Merge pull request #1151 from cmastalli/topic/fix-cppadcg

CMakeLists.txt

@@ -194,221 +194,21 @@ if(Boost_VERSION GREATER 107299)
   add_definitions(-DBOOST_BIND_GLOBAL_PLACEHOLDERS)
 endif()
 
-# Main library
-set(${PROJECT_NAME}_SOURCES
-    src/core/solver-base.cpp
-    src/core/solvers/box-ddp.cpp
-    src/core/solvers/box-fddp.cpp
-    src/core/solvers/box-qp.cpp
-    src/core/solvers/ddp.cpp
-    src/core/solvers/fddp.cpp
-    src/core/solvers/intro.cpp
-    src/core/solvers/ipopt.cpp
-    src/core/solvers/ipopt/ipopt-iface.cpp
-    src/core/solvers/kkt.cpp
-    src/core/utils/callbacks.cpp
-    src/core/utils/exception.cpp
-    src/core/utils/stop-watch.cpp
-    src/multibody/utils/quadruped-gaits.cpp)
-
-set(${PROJECT_NAME}_HEADERS
-    include/crocoddyl/core/action-base.hpp
-    include/crocoddyl/core/action-base.hxx
-    include/crocoddyl/core/actions/diff-lqr.hpp
-    include/crocoddyl/core/actions/diff-lqr.hxx
-    include/crocoddyl/core/actions/lqr.hpp
-    include/crocoddyl/core/actions/lqr.hxx
-    include/crocoddyl/core/actions/unicycle.hpp
-    include/crocoddyl/core/actions/unicycle.hxx
-    include/crocoddyl/core/activation-base.hpp
-    include/crocoddyl/core/activations/2norm-barrier.hpp
-    include/crocoddyl/core/activations/quadratic-barrier.hpp
-    include/crocoddyl/core/activations/quadratic-flat-exp.hpp
-    include/crocoddyl/core/activations/quadratic-flat-log.hpp
-    include/crocoddyl/core/activations/quadratic.hpp
-    include/crocoddyl/core/activations/smooth-1norm.hpp
-    include/crocoddyl/core/activations/smooth-2norm.hpp
-    include/crocoddyl/core/activations/smooth-abs.hpp
-    include/crocoddyl/core/activations/weighted-quadratic-barrier.hpp
-    include/crocoddyl/core/activations/weighted-quadratic.hpp
-    include/crocoddyl/core/actuation/actuation-squashing.hpp
-    include/crocoddyl/core/actuation-base.hpp
-    include/crocoddyl/core/actuation-base.hxx
-    include/crocoddyl/core/actuation/squashing-base.hpp
-    include/crocoddyl/core/actuation/squashing/smooth-sat.hpp
-    include/crocoddyl/core/codegen/action-base.hpp
-    include/crocoddyl/core/constraint-base.hpp
-    include/crocoddyl/core/constraint-base.hxx
-    include/crocoddyl/core/constraints/constraint-manager.hpp
-    include/crocoddyl/core/constraints/constraint-manager.hxx
-    include/crocoddyl/core/constraints/residual.hpp
-    include/crocoddyl/core/constraints/residual.hxx
-    include/crocoddyl/core/control-base.hpp
-    include/crocoddyl/core/control-base.hxx
-    include/crocoddyl/core/controls/poly-one.hpp
-    include/crocoddyl/core/controls/poly-one.hxx
-    include/crocoddyl/core/controls/poly-two-rk.hpp
-    include/crocoddyl/core/controls/poly-two-rk.hxx
-    include/crocoddyl/core/controls/poly-zero.hpp
-    include/crocoddyl/core/controls/poly-zero.hxx
-    include/crocoddyl/core/cost-base.hpp
-    include/crocoddyl/core/cost-base.hxx
-    include/crocoddyl/core/costs/cost-sum.hpp
-    include/crocoddyl/core/costs/cost-sum.hxx
