Fixed install paths

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@448 042f3d55-54a8-47e9-b7fb-15903f145c44

CMakeLists.txt

@@ -122,34 +122,25 @@ configure_file(
     @ONLY)
 # The SimoxConfig.cmake will be used by external porjects to setup Simox via the FindPackage method.
 # So it must be located in the Simox_DIR directory (install-tree -> CMAKE_INSTALL_PREFIX)
+# changed from DESTINATION "${CMAKE_INSTALL_PREFIX}" to "${Simox_CMAKE_DIR}"
 install(FILES
     "${Simox_BUILD_DIRECTORY}/InstallFiles/SimoxConfig.cmake"
     "${Simox_BUILD_DIRECTORY}/InstallFiles/SimoxConfigVersion.cmake"
-    DESTINATION "${CMAKE_INSTALL_PREFIX}"
-    COMPONENT ApplicationData
-    )
-install(FILES
-    "${PROJECT_SOURCE_DIR}/CMakeModules/SimoxExternalLibrarySetup.cmake"
-    "${PROJECT_SOURCE_DIR}/CMakeModules/SimoxMacros.cmake"
-    "${PROJECT_SOURCE_DIR}/CMakeModules/FindSimox.cmake"
     DESTINATION "${Simox_CMAKE_DIR}"
     COMPONENT ApplicationData
     )
+#removed "${PROJECT_SOURCE_DIR}/CMakeModules/FindSimox.cmake"
+
 install(FILES
     "${PROJECT_SOURCE_DIR}/CMakeModules/SimoxExternalLibrarySetup.cmake"
     "${PROJECT_SOURCE_DIR}/CMakeModules/SimoxMacros.cmake"
-    "${PROJECT_SOURCE_DIR}/CMakeModules/FindSimox.cmake"
     DESTINATION "${Simox_CMAKE_DIR}"
     COMPONENT ApplicationData
     )
 
-
-
 #############################################################
 # PACKAGING (DEB)
 
-
-
 INCLUDE(InstallRequiredSystemLibraries)
 SET(CPACK_SET_DESTDIR "on")
 SET(CPACK_PACKAGING_INSTALL_PREFIX "/tmp")

