Increase minimum required Ipopt version to 3.11.9

CMakeLists.txt

@@ -45,7 +45,7 @@ project(dart)
 
 set(DART_MAJOR_VERSION "5")
 set(DART_MINOR_VERSION "1")
-set(DART_PATCH_VERSION "4")
+set(DART_PATCH_VERSION "5")
 set(DART_VERSION "${DART_MAJOR_VERSION}.${DART_MINOR_VERSION}.${DART_PATCH_VERSION}")
 set(DART_PKG_DESC "Dynamic Animation and Robotics Toolkit.")
 set(DART_PKG_EXTERNAL_DEPS "flann, ccd, fcl")
@@ -290,7 +290,7 @@ if(NOT BUILD_CORE_ONLY)
   # urdfdom
   find_package(urdfdom QUIET)
   if(urdfdom_FOUND)
-    message(STATUS "Looking for urdfdom - found")
+    message(STATUS "Looking for urdfdom - ${urdfdom_headers_VERSION} found")
   else()
     message(SEND_ERROR "Looking for urdfdom - NOT found, please install liburdfdom-dev")
   endif()
@@ -336,7 +336,7 @@ else()
 endif()
 
 # IPOPT
-find_package(IPOPT 3.11.4 QUIET)
+find_package(IPOPT 3.11.9 QUIET)
 if(IPOPT_FOUND)
   message(STATUS "Looking for IPOPT - ${IPOPT_VERSION} found")
   set(HAVE_IPOPT TRUE)

Changelog.md

@@ -1,3 +1,8 @@
+### Version 5.1.5 (201X-XX-XX)
+
+1. Added support of urdfdom_headers 1.0 for DART 5.1 (backport of [#766](https://github.com/dartsim/dart/pull/766))
+    * [Pull request #799](https://github.com/dartsim/dart/pull/799)
+
 ### Version 5.1.4 (2016-10-14)
 
 1. Fixed inconsistent frame rate of GlutWindow

dart/collision/fcl/FCLTypes.h

@@ -52,6 +52,7 @@
    (FCL_MINOR_VERSION < y || (FCL_MINOR_VERSION <= y))))
 
 #if FCL_VERSION_AT_LEAST(0,5,0)
+#include <memory>
 template <class T> using fcl_shared_ptr = std::shared_ptr<T>;
 template <class T> using fcl_weak_ptr = std::weak_ptr<T>;
 #else

dart/common/Deprecated.h

@@ -34,11 +34,11 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/config.h"
-
 #ifndef DART_COMMON_DEPRECATED_H_
 #define DART_COMMON_DEPRECATED_H_
 
+#include "dart/config.h"
+
 //==============================================================================
 // Deprecated is used for backward compatibility between different minor
 // versions of DART. Every deprecated function should be removed for every major

dart/config.h.in

@@ -28,6 +28,18 @@
   (DART_MAJOR_VERSION < x || (DART_MAJOR_VERSION <= x && \
   (DART_MINOR_VERSION < y || (DART_MINOR_VERSION <= y))))
 
+/* urdfdom_headers Version number */
+// We define the version numbers of urdfdom_headers here since it doesn't expose
+// the version numbers itself in source level.
+#define URDFDOM_HEADERS_MAJOR_VERSION @urdfdom_headers_VERSION_MAJOR@
+#define URDFDOM_HEADERS_MINOR_VERSION @urdfdom_headers_VERSION_MINOR@
+#define URDFDOM_HEADERS_PATCH_VERSION @urdfdom_headers_VERSION_PATCH@
+
+#define URDFDOM_HEADERS_VERSION_AT_LEAST(x,y,z) \
+  (URDFDOM_HEADERS_MAJOR_VERSION > x || (URDFDOM_HEADERS_MAJOR_VERSION >= x && \
+  (URDFDOM_HEADERS_MINOR_VERSION > y || (URDFDOM_HEADERS_MINOR_VERSION >= y && \
+  URDFDOM_HEADERS_PATCH_VERSION >= z))))
+
 // Detect the compiler
 #if defined(__clang__)
   #define DART_COMPILER_CLANG

dart/utils/urdf/DartLoader.cpp

@@ -21,13 +21,14 @@
 #include "dart/dynamics/CylinderShape.h"
 #include "dart/dynamics/MeshShape.h"
 #include "dart/simulation/World.h"
+#include "dart/utils/urdf/URDFTypes.h"
 #include "dart/utils/urdf/urdf_world_parser.h"
 