-    include/crocoddyl/core/costs/residual.hpp
-    include/crocoddyl/core/costs/residual.hxx
-    include/crocoddyl/core/data/actuation.hpp
-    include/crocoddyl/core/data-collector-base.hpp
-    include/crocoddyl/core/data/joint.hpp
-    include/crocoddyl/core/diff-action-base.hpp
-    include/crocoddyl/core/diff-action-base.hxx
-    include/crocoddyl/core/fwd.hpp
-    include/crocoddyl/core/integ-action-base.hpp
-    include/crocoddyl/core/integ-action-base.hxx
-    include/crocoddyl/core/integrator/euler.hpp
-    include/crocoddyl/core/integrator/euler.hxx
-    include/crocoddyl/core/integrator/rk4.hpp
-    include/crocoddyl/core/integrator/rk4.hxx
-    include/crocoddyl/core/integrator/rk.hpp
-    include/crocoddyl/core/integrator/rk.hxx
-    include/crocoddyl/core/mathbase.hpp
-    include/crocoddyl/core/numdiff/action.hpp
-    include/crocoddyl/core/numdiff/action.hxx
-    include/crocoddyl/core/numdiff/activation.hpp
-    include/crocoddyl/core/numdiff/activation.hxx
-    include/crocoddyl/core/numdiff/actuation.hpp
-    include/crocoddyl/core/numdiff/actuation.hxx
-    include/crocoddyl/core/numdiff/constraint.hpp
-    include/crocoddyl/core/numdiff/constraint.hxx
-    include/crocoddyl/core/numdiff/control.hpp
-    include/crocoddyl/core/numdiff/control.hxx
-    include/crocoddyl/core/numdiff/cost.hpp
-    include/crocoddyl/core/numdiff/cost.hxx
-    include/crocoddyl/core/numdiff/diff-action.hpp
-    include/crocoddyl/core/numdiff/diff-action.hxx
-    include/crocoddyl/core/numdiff/residual.hpp
-    include/crocoddyl/core/numdiff/residual.hxx
-    include/crocoddyl/core/numdiff/state.hpp
-    include/crocoddyl/core/numdiff/state.hxx
-    include/crocoddyl/core/optctrl/shooting.hpp
-    include/crocoddyl/core/optctrl/shooting.hxx
-    include/crocoddyl/core/residual-base.hpp
-    include/crocoddyl/core/residual-base.hxx
-    include/crocoddyl/core/residuals/control.hpp
-    include/crocoddyl/core/residuals/control.hxx
-    include/crocoddyl/core/residuals/joint-acceleration.hpp
-    include/crocoddyl/core/residuals/joint-acceleration.hxx
-    include/crocoddyl/core/residuals/joint-effort.hpp
-    include/crocoddyl/core/residuals/joint-effort.hxx
-    include/crocoddyl/core/solver-base.hpp
-    include/crocoddyl/core/solvers/box-ddp.hpp
-    include/crocoddyl/core/solvers/box-fddp.hpp
-    include/crocoddyl/core/solvers/box-kkt.hpp
-    include/crocoddyl/core/solvers/box-qp.hpp
-    include/crocoddyl/core/solvers/ddp.hpp
-    include/crocoddyl/core/solvers/fddp.hpp
-    include/crocoddyl/core/solvers/intro.hpp
-    include/crocoddyl/core/solvers/ipopt.hpp
-    include/crocoddyl/core/solvers/ipopt/ipopt-iface.hpp
-    include/crocoddyl/core/solvers/kkt.hpp
-    include/crocoddyl/core/state-base.hpp
-    include/crocoddyl/core/state-base.hxx
-    include/crocoddyl/core/states/euclidean.hpp
-    include/crocoddyl/core/states/euclidean.hxx
-    include/crocoddyl/core/utils/callbacks.hpp
-    include/crocoddyl/core/utils/deprecate.hpp