GraspPlanning/GraspPlanner/MATPlanner/CandidateGraspTester.cpp

-/**
-* This file is part of Simox.
-*
-* Simox is free software; you can redistribute it and/or modify
-* it under the terms of the GNU Lesser General Public License as
-* published by the Free Software Foundation; either version 2 of
-* the License, or (at your option) any later version.
-*
-* Simox is distributed in the hope that it will be useful, but
-* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU Lesser General Public License for more details.
-*
-* You should have received a copy of the GNU Lesser General Public License
-* along with this program. If not, see <http://www.gnu.org/licenses/>.
-*
-* @package    GraspStudio
-* @author     Markus Przybylski
-* @copyright  2013 H2T,KIT
-*             GNU Lesser General Public License
-*
-*/
-#include "CandidateGraspTester.h"
-#include "../GraspQuality/GraspQualityMeasure.h"
-#include "../GraspQuality/GraspQualityMeasureWrenchSpace.h"
-#include <VirtualRobot/Robot.h>
-#include <VirtualRobot/EndEffector/EndEffector.h>
-
-using namespace std;
-using namespace Eigen;
-
-namespace GraspStudio
-{
-
-	CandidateGraspTester::CandidateGraspTester(VirtualRobot::RobotPtr robot, VirtualRobot::SceneObjectPtr object,
-		std::string eefName, GraspQualityMeasureWrenchSpacePtr qualityMeasure, bool verbose)
-		:robot(robot), object(object), eefName(eefName), qualityMeasure(qualityMeasure), verbose(verbose)
-	{
-		if (!robot)
-		{
-			VR_ERROR << "no robot" << endl;
-			return;
-		}
-
-		eef = robot->getEndEffector(eefName);
-		
-		if (!eef)
-		{
-			VR_ERROR << "FAILED to get eef with name " << eefName << endl;
-			return;
-		}
-
-		eefRobot = eef->createEefRobot(eef->getName(), eef->getName());
-		eefCloned = eefRobot->getEndEffector(eef->getName());
-	}
-
-	void CandidateGraspTester::setEEF(Eigen::Matrix4f &poseGCP)
-	{
-		if (!eefRobot || !eefCloned)
-			return;
-		eefRobot->setGlobalPoseForRobotNode(eefCloned->getGCP(), poseGCP);
-	}
-
-	void CandidateGraspTester::testCandidate(CandidateGraspPtr candidate)
-	{
-		//set hand (eef) to start pose:
-		float positionScaleFactor = 1000.0;     //ACHTUNG: als Argument...!
-		Eigen::Matrix4f poseGCP = candidate->toMatrix4f(positionScaleFactor);
-		setEEF(poseGCP);
-
-		openEEF();
-		closeEEFAndTest(candidate, positionScaleFactor);
-	}
-
+/**
+* This file is part of Simox.
+*
+* Simox is free software; you can redistribute it and/or modify
+* it under the terms of the GNU Lesser General Public License as
+* published by the Free Software Foundation; either version 2 of
+* the License, or (at your option) any later version.
+*
+* Simox is distributed in the hope that it will be useful, but
+* WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU Lesser General Public License for more details.
+*
+* You should have received a copy of the GNU Lesser General Public License
+* along with this program. If not, see <http://www.gnu.org/licenses/>.
+*
+* @package    GraspStudio
+* @author     Markus Przybylski
+* @copyright  2013 H2T,KIT
+*             GNU Lesser General Public License
+*
+*/
+#include "CandidateGraspTester.h"
+#include "../GraspQuality/GraspQualityMeasure.h"
+#include "../GraspQuality/GraspQualityMeasureWrenchSpace.h"
+#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/EndEffector/EndEffector.h>
+
+using namespace std;
+using namespace Eigen;
+
+namespace GraspStudio
+{
+
+	CandidateGraspTester::CandidateGraspTester(VirtualRobot::RobotPtr robot, VirtualRobot::SceneObjectPtr object,
+		std::string eefName, GraspQualityMeasureWrenchSpacePtr qualityMeasure, bool verbose)
+		:robot(robot), object(object), eefName(eefName), qualityMeasure(qualityMeasure), verbose(verbose)
+	{
+		if (!robot)
+		{
+			VR_ERROR << "no robot" << endl;
+			return;
+		}
+
+		eef = robot->getEndEffector(eefName);
+		
+		if (!eef)
+		{
+			VR_ERROR << "FAILED to get eef with name " << eefName << endl;
+			return;
+		}
+
+		eefRobot = eef->createEefRobot(eef->getName(), eef->getName());
+		eefCloned = eefRobot->getEndEffector(eef->getName());
+	}
+
+	void CandidateGraspTester::setEEF(Eigen::Matrix4f &poseGCP)
+	{
+		if (!eefRobot || !eefCloned)
+			return;
+		eefRobot->setGlobalPoseForRobotNode(eefCloned->getGCP(), poseGCP);
