diff --git a/CMakeLists.txt b/CMakeLists.txt
index ad3bbc191db4d965de0ce42bd85bb7dec73b3ea1..aa900db479a0c561c385e42cf4df2b7609b2c986 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,6 @@
cmake_minimum_required(VERSION 3.10)
MESSAGE (STATUS "cmake version: ${CMAKE_VERSION}")
+
# If OS is Ubuntu 20 we nned to change some things
execute_process(COMMAND lsb_release -cs
OUTPUT_VARIABLE RELEASE_CODENAME
@@ -97,6 +98,10 @@ if(CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 8.0)
add_compile_options(-Wno-error=sign-compare)
endif()
+if(CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 9.0)
+ add_compile_options(-Wno-error=deprecated-copy)
+endif()
+
#######################################################################################
#options
OPTION (Simox_USE_RBDL_LIB "Use RBDL" ON)
diff --git a/CMakeModules/FindBullet.cmake b/CMakeModules/FindBullet.cmake
deleted file mode 100644
index fcf3d519795c11d3aa4bdb8cbb7de0639e5a5bc7..0000000000000000000000000000000000000000
--- a/CMakeModules/FindBullet.cmake
+++ /dev/null
@@ -1,181 +0,0 @@
-# Locate Bullet. Original version from osgbullet, http://code.google.com/p/osgbullet/
-#
-# This script defines:
-# BULLET_FOUND, set to 1 if found
-# BULLET_LIBRARIES
-# BULLET_INCLUDE_DIRS
-# BULLET_*_LIBRARY, one for each library (for example, "BULLET_BulletCollision_LIBRARY").
-# BULLET_*_LIBRARY_debug, one for each library.
-# BULLET_DEMOS_INCLUDE_DIR - Directory containing the Demos headers
-# BULLET_OPENGL_INCLUDE_DIR - Include path for OpenGL/DemoApplication/Glut headers
-#
-# This script will look in standard locations for installed Bullet. However, if you
-# install Bullet into a non-standard location, you can use the BULLET_ROOT
-# variable (in environment or CMake) to specify the location.
-#
-# You can also use Bullet out of a source tree by specifying BULLET_SOURCE_DIR
-# and BULLET_BUILD_DIR (in environment or CMake).
-
-SET( BULLET_ROOT "" CACHE PATH "Bullet install dir, parent of both header files and binaries." )
-SET( BULLET_BUILD_DIR "" CACHE PATH "Parent directory of Bullet binary file directories such as src/BulletCollision." )
-SET( BULLET_SOURCE_DIR "" CACHE PATH "Parent directory of Bullet header file directories such as src or include." )
-
-set(BULLET_SEARCH_PATHS)
-macro(add_bullet_search_path p)
- if(NOT "${p}" STREQUAL "")
- set(BULLET_SEARCH_PATHS ${BULLET_SEARCH_PATHS} ${p})
- endif()
-endmacro()
-
-add_bullet_search_path("C:/Program Files/BULLET_PHYSICS")
-
-add_bullet_search_path("$ENV{Bullet_DIR}")
-add_bullet_search_path("${Bullet_DIR}")
-
-add_bullet_search_path("$ENV{BULLET_DIR}")
-add_bullet_search_path("${BULLET_DIR}")
-
-add_bullet_search_path("$ENV{BULLET_ROOT}")
-add_bullet_search_path("${BULLET_ROOT}")
-
-add_bullet_search_path("$ENV{BULLET_SOURCE_DIR}")
-add_bullet_search_path("${BULLET_SOURCE_DIR}")
-
-message(STATUS "Searching bullet using these base paths: ${BULLET_SEARCH_PATHS}")
-
-#UNSET( BULLET_INCLUDE_DIRS CACHE )
-MARK_AS_ADVANCED( BULLET_INCLUDE_DIRS )
-FIND_PATH( BULLET_INCLUDE_DIRS btBulletCollisionCommon.h
- PATHS
- ${BULLET_SEARCH_PATHS}
- PATH_SUFFIXES
- /BulletCollision
- /src
- ../src
- /include
- /include/bullet
- /src/BulletCollision
- /include/BulletCollision
- /include/bullet/BulletCollision
- NO_DEFAULT_PATH
-)
-
-if(NOT BULLET_INCLUDE_DIRS)
- FIND_PATH( BULLET_INCLUDE_DIRS btBulletCollisionCommon.h
- PATH_SUFFIXES
- bullet
- )
-endif()
-
-MESSAGE (STATUS " **** BULLET_INCLUDE_DIRS: ${BULLET_INCLUDE_DIRS}")
-IF( BULLET_INCLUDE_DIRS )
- #SET( BULLET_DEMOS_INCLUDE_DIR ${BULLET_INCLUDE_DIRS}/../Demos/OpenGL )
- FIND_PATH( BULLET_OPENGL_INCLUDE_DIR DemoApplication.h
- PATHS
- ${BULLET_INCLUDE_DIRS}
- ${BULLET_INCLUDE_DIRS}/..
