migrated from private SVN to public GitHub, started renaming from <da…

…ma> to <mopl>

.gitignore

@@ -0,0 +1,10 @@
+*~
+
+Release/
+Debug/
+output/
+data/models/mekabot-convex/rlsg/mekabot/
+
+.settings/
+.project
+.cproject

CMakeLists.txt

@@ -0,0 +1,48 @@
+cmake_minimum_required(VERSION 2.8.11)
+
+project(mopl)
+
+set(VERSION_MAJOR 0)
+set(VERSION_MINOR 0)
+set(VERSION_PATCH 1)
+set(VERSION ${VERSION_MAJOR}.${VERSION_MINOR}.${VERSION_PATCH})
+
+set(CMAKE_VERBOSE_MAKEFILE 1)
+set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/Modules)
+
+set(Boost_ADDITIONAL_VERSIONS "1.56.0" "1.56" "1.55.0" "1.55" "1.54.0" "1.54" "1.53.0" "1.53" "1.52.0" "1.52" "1.51.0" "1.51" "1.50.0" "1.50" "1.49.0" "1.49" "1.48.0" "1.48" "1.47.0" "1.47")
+
+if(CMAKE_SIZEOF_VOID_P EQUAL 4)
+	add_definitions(-DEIGEN_DONT_ALIGN)
+endif(CMAKE_SIZEOF_VOID_P EQUAL 4)
+
+include(CheckCXXCompilerFlag)
+
+if(WIN32)
+	add_definitions(
+		-D_SCL_SECURE_NO_WARNINGS
+		-D_USE_MATH_DEFINES
+		-D_WIN32_WINNT=0x400
+		-DNOMINMAX
+	)
+else()
+	check_cxx_compiler_flag("-std=c++0x" HAS_CXX_COMPILER_FLAG_STDCXX0X)
+	if(HAS_CXX_COMPILER_FLAG_STDCXX0X)
+	    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
+	endif()
+endif()
+
+add_subdirectory(src)
+add_subdirectory(src/rlDamaDemoGUI)
+add_subdirectory(src/rlDamaRun)
+
+# create symlink to models
+execute_process(
+	COMMAND ${CMAKE_COMMAND} -E create_symlink 
+	${CMAKE_CURRENT_SOURCE_DIR}/data
+	${CMAKE_CURRENT_BINARY_DIR}/data
+)
+
+enable_testing()
+add_subdirectory(tests/testMoplPlan)
+add_subdirectory(tests/testIK)

Modules/FindAtidaq.cmake

@@ -0,0 +1,33 @@
+INCLUDE(FindPackageHandleStandardArgs)
+
+FIND_PATH(
+	ATIDAQ_INCLUDE_DIRS
+	NAMES
+	atidaq/ftconfig.h
+	HINTS
+	$ENV{HOME}/include
+	/usr/local/include
+	/usr/include
+)
+
+FIND_LIBRARY(
+	ATIDAQ_LIBRARIES
+	NAMES
+	atidaq
+	HINTS
+	$ENV{HOME}/lib
+	/usr/local/lib
+	/usr/lib
+)
+
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(
+	ATIDAQ
+	DEFAULT_MSG
+	ATIDAQ_INCLUDE_DIRS
+	ATIDAQ_LIBRARIES
+)
+
+MARK_AS_ADVANCED(
+	ATIDAQ_INCLUDE_DIRS
+	ATIDAQ_LIBRARIES
+) 

