Merge pull request #309 from dartsim/release-4.3_fix_api_compatibility

Fix API compatibility of dart 4.3

CMakeLists.txt

@@ -327,6 +327,17 @@ if(HAVE_BULLET_COLLISION)
   link_directories("${BULLET_LIBRARY_DIRS}")
 endif()
 
+#===============================================================================
+# Check for non-case-sensitive filesystems
+#===============================================================================
+execute_process(COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/tools/case_sensitive_filesystem
+                RESULT_VARIABLE FILESYSTEM_CASE_SENSITIVE_RETURN)
+if (${FILESYSTEM_CASE_SENSITIVE_RETURN} EQUAL 0)
+  set(FILESYSTEM_CASE_SENSITIVE TRUE)
+else()
+  set(FILESYSTEM_CASE_SENSITIVE FALSE)
+endif()
+
 #===============================================================================
 # Compiler flags
 #===============================================================================

cmake/DARTMacros.cmake

@@ -55,3 +55,33 @@ macro(dart_add_library _name)
     VERSION "${DART_VERSION}"
   )
 endmacro()
+
+#===============================================================================
+# Copied from https://bitbucket.org/osrf/gazebo/pull-request/638 and will be
+# removed by DART 5.0
+#===============================================================================
+macro (dt_install_includes _subdir)
+  install(FILES ${ARGN} DESTINATION include/dart/${_subdir} COMPONENT headers)
+endmacro()
+
+#===============================================================================
+# Deprecated header files
+# Install until next gazebo version on case-sensitive filesystems
+# Copied from https://bitbucket.org/osrf/gazebo/pull-request/638 and will be
+# removed by DART 5.0
+#===============================================================================
+macro(dt_issue_303 _name _output_name)
+  if (FILESYSTEM_CASE_SENSITIVE)
+    if (${DART_VERSION} VERSION_GREATER 4.3)
+      message(WARNING "Installing deprecated ${_name}.hh. This should be removed after DART 4.3")
+    endif()
+    set(generated_file "${CMAKE_CURRENT_BINARY_DIR}/${_name}.h")
+    execute_process(
+      COMMAND bash ${PROJECT_SOURCE_DIR}/tools/issue_303_generator.bash ${_name} ${_output_name}
+      OUTPUT_FILE ${generated_file}
+    )
+    string(TOLOWER ${_name} nameLower)
+    dt_install_includes(${nameLower} ${generated_file})
+  endif()
+endmacro()
+

dart/constraint/CMakeLists.txt

@@ -36,3 +36,6 @@ install(
 #install(TARGETS dart_constraint EXPORT DARTCoreTargets DESTINATION lib)
 #install(TARGETS dart_constraint EXPORT DARTTargets DESTINATION lib)
 
+# Deprecated Constraint.h
+dt_issue_303("Constraint" "ConstraintBase")
+

dart/constraint/ConstraintBase.h

@@ -39,6 +39,8 @@
 
 #include <cstddef>
 
+#include "dart/common/Deprecated.h"
+
 namespace dart {
 
 namespace dynamics {
@@ -134,6 +136,9 @@ class ConstraintBase
   size_t mDim;
 };
 
+DEPRECATED(4.3)
+typedef ConstraintBase Constraint;
+
 } // namespace constraint
 } // namespace dart
 

dart/constraint/DantzigLCPSolver.cpp

@@ -44,7 +44,6 @@
 #include "dart/common/Console.h"
 #include "dart/constraint/ConstraintBase.h"
 #include "dart/constraint/ConstrainedGroup.h"
-#include "dart/lcpsolver/LCPSolver.h"
 #include "dart/lcpsolver/Lemke.h"
 #include "dart/lcpsolver/lcp.h"
 

dart/constraint/PGSLCPSolver.cpp

@@ -44,7 +44,6 @@
 #include "dart/common/Console.h"
 #include "dart/constraint/ConstraintBase.h"
 #include "dart/constraint/ConstrainedGroup.h"
-#include "dart/lcpsolver/LCPSolver.h"
 #include "dart/lcpsolver/Lemke.h"
 #include "dart/lcpsolver/lcp.h"
 

dart/lcpsolver/CMakeLists.txt

@@ -31,3 +31,6 @@ install(
 #install(TARGETS dart_lcpsolver EXPORT DARTCoreTargets DESTINATION lib)
 #install(TARGETS dart_lcpsolver EXPORT DARTTargets DESTINATION lib)
 
+# Deprecated LCPSolver.h
+dt_issue_303("LCPSolver" "ODELCPSolver")
+

dart/lcpsolver/LCPSolver.cpp → dart/lcpsolver/ODELCPSolver.cpp

@@ -34,7 +34,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/lcpsolver/LCPSolver.h"
+#include "dart/lcpsolver/ODELCPSolver.h"
 