- ${BULLET_INCLUDE_DIRS}/../OpenGL
- ${BULLET_INCLUDE_DIRS}/OpenGL
- ${BULLET_INCLUDE_DIRS}/../Demos/OpenGL
- )
- FIND_PATH( BULLET_DEMOS_INCLUDE_DIR GlutDemoApplication.h
- PATHS
- ${BULLET_INCLUDE_DIRS}
- ${BULLET_INCLUDE_DIRS}/..
- ${BULLET_INCLUDE_DIRS}/../OpenGL
- ${BULLET_INCLUDE_DIRS}/OpenGL
- ${BULLET_INCLUDE_DIRS}/../Demos/OpenGL
- )
- MESSAGE (STATUS " **** BULLET_OPENGL_INCLUDE_DIR: ${BULLET_OPENGL_INCLUDE_DIR}")
- MESSAGE (STATUS " **** BULLET_DEMOS_INCLUDE_DIR: ${BULLET_DEMOS_INCLUDE_DIR}")
-ENDIF( BULLET_INCLUDE_DIRS )
-
-MACRO( FIND_BULLET_LIBRARY_DIRNAME LIBNAME DIRNAME )
- #UNSET( BULLET_${LIBNAME}_LIBRARY CACHE )
- #UNSET( BULLET_${LIBNAME}_LIBRARY_debug CACHE )
- MARK_AS_ADVANCED( BULLET_${LIBNAME}_LIBRARY )
- MARK_AS_ADVANCED( BULLET_${LIBNAME}_LIBRARY_debug )
- FIND_LIBRARY( BULLET_${LIBNAME}_LIBRARY
- NAMES
- ${LIBNAME}
- PATHS
- ${BULLET_SEARCH_PATHS}
- PATH_SUFFIXES
- ./src/${DIRNAME}
- ./Extras/${DIRNAME}
- ./Demos/${DIRNAME}
- ./src/${DIRNAME}/Release
- ./Extras/${DIRNAME}/Release
- ./Demos/${DIRNAME}/Release
- ./libs/${DIRNAME}
- ./libs
- ./lib
- ./lib/Release # v2.76, new location for build tree libs on Windows
- NO_DEFAULT_PATH
- )
- # check for defualt path if BULLET_ROOT path failed
- FIND_LIBRARY( BULLET_${LIBNAME}_LIBRARY NAMES ${LIBNAME})
-
- FIND_LIBRARY( BULLET_${LIBNAME}_LIBRARY_debug
- NAMES
- ${LIBNAME}_d
- ${LIBNAME}_Debug
- ${LIBNAME}
- PATHS
- ${BULLET_SEARCH_PATHS}
- PATH_SUFFIXES
- ./src/${DIRNAME}
- ./Extras/${DIRNAME}
- ./Demos/${DIRNAME}
- ./src/${DIRNAME}/Debug
- ./Extras/${DIRNAME}/Debug
- ./Demos/${DIRNAME}/Debug
- ./libs/${DIRNAME}
- ./libs
- ./lib
- ./lib/Debug # v2.76, new location for build tree libs on Windows
- NO_DEFAULT_PATH
- )
- # check for defualt path if BULLET_ROOT path failed
- FIND_LIBRARY( BULLET_${LIBNAME}_LIBRARY_debug NAMES ${LIBNAME}_d ${LIBNAME}_Debug ${LIBNAME} )
-
- #message( STATUS "${BULLET_${LIBNAME}_LIBRARY} and ${BULLET_${LIBNAME}_LIBRARY_debug}" )
- #message( SEND_ERROR ${LIBNAME} )
- IF( BULLET_${LIBNAME}_LIBRARY )
- SET( BULLET_LIBRARIES ${BULLET_LIBRARIES}
- "optimized" ${BULLET_${LIBNAME}_LIBRARY}
- )
- ENDIF( BULLET_${LIBNAME}_LIBRARY )
- IF( BULLET_${LIBNAME}_LIBRARY_debug )
- SET( BULLET_LIBRARIES ${BULLET_LIBRARIES}
- "debug" ${BULLET_${LIBNAME}_LIBRARY_debug}
- )
- ENDIF( BULLET_${LIBNAME}_LIBRARY_debug )