-    include/crocoddyl/core/utils/exception.hpp
-    include/crocoddyl/core/utils/file-io.hpp
-    include/crocoddyl/core/utils/math.hpp
-    include/crocoddyl/core/utils/motion-display.hpp
-    include/crocoddyl/core/utils/robot-loader.hpp
-    include/crocoddyl/core/utils/solution-plot.hpp
-    include/crocoddyl/core/utils/stop-watch.hpp
-    include/crocoddyl/core/utils/timer.hpp
-    include/crocoddyl/core/utils/version.hpp
-    include/crocoddyl/multibody/actions/contact-fwddyn.hpp
-    include/crocoddyl/multibody/actions/contact-fwddyn.hxx
-    include/crocoddyl/multibody/actions/contact-invdyn.hpp
-    include/crocoddyl/multibody/actions/contact-invdyn.hxx
-    include/crocoddyl/multibody/actions/free-fwddyn.hpp
-    include/crocoddyl/multibody/actions/free-fwddyn.hxx
-    include/crocoddyl/multibody/actions/free-invdyn.hpp
-    include/crocoddyl/multibody/actions/free-invdyn.hxx
-    include/crocoddyl/multibody/actions/impulse-fwddyn.hpp
-    include/crocoddyl/multibody/actions/impulse-fwddyn.hxx
-    include/crocoddyl/multibody/actuations/floating-base.hpp
-    include/crocoddyl/multibody/actuations/full.hpp
-    include/crocoddyl/multibody/actuations/multicopter-base.hpp
-    include/crocoddyl/multibody/contact-base.hpp
-    include/crocoddyl/multibody/contact-base.hxx
-    include/crocoddyl/multibody/contacts/contact-1d.hpp
-    include/crocoddyl/multibody/contacts/contact-1d.hxx
-    include/crocoddyl/multibody/contacts/contact-2d.hpp
-    include/crocoddyl/multibody/contacts/contact-2d.hxx
-    include/crocoddyl/multibody/contacts/contact-3d.hpp
-    include/crocoddyl/multibody/contacts/contact-3d.hxx
-    include/crocoddyl/multibody/contacts/contact-6d.hpp
-    include/crocoddyl/multibody/contacts/contact-6d.hxx
-    include/crocoddyl/multibody/contacts/multiple-contacts.hpp
-    include/crocoddyl/multibody/contacts/multiple-contacts.hxx
-    include/crocoddyl/multibody/cop-support.hpp
-    include/crocoddyl/multibody/cop-support.hxx
-    include/crocoddyl/multibody/cost-base.hpp
-    include/crocoddyl/multibody/data/contacts.hpp
-    include/crocoddyl/multibody/data/impulses.hpp
-    include/crocoddyl/multibody/data/multibody.hpp
-    include/crocoddyl/multibody/force-base.hpp
-    include/crocoddyl/multibody/frames-deprecated.hpp
-    include/crocoddyl/multibody/frames.hpp
-    include/crocoddyl/multibody/friction-cone.hpp
-    include/crocoddyl/multibody/friction-cone.hxx
-    include/crocoddyl/multibody/fwd.hpp
-    include/crocoddyl/multibody/impulse-base.hpp
-    include/crocoddyl/multibody/impulse-base.hxx
-    include/crocoddyl/multibody/impulses/impulse-3d.hpp
-    include/crocoddyl/multibody/impulses/impulse-3d.hxx
-    include/crocoddyl/multibody/impulses/impulse-6d.hpp
-    include/crocoddyl/multibody/impulses/impulse-6d.hxx
-    include/crocoddyl/multibody/impulses/multiple-impulses.hpp
-    include/crocoddyl/multibody/impulses/multiple-impulses.hxx
-    include/crocoddyl/multibody/numdiff/contact.hpp
