diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..ab17d30
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,10 @@
+*~
+
+Release/
+Debug/
+output/
+data/models/mekabot-convex/rlsg/mekabot/
+
+.settings/
+.project
+.cproject
diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..354591e
--- /dev/null
+++ b/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)
diff --git a/Modules/FindAtidaq.cmake b/Modules/FindAtidaq.cmake
new file mode 100644
index 0000000..3323b7a
--- /dev/null
+++ b/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
+)
diff --git a/Modules/FindBullet.cmake b/Modules/FindBullet.cmake
new file mode 100644
index 0000000..3e39798
--- /dev/null
+++ b/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
+)
diff --git a/Modules/FindCgal.cmake b/Modules/FindCgal.cmake
new file mode 100644
index 0000000..062ed51
--- /dev/null
+++ b/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
+)
diff --git a/Modules/FindCoin.cmake b/Modules/FindCoin.cmake
new file mode 100644
index 0000000..cc220a5
--- /dev/null
+++ b/Modules/FindCoin.cmake
@@ -0,0 +1,83 @@
+INCLUDE(FindPackageHandleStandardArgs)
+
+FILE(
+ GLOB
+ COIN_INCLUDE_PATHS
+ $ENV{COINDIR}/include
+ $ENV{COIN3DDIR}/include
+ $ENV{HOME}/include
+ /usr/local/include
+ /usr/include/Coin*
+ /usr/include
+ $ENV{SystemDrive}/Coin*/include
+ $ENV{ProgramW6432}/Coin*/include
+ $ENV{ProgramFiles}/Coin*/include
+)
+
+FILE(
+ GLOB
+ COIN_LIBRARY_PATHS
+ $ENV{COINDIR}/lib
+ $ENV{COIN3DDIR}/lib
+ $ENV{HOME}/lib
+ /usr/local/lib
+ /usr/lib
+ $ENV{SystemDrive}/Coin*/lib
+ $ENV{ProgramW6432}/Coin*/lib
+ $ENV{ProgramFiles}/Coin*/lib
+)
+
+FIND_PATH(
+ COIN_INCLUDE_DIRS
+ NAMES
+ Inventor/So.h
+ HINTS
+ ${COIN_INCLUDE_PATHS}
+)
+
+FIND_LIBRARY(
+ COIN_LIBRARY_DEBUG
+ NAMES
+ Coind coin2d coin3d
+ HINTS
+ ${COIN_LIBRARY_PATHS}
+)
+
+FIND_LIBRARY(
+ COIN_LIBRARY_RELEASE
+ NAMES
+ Coin coin2 coin3
+ HINTS
+ ${COIN_LIBRARY_PATHS}
+)
+
+IF(WIN32)
+ SET(COIN_DEFINITIONS -DCOIN_NOT_DLL)
+ENDIF(WIN32)
+
+IF(COIN_LIBRARY_DEBUG AND NOT COIN_LIBRARY_RELEASE)
+ SET(COIN_LIBRARIES ${COIN_LIBRARY_DEBUG})
+ENDIF(COIN_LIBRARY_DEBUG AND NOT COIN_LIBRARY_RELEASE)
+
+IF(COIN_LIBRARY_RELEASE AND NOT COIN_LIBRARY_DEBUG)
+ SET(COIN_LIBRARIES ${COIN_LIBRARY_RELEASE})
+ENDIF(COIN_LIBRARY_RELEASE AND NOT COIN_LIBRARY_DEBUG)
+
+IF(COIN_LIBRARY_DEBUG AND COIN_LIBRARY_RELEASE)
+ SET(COIN_LIBRARIES debug ${COIN_LIBRARY_DEBUG} optimized ${COIN_LIBRARY_RELEASE})
+ENDIF(COIN_LIBRARY_DEBUG AND COIN_LIBRARY_RELEASE)
+
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(
+ Coin
+ DEFAULT_MSG
+ COIN_INCLUDE_DIRS
+ COIN_LIBRARIES
+)
+
+MARK_AS_ADVANCED(
+ COIN_DEFINITIONS
+ COIN_INCLUDE_DIRS
+ COIN_LIBRARIES
+ COIN_LIBRARY_DEBUG
+ COIN_LIBRARY_RELEASE
+)
diff --git a/Modules/FindComedi.cmake b/Modules/FindComedi.cmake
new file mode 100644
index 0000000..4c3942e
--- /dev/null
+++ b/Modules/FindComedi.cmake
@@ -0,0 +1,33 @@
+INCLUDE(FindPackageHandleStandardArgs)
+
+FIND_PATH(
+ COMEDI_INCLUDE_DIRS
+ NAMES
+ comedilib.h
+ HINTS
+ $ENV{HOME}/include
+ /usr/local/include
+ /usr/include
+)
+
+FIND_LIBRARY(
+ COMEDI_LIBRARIES
+ NAMES
+ comedi
+ HINTS
+ $ENV{HOME}/lib
+ /usr/local/lib
+ /usr/lib
+)
+
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(
+ Comedi
+ DEFAULT_MSG
+ COMEDI_INCLUDE_DIRS
+ COMEDI_LIBRARIES
+)
+
+MARK_AS_ADVANCED(
+ COMEDI_INCLUDE_DIRS
+ COMEDI_LIBRARIES
+)
diff --git a/Modules/FindEigen.cmake b/Modules/FindEigen.cmake
new file mode 100644
index 0000000..e2f0b43
--- /dev/null
+++ b/Modules/FindEigen.cmake
@@ -0,0 +1,38 @@
+INCLUDE(FindPackageHandleStandardArgs)
+
+FILE(
+ GLOB
+ EIGEN_INCLUDE_PATHS
+ $ENV{EIGENDIR}
+ $ENV{HOME}/include
+ /usr/local/include/eigen3
+ /usr/local/include/eigen*
+ /usr/local/include
+ /usr/include/eigen3
+ /usr/include/eigen*
+ /usr/include
+ /opt/local/include/eigen*
+ $ENV{ProgramW6432}/eigen*/include/eigen3
+ $ENV{ProgramFiles}/eigen*/include/eigen3
+ $ENV{ProgramW6432}/eigen*
+ $ENV{ProgramFiles}/eigen*
+)
+
+FIND_PATH(
+ EIGEN_INCLUDE_DIRS
+ NAMES
+ Eigen/Core
+ HINTS
+ ${EIGEN_INCLUDE_PATHS}
+)
+
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(
+ Eigen
+ DEFAULT_MSG
+ EIGEN_INCLUDE_DIRS
+)
+
+MARK_AS_ADVANCED(
+ EIGEN_FOUND
+ EIGEN_INCLUDE_DIRS
+)
diff --git a/Modules/FindIce.cmake b/Modules/FindIce.cmake
new file mode 100644
index 0000000..7e1dd90
--- /dev/null
+++ b/Modules/FindIce.cmake
@@ -0,0 +1,303 @@
+# FindIce.cmake -- based on a module written by Markus Rickert for the JAST project.