-ENDMACRO( FIND_BULLET_LIBRARY_DIRNAME LIBNAME )
-
-MACRO( FIND_BULLET_LIBRARY LIBNAME )
- FIND_BULLET_LIBRARY_DIRNAME( ${LIBNAME} ${LIBNAME} )
-ENDMACRO( FIND_BULLET_LIBRARY LIBNAME )
-
-
-FIND_BULLET_LIBRARY( BulletDynamics )
-FIND_BULLET_LIBRARY( BulletSoftBody )
-FIND_BULLET_LIBRARY( BulletCollision )
-FIND_BULLET_LIBRARY( BulletMultiThreaded )
-FIND_BULLET_LIBRARY( LinearMath )
-FIND_BULLET_LIBRARY_DIRNAME( OpenGLSupport OpenGL )
-
-# Hide BULLET_LIBRARY in the GUI, since most users can just ignore it
-MARK_AS_ADVANCED( BULLET_LIBRARIES )
-MARK_AS_ADVANCED( BULLET_LIBRARIES_debug )
-
-SET( BULLET_FOUND 0 )
-IF( BULLET_INCLUDE_DIRS AND BULLET_LIBRARIES )
- SET( BULLET_FOUND 1 )
-ENDIF( BULLET_INCLUDE_DIRS AND BULLET_LIBRARIES )
-
-
-# Possible future support for collision-only (no dynamics)
-IF( BULLET_BulletDynamics_LIBRARY OR BULLET_BulletDynamics_LIBRARY_debug )
- SET( BULLET_DYNAMICS_FOUND 1 )
-ENDIF( BULLET_BulletDynamics_LIBRARY OR BULLET_BulletDynamics_LIBRARY_debug )
diff --git a/CMakeModules/FindCoin3D.cmake b/CMakeModules/FindCoin3D.cmake
deleted file mode 100644
index ad226bb3a3b588c7cfc2907308612cbdddd75859..0000000000000000000000000000000000000000
--- a/CMakeModules/FindCoin3D.cmake
+++ /dev/null
@@ -1,94 +0,0 @@
-# - Find Coin3D (Open Inventor)
-# Coin3D is an implementation of the Open Inventor API.
-# It provides data structures and algorithms for 3D visualization
-# http://www.coin3d.org/
-#
-# This module defines the following variables
-# COIN3D_FOUND - system has Coin3D - Open Inventor
-# COIN3D_INCLUDE_DIRS - where the Inventor include directory can be found
-# COIN3D_LIBRARIES - Link to this to use Coin3D
-#
-# The Coin directory can be defined by the environment variable <Coin3D_DIR>
-
-#=============================================================================
-# Copyright 2008-2009 Kitware, Inc.
-#
-# Distributed under the OSI-approved BSD License (the "License");
-# see accompanying file Copyright.txt for details.
-#
-# This software is distributed WITHOUT ANY WARRANTY; without even the
-# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
-# See the License for more information.
-#=============================================================================
-# (To distribute this file outside of CMake, substitute the full
-# License text for the above reference.)