Modules/FindBullet.cmake

@@ -0,0 +1,171 @@
+INCLUDE(FindPackageHandleStandardArgs)
+
+FILE(
+	GLOB
+	BULLET_INCLUDE_PATHS
+	$ENV{BULLETDIR}/include/bullet
+	$ENV{HOME}/include/bullet
+	/usr/local/include/bullet
+	/usr/include/bullet
+	$ENV{ProgramW6432}/bullet*/include/bullet
+	$ENV{ProgramFiles}/bullet*/include/bullet
+	$ENV{ProgramW6432}/rl*/include/bullet
+	$ENV{ProgramFiles}/rl*/include/bullet
+)
+
+FILE(
+	GLOB
+	BULLET_LIBRARY_PATHS
+	$ENV{BULLETDIR}/lib
+	$ENV{HOME}/lib
+	/usr/local/lib
+	/usr/lib
+	$ENV{ProgramW6432}/bullet*/lib
+	$ENV{ProgramFiles}/bullet*/lib
+	$ENV{ProgramW6432}/rl*/lib
+	$ENV{ProgramFiles}/rl*/lib
+)
+
+FIND_PATH(
+	BULLET_INCLUDE_DIRS
+	NAMES
+	Bullet-C-Api.h
+	HINTS
+	${BULLET_INCLUDE_PATHS}
+)
+
+FIND_LIBRARY(
+	BULLET_COLLISION_LIBRARY_DEBUG
+	NAMES
+	bulletcollisiond BulletCollisiond BulletCollision_debug
+	HINTS
+	${BULLET_LIBRARY_PATHS}
+)
+
+FIND_LIBRARY(
+	BULLET_COLLISION_LIBRARY_RELEASE
+	NAMES
+	bulletcollision BulletCollision
+	HINTS
+	${BULLET_LIBRARY_PATHS}
+)
+
+FIND_LIBRARY(
+	BULLET_CONVEXDECOMPOSITION_LIBRARY_DEBUG
+	NAMES
+	convexdecompositiond ConvexDecompositiond ConvexDecomposition_debug
+	HINTS
+	${BULLET_LIBRARY_PATHS}
+)
+
+FIND_LIBRARY(
+	BULLET_CONVEXDECOMPOSITION_LIBRARY_RELEASE
+	NAMES
+	convexdecomposition ConvexDecomposition
+	HINTS
+	${BULLET_LIBRARY_PATHS}
+)
+
+FIND_LIBRARY(
+	BULLET_DYNAMICS_LIBRARY_DEBUG
+	NAMES
+	bulletdynamicsd BulletDynamicsd BulletDynamics_debug
+	HINTS
+	${BULLET_LIBRARY_PATHS}
+)
+
+FIND_LIBRARY(
+	BULLET_DYNAMICS_LIBRARY_RELEASE
+	NAMES
+	bulletdynamics BulletDynamics
+	HINTS
+	${BULLET_LIBRARY_PATHS}
+)
+
+FIND_LIBRARY(
+	BULLET_MATH_LIBRARY_DEBUG
+	NAMES
+	bulletmathd LinearMathd LinearMath_debug
+	HINTS
+	${BULLET_LIBRARY_PATHS}
+)
+
+FIND_LIBRARY(
+	BULLET_MATH_LIBRARY_RELEASE
+	NAMES
+	bulletmath LinearMath
+	HINTS
+	${BULLET_LIBRARY_PATHS}
+)
+
+FIND_LIBRARY(
+	BULLET_SOFTBODY_LIBRARY_DEBUG