+
+# Doesn't seem to work properly with CMake 2.6
+cmake_minimum_required(VERSION 2.8.5)
+# does not work with 2.8.3--2.8.4
+# http://www.cmake.org/Bug/bug_relationship_graph.php?bug_id=11973&graph=relation
+
+# Workaround for missing library links on DICE
+SET(CMAKE_FIND_LIBRARY_SUFFIXES .so.34 ${CMAKE_FIND_LIBRARY_SUFFIXES})
+
+# Hack for finding the right files for various Windows compilers
+# See http://doc.zeroc.com/display/Ice/Using+the+Windows+Binary+Distribution
+IF (CMAKE_GENERATOR MATCHES "Visual Studio 10 Win64")
+ SET (SUBDIR "/vc100/x64")
+ELSEIF (CMAKE_GENERATOR MATCHES "Visual Studio 10")
+ SET (SUBDIR "/vc100")
+ELSEIF (CMAKE_GENERATOR MATCHES "Visual 9 2008 Win64")
+ SET (SUBDIR "/x64")
+ELSEIF (ICE_SUBDIR)
+ # (e.g., if you're using NMake makefiles and you still need 64-bitness)
+ SET (SUBDIR ${ICE_SUBDIR})
+ENDIF ()
+
+FILE(
+ GLOB
+ ICE_BIN_DIRS
+ $ENV{ICE_HOME}/bin${SUBDIR}
+ $ENV{HOME}/bin${SUBDIR}
+ /opt/Ice-*/bin${SUBDIR}
+ /usr/local/bin${SUBDIR}
+ /usr/bin${SUBDIR}
+ $ENV{SystemDrive}/Ice-*/bin${SUBDIR}
+ $ENV{ProgramFiles}/ZeroC/Ice-*/bin${SUBDIR}
+ $ENV{ProgramFilesW6432}/ZeroC/Ice-*/bin${SUBDIR}
+)
+FILE(
+ GLOB
+ ICE_INCLUDE_DIRS
+ $ENV{ICE_HOME}/include
+ $ENV{HOME}/include
+ /opt/Ice-*/include
+ /usr/local/include
+ /usr/include
+ $ENV{SystemDrive}/Ice-*/include
+ $ENV{ProgramFiles}/ZeroC/Ice-*/include
+ $ENV{ProgramFilesW6432}/ZeroC/Ice-*/include
+)
+FILE(
+ GLOB
+ ICE_LIBRARY_DIRS
+ $ENV{ICE_HOME}/lib${SUBDIR}
+ $ENV{HOME}/lib${SUBDIR}
+ /opt/Ice-*/lib${SUBDIR}
+ /usr/local/lib${SUBDIR}
+ /usr/lib${SUBDIR}
+ $ENV{SystemDrive}/Ice-*/lib${SUBDIR}
+ $ENV{ProgramFiles}/ZeroC/Ice-*/lib${SUBDIR}
+ $ENV{ProgramFilesW6432}/ZeroC/Ice-*/lib${SUBDIR}
+)
+FILE(
+ GLOB
+ ICE_SLICE_DIRS
+ $ENV{ICE_HOME}/slice
+ $ENV{HOME}/share/slice
+ /opt/Ice-*/slice
+ /usr/local/share/slice
+ /usr/share/slice
+ /usr/share/Ice-*/slice
+ $ENV{SystemDrive}/Ice-*/slice
+ $ENV{ProgramFiles}/ZeroC/Ice-*/slice
+ $ENV{ProgramFilesW6432}/ZeroC/Ice-*/slice
+)
+
+FIND_PATH(
+ ICE_INCLUDE_DIR
+ Ice/Application.h
+ ${ICE_INCLUDE_DIRS}
+)
+
+FIND_PATH(
+ ICE_SLICE_DIR
+ Ice/BuiltinSequences.ice
+ ${ICE_SLICE_DIRS}
+)
+
+MACRO(ICE_ADJUST_LIB_VARS basename)
+ IF (ICE_${basename}_LIBRARY_DEBUG AND NOT ICE_${basename}_LIBRARY_RELEASE)
+ SET(ICE_${basename}_LIBRARY ${ICE_${basename}_LIBRARY_DEBUG})
+ ENDIF (ICE_${basename}_LIBRARY_DEBUG AND NOT ICE_${basename}_LIBRARY_RELEASE)
+
+ IF (ICE_${basename}_LIBRARY_RELEASE AND NOT ICE_${basename}_LIBRARY_DEBUG)
+ SET(ICE_${basename}_LIBRARY ${ICE_${basename}_LIBRARY_RELEASE})
+ ENDIF (ICE_${basename}_LIBRARY_RELEASE AND NOT ICE_${basename}_LIBRARY_DEBUG)
+
+ IF (ICE_${basename}_LIBRARY_DEBUG AND ICE_${basename}_LIBRARY_RELEASE)
+ SET(ICE_${basename}_LIBRARY debug ${ICE_${basename}_LIBRARY_DEBUG} optimized ${ICE_${basename}_LIBRARY_RELEASE})
+ ENDIF (ICE_${basename}_LIBRARY_DEBUG AND ICE_${basename}_LIBRARY_RELEASE)
+
+ IF (ICE_${basename}_LIBRARY)
+ SET(ICE_${basename}_FOUND TRUE)
+ ENDIF (ICE_${basename}_LIBRARY)
+ENDMACRO(ICE_ADJUST_LIB_VARS)
+
+FIND_LIBRARY(ICE_FREEZE_LIBRARY_DEBUG NAMES Freezed PATHS ${ICE_LIBRARY_DIRS})
+FIND_LIBRARY(ICE_FREEZE_LIBRARY_RELEASE NAMES Freeze PATHS ${ICE_LIBRARY_DIRS})
+ICE_ADJUST_LIB_VARS(FREEZE)
+
+FIND_LIBRARY(ICE_GLACIER2_LIBRARY_DEBUG NAMES Glacier2d PATHS ${ICE_LIBRARY_DIRS})
+FIND_LIBRARY(ICE_GLACIER2_LIBRARY_RELEASE NAMES Glacier2 PATHS ${ICE_LIBRARY_DIRS})
+ICE_ADJUST_LIB_VARS(GLACIER2)
+
+FIND_LIBRARY(ICE_ICE_LIBRARY_DEBUG NAMES Iced PATHS ${ICE_LIBRARY_DIRS})
+FIND_LIBRARY(ICE_ICE_LIBRARY_RELEASE NAMES Ice PATHS ${ICE_LIBRARY_DIRS} NO_DEFAULT_PATH)
+ICE_ADJUST_LIB_VARS(ICE)
+