-
-IF (WIN32)
- IF (CYGWIN)
-
- FIND_PATH(COIN3D_INCLUDE_DIRS Inventor/So.h)
- FIND_LIBRARY(COIN3D_LIBRARIES Coin)
-
- ELSE (CYGWIN)
-
- FIND_PATH(COIN3D_INCLUDE_DIRS Inventor/So.h
- "[HKEY_LOCAL_MACHINE\\SOFTWARE\\SIM\\Coin3D\\2;Installation Path]/include"
- $ENV{Coin3D_DIR}/include
- $ENV{COINDIR}/include
- )
-
- FIND_LIBRARY(COIN3D_LIBRARY_DEBUG coin3d
- "[HKEY_LOCAL_MACHINE\\SOFTWARE\\SIM\\Coin3D\\2;Installation Path]/lib"
- $ENV{Coin3D_DIR}/lib
- $ENV{COINDIR}/lib
- )
-
- FIND_LIBRARY(COIN3D_LIBRARY_RELEASE coin3
- "[HKEY_LOCAL_MACHINE\\SOFTWARE\\SIM\\Coin3D\\2;Installation Path]/lib"
- $ENV{Coin3D_DIR}/lib
- $ENV{COINDIR}/lib
- )
-
- IF (COIN3D_LIBRARY_DEBUG AND COIN3D_LIBRARY_RELEASE)
- SET(COIN3D_LIBRARIES optimized ${COIN3D_LIBRARY_RELEASE}
- debug ${COIN3D_LIBRARY_DEBUG})
- ELSE (COIN3D_LIBRARY_DEBUG AND COIN3D_LIBRARY_RELEASE)
- IF (COIN3D_LIBRARY_DEBUG)
- SET (COIN3D_LIBRARIES ${COIN3D_LIBRARY_DEBUG})
- ENDIF (COIN3D_LIBRARY_DEBUG)
- IF (COIN3D_LIBRARY_RELEASE)
- SET (COIN3D_LIBRARIES ${COIN3D_LIBRARY_RELEASE})
- ENDIF (COIN3D_LIBRARY_RELEASE)
- ENDIF (COIN3D_LIBRARY_DEBUG AND COIN3D_LIBRARY_RELEASE)
-
- ENDIF (CYGWIN)
-
-ELSE (WIN32)
- IF(APPLE)
- FIND_PATH(COIN3D_INCLUDE_DIRS Inventor/So.h
- /Library/Frameworks/Inventor.framework/Headers
- )
- FIND_LIBRARY(COIN3D_LIBRARIES Coin
- /Library/Frameworks/Inventor.framework/Libraries
- )
- SET(COIN3D_LIBRARIES "-framework Coin3d" CACHE STRING "Coin3D library for OSX")
- ELSE(APPLE)
-
- find_path( COIN3D_INCLUDE_DIRS NAMES Inventor/So.h PATHS $ENV{Coin3D_DIR}/include /usr/include /usr/include/Coin4 /usr/local/include NO_DEFAULT_PATH )
- find_library( COIN3D_LIBRARIES NAMES Coin PATHS $ENV{Coin3D_DIR}/lib ${CMAKE_CXX_IMPLICIT_LINK_DIRECTORIES} /usr/local/lib NO_DEFAULT_PATH )
-#FIND_PATH(COIN3D_INCLUDE_DIRS Inventor/So.h $ENV{COIN3D_DIR}/include)
-#FIND_LIBRARY(COIN3D_LIBRARIES Coin $ENV{COIN3D_DIR}/lib)
-
- ENDIF(APPLE)
-
-ENDIF (WIN32)
-
-# handle the QUIETLY and REQUIRED arguments and set COIN3D_FOUND to TRUE if
-# all listed variables are TRUE
-#INCLUDE("${CMAKE_CURRENT_LIST_DIR}/FindPackageHandleStandardArgs.cmake")
-INCLUDE( FindPackageHandleStandardArgs )
-FIND_PACKAGE_HANDLE_STANDARD_ARGS(Coin3D DEFAULT_MSG COIN3D_LIBRARIES COIN3D_INCLUDE_DIRS)
-
-MARK_AS_ADVANCED(COIN3D_INCLUDE_DIRS COIN3D_LIBRARIES )
-
-
diff --git a/CMakeModules/FindSoQt.cmake b/CMakeModules/FindSoQt.cmake
deleted file mode 100644
index 0a3ff2c74e92d132052bed55b607d57c74211d4d..0000000000000000000000000000000000000000
--- a/CMakeModules/FindSoQt.cmake
+++ /dev/null
@@ -1,63 +0,0 @@
-# - Find SoQt (Open Inventor Qt Integration)
-# SoQt is an implementation of the Open Inventor API.