 #include <cstdio>
 
@@ -45,13 +45,13 @@
 namespace dart {
 namespace lcpsolver {
 
-LCPSolver::LCPSolver() {
+ODELCPSolver::ODELCPSolver() {
 }
 
-LCPSolver::~LCPSolver() {
+ODELCPSolver::~ODELCPSolver() {
 }
 
-bool LCPSolver::Solve(const Eigen::MatrixXd& _A,
+bool ODELCPSolver::Solve(const Eigen::MatrixXd& _A,
                       const Eigen::VectorXd& _b,
                       Eigen::VectorXd* _x,
                       int _numContacts,
@@ -129,7 +129,7 @@ bool LCPSolver::Solve(const Eigen::MatrixXd& _A,
   }
 }
 
-void LCPSolver::transferToODEFormulation(const Eigen::MatrixXd& _A,
+void ODELCPSolver::transferToODEFormulation(const Eigen::MatrixXd& _A,
                                          const Eigen::VectorXd& _b,
                                          Eigen::MatrixXd* _AOut,
                                          Eigen::VectorXd* _bOut,
@@ -170,7 +170,7 @@ void LCPSolver::transferToODEFormulation(const Eigen::MatrixXd& _A,
         AIntermediate.col(_numContacts * (_numDir + 2) + i);
 }
 
-void LCPSolver::transferSolFromODEFormulation(const Eigen::VectorXd& _x,
+void ODELCPSolver::transferSolFromODEFormulation(const Eigen::VectorXd& _x,
                                               Eigen::VectorXd* _xOut,
                                               int _numDir,
                                               int _numContacts) {
@@ -190,7 +190,7 @@ void LCPSolver::transferSolFromODEFormulation(const Eigen::VectorXd& _x,
     (*_xOut)[_numContacts * (2 + _numDir) + i] = _x[_numContacts * 3 + i];
 }
 
-bool LCPSolver::checkIfSolution(const Eigen::MatrixXd& _A,
+bool ODELCPSolver::checkIfSolution(const Eigen::MatrixXd& _A,
                                 const Eigen::VectorXd& _b,
                                 const Eigen::VectorXd& _x) {
   const double threshold = 1e-4;

dart/lcpsolver/LCPSolver.h → dart/lcpsolver/ODELCPSolver.h

@@ -34,22 +34,23 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_LCPSOLVER_LCPSOLVER_H_
-#define DART_LCPSOLVER_LCPSOLVER_H_
+#ifndef DART_LCPSOLVER_ODELCPSOLVER_H_
+#define DART_LCPSOLVER_ODELCPSOLVER_H_
 
 #include <Eigen/Dense>
+#include "dart/common/Deprecated.h"
 
 namespace dart {
 namespace lcpsolver {
 
 /// \brief
-class LCPSolver {
+class ODELCPSolver {
 public:
   /// \brief
-  LCPSolver();
+  ODELCPSolver();
 
   /// \brief
-  virtual ~LCPSolver();
+  virtual ~ODELCPSolver();
 
   /// \brief
   bool Solve(const Eigen::MatrixXd& _A,
@@ -81,7 +82,10 @@ class LCPSolver {
                        const Eigen::VectorXd& _x);
 };
 
+DEPRECATED(4.3)
+typedef ODELCPSolver LCPSolver;
+
 }  // namespace lcpsolver
 }  // namespace dart
 
-#endif  // DART_LCPSOLVER_LCPSOLVER_H_
+#endif  // DART_LCPSOLVER_ODELCPSOLVER_H_

tools/case_sensitive_filesystem

@@ -0,0 +1,12 @@
+#!/bin/sh
+
+# Create a temporary file
+tmpFile=`mktemp /tmp/CaseSensitiveXXXXXXXX`
+if [ -f `echo $tmpFile | tr '[A-Z]' '[a-z]'` ]
+then
+  #echo Not Case Sensitive
+  rm $tmpFile
+  exit 1
+fi
+#echo Case Sensitive
+rm $tmpFile

tools/issue_303_generator.bash

@@ -0,0 +1,32 @@
+#!/bin/bash
+lower=`echo $1 | tr '[:upper:]' '[:lower:]'`
+guard=DART_`echo $1 | tr '[:lower:]' '[:upper:]'`_`echo $1 | tr '[:lower:]' '[:upper:]'`_H_
+cat <<END
+/*
+ * Copyright 2013 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+#ifndef $guard
+#define $guard
+
+// Deprecated header file for case-sensitive filesystems
+#warning The dart/$lower/$1.h header file is deprecated \\
+  as of dart 4.3 and will be removed in the next release. \\
+  Please include dart/$lower/$2.h instead.
+#include "dart/$lower/$2.h"
+
+#endif
+
+END