+FIND_LIBRARY(ICE_ICEBOX_LIBRARY_DEBUG NAMES IceBoxd PATHS ${ICE_LIBRARY_DIRS})
+FIND_LIBRARY(ICE_ICEBOX_LIBRARY_RELEASE NAMES IceBox PATHS ${ICE_LIBRARY_DIRS})
+ICE_ADJUST_LIB_VARS(ICEBOX)
+
+FIND_LIBRARY(ICE_ICEGRID_LIBRARY_DEBUG NAMES IceGridd PATHS ${ICE_LIBRARY_DIRS})
+FIND_LIBRARY(ICE_ICEGRID_LIBRARY_RELEASE NAMES IceGrid PATHS ${ICE_LIBRARY_DIRS})
+ICE_ADJUST_LIB_VARS(ICEGRID)
+
+FIND_LIBRARY(ICE_ICEPATCH2_LIBRARY_DEBUG NAMES IcePatch2d PATHS ${ICE_LIBRARY_DIRS})
+FIND_LIBRARY(ICE_ICEPATCH2_LIBRARY_RELEASE NAMES IcePatch2 PATHS ${ICE_LIBRARY_DIRS})
+ICE_ADJUST_LIB_VARS(ICEPATCH2)
+
+FIND_LIBRARY(ICE_ICESSL_LIBRARY_DEBUG NAMES IceSSLd PATHS ${ICE_LIBRARY_DIRS})
+FIND_LIBRARY(ICE_ICESSL_LIBRARY_RELEASE NAMES IceSSL PATHS ${ICE_LIBRARY_DIRS})
+ICE_ADJUST_LIB_VARS(ICESSL)
+
+FIND_LIBRARY(ICE_ICESTORM_LIBRARY_DEBUG NAMES IceStormd PATHS ${ICE_LIBRARY_DIRS})
+FIND_LIBRARY(ICE_ICESTORM_LIBRARY_RELEASE NAMES IceStorm PATHS ${ICE_LIBRARY_DIRS})
+ICE_ADJUST_LIB_VARS(ICESTORM)
+
+FIND_LIBRARY(ICE_ICESTORMSERVICE_LIBRARY_DEBUG NAMES IceStormServiced PATHS ${ICE_LIBRARY_DIRS})
+FIND_LIBRARY(ICE_ICESTORMSERVICE_LIBRARY_RELEASE NAMES IceStormService PATHS ${ICE_LIBRARY_DIRS})
+ICE_ADJUST_LIB_VARS(ICESTORMSERVICE)
+
+FIND_LIBRARY(ICE_ICEUTIL_LIBRARY_DEBUG NAMES IceUtild PATHS ${ICE_LIBRARY_DIRS})
+FIND_LIBRARY(ICE_ICEUTIL_LIBRARY_RELEASE NAMES IceUtil PATHS ${ICE_LIBRARY_DIRS})
+ICE_ADJUST_LIB_VARS(ICEUTIL)
+
+FIND_LIBRARY(ICE_ICEXML_LIBRARY_DEBUG NAMES IceXMLd PATHS ${ICE_LIBRARY_DIRS})
+FIND_LIBRARY(ICE_ICEXML_LIBRARY_RELEASE NAMES IceXML PATHS ${ICE_LIBRARY_DIRS})
+ICE_ADJUST_LIB_VARS(ICEXML)
+
+FIND_LIBRARY(ICE_SLICE_LIBRARY_DEBUG NAMES Sliced PATHS ${ICE_LIBRARY_DIRS})
+FIND_LIBRARY(ICE_SLICE_LIBRARY_RELEASE NAMES Slice PATHS ${ICE_LIBRARY_DIRS})
+ICE_ADJUST_LIB_VARS(SLICE)
+
+FIND_PROGRAM(ICE_SLICE2CPP slice2cpp ${ICE_BIN_DIRS})
+
+IF (ICE_SLICE2CPP)
+ SET(ICE_SLICE2CPP_FOUND TRUE)
+ENDIF (ICE_SLICE2CPP)
+
+IF(NOT (CMAKE_SYSTEM MATCHES Windows))
+ SET (PTHREAD_IF_NECESSARY pthread)
+ENDIF()
+
+IF (
+ ICE_INCLUDE_DIR AND
+ ICE_FREEZE_FOUND AND
+ ICE_GLACIER2_FOUND AND
+ ICE_ICE_FOUND AND
+ ICE_ICEBOX_FOUND AND
+ ICE_ICEGRID_FOUND AND
+ ICE_ICEPATCH2_FOUND AND
+ ICE_ICESSL_FOUND AND
+ ICE_ICESTORM_FOUND AND
+ ICE_ICESTORMSERVICE_FOUND AND
+ ICE_ICEUTIL_FOUND AND
+ ICE_ICEXML_FOUND AND
+ ICE_SLICE_DIR AND
+ ICE_SLICE_FOUND AND
+ ICE_SLICE2CPP_FOUND
+)
+ SET(ICE_FOUND TRUE)
+
+ SET(
+ ICE_LIBRARIES
+ ${ICE_FREEZE_LIBRARY}
+ ${ICE_GLACIER2_LIBRARY}
+ ${ICE_ICE_LIBRARY}
+ ${ICE_ICEBOX_LIBRARY}
+ ${ICE_ICEGRID_LIBRARY}
+ ${ICE_ICEPATCH2_LIBRARY}
+ ${ICE_ICESSL_LIBRARY}
+ ${ICE_ICESTORM_LIBRARY}
+ ${ICE_ICESTORMSERVICE}
+ ${ICE_ICEUTIL_LIBRARY}
+ ${ICE_ICEXML_LIBRARY}
+ ${ICE_SLICE_LIBRARY}
+ ${PTHREAD_IF_NECESSARY}
+ )
+ENDIF (
+ ICE_INCLUDE_DIR AND
+ ICE_FREEZE_FOUND AND
+ ICE_GLACIER2_FOUND AND
+ ICE_ICE_FOUND AND
+ ICE_ICEBOX_FOUND AND
+ ICE_ICEGRID_FOUND AND
+ ICE_ICEPATCH2_FOUND AND
+ ICE_ICESSL_FOUND AND
+ ICE_ICESTORM_FOUND AND
+ ICE_ICESTORMSERVICE_FOUND AND
+ ICE_ICEUTIL_FOUND AND
+ ICE_ICEXML_FOUND AND
+ ICE_SLICE_DIR AND
+ ICE_SLICE_FOUND AND
+ ICE_SLICE2CPP_FOUND
+)
+
+MACRO(ICE_WRAP_CPP_2 outfiles)
+ SET(SLICE_INCLUDES -I${ICE_SLICE_DIR})
+ FILE(TO_CMAKE_PATH "${ARGN}" argn_cmake)
+ FOREACH(i ${argn_cmake})
+ IF(IS_DIRECTORY ${i})
+ # If the argument is a directory, it's the directory where the next set of files exist
+ # -- also add it to the persistent include path
+ SET(base ${i})
+ SET(SLICE_INCLUDES -I${base} ${SLICE_INCLUDES})
+ ELSE()
+ # Otherwise, it's a file to process
+ GET_FILENAME_COMPONENT(name ${i} NAME)
+ GET_FILENAME_COMPONENT(name_we ${i} NAME_WE)
+ GET_FILENAME_COMPONENT(relative ${i} PATH)