-# It provides data structures and algorithms for 3D visualization
-# http://www.coin3d.org/
-#
-# This module defines the following variables
-# SoQt_FOUND - system has SoQt - Open Inventor Qt Integration
-# SoQt_INCLUDE_DIRS - where the SoQt include directory can be found
-# SoQt_LIBRARIES - Link to this to use SoQt
-#
-
-
-IF (WIN32)
- IF (CYGWIN)
-
- FIND_PATH(SoQt_INCLUDE_DIRS Inventor/Qt/SoQt.h)
- FIND_LIBRARY(SoQt_LIBRARIES SoQt)
-
- ELSE (CYGWIN)
- FIND_PATH(SoQt_INCLUDE_DIRS Inventor/Qt/SoQt.h "$ENV{COINDIR}/include" "$ENV{Coin3D_DIR}/include")
- FIND_LIBRARY(SoQt_LIBRARY_RELEASE soqt1 "$ENV{COINDIR}/lib" "$ENV{Coin3D_DIR}/lib")
- FIND_LIBRARY(SoQt_LIBRARY_DEBUG soqt1d "$ENV{COINDIR}/lib" "$ENV{Coin3D_DIR}/lib")
-
- IF (SoQt_LIBRARY_DEBUG AND SoQt_LIBRARY_RELEASE)
- SET(SoQt_LIBRARIES optimized ${SoQt_LIBRARY_RELEASE}
- debug ${SoQt_LIBRARY_DEBUG})
- ELSE (SoQt_LIBRARY_DEBUG AND SoQt_LIBRARY_RELEASE)
- IF (SoQt_LIBRARY_DEBUG)
- SET (SoQt_LIBRARIES ${SoQt_LIBRARY_DEBUG})
- ENDIF (SoQt_LIBRARY_DEBUG)
- IF (SoQt_LIBRARY_RELEASE)
- SET (SoQt_LIBRARIES ${SoQt_LIBRARY_RELEASE})
- ENDIF (SoQt_LIBRARY_RELEASE)
- ENDIF (SoQt_LIBRARY_DEBUG AND SoQt_LIBRARY_RELEASE)
-
- ENDIF (CYGWIN)
-
-ELSE (WIN32)
- IF(APPLE)
- FIND_PATH(SoQt_INCLUDE_DIRS Inventor/Qt/SoQt.h
- /Library/Frameworks/Inventor.framework/Headers
- )
- FIND_LIBRARY(SoQt_LIBRARIES SoQt
- /Library/Frameworks/Inventor.framework/Libraries
- )
- SET(SoQt_LIBRARIES "-framework SoQt" CACHE STRING "SoQt library for OSX")
- ELSE(APPLE)
-
- FIND_PATH(SoQt_INCLUDE_DIRS NAMES Inventor/Qt/SoQt.h PATHS "$ENV{SoQt_DIR}/include" "$ENV{COIN3D_DIR}/include" "$ENV{Coin3D_DIR}/include" /usr/include /usr/local/include NO_DEFAULT_PATH)
- FIND_LIBRARY(SoQt_LIBRARIES NAMES SoQt PATHS "$ENV{SoQt_DIR}/lib" "$ENV{COIN3D_DIR}/lib" "$ENV{Coin3D_DIR}/lib" ${CMAKE_CXX_IMPLICIT_LINK_DIRECTORIES} /usr/local/lib NO_DEFAULT_PATH)
-
- ENDIF(APPLE)
-
-ENDIF (WIN32)
-
-# handle the QUIETLY and REQUIRED arguments and set SoQt_FOUND to TRUE if
-# all listed variables are TRUE
-INCLUDE(FindPackageHandleStandardArgs)
-FIND_PACKAGE_HANDLE_STANDARD_ARGS(SoQt DEFAULT_MSG SoQt_LIBRARIES SoQt_INCLUDE_DIRS)
-
-MARK_AS_ADVANCED(SoQt_INCLUDE_DIRS SoQt_LIBRARIES )
-
-
diff --git a/CMakeModules/SimoxConfig.cmake.in b/CMakeModules/SimoxConfig.cmake.in
index a93ffb8471298ee2a0394f7806270288531e60a9..bb5d268367baef382f158c599d45fbfda2dc1978 100644
--- a/CMakeModules/SimoxConfig.cmake.in
+++ b/CMakeModules/SimoxConfig.cmake.in
@@ -70,7 +70,7 @@ FIND_PACKAGE(Boost ${Simox_BOOST_VERSION} EXACT COMPONENTS
regex
QUIET)
-
+FIND_PACKAGE(SoQt QUIET)
if (NOT (Simox_FIND_QUIETLY OR VirtualRobot_FIND_QUIETLY))
MESSAGE(STATUS " * Including ${Simox_MACROS_INCLUDE_DIR}/SimoxMacros.cmake")
diff --git a/CMakeModules/SimoxMacros.cmake b/CMakeModules/SimoxMacros.cmake
index a4abbee7ac20ff5c11fde389471b2e5069134001..c5a1d42aab55f189f375e9839f435a3696b004a2 100644
--- a/CMakeModules/SimoxMacros.cmake
+++ b/CMakeModules/SimoxMacros.cmake
@@ -16,7 +16,8 @@ function(VirtualRobotQtApplication name srcs incs mocFiles uiFiles)
################################## EXECUTABLE ##############################