-    include/crocoddyl/multibody/numdiff/contact.hxx
-    include/crocoddyl/multibody/numdiff/cost.hpp
-    include/crocoddyl/multibody/residuals/centroidal-momentum.hpp
-    include/crocoddyl/multibody/residuals/centroidal-momentum.hxx
-    include/crocoddyl/multibody/residuals/com-position.hpp
-    include/crocoddyl/multibody/residuals/com-position.hxx
-    include/crocoddyl/multibody/residuals/contact-control-gravity.hpp
-    include/crocoddyl/multibody/residuals/contact-control-gravity.hxx
-    include/crocoddyl/multibody/residuals/contact-cop-position.hpp
-    include/crocoddyl/multibody/residuals/contact-cop-position.hxx
-    include/crocoddyl/multibody/residuals/contact-force.hpp
-    include/crocoddyl/multibody/residuals/contact-force.hxx
-    include/crocoddyl/multibody/residuals/contact-friction-cone.hpp
-    include/crocoddyl/multibody/residuals/contact-friction-cone.hxx
-    include/crocoddyl/multibody/residuals/contact-wrench-cone.hpp
-    include/crocoddyl/multibody/residuals/contact-wrench-cone.hxx
-    include/crocoddyl/multibody/residuals/control-gravity.hpp
-    include/crocoddyl/multibody/residuals/control-gravity.hxx
-    include/crocoddyl/multibody/residuals/frame-placement.hpp
-    include/crocoddyl/multibody/residuals/frame-placement.hxx
-    include/crocoddyl/multibody/residuals/frame-rotation.hpp
-    include/crocoddyl/multibody/residuals/frame-rotation.hxx
-    include/crocoddyl/multibody/residuals/frame-translation.hpp
-    include/crocoddyl/multibody/residuals/frame-translation.hxx
-    include/crocoddyl/multibody/residuals/frame-velocity.hpp
-    include/crocoddyl/multibody/residuals/frame-velocity.hxx
-    include/crocoddyl/multibody/residuals/impulse-com.hpp
-    include/crocoddyl/multibody/residuals/impulse-com.hxx
-    include/crocoddyl/multibody/residuals/pair-collision.hpp
-    include/crocoddyl/multibody/residuals/pair-collision.hxx
-    include/crocoddyl/multibody/residuals/state.hpp
-    include/crocoddyl/multibody/residuals/state.hxx
-    include/crocoddyl/multibody/states/multibody.hpp
-    include/crocoddyl/multibody/states/multibody.hxx
-    include/crocoddyl/multibody/utils/quadruped-gaits.hpp
-    include/crocoddyl/multibody/wrench-cone.hpp
-    include/crocoddyl/multibody/wrench-cone.hxx)
+# Include header and source files
+file(GLOB_RECURSE ${PROJECT_NAME}_SOURCES ${PROJECT_SOURCE_DIR}/src/*.cpp)
+file(GLOB_RECURSE ${PROJECT_NAME}_HEADERS ${PROJECT_SOURCE_DIR}/include/*.hpp
+     ${PROJECT_SOURCE_DIR}/include/*.hxx)
+# Remove header and source files that we want to build
+if(NOT BUILD_WITH_IPOPT OR (NOT IPOPT_FOUND))
+  list(REMOVE_ITEM ${PROJECT_NAME}_HEADERS
+       ${PROJECT_SOURCE_DIR}/include/core/solvers/ipopt/ipopt-iface.cpp
+       ${PROJECT_SOURCE_DIR}/include/core/solvers/ipopt.cpp)
+endif()
+if(NOT BUILD_WITH_IPOPT OR (NOT IPOPT_FOUND))
+  list(REMOVE_ITEM ${PROJECT_NAME}_SOURCES
+       ${PROJECT_SOURCE_DIR}/src/core/solvers/ipopt/ipopt-iface.cpp
+       ${PROJECT_SOURCE_DIR}/src/core/solvers/ipopt.cpp)
+endif()
 