+ SET(infile ${base}/${relative}/${name})
+ SET(outfile1 ${CMAKE_CURRENT_BINARY_DIR}/${relative}/${name_we}.cpp)
+ SET(outfile2 ${CMAKE_CURRENT_BINARY_DIR}/${relative}/${name_we}.h)
+ FILE(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/${relative})
+ ADD_CUSTOM_COMMAND(
+ OUTPUT ${outfile1} ${outfile2}
+ COMMAND ${ICE_SLICE2CPP}
+ ARGS ${SLICE_INCLUDES} -I${base}/${relative} --output-dir ${CMAKE_CURRENT_BINARY_DIR}/${relative} ${infile}
+ MAIN_DEPENDENCY ${infile}
+ )
+ Message("Running: ${ICE_SLICE2CPP} ${SLICE_INCLUDES} -I${base}/${relative} --output-dir ${CMAKE_CURRENT_BINARY_DIR}/${relative} ${infile}")
+ SET(${outfiles} ${${outfiles}} ${outfile1} ${outfile2})
+ INCLUDE_DIRECTORIES(${CMAKE_CURRENT_BINARY_DIR})
+ INCLUDE_DIRECTORIES(${CMAKE_CURRENT_BINARY_DIR}/${relative})
+ ENDIF()
+ ENDFOREACH(i)
+ENDMACRO(ICE_WRAP_CPP_2)
+
+MARK_AS_ADVANCED(
+ ICE_FOUND
+ ICE_FREEZE_FOUND
+ ICE_FREEZE_LIBRARY
+ ICE_FREEZE_LIBRARY_DEBUG
+ ICE_FREEZE_LIBRARY_RELEASE
+ ICE_GLACIER2_FOUND
+ ICE_GLACIER2_LIBRARY
+ ICE_GLACIER2_LIBRARY_DEBUG
+ ICE_GLACIER2_LIBRARY_RELEASE
+ ICE_ICE_FOUND
+ ICE_ICE_LIBRARY
+ ICE_ICE_LIBRARY_DEBUG
+ ICE_ICE_LIBRARY_RELEASE
+ ICE_ICEBOX_FOUND
+ ICE_ICEBOX_LIBRARY
+ ICE_ICEBOX_LIBRARY_DEBUG
+ ICE_ICEBOX_LIBRARY_RELEASE
+ ICE_ICEGRID_FOUND
+ ICE_ICEGRID_LIBRARY
+ ICE_ICEGRID_LIBRARY_DEBUG
+ ICE_ICEGRID_LIBRARY_RELEASE
+ ICE_ICEPATCH2_FOUND
+ ICE_ICEPATCH2_LIBRARY
+ ICE_ICEPATCH2_LIBRARY_DEBUG
+ ICE_ICEPATCH2_LIBRARY_RELEASE
+ ICE_ICESSL_FOUND
+ ICE_ICESSL_LIBRARY
+ ICE_ICESSL_LIBRARY_DEBUG
+ ICE_ICESSL_LIBRARY_RELEASE
+ ICE_ICESTORM_FOUND
+ ICE_ICESTORM_LIBRARY
+ ICE_ICESTORM_LIBRARY_DEBUG
+ ICE_ICESTORM_LIBRARY_RELEASE
+ ICE_ICESTORMSERVICE_FOUND
+ ICE_ICESTORMSERVICE_LIBRARY
+ ICE_ICESTORMSERVICE_LIBRARY_DEBUG
+ ICE_ICESTORMSERVICE_LIBRARY_RELEASE
+ ICE_ICEUTIL_FOUND
+ ICE_ICEUTIL_LIBRARY
+ ICE_ICEUTIL_LIBRARY_DEBUG
+ ICE_ICEUTIL_LIBRARY_RELEASE
+ ICE_ICEXML_FOUND
+ ICE_ICEXML_LIBRARY
+ ICE_ICEXML_LIBRARY_DEBUG
+ ICE_ICEXML_LIBRARY_RELEASE
+ ICE_INCLUDE_DIR
+ ICE_LIBRARIES
+ ICE_SLICE_DIR
+ ICE_SLICE_FOUND
+ ICE_SLICE_LIBRARY
+ ICE_SLICE_LIBRARY_DEBUG
+ ICE_SLICE_LIBRARY_RELEASE
+ ICE_SLICE2CPP
+ ICE_WRAP_CPP
+ ICE_WRAP_CPP_2
+)
diff --git a/Modules/FindIconv.cmake b/Modules/FindIconv.cmake
new file mode 100644
index 0000000..d88f3c5
--- /dev/null
+++ b/Modules/FindIconv.cmake
@@ -0,0 +1,59 @@
+INCLUDE(FindPackageHandleStandardArgs)
+
+FILE(
+ GLOB
+ ICONV_INCLUDE_PATHS
+ $ENV{ICONVDIR}/include
+ $ENV{HOME}/include
+ /usr/local/include
+ /usr/include
+ $ENV{ProgramW6432}/iconv*/include
+ $ENV{ProgramFiles}/iconv*/include
+ $ENV{ProgramW6432}/libiconv*/include
+ $ENV{ProgramFiles}/libiconv*/include
+ $ENV{ProgramW6432}/GnuWin32/include
+ $ENV{ProgramFiles}/GnuWin32/include
+)
+
+FILE(
+ GLOB
+ ICONV_LIBRARY_PATHS
+ $ENV{ICONVDIR}/lib
+ $ENV{HOME}/lib
+ /usr/local/lib
+ /usr/lib
+ $ENV{ProgramW6432}/iconv*/lib
+ $ENV{ProgramFiles}/iconv*/lib
+ $ENV{ProgramW6432}/libiconv*/lib
+ $ENV{ProgramFiles}/libiconv*/lib
+ $ENV{ProgramW6432}/GnuWin32/lib
+ $ENV{ProgramFiles}/GnuWin32/lib
+)
+
+FIND_PATH(
+ ICONV_INCLUDE_DIRS
+ NAMES
+ iconv.h
+ HINTS
+ ${ICONV_INCLUDE_PATHS}
+)
+
+FIND_LIBRARY(
+ ICONV_LIBRARIES
+ NAMES
+ iconv libiconv libiconv_a
+ HINTS
+ ${ICONV_LIBRARY_PATHS}
+)
+
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(
+ ICONV
+ DEFAULT_MSG
+ ICONV_INCLUDE_DIRS
+ ICONV_LIBRARIES
+)
+
+MARK_AS_ADVANCED(
+ ICONV_INCLUDE_DIRS
+ ICONV_LIBRARIES
+)
diff --git a/Modules/FindLibXml2.cmake b/Modules/FindLibXml2.cmake
new file mode 100644
index 0000000..6634f15
--- /dev/null
+++ b/Modules/FindLibXml2.cmake
@@ -0,0 +1,52 @@
+INCLUDE(FindPackageHandleStandardArgs)
+
+FILE(