-using ModelInterfacePtr = boost::shared_ptr<urdf::ModelInterface>;
-
 namespace dart {
 namespace utils {
 
+using ModelInterfacePtr = urdf_shared_ptr<urdf::ModelInterface>;
+
 DartLoader::DartLoader()
   : mLocalRetriever(new common::LocalResourceRetriever),
     mPackageRetriever(new utils::PackageResourceRetriever(mLocalRetriever)),

dart/utils/urdf/URDFTypes.h

@@ -0,0 +1,58 @@
+/*
+ * Copyright (c) 2016, Graphics Lab, Georgia Tech Research Corporation
+ * Copyright (c) 2016, Humanoid Lab, Georgia Tech Research Corporation
+ * Copyright (c) 2016, Personal Robotics Lab, Carnegie Mellon University
+ * All rights reserved.
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * 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.
+ */
+
+#ifndef DART_UTILS_URDF_URDFTYPES_H_
+#define DART_UTILS_URDF_URDFTYPES_H_
+
+#include "dart/config.h"
+
+#if URDFDOM_HEADERS_VERSION_AT_LEAST(1,0,0)
+#include <memory>
+#else
+#include "boost/shared_ptr.hpp"
+#include "boost/weak_ptr.hpp"
+#endif
+
+namespace dart {
+namespace utils {
+
+#if URDFDOM_HEADERS_VERSION_AT_LEAST(1,0,0)
+template <class T> using urdf_shared_ptr = std::shared_ptr<T>;
+template <class T> using urdf_weak_ptr = std::weak_ptr<T>;
+#else
+template <class T> using urdf_shared_ptr = boost::shared_ptr<T>;
+template <class T> using urdf_weak_ptr = boost::weak_ptr<T>;
+#endif
+
+} // namespace utils
+} // namespace dart
+
+#endif // DART_UTILS_URDF_URDFTYPES_H_

dart/utils/urdf/urdf_world_parser.h

@@ -47,6 +47,11 @@
 #include <urdf_model/model.h>
 #include <urdf_model/pose.h>
 #include <urdf_model/twist.h>
+#include <urdf_world/world.h>
+
+#include "dart/common/Uri.h"
+#include "dart/common/ResourceRetriever.h"
+#include "dart/utils/urdf/URDFTypes.h"
 
 namespace dart {
 namespace utils {
@@ -63,7 +68,7 @@ class Entity
   /// Copy over a standard urdfEntity
   Entity(const urdf::Entity& urdfEntity);
 
-  boost::shared_ptr<urdf::ModelInterface> model;
+  urdf_shared_ptr<urdf::ModelInterface> model;
   urdf::Pose origin;
   urdf::Twist twist;
 

package.xml

@@ -4,7 +4,7 @@
        a Catkin workspace. Catkin is not required to build DART. For more
        information, see: http://ros.org/reps/rep-0136.html -->
   <name>dart</name>
-  <version>5.1.4</version>
+  <version>5.1.5</version>
   <description>
     DART (Dynamic Animation and Robotics Toolkit) is a collaborative,
     cross-platform, open source library created by the Georgia Tech Graphics

unittests/testOptimizer.cpp

@@ -182,9 +182,6 @@ TEST(Optimizer, BasicNlopt)
 #ifdef HAVE_IPOPT
 TEST(Optimizer, BasicIpopt)
 {
-  dterr << "Ipopt does not pass this test yet. Please see #153.";
-  return;
-
   std::shared_ptr<Problem> prob = std::make_shared<Problem>(2);
 
   prob->setLowerBounds(Eigen::Vector2d(-HUGE_VAL, 0));