 endif()
 add_subdirectory(examples)
-add_subdirectory(bindings)
+
+if(Matlab_FOUND OR NOT DISABLE_PYTHON)
+  add_subdirectory(bindings)
+endif()
 
 if(BUILD_TESTING)
   add_subdirectory(regtests)