ADD_EXECUTABLE(${name} ${srcs} ${incs} ${generatedUiFiles} ${generatedMocFiles})
target_include_directories(${name} PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
- TARGET_LINK_LIBRARIES(${name} PUBLIC VirtualRobot)
+ FIND_PACKAGE(SoQt REQUIRED)
+ TARGET_LINK_LIBRARIES(${name} PUBLIC VirtualRobot SoQt::SoQt)
endfunction()
diff --git a/SimDynamics/CMakeLists.txt b/SimDynamics/CMakeLists.txt
index a2a7674307953b1139db666abf7c77fb6a55ff6c..35bd6158bceef11cf13f25d32e8b55361ca3a7a3 100644
--- a/SimDynamics/CMakeLists.txt
+++ b/SimDynamics/CMakeLists.txt
@@ -179,7 +179,8 @@ if (SimDynamics_DYNAMICSENGINE)
MESSAGE (STATUS " ** Bullet's OpenGLSupport library not found: Skipping BulletOpenGLViewer")
endif()
- if (Simox_USE_COIN_VISUALIZATION AND SOQT_FOUND)
+ find_package(SoQt QUIET)
+ if (Simox_USE_COIN_VISUALIZATION AND SoQt_FOUND)
SET(SOURCES
${SOURCES}
DynamicsEngine/BulletEngine/BulletCoinQtViewer.cpp
@@ -190,7 +191,7 @@ if (SimDynamics_DYNAMICSENGINE)
DynamicsEngine/BulletEngine/BulletCoinQtViewer.h
)
else()
- MESSAGE (STATUS "SOQT_FOUND : ${SOQT_FOUND}")
+ MESSAGE (STATUS "SoQt_FOUND : ${SoQt_FOUND}")
MESSAGE (STATUS "Simox_USE_COIN_VISUALIZATION: ${Simox_USE_COIN_VISUALIZATION}")
MESSAGE (STATUS " ** Qt/Coin3D disabled: Skipping BulletCoinQtViewer")
endif()
diff --git a/SimoxUtility/color/json.cpp b/SimoxUtility/color/json.cpp
index 12bbf17e77fc6e084a061bfd1339a93182bfd14c..b7dedca39cdcb655b2b41b3222c747e109d27101 100644
--- a/SimoxUtility/color/json.cpp
+++ b/SimoxUtility/color/json.cpp
@@ -14,10 +14,10 @@ namespace simox
void color::from_json(const nlohmann::json& j, Color& color)
{
- color.r = j.at("r");
- color.g = j.at("g");
- color.b = j.at("b");
- color.a = j.at("a");
+ j.at("r").get_to(color.r);
+ j.at("g").get_to(color.g);
+ j.at("b").get_to(color.b);
+ j.at("a").get_to(color.a);
}
}
diff --git a/SimoxUtility/math/regression/linear.hpp b/SimoxUtility/math/regression/linear.hpp
index 3b878cbf98565c5b98e48696f65152695ed8f2da..eedd55667912d078c4f85bcff1577e728a19379f 100644
--- a/SimoxUtility/math/regression/linear.hpp
+++ b/SimoxUtility/math/regression/linear.hpp
@@ -70,6 +70,10 @@ namespace simox::math
/**
* @brief Fit a linear regression model to the given data.
+ *
+ * xs and ys must not be empty. All vectors in ys must have the same size
+ * even if Dim == Eigen::Dynamic.
+ *
* @param xs The input variables.
* @param ys The output variables.
* @param offsetInput If true, the inputs are offset to x' = x - x_0.
@@ -97,7 +101,7 @@ namespace simox::math
return r;
}
- MatrixDX ysMatrix(Dim, ys.size());
+ MatrixDX ysMatrix(ys.at(0).size(), ys.size());
for (long col = 0; col < ysMatrix.cols(); ++col)
{
ysMatrix.col(col) = ys.at(col);
@@ -111,13 +115,13 @@ namespace simox::math
linFuncMatrix.col(1) = Eigen::Map<const VectorX>(xs.data(), xs.size());
// `linFuncMatrix` is poorly conditioned for xs that are close together
- // (e.g. time stamps), so the normal equation would loose a lot of precision.
+ // (e.g. time stamps), so the normal equation would lose a lot of precision.
auto qrDecomp = linFuncMatrix.colPivHouseholderQr();
// Each coordinate can be treated individually (general multivariate regression).