+ GLOB
+ LIBXML2_INCLUDE_PATHS
+ $ENV{LIBXML2DIR}/include/libxml2
+ $ENV{HOME}/include
+ $ENV{HOME}/include/libxml2
+ /usr/local/include/libxml2
+ /usr/include/libxml2
+ $ENV{ProgramW6432}/libxml2*/include
+ $ENV{ProgramFiles}/libxml2*/include
+)
+
+FILE(
+ GLOB
+ LIBXML2_LIBRARY_PATHS
+ $ENV{LIBXML2DIR}/lib
+ $ENV{HOME}/lib
+ /usr/local/lib
+ /usr/lib
+ $ENV{ProgramW6432}/libxml2*/lib
+ $ENV{ProgramFiles}/libxml2*/lib
+)
+
+FIND_PATH(
+ LIBXML2_INCLUDE_DIRS
+ NAMES
+ libxml/parser.h
+ HINTS
+ ${LIBXML2_INCLUDE_PATHS}
+)
+
+FIND_LIBRARY(
+ LIBXML2_LIBRARIES
+ NAMES
+ libxml2 xml2
+ HINTS
+ ${LIBXML2_LIBRARY_PATHS}
+)
+
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(
+ LibXml2
+ DEFAULT_MSG
+ LIBXML2_INCLUDE_DIRS
+ LIBXML2_LIBRARIES
+)
+
+MARK_AS_ADVANCED(
+ LIBXML2_INCLUDE_DIRS
+ LIBXML2_LIBRARIES
+)
diff --git a/Modules/FindLibdc1394.cmake b/Modules/FindLibdc1394.cmake
new file mode 100644
index 0000000..d0d7986
--- /dev/null
+++ b/Modules/FindLibdc1394.cmake
@@ -0,0 +1,66 @@
+INCLUDE(FindPackageHandleStandardArgs)
+
+FIND_PATH(
+ LIBDC1394_V1_INCLUDE_DIR
+ libdc1394/dc1394_control.h
+ $ENV{HOME}/include
+ /usr/local/include
+ /usr/include
+)
+
+FIND_PATH(
+ LIBDC1394_V2_INCLUDE_DIR
+ dc1394/dc1394.h
+ $ENV{HOME}/include
+ /usr/local/include
+ /usr/include
+)
+
+FIND_LIBRARY(
+ LIBDC1394_V1_LIBRARY
+ NAMES
+ dc1394_control
+ PATHS
+ $ENV{HOME}/lib
+ /usr/local/lib
+ /usr/lib
+)
+
+FIND_LIBRARY(
+ LIBDC1394_V2_LIBRARY
+ NAMES
+ dc1394
+ PATHS
+ $ENV{HOME}/lib
+ /usr/local/lib
+ /usr/lib
+)
+
+IF(LIBDC1394_V1_INCLUDE_DIR AND LIBDC1394_V1_LIBRARY)
+ SET(LIBDC1394_DEFINITIONS -DLIBDC1394_VERSION_MAJOR=10)
+ SET(LIBDC1394_INCLUDE_DIRS ${LIBDC1394_V1_INCLUDE_DIR})
+ SET(LIBDC1394_LIBRARIES ${LIBDC1394_V1_LIBRARY})
+ENDIF(LIBDC1394_V1_INCLUDE_DIR AND LIBDC1394_V1_LIBRARY)
+
+IF(LIBDC1394_V2_INCLUDE_DIR AND LIBDC1394_V2_LIBRARY)
+ SET(LIBDC1394_DEFINITIONS -DLIBDC1394_VERSION_MAJOR=20)
+ SET(LIBDC1394_INCLUDE_DIRS ${LIBDC1394_V2_INCLUDE_DIR})
+ SET(LIBDC1394_LIBRARIES ${LIBDC1394_V2_LIBRARY})
+ENDIF(LIBDC1394_V2_INCLUDE_DIR AND LIBDC1394_V2_LIBRARY)
+
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(
+ libdc1394
+ DEFAULT_MSG
+ LIBDC1394_INCLUDE_DIRS
+ LIBDC1394_LIBRARIES
+)
+
+MARK_AS_ADVANCED(
+ LIBDC1394_DEFINITIONS
+ LIBDC1394_INCLUDE_DIRS
+ LIBDC1394_LIBRARIES
+ LIBDC1394_V1_INCLUDE_DIR
+ LIBDC1394_V1_LIBRARY
+ LIBDC1394_V2_INCLUDE_DIR
+ LIBDC1394_V2_LIBRARY
+)
diff --git a/Modules/FindOde.cmake b/Modules/FindOde.cmake
new file mode 100644
index 0000000..4d920d4
--- /dev/null
+++ b/Modules/FindOde.cmake
@@ -0,0 +1,100 @@
+INCLUDE(FindPackageHandleStandardArgs)
+
+FILE(
+ GLOB
+ ODE_INCLUDE_PATHS
+ $ENV{ODEDIR}/include
+ $ENV{HOME}/include
+ /usr/local/include
+ /usr/include
+ $ENV{SystemDrive}/ode*/include
+ $ENV{ProgramW6432}/ode*/include
+ $ENV{ProgramFiles}/ode*/include
+)
+
+FILE(
+ GLOB
+ ODE_LIBRARY_PATHS
+ $ENV{ODEDIR}/lib
+ $ENV{HOME}/lib/ReleaseSingleDLL
+ $ENV{HOME}/lib/DebugSingleDLL
+ $ENV{HOME}/lib/ReleaseDoubleDLL
+ $ENV{HOME}/lib/DebugDoubleDLL
+ $ENV{HOME}/lib
+ /usr/local/lib
+ /usr/lib
+ $ENV{SystemDrive}/ode*/lib/ReleaseSingleDLL
+ $ENV{ProgramW6432}/ode*/lib/ReleaseSingleDLL
+ $ENV{ProgramFiles}/ode*/lib/ReleaseSingleDLL
+ $ENV{SystemDrive}/ode*/lib/DebugSingleDLL
+ $ENV{ProgramW6432}/ode*/lib/DebugSingleDLL
+ $ENV{ProgramFiles}/ode*/lib/DebugSingleDLL
+ $ENV{SystemDrive}/ode*/lib/ReleaseDoubleDLL
+ $ENV{ProgramW6432}/ode*/lib/ReleaseDoubleDLL
+ $ENV{ProgramFiles}/ode*/lib/ReleaseDoubleDLL
+ $ENV{SystemDrive}/ode*/lib/DebugDoubleDLL
+ $ENV{ProgramW6432}/ode*/lib/DebugDoubleDLL
+ $ENV{ProgramFiles}/ode*/lib/DebugDoubleDLL
+ $ENV{SystemDrive}/ode*/lib