 if(UNIX)
   # Build options We'd like to deactivate sign conversion since we frequently

bindings/python/crocoddyl/core/action-base.cpp

@@ -149,12 +149,11 @@ void exposeActionAbstract() {
                     bp::make_function(&ActionModelAbstract_wrap::get_u_ub,
                                       bp::return_internal_reference<>()),
                     &ActionModelAbstract_wrap::set_u_ub, "upper control limits")
-      .def(CopyableVisitor<ActionModelAbstract_wrap>())
       .def(PrintableVisitor<ActionModelAbstract>());
 
   bp::register_ptr_to_python<boost::shared_ptr<ActionDataAbstract> >();
 
-  bp::class_<ActionDataAbstract, boost::noncopyable>(
+  bp::class_<ActionDataAbstract>(
       "ActionDataAbstract",
       "Abstract class for action data.\n\n"
       "In crocoddyl, an action data contains all the required information for "

bindings/python/crocoddyl/core/activation-base.cpp

@@ -47,12 +47,11 @@ void exposeActivationAbstract() {
       .add_property("nr",
                     bp::make_function(&ActivationModelAbstract_wrap::get_nr),
                     "dimension of cost-residual vector")
-      .def(CopyableVisitor<ActivationModelAbstract_wrap>())
       .def(PrintableVisitor<ActivationModelAbstract>());
 
   bp::register_ptr_to_python<boost::shared_ptr<ActivationDataAbstract> >();
 
-  bp::class_<ActivationDataAbstract, boost::noncopyable>(
+  bp::class_<ActivationDataAbstract>(
       "ActivationDataAbstract", "Abstract class for activation data.\n\n",
       bp::init<ActivationModelAbstract*>(
           bp::args("self", "model"),

bindings/python/crocoddyl/core/actuation-base.cpp

@@ -103,12 +103,11 @@ void exposeActuationAbstract() {
           "state",
           bp::make_function(&ActuationModelAbstract_wrap::get_state,
                             bp::return_value_policy<bp::return_by_value>()),
-          "state")
-      .def(CopyableVisitor<ActuationModelAbstract_wrap>());
+          "state");
 
   bp::register_ptr_to_python<boost::shared_ptr<ActuationDataAbstract> >();
 
-  bp::class_<ActuationDataAbstract, boost::noncopyable>(
+  bp::class_<ActuationDataAbstract>(
       "ActuationDataAbstract",
       "Abstract class for actuation datas.\n\n"
       "An actuation data contains all the required information for processing "

bindings/python/crocoddyl/core/actuation/squashing-base.cpp

@@ -65,7 +65,7 @@ void exposeSquashingAbstract() {
 
   bp::register_ptr_to_python<boost::shared_ptr<SquashingDataAbstract> >();
 
-  bp::class_<SquashingDataAbstract, boost::noncopyable>(
+  bp::class_<SquashingDataAbstract>(
       "SquashingDataAbstract",
       "Abstract class for squashing datas. \n\n"
       "In crocoddyl, an squashing data contains all the required information "

bindings/python/crocoddyl/core/constraint-base.cpp

@@ -141,12 +141,11 @@ void exposeConstraintAbstract() {
       .add_property("nh",
                     bp::make_function(&ConstraintModelAbstract_wrap::get_nh),
                     "number of equality constraints")
-      .def(CopyableVisitor<ConstraintModelAbstract_wrap>())
       .def(PrintableVisitor<ConstraintModelAbstract>());
 
   bp::register_ptr_to_python<boost::shared_ptr<ConstraintDataAbstract> >();
 
-  bp::class_<ConstraintDataAbstract, boost::noncopyable>(
+  bp::class_<ConstraintDataAbstract>(
       "ConstraintDataAbstract", "Abstract class for constraint data.\n\n",
       bp::init<ConstraintModelAbstract*, DataCollectorAbstract*>(
           bp::args("self", "model", "data"),

bindings/python/crocoddyl/core/control-base.cpp

@@ -116,13 +116,12 @@ void exposeControlParametrizationAbstract() {
       .add_property(
           "nu",
           bp::make_function(&ControlParametrizationModelAbstract_wrap::get_nu),
-          "dimension of the control parameters")
-      .def(CopyableVisitor<ControlParametrizationModelAbstract_wrap>());
+          "dimension of the control parameters");
 
   bp::register_ptr_to_python<
       boost::shared_ptr<ControlParametrizationDataAbstract> >();
 