// `coeffs` contains a_i and b_i in a_0 + b_0 * t = x, a_1 + b_1 * t = y, etc.
- CoefficientsMatrixT coeffs;
- for (int dim = 0; dim < 3; ++dim)
+ CoefficientsMatrixT coeffs(ysMatrix.rows(), 2);
+ for (int dim = 0; dim < ysMatrix.rows(); ++dim)
{
VectorX coords = ysMatrix.row(dim).transpose();
coeffs.row(dim) = qrDecomp.solve(coords);
diff --git a/VirtualRobot/CMakeLists.txt b/VirtualRobot/CMakeLists.txt
index d0e59fd2fbb1c7e41470d7e34f68e65dfee41684..d3c3363035ef3ca72c1ef13c97da3c7a0814c346 100644
--- a/VirtualRobot/CMakeLists.txt
+++ b/VirtualRobot/CMakeLists.txt
@@ -43,13 +43,13 @@ if (Simox_USE_COIN_VISUALIZATION)
MESSAGE(STATUS "Searching Coin3D, Qt and SoQt...")
##### Coin3D
- FIND_PACKAGE(Coin3D REQUIRED)
- if (COIN3D_FOUND)
- MESSAGE (STATUS "Found Coin3D: " ${COIN3D_INCLUDE_DIRS})
+ FIND_PACKAGE(Coin REQUIRED)
+ if (Coin_FOUND)
+ MESSAGE (STATUS "Found Coin3D: " ${Coin_INCLUDE_DIR} ", " ${Coin_LIB_DIR})
set(Simox_VISUALIZATION TRUE CACHE BOOL "")
- target_include_directories(VirtualRobot PUBLIC ${COIN3D_INCLUDE_DIRS})
- target_link_libraries(VirtualRobot PUBLIC ${COIN3D_LIBRARIES})
+ target_include_directories(VirtualRobot PUBLIC ${Coin_INCLUDE_DIR})
+ target_link_libraries(VirtualRobot PUBLIC ${Coin_LIBRARY_PATH})
target_compile_definitions(VirtualRobot PUBLIC -DCOIN_DLL)
endif ()
@@ -61,24 +61,22 @@ if (Simox_USE_COIN_VISUALIZATION)
MESSAGE (STATUS "Did not find Qt. Disabling Qt/SoQt support.")
endif ( )
- if (Qt5_FOUND AND COIN3D_FOUND)
+ if (Qt5_FOUND AND Coin_FOUND)
#### SoQt
# This will set SoQt_INCLUDE_DIRS and SoQt_LIBRARIES
- FIND_PACKAGE(SoQt)
- set(SOQT_FOUND ${SOQT_FOUND} CACHE INTERNAL "")
-
- if (NOT SOQT_FOUND)
+ FIND_PACKAGE(SoQt REQUIRED)
+
+ if (NOT SoQt_FOUND)
MESSAGE (STATUS "Did not find SoQt. Disabling SoQt support.")
else ()
- MESSAGE (STATUS "Found SoQt:" ${SoQt_INCLUDE_DIRS})
+ MESSAGE (STATUS "Found SoQt:" ${SoQt_INCLUDE_DIRS} ", " ${SoQt_LIBRARY_DIR})
MESSAGE (STATUS "Enabling Coin3D/Qt/SoQt support")
set(Simox_VISUALIZATION TRUE CACHE BOOL "")
set(Simox_BUILD_EXAMPLES ON CACHE BOOL "Build example applications")
- target_include_directories(VirtualRobot PUBLIC ${SoQt_INCLUDE_DIRS})
- target_link_libraries(VirtualRobot PUBLIC ${SoQt_LIBRARIES})
- target_compile_definitions(VirtualRobot PUBLIC -DSOQT_DLL -DSIMOX_USE_SOQT)
+ target_link_libraries(VirtualRobot PUBLIC SoQt::SoQt)
+ target_compile_definitions(VirtualRobot PUBLIC -DSoQt_DLL -DSIMOX_USE_SoQt)
if (NOT UNIX)
target_link_libraries(VirtualRobot PUBLIC opengl32)
@@ -760,7 +758,7 @@ endif()
# -----------------------------------------------------------------------------------
# Adding the UI files to the library
-if (Simox_USE_COIN_VISUALIZATION AND SOQT_FOUND)
+if (Simox_USE_COIN_VISUALIZATION AND SoQt_FOUND)
MESSAGE (STATUS " ** Adding GraspEditor gui")
diff --git a/VirtualRobot/Grasping/GraspEditor/GraspEditorWindow.cpp b/VirtualRobot/Grasping/GraspEditor/GraspEditorWindow.cpp
index 93bbdebb722f324790ba20ecc7a76997dd71e840..ccd0ba98a17fd5847f627f345c77df29a1703401 100644