+ $ENV{ProgramW6432}/ode*/lib
+ $ENV{ProgramFiles}/ode*/lib
+)
+
+FIND_PATH(
+ ODE_INCLUDE_DIRS
+ NAMES
+ ode/ode.h
+ HINTS
+ ${ODE_INCLUDE_PATHS}
+)
+
+FIND_LIBRARY(
+ ODE_LIBRARY_DEBUG
+ NAMES
+ oded ode_singled ode_doubled
+ HINTS
+ ${ODE_LIBRARY_PATHS}
+)
+
+FIND_LIBRARY(
+ ODE_LIBRARY_RELEASE
+ NAMES
+ ode ode_single ode_double
+ HINTS
+ ${ODE_LIBRARY_PATHS}
+)
+
+OPTION(ODE_USE_DOUBLE_PRECISION "ODE use double precision" FALSE)
+
+IF(ODE_USE_DOUBLE_PRECISION)
+ SET(ODE_DEFINITIONS -DdDOUBLE)
+ELSE(ODE_USE_DOUBLE_PRECISION)
+ SET(ODE_DEFINITIONS -DdSINGLE)
+ENDIF(ODE_USE_DOUBLE_PRECISION)
+
+IF(ODE_LIBRARY_DEBUG AND NOT ODE_LIBRARY_RELEASE)
+ SET(ODE_LIBRARIES ${ODE_LIBRARY_DEBUG})
+ENDIF(ODE_LIBRARY_DEBUG AND NOT ODE_LIBRARY_RELEASE)
+
+IF(ODE_LIBRARY_RELEASE AND NOT ODE_LIBRARY_DEBUG)
+ SET(ODE_LIBRARIES ${ODE_LIBRARY_RELEASE})
+ENDIF(ODE_LIBRARY_RELEASE AND NOT ODE_LIBRARY_DEBUG)
+
+IF(ODE_LIBRARY_DEBUG AND ODE_LIBRARY_RELEASE)
+ SET(ODE_LIBRARIES debug ${ODE_LIBRARY_DEBUG} optimized ${ODE_LIBRARY_RELEASE})
+ENDIF(ODE_LIBRARY_DEBUG AND ODE_LIBRARY_RELEASE)
+
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(
+ ODE
+ DEFAULT_MSG
+ ODE_INCLUDE_DIRS
+ ODE_LIBRARIES
+)
+
+MARK_AS_ADVANCED(
+ ODE_DEFINITIONS
+ ODE_INCLUDE_DIRS
+ ODE_LIBRARIES
+ ODE_LIBRARY_DEBUG
+ ODE_LIBRARY_RELEASE
+)
diff --git a/Modules/FindPqp.cmake b/Modules/FindPqp.cmake
new file mode 100644
index 0000000..d34be81
--- /dev/null
+++ b/Modules/FindPqp.cmake
@@ -0,0 +1,53 @@
+INCLUDE(FindPackageHandleStandardArgs)
+
+FILE(
+ GLOB
+ PQP_INCLUDE_PATHS
+ $ENV{PQPDIR}/include
+ $ENV{HOME}/include
+ /usr/local/include
+ /usr/include
+ $ENV{SystemDrive}/pqp*/include
+ $ENV{ProgramW6432}/pqp*/include
+ $ENV{ProgramFiles}/pqp*/include
+)
+
+FILE(
+ GLOB
+ PQP_LIBRARY_PATHS
+ $ENV{PQPDIR}/lib
+ $ENV{HOME}/lib
+ /usr/local/lib
+ /usr/lib
+ $ENV{SystemDrive}/pqp*/lib
+ $ENV{ProgramW6432}/pqp*/lib
+ $ENV{ProgramFiles}/pqp*/lib
+)
+
+FIND_PATH(
+ PQP_INCLUDE_DIRS
+ NAMES
+ PQP.h
+ HINTS
+ ${PQP_INCLUDE_PATHS}
+)
+
+FIND_LIBRARY(
+ PQP_LIBRARIES
+ NAMES
+ PQP
+ HINTS
+ ${PQP_LIBRARY_PATHS}
+)
+
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(
+ PQP
+ DEFAULT_MSG
+ PQP_INCLUDE_DIRS
+ PQP_LIBRARIES
+)
+
+MARK_AS_ADVANCED(
+ PQP_INCLUDE_DIRS
+ PQP_LIBRARIES
+)
diff --git a/Modules/FindSoQt.cmake b/Modules/FindSoQt.cmake
new file mode 100644
index 0000000..e206e77
--- /dev/null
+++ b/Modules/FindSoQt.cmake
@@ -0,0 +1,83 @@
+INCLUDE(FindPackageHandleStandardArgs)
+
+FILE(
+ GLOB
+ SOQT_INCLUDE_PATHS
+ $ENV{COINDIR}/include
+ $ENV{COIN3DDIR}/include
+ $ENV{HOME}/include
+ /usr/local/include
+ /usr/include/Coin*
+ /usr/include
+ $ENV{SystemDrive}/Coin*/include
+ $ENV{ProgramW6432}/Coin*/include
+ $ENV{ProgramFiles}/Coin*/include
+)
+
+FILE(
+ GLOB
+ SOQT_LIBRARY_PATHS
+ $ENV{COINDIR}/lib
+ $ENV{COIN3DDIR}/lib
+ $ENV{HOME}/lib
+ /usr/local/lib
+ /usr/lib
+ $ENV{SystemDrive}/Coin*/lib
+ $ENV{ProgramW6432}/Coin*/lib
+ $ENV{ProgramFiles}/Coin*/lib
+)
+
+FIND_PATH(
+ SOQT_INCLUDE_DIRS
+ NAMES
+ Inventor/Qt/SoQt.h
+ HINTS
+ ${SOQT_INCLUDE_PATHS}
+)
+
+FIND_LIBRARY(
+ SOQT_LIBRARY_DEBUG
+ NAMES
+ SoQtd soqt1d
+ HINTS
+ ${SOQT_LIBRARY_PATHS}
+)
+
+FIND_LIBRARY(
+ SOQT_LIBRARY_RELEASE
+ NAMES
+ SoQt soqt1
+ HINTS
+ ${SOQT_LIBRARY_PATHS}
+)
+
+IF(WIN32)
+ SET(SOQT_DEFINITIONS -DSOQT_NOT_DLL)
+ENDIF(WIN32)
+
+IF(SOQT_LIBRARY_DEBUG AND NOT SOQT_LIBRARY_RELEASE)
+ SET(SOQT_LIBRARIES ${SOQT_LIBRARY_DEBUG})
+ENDIF(SOQT_LIBRARY_DEBUG AND NOT SOQT_LIBRARY_RELEASE)
+
+IF(SOQT_LIBRARY_RELEASE AND NOT SOQT_LIBRARY_DEBUG)
+ SET(SOQT_LIBRARIES ${SOQT_LIBRARY_RELEASE})
+ENDIF(SOQT_LIBRARY_RELEASE AND NOT SOQT_LIBRARY_DEBUG)
+