+	NAMES
+	bulletsoftbodyd BulletSoftBodyd BulletSoftBody_debug
+	HINTS
+	${BULLET_LIBRARY_PATHS}
+)
+
+FIND_LIBRARY(
+	BULLET_SOFTBODY_LIBRARY_RELEASE
+	NAMES
+	bulletsoftbody BulletSoftBody
+	HINTS
+	${BULLET_LIBRARY_PATHS}
+)
+
+FOREACH(LIBRARY BULLET_COLLISION_LIBRARY BULLET_CONVEXDECOMPOSITION_LIBRARY BULLET_DYNAMICS_LIBRARY BULLET_MATH_LIBRARY BULLET_SOFTBODY_LIBRARY)
+	SET(BULLET_LIBRARY ${LIBRARY})
+
+	IF(${LIBRARY}_DEBUG AND NOT ${LIBRARY}_RELEASE)
+		SET(${BULLET_LIBRARY} ${${LIBRARY}_DEBUG})
+	ENDIF(${LIBRARY}_DEBUG AND NOT ${LIBRARY}_RELEASE)
+
+	IF(${LIBRARY}_RELEASE AND NOT ${LIBRARY}_DEBUG)
+		SET(${BULLET_LIBRARY} ${${LIBRARY}_RELEASE})
+	ENDIF(${LIBRARY}_RELEASE AND NOT ${LIBRARY}_DEBUG)
+
+	IF(${LIBRARY}_DEBUG AND ${LIBRARY}_RELEASE)
+		SET(${BULLET_LIBRARY} debug ${${LIBRARY}_DEBUG} optimized ${${LIBRARY}_RELEASE})
+	ENDIF(${LIBRARY}_DEBUG AND ${LIBRARY}_RELEASE)
+ENDFOREACH(LIBRARY)
+
+SET(
+	BULLET_LIBRARIES
+	${BULLET_COLLISION_LIBRARY}
+	${BULLET_CONVEXDECOMPOSITION_LIBRARY}
+	${BULLET_DYNAMICS_LIBRARY}
+	${BULLET_MATH_LIBRARY}
+	${BULLET_SOFTBODY_LIBRARY}
+)
+
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(
+	Bullet
+	DEFAULT_MSG
+	BULLET_INCLUDE_DIRS
+	BULLET_COLLISION_LIBRARY
+#	BULLET_CONVEXDECOMPOSITION_LIBRARY
+	BULLET_DYNAMICS_LIBRARY
+	BULLET_MATH_LIBRARY
+	BULLET_SOFTBODY_LIBRARY
+)
+
+MARK_AS_ADVANCED(
+	BULLET_INCLUDE_DIRS
+	BULLET_COLLISION_LIBRARY
+	BULLET_COLLISION_LIBRARY_DEBUG
+	BULLET_COLLISION_LIBRARY_RELEASE
+	BULLET_CONVEXDECOMPOSITION_LIBRARY
+	BULLET_CONVEXDECOMPOSITION_LIBRARY_DEBUG
+	BULLET_CONVEXDECOMPOSITION_LIBRARY_RELEASE
+	BULLET_DYNAMICS_LIBRARY
+	BULLET_DYNAMICS_LIBRARY_DEBUG
+	BULLET_DYNAMICS_LIBRARY_RELEASE
+	BULLET_LIBRARIES
+	BULLET_MATH_LIBRARY
+	BULLET_MATH_LIBRARY_DEBUG
+	BULLET_MATH_LIBRARY_RELEASE
+	BULLET_SOFTBODY_LIBRARY
+	BULLET_SOFTBODY_LIBRARY_DEBUG
+	BULLET_SOFTBODY_LIBRARY_RELEASE
+) 