-  bp::class_<ControlParametrizationDataAbstract, boost::noncopyable>(
+  bp::class_<ControlParametrizationDataAbstract>(
       "ControlParametrizationDataAbstract",
       "Abstract class for control parametrization data.\n",
       bp::init<ControlParametrizationModelAbstract*>(

bindings/python/crocoddyl/core/cost-base.cpp

@@ -150,12 +150,11 @@ void exposeCostAbstract() {
           "residual model")
       .add_property("nu", bp::make_function(&CostModelAbstract_wrap::get_nu),
                     "dimension of control vector")
-      .def(CopyableVisitor<CostModelAbstract_wrap>())
       .def(PrintableVisitor<CostModelAbstract>());
 
   bp::register_ptr_to_python<boost::shared_ptr<CostDataAbstract> >();
 
-  bp::class_<CostDataAbstract, boost::noncopyable>(
+  bp::class_<CostDataAbstract>(
       "CostDataAbstract", "Abstract class for cost data.\n\n",
       bp::init<CostModelAbstract*, DataCollectorAbstract*>(
           bp::args("self", "model", "data"),

bindings/python/crocoddyl/core/data-collector-base.cpp

@@ -15,7 +15,7 @@ namespace crocoddyl {
 namespace python {
 
 void exposeDataCollector() {
-  bp::class_<DataCollectorAbstract, boost::noncopyable>(
+  bp::class_<DataCollectorAbstract>(
       "DataCollectorAbstract",
       "Abstract class for common collection of data used in different objects "
       "in action model.\n\n",

bindings/python/crocoddyl/core/data/joint.cpp

@@ -17,7 +17,7 @@ namespace python {
 void exposeDataCollectorJoint() {
   bp::register_ptr_to_python<boost::shared_ptr<JointDataAbstract> >();
 
-  bp::class_<JointDataAbstract, boost::noncopyable>(
+  bp::class_<JointDataAbstract>(
       "JointDataAbstract",
       "Abstract class for joint datas.\n\n"
       "A joint data contains all the required information about joint efforts "
@@ -77,7 +77,8 @@ void exposeDataCollectorJoint() {
           "joint",
           bp::make_getter(&DataCollectorJoint::joint,
                           bp::return_value_policy<bp::return_by_value>()),
-          "joint data");
+          "joint data")
+      .def(CopyableVisitor<DataCollectorJoint>());
 
   bp::class_<DataCollectorJointActuation, bp::bases<DataCollectorActuation> >(
       "DataCollectorJointActuation", "Joint-actuation data collector.\n\n",

bindings/python/crocoddyl/core/diff-action-base.cpp

@@ -171,13 +171,12 @@ void exposeDifferentialActionAbstract() {
                             bp::return_value_policy<bp::return_by_value>()),
           &DifferentialActionModelAbstract_wrap::set_u_ub,
           "upper control limits")
-      .def(CopyableVisitor<DifferentialActionModelAbstract_wrap>())
       .def(PrintableVisitor<DifferentialActionModelAbstract>());
 
   bp::register_ptr_to_python<
       boost::shared_ptr<DifferentialActionDataAbstract> >();
 
-  bp::class_<DifferentialActionDataAbstract, boost::noncopyable>(
+  bp::class_<DifferentialActionDataAbstract>(
       "DifferentialActionDataAbstract",
       "Abstract class for differential action data.\n\n"
       "In crocoddyl, an action data contains all the required information for "

bindings/python/crocoddyl/core/integ-action-base.cpp

@@ -104,7 +104,6 @@ void exposeIntegratedActionAbstract() {
           bp::make_function(&IntegratedActionModelAbstract::get_dt,
                             bp::return_value_policy<bp::return_by_value>()),
           &IntegratedActionModelAbstract::set_dt, "step time")
-      .def(CopyableVisitor<IntegratedActionModelAbstract_wrap>())
       .def(PrintableVisitor<IntegratedActionModelAbstract>());
 
   bp::register_ptr_to_python<

bindings/python/crocoddyl/core/optctrl/shooting.cpp

@@ -27,7 +27,7 @@ void exposeShootingProblem() {
 
   bp::register_ptr_to_python<boost::shared_ptr<ShootingProblem> >();
 
-  bp::class_<ShootingProblem, boost::noncopyable>(
+  bp::class_<ShootingProblem>(
       "ShootingProblem",
       "Declare a shooting problem.\n\n"
       "A shooting problem declares the initial state, a set of running action "