+IF(SOQT_LIBRARY_DEBUG AND SOQT_LIBRARY_RELEASE)
+ SET(SOQT_LIBRARIES debug ${SOQT_LIBRARY_DEBUG} optimized ${SOQT_LIBRARY_RELEASE})
+ENDIF(SOQT_LIBRARY_DEBUG AND SOQT_LIBRARY_RELEASE)
+
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(
+ SoQt
+ DEFAULT_MSG
+ SOQT_INCLUDE_DIRS
+ SOQT_LIBRARIES
+)
+
+MARK_AS_ADVANCED(
+ SOQT_DEFINITIONS
+ SOQT_INCLUDE_DIRS
+ SOQT_LIBRARIES
+ SOQT_LIBRARY_DEBUG
+ SOQT_LIBRARY_RELEASE
+)
diff --git a/Modules/FindSolid.cmake b/Modules/FindSolid.cmake
new file mode 100644
index 0000000..37cf228
--- /dev/null
+++ b/Modules/FindSolid.cmake
@@ -0,0 +1,73 @@
+INCLUDE(FindPackageHandleStandardArgs)
+
+FILE(
+ GLOB
+ SOLID_INCLUDE_PATHS
+ $ENV{SOLIDDIR}/include
+ $ENV{HOME}/include
+ /usr/local/include
+ /usr/include
+ $ENV{ProgramW6432}/solid*/include
+ $ENV{ProgramFiles}/solid*/include
+)
+
+FILE(
+ GLOB
+ SOLID_LIBRARY_PATHS
+ $ENV{SOLIDDIR}/lib
+ $ENV{HOME}/lib
+ /usr/local/lib
+ /usr/lib
+ $ENV{ProgramW6432}/solid*/lib
+ $ENV{ProgramFiles}/solid*/lib
+)
+
+FIND_PATH(
+ SOLID_INCLUDE_DIRS
+ NAMES
+ SOLID/SOLID.h
+ HINTS
+ ${SOLID_INCLUDE_PATHS}
+)
+
+FIND_LIBRARY(
+ SOLID_LIBRARY_DEBUG
+ NAMES
+ solidd solidsd
+ HINTS
+ ${SOLID_LIBRARY_PATHS}
+)
+
+FIND_LIBRARY(
+ SOLID_LIBRARY_RELEASE
+ NAMES
+ solid solids
+ HINTS
+ ${SOLID_LIBRARY_PATHS}
+)
+
+IF(SOLID_LIBRARY_DEBUG AND NOT SOLID_LIBRARY_RELEASE)
+ SET(SOLID_LIBRARIES ${SOLID_LIBRARY_DEBUG})
+ENDIF(SOLID_LIBRARY_DEBUG AND NOT SOLID_LIBRARY_RELEASE)
+
+IF(SOLID_LIBRARY_RELEASE AND NOT SOLID_LIBRARY_DEBUG)
+ SET(SOLID_LIBRARIES ${SOLID_LIBRARY_RELEASE})
+ENDIF(SOLID_LIBRARY_RELEASE AND NOT SOLID_LIBRARY_DEBUG)
+
+IF(SOLID_LIBRARY_DEBUG AND SOLID_LIBRARY_RELEASE)
+ SET(SOLID_LIBRARIES debug ${SOLID_LIBRARY_DEBUG} optimized ${SOLID_LIBRARY_RELEASE})
+ENDIF(SOLID_LIBRARY_DEBUG AND SOLID_LIBRARY_RELEASE)
+
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(
+ SOLID
+ DEFAULT_MSG
+ SOLID_INCLUDE_DIRS
+ SOLID_LIBRARIES
+)
+
+MARK_AS_ADVANCED(
+ SOLID_INCLUDE_DIRS
+ SOLID_LIBRARIES
+ SOLID_LIBRARY_DEBUG
+ SOLID_LIBRARY_RELEASE
+)
diff --git a/Modules/FindZLIB.cmake b/Modules/FindZLIB.cmake
new file mode 100644
index 0000000..3d5b207
--- /dev/null
+++ b/Modules/FindZLIB.cmake
@@ -0,0 +1,55 @@
+INCLUDE(FindPackageHandleStandardArgs)
+
+FILE(
+ GLOB
+ ZLIB_INCLUDE_PATHS
+ $ENV{ZLIBDIR}/include
+ $ENV{HOME}/include
+ /usr/local/include
+ /usr/include
+ $ENV{ProgramW6432}/zlib*/include
+ $ENV{ProgramFiles}/zlib*/include
+ $ENV{ProgramW6432}/GnuWin32/include
+ $ENV{ProgramFiles}/GnuWin32/include
+)
+
+FILE(
+ GLOB
+ ZLIB_LIBRARY_PATHS
+ $ENV{ZLIBDIR}/lib
+ $ENV{HOME}/lib
+ /usr/local/lib
+ /usr/lib
+ $ENV{ProgramW6432}/zlib*/lib
+ $ENV{ProgramFiles}/zlib*/lib
+ $ENV{ProgramW6432}/GnuWin32/lib
+ $ENV{ProgramFiles}/GnuWin32/lib
+)
+
+FIND_PATH(
+ ZLIB_INCLUDE_DIRS
+ NAMES
+ zlib.h
+ HINTS
+ ${ZLIB_INCLUDE_PATHS}
+)
+
+FIND_LIBRARY(
+ ZLIB_LIBRARIES
+ NAMES
+ z zlib zlib_a zlibstat zlibwapi zdll
+ HINTS
+ ${ZLIB_LIBRARY_PATHS}
+)
+
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(
+ ZLIB
+ DEFAULT_MSG
+ ZLIB_INCLUDE_DIRS
+ ZLIB_LIBRARIES
+)
+
+MARK_AS_ADVANCED(
+ ZLIB_INCLUDE_DIRS
+ ZLIB_LIBRARIES
+)
diff --git a/Modules/LICENSE.md b/Modules/LICENSE.md
new file mode 100644
index 0000000..8b513a6
--- /dev/null
+++ b/Modules/LICENSE.md
@@ -0,0 +1,10 @@
+Copyright (c) 2015, Markus Rickert
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..a027550
--- /dev/null
+++ b/README.md
@@ -0,0 +1,7 @@
+MOPL: A Multi-Modal Path Planner for Generic Manipulation Tasks
+=======
+
+MOPL: A Multi-Modal Path Planner for Generic Manipulation Tasks, inspired by the diverse action manipulation (DAMA) algorithm, and build upon the Robotics Library (RL).