+	}
+
+	void CandidateGraspTester::testCandidate(CandidateGraspPtr candidate)
+	{
+		//set hand (eef) to start pose:
+		float positionScaleFactor = 1000.0;     //ACHTUNG: als Argument...!
+		Eigen::Matrix4f poseGCP = candidate->toMatrix4f(positionScaleFactor);
+		setEEF(poseGCP);
+
+		openEEF();
+		closeEEFAndTest(candidate, positionScaleFactor);
+	}
+
 	void CandidateGraspTester::moveEEFAway(const Eigen::Vector3f &approachDir, float step, int maxLoops)
 	{
 		VirtualRobot::SceneObjectSetPtr sos = eefCloned->createSceneObjectSet();
@@ -85,72 +85,72 @@ namespace GraspStudio
 			loop++;
 		}
 	}
-
+
 	bool CandidateGraspTester::updateEEFPose(const Eigen::Vector3f &deltaPosition)
 	{
 		Eigen::Matrix4f deltaPose;
 		deltaPose.setIdentity();
 		deltaPose.block(0, 3, 3, 1) = deltaPosition;
 		return updateEEFPose(deltaPose);
-	}
-
+	}
+
 	bool CandidateGraspTester::updateEEFPose(const Eigen::Matrix4f &deltaPose)
 	{
 		Eigen::Matrix4f pose = eefCloned->getGCP()->getGlobalPose();
 		pose = deltaPose * pose;
 		eefRobot->setGlobalPoseForRobotNode(eefCloned->getGCP(), pose);
 		return true;
-	}
-
-	void CandidateGraspTester::closeEEFAndTest(CandidateGraspPtr candidate, float positionScaleFactor)
-	{
-		if (!eefCloned || !qualityMeasure)
-			return;
-
-		//cout << "todo: moveaway..." << endl;
-		moveEEFAway(candidate->handApproachDirection,3.0f,5); //MP 2013-10-01
-
-		candidate->contacts.clear();
-
-		if (eefCloned && eefRobot)
-		{
-			candidate->contacts = eefCloned->closeActors(object);
-			qualityMeasure->setContactPoints(candidate->contacts);
-
-			candidate->quality = qualityMeasure->getGraspQuality();
-			candidate->forceClosure = qualityMeasure->isGraspForceClosure();
-			if (verbose)
-			{
-				std::stringstream ss;
-				ss << std::setprecision(3);
-				ss << "Quality (wrench space): "
-					<< candidate->quality << "\nForce closure: ";
-				if (candidate->forceClosure)
-					ss << "yes";
-				else
-					ss << "no";
-				cout << ss.str();
-			}
-		
-		}
-	
-		candidate->tested = true;
-
-		candidate->finalHandPose = eefCloned->getGCP()->getGlobalPose();
-		candidate->finalJointAngles = eefCloned->getConfiguration();
-	}
-	
-
-	
-	void CandidateGraspTester::openEEF()
-	{
-		if (!eefCloned)
-			return;
-		if (eefCloned && eefRobot)
-		{
-			eefCloned->openActors();
-		}
-	}
-	
-
-}
+	}
+
+	void CandidateGraspTester::closeEEFAndTest(CandidateGraspPtr candidate, float positionScaleFactor)
+	{
+		if (!eefCloned || !qualityMeasure)
+			return;
+
+		//cout << "todo: moveaway..." << endl;
+		moveEEFAway(candidate->handApproachDirection,3.0f,5); //MP 2013-10-01
+
+		candidate->contacts.clear();
+
+		if (eefCloned && eefRobot)
+		{
+			candidate->contacts = eefCloned->closeActors(object);
+			qualityMeasure->setContactPoints(candidate->contacts);
+
+			candidate->quality = qualityMeasure->getGraspQuality();
+			candidate->forceClosure = qualityMeasure->isGraspForceClosure();
+			if (verbose)
+			{
+				std::stringstream ss;
+				ss << std::setprecision(3);
+				ss << "Quality (wrench space): "
+					<< candidate->quality << "\nForce closure: ";
+				if (candidate->forceClosure)
+					ss << "yes";
+				else
+					ss << "no";
+				cout << ss.str();
+			}
+		
+		}
+	
+		candidate->tested = true;
+
+		candidate->finalHandPose = eefCloned->getGCP()->getGlobalPose();
+		candidate->finalJointAngles = eefCloned->getConfiguration();
+	}
+	
+
+	
+	void CandidateGraspTester::openEEF()
+	{
+		if (!eefCloned)
+			return;
+		if (eefCloned && eefRobot)
+		{
+			eefCloned->openActors();
+		}
+	}
+	
+
+}

VirtualRobot/CMakeLists.txt

@@ -372,14 +372,13 @@ configure_file(
 install(FILES
     "${VirtualRobot_CONFIG_INSTALL_LCOAL_DIR}/VirtualRobotConfig.cmake"
     "${VirtualRobot_CONFIG_INSTALL_LCOAL_DIR}/VirtualRobotConfigVersion.cmake"
-    DESTINATION "${CMAKE_INSTALL_PREFIX}"
+    DESTINATION "${VirtualRobot_CMAKE_DIR}"
     COMPONENT ApplicationData
     )
 
 install(FILES
     "${PROJECT_SOURCE_DIR}/CMakeModules/VirtualRobotExternalLibrarySetup.cmake"
     "${PROJECT_SOURCE_DIR}/CMakeModules/VirtualRobotMacros.cmake"
-    "${PROJECT_SOURCE_DIR}/CMakeModules/FindVirtualRobot.cmake"
     DESTINATION "${VirtualRobot_CMAKE_DIR}"
     COMPONENT ApplicationData)