--- a/VirtualRobot/Grasping/GraspEditor/GraspEditorWindow.cpp
+++ b/VirtualRobot/Grasping/GraspEditor/GraspEditorWindow.cpp
@@ -278,10 +278,11 @@ namespace VirtualRobot
int GraspEditorWindow::main()
{
+ // initialize QCoreApp
QCoreApplication::setOrganizationName("H2T");
QCoreApplication::setOrganizationDomain("h2t.anthropomatik.kit.edu");
- QCoreApplication::setApplicationName("GraspEditor");
QCoreApplication::setAttribute(Qt::AA_UseDesktopOpenGL);
+ QCoreApplication::setApplicationName("GraspEditor");
QSettings settings;
SoQt::show(this);
diff --git a/VirtualRobot/IK/platform/OmniWheelPlatformKinematics.cpp b/VirtualRobot/IK/platform/OmniWheelPlatformKinematics.cpp
index a185e194015c709deb560e9ca83d4b497bc66160..329648250c4683cdc13bb76f2b9411451112c64a 100755
--- a/VirtualRobot/IK/platform/OmniWheelPlatformKinematics.cpp
+++ b/VirtualRobot/IK/platform/OmniWheelPlatformKinematics.cpp
@@ -46,7 +46,13 @@ namespace VirtualRobot
{
Eigen::Matrix3f r = Eigen::Vector3f{-1, 1, 1}.asDiagonal();
- return r * B().transpose().inverse() * R / n;
+ // Rotation around platform center to define which direction is front
+ // For ARMAR-7, this is 60 degrees (between the two "front" wheels).
+ float relativeAngle = M_PI / 3.0f;
+ Eigen::Matrix3f relativeRotation = Eigen::Matrix3f::Identity();
+ relativeRotation.block<2, 2>(0, 0) = Eigen::Rotation2Df(relativeAngle).toRotationMatrix();
+
+ return relativeRotation * r * B().transpose().inverse() * R / n;
}
// OmniWheelPlatformKinematics
diff --git a/VirtualRobot/VirtualRobot.cpp b/VirtualRobot/VirtualRobot.cpp
index b6d660846dbcfd599b4cb74e27c77f9b4d2cbf2d..af533ce88edf8785f306b70a901501d4f364279b 100644
--- a/VirtualRobot/VirtualRobot.cpp
+++ b/VirtualRobot/VirtualRobot.cpp
@@ -21,6 +21,7 @@ namespace VirtualRobot
void init(int &argc, char* argv[], const std::string &appName)
{
globalAppName = appName;
+
std::shared_ptr<VisualizationFactory> v = VisualizationFactory::first(NULL);
if (v)
{
diff --git a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp
index 70bdc2ca4a02aa6727996ac3bd8363fd8893cca0..0fda278382a4495000d3f721a89197d67f7cd4cd 100644
--- a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp
+++ b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp
@@ -77,7 +77,7 @@
#endif
#include <GL/gl.h>
-#ifdef SIMOX_USE_SOQT
+#ifdef SIMOX_USE_SoQt
#include <Inventor/Qt/SoQt.h>
#endif
@@ -113,7 +113,7 @@ namespace VirtualRobot
{
SoDB::init();
}
-#ifdef SIMOX_USE_SOQT
+#ifdef SIMOX_USE_SoQt
SoQt::init(argc, argv, appName.c_str());
#endif
// enable Coin3D extension: transparent settings without color
diff --git a/python/convert_meshes/pyproject.toml b/python/convert_meshes/pyproject.toml
index 19d157fe1d9bca6498a6d4ad7b0a8cfe8ceaf860..ed3da4d2cd79d7a332f28030f349c6d4590007be 100644
--- a/python/convert_meshes/pyproject.toml
+++ b/python/convert_meshes/pyproject.toml
@@ -6,7 +6,7 @@ authors = ["Rainer Kartmann <rainer dot kartmann at kit dot edu>"]
[tool.poetry.dependencies]
python = "^3.6.2"
-ipython = "5.5"
+ipython = "*"
pymeshlab = "^2021.10"
click = "^8.0.4"
rich = "^11.2.0"