+
+Installation:
+
diff --git a/data/models/kuka-lwr4/rlkin/kuka-lwr4-right.xml b/data/models/kuka-lwr4/rlkin/kuka-lwr4-right.xml
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diff --git a/data/models/kuka-lwr4/rlkin/rlkin.xsd b/data/models/kuka-lwr4/rlkin/rlkin.xsd
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diff --git a/data/models/kuka-lwr4/rlmdl/kuka-lwr4-right_scene3.xml b/data/models/kuka-lwr4/rlmdl/kuka-lwr4-right_scene3.xml
new file mode 100644
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--- /dev/null
+++ b/data/models/kuka-lwr4/rlmdl/kuka-lwr4-right_scene3.xml
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diff --git a/data/models/kuka-lwr4/rlmdl/kuka-lwr4-right_scene3_relaxed.xml b/data/models/kuka-lwr4/rlmdl/kuka-lwr4-right_scene3_relaxed.xml
new file mode 100644
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--- /dev/null
+++ b/data/models/kuka-lwr4/rlmdl/kuka-lwr4-right_scene3_relaxed.xml
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diff --git a/data/models/kuka-lwr4/rlsg/bottle-blue.wrl b/data/models/kuka-lwr4/rlsg/bottle-blue.wrl
new file mode 100644
index 0000000..794c5f4
--- /dev/null
+++ b/data/models/kuka-lwr4/rlsg/bottle-blue.wrl
@@ -0,0 +1,2119 @@
+#VRML V2.0 utf8
+
+DEF bottle Transform {
+ translation 0 0 -0.17
+ children [
+ Shape {
+ appearance Appearance {
+ material Material {
+ transparency 0.0
+ diffuseColor 0.2 0.2 0.8
+ }
+ }
+ geometry IndexedFaceSet {
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diff --git a/data/models/kuka-lwr4/rlsg/bottle-green.wrl b/data/models/kuka-lwr4/rlsg/bottle-green.wrl
new file mode 100644
index 0000000..f8768d0
--- /dev/null
+++ b/data/models/kuka-lwr4/rlsg/bottle-green.wrl
@@ -0,0 +1,2119 @@
+#VRML V2.0 utf8
+
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+}
diff --git a/data/models/kuka-lwr4/rlsg/bottle-red.wrl b/data/models/kuka-lwr4/rlsg/bottle-red.wrl
new file mode 100644
index 0000000..e080266
--- /dev/null
+++ b/data/models/kuka-lwr4/rlsg/bottle-red.wrl
@@ -0,0 +1,2119 @@
+#VRML V2.0 utf8
+
+DEF bottle Transform {
+ translation 0 0 -0.17
+ children [
+ Shape {
+ appearance Appearance {
+ material Material {
+ transparency 0.0
+ diffuseColor 0.8 0.2 0.2
+ }
+ }
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+ 1287, -1,1257, 1287, 1375, -1,1375, 1287, 1393, -1,1375, 1393, 1376, -1,1376, 1393,
+ 1394, -1,1376, 1394, 1377, -1,1377, 1394, 1395, -1,1377, 1395, 1252, -1,1252, 1395,
+ 1282, -1,1252, 1282, 1378, -1,1378, 1282, 1396, -1,1378, 1396, 1379, -1,1379, 1396,
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+ 1277, -1,1247, 1277, 1381, -1,1381, 1277, 1399, -1,1381, 1399, 1382, -1,1382, 1399,
+ 1400, -1,1382, 1400, 1383, -1,1383, 1400, 1401, -1,1383, 1401, 1242, -1,1242, 1401,
+ 1272, -1,1242, 1272, 1366, -1,1366, 1272, 1384, -1,1384, 481, 1385, -1,1385, 481,
+ 481, -1,1385, 481, 1386, -1,1386, 481, 481, -1,1386, 481, 1267, -1,1267, 481, 481, -1,
+ 1267, 481, 1387, -1,1387, 481, 481, -1,1387, 481, 1388, -1,1388, 481, 481, -1,1388,
+ 481, 1389, -1,1389, 481, 481, -1,1389, 481, 1262, -1,1262, 481, 481, -1,1262, 481,
+ 1390, -1,1390, 481, 481, -1,1390, 481, 1391, -1,1391, 481, 481, -1,1391, 481, 1392, -1,
+ 1392, 481, 481, -1,1392, 481, 1287, -1,1287, 481, 481, -1,1287, 481, 1393, -1,1393,
+ 481, 481, -1,1393, 481, 1394, -1,1394, 481, 481, -1,1394, 481, 1395, -1,1395, 481,
+ 481, -1,1395, 481, 1282, -1,1282, 481, 481, -1,1282, 481, 1396, -1,1396, 481, 481, -1,
+ 1396, 481, 1397, -1,1397, 481, 481, -1,1397, 481, 1398, -1,1398, 481, 481, -1,1398,
+ 481, 1277, -1,1277, 481, 481, -1,1277, 481, 1399, -1,1399, 481, 481, -1,1399, 481,
+ 1400, -1,1400, 481, 481, -1,1400, 481, 1401, -1,1401, 481, 481, -1,1401, 481, 1272, -1,
+ 1272, 481, 481, -1,1272, 481, 1384, -1,1384, 481, 481, -1
+ ]
+ }
+ }
+ ]
+}
diff --git a/data/models/kuka-lwr4/rlsg/cylinder-blue.wrl b/data/models/kuka-lwr4/rlsg/cylinder-blue.wrl
new file mode 100644
index 0000000..51f4fc5
--- /dev/null
+++ b/data/models/kuka-lwr4/rlsg/cylinder-blue.wrl
@@ -0,0 +1,22 @@
+#VRML V2.0 utf8
+Transform {
+ children [
+ DEF cylinder Transform {
+ translation 0.0 0.0 -0.03
+ rotation 1 0 0 1.5707963
+ children[
+ Shape {
+ appearance Appearance {
+ material Material {
+ diffuseColor 0.0 0.0 1.0
+ }
+ }
+ geometry Cylinder {
+ radius 0.03
+ height 0.178
+ }
+ }
+ ]
+ }
+ ]
+}
diff --git a/data/models/kuka-lwr4/rlsg/cylinder-green.wrl b/data/models/kuka-lwr4/rlsg/cylinder-green.wrl
new file mode 100644
index 0000000..72a98bc
--- /dev/null
+++ b/data/models/kuka-lwr4/rlsg/cylinder-green.wrl
@@ -0,0 +1,22 @@
+#VRML V2.0 utf8
+Transform {
+ children [
+ DEF cylinder Transform {
+ translation 0.0 0.0 -0.03
+ rotation 1 0 0 1.5707963
+ children[
+ Shape {
+ appearance Appearance {
+ material Material {
+ diffuseColor 0.0 1.0 0.0
+ }
+ }
+ geometry Cylinder {
+ radius 0.03
+ height 0.178
+ }
+ }
+ ]
+ }
+ ]
+}
diff --git a/data/models/kuka-lwr4/rlsg/cylinder-red.wrl b/data/models/kuka-lwr4/rlsg/cylinder-red.wrl
new file mode 100644
index 0000000..c067d82
--- /dev/null
+++ b/data/models/kuka-lwr4/rlsg/cylinder-red.wrl
@@ -0,0 +1,22 @@
+#VRML V2.0 utf8
+Transform {
+ children [
+ DEF cylinder Transform {
+ translation 0.0 0.0 -0.03
+ rotation 1 0 0 1.5707963
+ children[
+ Shape {
+ appearance Appearance {
+ material Material {
+ diffuseColor 1.0 0.0 0.0
+ }
+ }
+ geometry Cylinder {
+ radius 0.03
+ height 0.178
+ }
+ }
+ ]
+ }
+ ]
+}
diff --git a/data/models/kuka-lwr4/rlsg/kuka-lwr4-right_wall.convex.wrl b/data/models/kuka-lwr4/rlsg/kuka-lwr4-right_wall.convex.wrl
new file mode 100644
index 0000000..1bdd44c
--- /dev/null
+++ b/data/models/kuka-lwr4/rlsg/kuka-lwr4-right_wall.convex.wrl
@@ -0,0 +1,15 @@
+#VRML V2.0 utf8
+Transform {
+ children [
+ DEF kuka-lwr4-right Transform {
+ translation -0.625 0 0
+ children [
+ Inline {
+ url "kuka-lwr4.convex/kuka-lwr4-right.wrl"
+ }
]
+ }
+ DEF wall Inline {
+ url "wall.wrl"
+ }
]
+}
+
diff --git a/data/models/kuka-lwr4/rlsg/kuka-lwr4-right_wall.convex.xml b/data/models/kuka-lwr4/rlsg/kuka-lwr4-right_wall.convex.xml
new file mode 100644
index 0000000..ad48e82
--- /dev/null
+++ b/data/models/kuka-lwr4/rlsg/kuka-lwr4-right_wall.convex.xml
@@ -0,0 +1,18 @@
+
+
+
+
+
+
+
+
+