Modules/FindCgal.cmake

@@ -0,0 +1,103 @@
+INCLUDE(FindPackageHandleStandardArgs)
+
+FILE(
+	GLOB
+	CGAL_COMPILER_INCLUDE_PATHS
+	$ENV{CGALROOT}/include/CGAL/config/*
+	$ENV{HOME}/include/CGAL/config/*
+	/usr/local/include/CGAL/config/*
+	/usr/include/CGAL/config/*
+	$ENV{ProgramW6432}/CGAL*/include/CGAL/config/*
+	$ENV{ProgramFiles}/CGAL*/include/CGAL/config/*
+)
+FILE(
+	GLOB
+	CGAL_INCLUDE_PATHS
+	$ENV{CGALROOT}/include
+	$ENV{HOME}/include
+	/usr/local/include
+	/usr/include
+	$ENV{ProgramW6432}/CGAL*/include
+	$ENV{ProgramFiles}/CGAL*/include
+)
+FILE(
+	GLOB
+	CGAL_LIBRARY_PATHS
+	$ENV{CGALROOT}/lib
+	$ENV{HOME}/lib
+	/usr/local/lib
+	/usr/lib
+	$ENV{ProgramW6432}/CGAL*/lib
+	$ENV{ProgramFiles}/CGAL*/lib
+)
+
+FIND_PATH(
+	CGAL_COMPILER_INCLUDE_DIR
+	NAMES
+	CGAL/compiler_config.h
+	HINTS
+	${CGAL_COMPILER_INCLUDE_PATHS}
+	${CGAL_INCLUDE_PATHS}
+)
+
+FIND_PATH(
+	CGAL_INCLUDE_DIR
+	NAMES
+	CGAL/CORE/CORE.h
+	HINTS
+	${CGAL_INCLUDE_PATHS}
+)
+
+FIND_LIBRARY(
+	CGAL_LIBRARY_DEBUG
+	NAMES
+	CGALd
+	cgal-vc100-mt-gd-4.1 cgal-vc100-mt-gd-4.0 cgal-vc100-mt-gd
+	cgal-vc90-mt-gd-4.1 cgal-vc90-mt-gd-4.0 cgal-vc90-mt-gd
+	cgal-vc80-mt-gd-4.1 cgal-vc80-mt-gd-4.0 cgal-vc80-mt-gd
+	cgal-vc71-mt-gd-4.1 cgal-vc71-mt-gd-4.0 cgal-vc71-mt-gd
+	HINTS
+	${CGAL_LIBRARY_PATHS}
+)
+
+FIND_LIBRARY(
+	CGAL_LIBRARY_RELEASE
+	NAMES
+	CGAL
+	cgal-vc100-mt-4.1 cgal-vc100-mt-4.0 cgal-vc100-mt
+	cgal-vc90-mt-4.1 cgal-vc90-mt-4.0 cgal-vc90-mt
+	cgal-vc80-mt-4.1 cgal-vc80-mt-4.0 cgal-vc80-mt
+	cgal-vc71-mt-4.1 cgal-vc71-mt-4.0 cgal-vc71-mt
+	HINTS
+	${CGAL_LIBRARY_PATHS}
+)
+
+IF(CGAL_LIBRARY_DEBUG AND NOT CGAL_LIBRARY_RELEASE)
+	SET(CGAL_LIBRARIES ${CGAL_LIBRARY_DEBUG})
+ENDIF(CGAL_LIBRARY_DEBUG AND NOT CGAL_LIBRARY_RELEASE)
+
+IF(CGAL_LIBRARY_RELEASE AND NOT CGAL_LIBRARY_DEBUG)
+	SET(CGAL_LIBRARIES ${CGAL_LIBRARY_RELEASE})
+ENDIF(CGAL_LIBRARY_RELEASE AND NOT CGAL_LIBRARY_DEBUG)
+
+IF(CGAL_LIBRARY_DEBUG AND CGAL_LIBRARY_RELEASE)
+	SET(CGAL_LIBRARIES debug ${CGAL_LIBRARY_DEBUG} optimized ${CGAL_LIBRARY_RELEASE})
+ENDIF(CGAL_LIBRARY_DEBUG AND CGAL_LIBRARY_RELEASE)
+
+SET(CGAL_INCLUDE_DIRS ${CGAL_INCLUDE_DIR} ${CGAL_COMPILER_INCLUDE_DIR})
+
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(
+	CGAL
+	DEFAULT_MSG
+	CGAL_INCLUDE_DIRS
+	CGAL_LIBRARIES
+)
+
+MARK_AS_ADVANCED(
+	CGAL_COMPILER_INCLUDE_DIR
+	CGAL_INCLUDE_DIR
+	CGAL_INCLUDE_DIRS
+	CGAL_LIBRARIES
+	CGAL_LIBRARY_DEBUG
+	CGAL_LIBRARY_RELEASE
+)