├── .gitignore ├── .vscode ├── c_cpp_properties.json ├── launch.json ├── settings.json └── tasks.json ├── MJMODEL.TXT ├── README.md ├── build.sh ├── display.gif ├── setup.sh ├── src ├── assets │ ├── CMakeLists.txt │ ├── p1 │ │ ├── PF_A.urdf │ │ ├── PF_A.xml │ │ ├── config.yaml │ │ └── meshes │ │ │ ├── abad_left_link.STL │ │ │ ├── abad_right_link.STL │ │ │ ├── base_link.STL │ │ │ ├── foot_left_link.STL │ │ │ ├── foot_right_link.STL │ │ │ ├── hip_left_link.STL │ │ │ ├── hip_right_link.STL │ │ │ ├── knee_left_link.STL │ │ │ └── knee_right_link.STL │ └── package.xml ├── core │ ├── CMakeLists.txt │ ├── cmake │ │ └── clear_cxx_flags.cmake │ ├── include │ │ └── core │ │ │ ├── gait │ │ │ ├── LegLogic.h │ │ │ ├── ModeSchedule.h │ │ │ └── MotionPhaseDefinition.h │ │ │ ├── misc │ │ │ ├── Benchmark.h │ │ │ ├── Buffer.h │ │ │ ├── LinearAlgebra.h │ │ │ ├── Lookup.h │ │ │ ├── NumericTraits.h │ │ │ └── Numerics.h │ │ │ ├── trajectory │ │ │ ├── CubicSplineInterpolation.h │ │ │ ├── CubicSplineTrajectory.h │ │ │ ├── ReferenceBuffer.h │ │ │ └── TrajectoryBase.h │ │ │ └── types.h │ ├── package.xml │ └── src │ │ ├── gait │ │ ├── LegLogic.cc │ │ └── ModeSchedule.cc │ │ ├── misc │ │ └── LinearAlgebra.cc │ │ ├── trajectory │ │ ├── CubicSplineInterpolation.cc │ │ ├── CubicSplineTrajectory.cc │ │ └── ReferenceBuffer.cc │ │ └── types.cc ├── motion │ ├── control │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── control │ │ │ │ ├── MatrixDB.h │ │ │ │ ├── TrajectoryStabilization.h │ │ │ │ └── WholeBodyController.h │ │ ├── package.xml │ │ └── src │ │ │ ├── TrajectoryStabilization.cc │ │ │ └── WholeBodyController.cc │ ├── estimation │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── estimation │ │ │ │ └── StateEstimationLKF.h │ │ ├── package.xml │ │ └── src │ │ │ └── StateEstimationLKF.cc │ ├── gait │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── gait │ │ │ │ ├── CycleTimer.h │ │ │ │ └── GaitSchedule.h │ │ ├── package.xml │ │ └── src │ │ │ ├── CycleTimer.cc │ │ │ └── GaitSchedule.cc │ ├── generation │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── generation │ │ │ │ ├── ConvexMPC.h │ │ │ │ ├── FootholdOptimization.h │ │ │ │ └── TrajectorGeneration.h │ │ ├── package.xml │ │ └── src │ │ │ ├── ConvexMPC.cc │ │ │ ├── FootholdOptimization.cc │ │ │ └── TrajectorGeneration.cc │ └── management │ │ ├── CMakeLists.txt │ │ ├── include │ │ ├── DataVisualization.h │ │ ├── Initialization.h │ │ ├── JoyStick.h │ │ └── MotionManager.h │ │ ├── launch │ │ └── management_launch.py │ │ ├── package.xml │ │ └── src │ │ ├── DataVisualization.cc │ │ ├── Initialization.cc │ │ ├── JoyStick.cc │ │ ├── MotionManager.cc │ │ └── main.cc ├── sim │ ├── CMakeLists.txt │ ├── include │ │ └── sim │ │ │ └── SimPublisher.h │ ├── launch │ │ └── sim_launch.py │ ├── package.xml │ └── src │ │ ├── sim.cc │ │ └── sim │ │ └── SimPublisher.cc ├── third_parties │ ├── blasfeo_ament │ │ ├── CMakeLists.txt │ │ ├── cmake │ │ │ └── blasfeo-extras.cmake.in │ │ └── package.xml │ ├── eiquadprog │ │ ├── CMakeLists.txt │ │ ├── COPYING │ │ ├── COPYING.LESSER │ │ ├── README.md │ │ ├── cmake │ │ │ ├── .clang-format │ │ │ ├── .docs │ │ │ │ ├── Makefile │ │ │ │ ├── _static │ │ │ │ │ └── css │ │ │ │ │ │ └── cmake.css │ │ │ │ ├── cmake.py │ │ │ │ ├── conf.py │ │ │ │ ├── examples │ │ │ │ │ ├── minimal-hpp.cmake │ │ │ │ │ ├── minimal-with-packages.cmake │ │ │ │ │ └── minimal.cmake │ │ │ │ ├── index.rst │ │ │ │ └── pages │ │ │ │ │ ├── base.rst │ │ │ │ │ ├── cmake-packages.rst │ │ │ │ │ ├── dependencies.rst │ │ │ │ │ ├── developers.rst │ │ │ │ │ ├── internal.rst │ │ │ │ │ ├── other.rst │ │ │ │ │ └── projects.rst │ │ │ ├── .git-blame-ignore-revs │ │ │ ├── .github │ │ │ │ └── workflows │ │ │ │ │ └── cmake.yml │ │ │ ├── .gitignore │ │ │ ├── .pre-commit-config.yaml │ │ │ ├── Config.cmake.in │ │ │ ├── GNUInstallDirs.cmake │ │ │ ├── LICENSE │ │ │ ├── README.md │ │ │ ├── _unittests │ │ │ │ ├── cpp │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── include │ │ │ │ │ │ └── jrl_cmakemodule │ │ │ │ │ │ │ └── lib.hh │ │ │ │ │ └── src │ │ │ │ │ │ ├── lib.cc │ │ │ │ │ │ └── main.cc │ │ │ │ ├── dependency │ │ │ │ │ └── CMakeLists.txt │ │ │ │ ├── macros.cmake │ │ │ │ ├── python │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ └── jrl_cmakemodule │ │ │ │ │ │ └── python.py │ │ │ │ ├── run_unit_tests.sh │ │ │ │ └── test_pkg-config.cmake │ │ │ ├── announce-gen │ │ │ ├── apple.cmake │ │ │ ├── base.cmake │ │ │ ├── boost.cmake │ │ │ ├── boost │ │ │ │ └── FindBoost.cmake │ │ │ ├── catkin.cmake │ │ │ ├── cmake_reinstall.cmake.in │ │ │ ├── cmake_uninstall.cmake.in │ │ │ ├── compile.py │ │ │ ├── compiler.cmake │ │ │ ├── componentConfig.cmake.in │ │ │ ├── config.h.cmake │ │ │ ├── config.hh.cmake │ │ │ ├── coverage.cmake │ │ │ ├── cpack.cmake │ │ │ ├── createshexe.cmake │ │ │ ├── cxx-standard.cmake │ │ │ ├── cxx11.cmake │ │ │ ├── cython │ │ │ │ ├── cython.cmake │ │ │ │ ├── dummy.cpp │ │ │ │ ├── python │ │ │ │ │ ├── FindPython.cmake │ │ │ │ │ ├── FindPython │ │ │ │ │ │ └── Support.cmake │ │ │ │ │ ├── FindPython2.cmake │ │ │ │ │ ├── FindPython3.cmake │ │ │ │ │ └── README.md │ │ │ │ └── setup.in.py │ │ │ ├── debian.cmake │ │ │ ├── deprecated.hh.cmake │ │ │ ├── dist.cmake │ │ │ ├── distcheck.cmake │ │ │ ├── doxygen.cmake │ │ │ ├── doxygen │ │ │ │ ├── MathJax │ │ │ │ │ ├── LICENSE │ │ │ │ │ ├── MathJax.js │ │ │ │ │ ├── extensions │ │ │ │ │ │ ├── CHTML-preview.js │ │ │ │ │ │ ├── FontWarnings.js │ │ │ │ │ │ ├── HelpDialog.js │ │ │ │ │ │ ├── MatchWebFonts.js │ │ │ │ │ │ ├── MathEvents.js │ │ │ │ │ │ ├── MathMenu.js │ │ │ │ │ │ ├── MathZoom.js │ │ │ │ │ │ ├── Safe.js │ │ │ │ │ │ ├── TeX │ │ │ │ │ │ │ ├── AMScd.js │ │ │ │ │ │ │ ├── AMSmath.js │ │ │ │ │ │ │ ├── AMSsymbols.js │ │ │ │ │ │ │ ├── HTML.js │ │ │ │ │ │ │ ├── action.js │ │ │ │ │ │ │ ├── autobold.js │ │ │ │ │ │ │ ├── autoload-all.js │ │ │ │ │ │ │ ├── bbox.js │ │ │ │ │ │ │ ├── begingroup.js │ │ │ │ │ │ │ ├── boldsymbol.js │ │ │ │ │ │ │ ├── cancel.js │ │ │ │ │ │ │ ├── color.js │ │ │ │ │ │ │ ├── enclose.js │ │ │ │ │ │ │ ├── extpfeil.js │ │ │ │ │ │ │ ├── mathchoice.js │ │ │ │ │ │ │ ├── mediawiki-texvc.js │ │ │ │ │ │ │ ├── mhchem.js │ │ │ │ │ │ │ ├── newcommand.js │ │ │ │ │ │ │ ├── noErrors.js │ │ │ │ │ │ │ ├── noUndefined.js │ │ │ │ │ │ │ ├── unicode.js │ │ │ │ │ │ │ └── verb.js │ │ │ │ │ │ ├── jsMath2jax.js │ │ │ │ │ │ ├── tex2jax.js │ │ │ │ │ │ └── toMathML.js │ │ │ │ │ └── jax │ │ │ │ │ │ ├── element │ │ │ │ │ │ └── mml │ │ │ │ │ │ │ ├── jax.js │ │ │ │ │ │ │ └── optable │ │ │ │ │ │ │ ├── Arrows.js │ │ │ │ │ │ │ ├── BasicLatin.js │ │ │ │ │ │ │ ├── CombDiacritMarks.js │ │ │ │ │ │ │ ├── CombDiactForSymbols.js │ │ │ │ │ │ │ ├── Dingbats.js │ │ │ │ │ │ │ ├── GeneralPunctuation.js │ │ │ │ │ │ │ ├── GeometricShapes.js │ │ │ │ │ │ │ ├── GreekAndCoptic.js │ │ │ │ │ │ │ ├── Latin1Supplement.js │ │ │ │ │ │ │ ├── LetterlikeSymbols.js │ │ │ │ │ │ │ ├── MathOperators.js │ │ │ │ │ │ │ ├── MiscMathSymbolsA.js │ │ │ │ │ │ │ ├── MiscMathSymbolsB.js │ │ │ │ │ │ │ ├── MiscSymbolsAndArrows.js │ │ │ │ │ │ │ ├── MiscTechnical.js │ │ │ │ │ │ │ ├── SpacingModLetters.js │ │ │ │ │ │ │ ├── SuppMathOperators.js │ │ │ │ │ │ │ ├── SupplementalArrowsA.js │ │ │ │ │ │ │ └── SupplementalArrowsB.js │ │ │ │ │ │ ├── input │ │ │ │ │ │ ├── AsciiMath │ │ │ │ │ │ │ ├── config.js │ │ │ │ │ │ │ └── jax.js │ │ │ │ │ │ ├── MathML │ │ │ │ │ │ │ ├── config.js │ │ │ │ │ │ │ ├── entities │ │ │ │ │ │ │ │ ├── a.js │ │ │ │ │ │ │ │ ├── b.js │ │ │ │ │ │ │ │ ├── c.js │ │ │ │ │ │ │ │ ├── d.js │ │ │ │ │ │ │ │ ├── e.js │ │ │ │ │ │ │ │ ├── f.js │ │ │ │ │ │ │ │ ├── fr.js │ │ │ │ │ │ │ │ ├── g.js │ │ │ │ │ │ │ │ ├── h.js │ │ │ │ │ │ │ │ ├── i.js │ │ │ │ │ │ │ │ ├── j.js │ │ │ │ │ │ │ │ ├── k.js │ │ │ │ │ │ │ │ ├── l.js │ │ │ │ │ │ │ │ ├── m.js │ │ │ │ │ │ │ │ ├── n.js │ │ │ │ │ │ │ │ ├── o.js │ │ │ │ │ │ │ │ ├── opf.js │ │ │ │ │ │ │ │ ├── p.js │ │ │ │ │ │ │ │ ├── q.js │ │ │ │ │ │ │ │ ├── r.js │ │ │ │ │ │ │ │ ├── s.js │ │ │ │ │ │ │ │ ├── scr.js │ │ │ │ │ │ │ │ ├── t.js │ │ │ │ │ │ │ │ ├── u.js │ │ │ │ │ │ │ │ ├── v.js │ │ │ │ │ │ │ │ ├── w.js │ │ │ │ │ │ │ │ ├── x.js │ │ │ │ │ │ │ │ ├── y.js │ │ │ │ │ │ │ │ └── z.js │ │ │ │ │ │ │ └── jax.js │ │ │ │ │ │ └── TeX │ │ │ │ │ │ │ ├── config.js │ │ │ │ │ │ │ └── jax.js │ │ │ │ │ │ └── output │ │ │ │ │ │ ├── CommonHTML │ │ │ │ │ │ ├── config.js │ │ │ │ │ │ └── jax.js │ │ │ │ │ │ └── SVG │ │ │ │ │ │ ├── autoload │ │ │ │ │ │ ├── annotation-xml.js │ │ │ │ │ │ ├── maction.js │ │ │ │ │ │ ├── menclose.js │ │ │ │ │ │ ├── mglyph.js │ │ │ │ │ │ ├── mmultiscripts.js │ │ │ │ │ │ ├── ms.js │ │ │ │ │ │ ├── mtable.js │ │ │ │ │ │ └── multiline.js │ │ │ │ │ │ ├── config.js │ │ │ │ │ │ ├── fonts │ │ │ │ │ │ └── TeX │ │ │ │ │ │ │ ├── AMS │ │ │ │ │ │ │ └── Regular │ │ │ │ │ │ │ │ ├── Arrows.js │ │ │ │ │ │ │ │ ├── BoxDrawing.js │ │ │ │ │ │ │ │ ├── CombDiacritMarks.js │ │ │ │ │ │ │ │ ├── Dingbats.js │ │ │ │ │ │ │ │ ├── EnclosedAlphanum.js │ │ │ │ │ │ │ │ ├── GeneralPunctuation.js │ │ │ │ │ │ │ │ ├── GeometricShapes.js │ │ │ │ │ │ │ │ ├── GreekAndCoptic.js │ │ │ │ │ │ │ │ ├── Latin1Supplement.js │ │ │ │ │ │ │ │ ├── LatinExtendedA.js │ │ │ │ │ │ │ │ ├── LetterlikeSymbols.js │ │ │ │ │ │ │ │ ├── Main.js │ │ │ │ │ │ │ │ ├── MathOperators.js │ │ │ │ │ │ │ │ ├── MiscMathSymbolsB.js │ │ │ │ │ │ │ │ ├── MiscSymbols.js │ │ │ │ │ │ │ │ ├── MiscTechnical.js │ │ │ │ │ │ │ │ ├── PUA.js │ │ │ │ │ │ │ │ ├── SpacingModLetters.js │ │ │ │ │ │ │ │ └── SuppMathOperators.js │ │ │ │ │ │ │ ├── Caligraphic │ │ │ │ │ │ │ ├── Bold │ │ │ │ │ │ │ │ └── Main.js │ │ │ │ │ │ │ └── Regular │ │ │ │ │ │ │ │ └── Main.js │ │ │ │ │ │ │ ├── Fraktur │ │ │ │ │ │ │ ├── Bold │ │ │ │ │ │ │ │ ├── BasicLatin.js │ │ │ │ │ │ │ │ ├── Main.js │ │ │ │ │ │ │ │ ├── Other.js │ │ │ │ │ │ │ │ └── PUA.js │ │ │ │ │ │ │ └── Regular │ │ │ │ │ │ │ │ ├── BasicLatin.js │ │ │ │ │ │ │ │ ├── Main.js │ │ │ │ │ │ │ │ ├── Other.js │ │ │ │ │ │ │ │ └── PUA.js │ │ │ │ │ │ │ ├── Main │ │ │ │ │ │ │ ├── Bold │ │ │ │ │ │ │ │ ├── Arrows.js │ │ │ │ │ │ │ │ ├── BasicLatin.js │ │ │ │ │ │ │ │ ├── CombDiacritMarks.js │ │ │ │ │ │ │ │ ├── CombDiactForSymbols.js │ │ │ │ │ │ │ │ ├── GeneralPunctuation.js │ │ │ │ │ │ │ │ ├── GeometricShapes.js │ │ │ │ │ │ │ │ ├── GreekAndCoptic.js │ │ │ │ │ │ │ │ ├── Latin1Supplement.js │ │ │ │ │ │ │ │ ├── LatinExtendedA.js │ │ │ │ │ │ │ │ ├── LatinExtendedB.js │ │ │ │ │ │ │ │ ├── LetterlikeSymbols.js │ │ │ │ │ │ │ │ ├── Main.js │ │ │ │ │ │ │ │ ├── MathOperators.js │ │ │ │ │ │ │ │ ├── MiscMathSymbolsA.js │ │ │ │ │ │ │ │ ├── MiscSymbols.js │ │ │ │ │ │ │ │ ├── MiscTechnical.js │ │ │ │ │ │ │ │ ├── SpacingModLetters.js │ │ │ │ │ │ │ │ ├── SuppMathOperators.js │ │ │ │ │ │ │ │ └── SupplementalArrowsA.js │ │ │ │ │ │ │ ├── Italic │ │ │ │ │ │ │ │ ├── BasicLatin.js │ │ │ │ │ │ │ │ ├── CombDiacritMarks.js │ │ │ │ │ │ │ │ ├── GeneralPunctuation.js │ │ │ │ │ │ │ │ ├── GreekAndCoptic.js │ │ │ │ │ │ │ │ ├── LatinExtendedA.js │ │ │ │ │ │ │ │ ├── LatinExtendedB.js │ │ │ │ │ │ │ │ ├── LetterlikeSymbols.js │ │ │ │ │ │ │ │ ├── Main.js │ │ │ │ │ │ │ │ └── MathOperators.js │ │ │ │ │ │ │ └── Regular │ │ │ │ │ │ │ │ ├── BasicLatin.js │ │ │ │ │ │ │ │ ├── CombDiacritMarks.js │ │ │ │ │ │ │ │ ├── GeometricShapes.js │ │ │ │ │ │ │ │ ├── GreekAndCoptic.js │ │ │ │ │ │ │ │ ├── LatinExtendedA.js │ │ │ │ │ │ │ │ ├── LatinExtendedB.js │ │ │ │ │ │ │ │ ├── LetterlikeSymbols.js │ │ │ │ │ │ │ │ ├── Main.js │ │ │ │ │ │ │ │ ├── MathOperators.js │ │ │ │ │ │ │ │ ├── MiscSymbols.js │ │ │ │ │ │ │ │ ├── SpacingModLetters.js │ │ │ │ │ │ │ │ └── SuppMathOperators.js │ │ │ │ │ │ │ ├── Math │ │ │ │ │ │ │ ├── BoldItalic │ │ │ │ │ │ │ │ └── Main.js │ │ │ │ │ │ │ └── Italic │ │ │ │ │ │ │ │ └── Main.js │ │ │ │ │ │ │ ├── SansSerif │ │ │ │ │ │ │ ├── Bold │ │ │ │ │ │ │ │ ├── BasicLatin.js │ │ │ │ │ │ │ │ ├── CombDiacritMarks.js │ │ │ │ │ │ │ │ ├── Main.js │ │ │ │ │ │ │ │ └── Other.js │ │ │ │ │ │ │ ├── Italic │ │ │ │ │ │ │ │ ├── BasicLatin.js │ │ │ │ │ │ │ │ ├── CombDiacritMarks.js │ │ │ │ │ │ │ │ ├── Main.js │ │ │ │ │ │ │ │ └── Other.js │ │ │ │ │ │ │ └── Regular │ │ │ │ │ │ │ │ ├── BasicLatin.js │ │ │ │ │ │ │ │ ├── CombDiacritMarks.js │ │ │ │ │ │ │ │ ├── Main.js │ │ │ │ │ │ │ │ └── Other.js │ │ │ │ │ │ │ ├── Script │ │ │ │ │ │ │ └── Regular │ │ │ │ │ │ │ │ ├── BasicLatin.js │ │ │ │ │ │ │ │ └── Main.js │ │ │ │ │ │ │ ├── Size1 │ │ │ │ │ │ │ └── Regular │ │ │ │ │ │ │ │ └── Main.js │ │ │ │ │ │ │ ├── Size2 │ │ │ │ │ │ │ └── Regular │ │ │ │ │ │ │ │ └── Main.js │ │ │ │ │ │ │ ├── Size3 │ │ │ │ │ │ │ └── Regular │ │ │ │ │ │ │ │ └── Main.js │ │ │ │ │ │ │ ├── Size4 │ │ │ │ │ │ │ └── Regular │ │ │ │ │ │ │ │ └── Main.js │ │ │ │ │ │ │ ├── Typewriter │ │ │ │ │ │ │ └── Regular │ │ │ │ │ │ │ │ ├── BasicLatin.js │ │ │ │ │ │ │ │ ├── CombDiacritMarks.js │ │ │ │ │ │ │ │ ├── Main.js │ │ │ │ │ │ │ │ └── Other.js │ │ │ │ │ │ │ ├── fontdata-extra.js │ │ │ │ │ │ │ └── fontdata.js │ │ │ │ │ │ └── jax.js │ │ │ │ ├── doxyfile.awk │ │ │ │ ├── doxygen.css │ │ │ │ ├── footer.html │ │ │ │ ├── header-mathjax.html │ │ │ │ ├── header.html │ │ │ │ ├── header.tex │ │ │ │ ├── style.rtf │ │ │ │ ├── style.tex │ │ │ │ └── tabs.css │ │ │ ├── dynamic_graph │ │ │ │ ├── python-module-py.cc.in │ │ │ │ └── submodule │ │ │ │ │ └── __init__.py.cmake │ │ │ ├── eigen.cmake │ │ │ ├── filefilter.txt │ │ │ ├── find-external │ │ │ │ ├── CDD │ │ │ │ │ └── FindCDD.cmake │ │ │ │ ├── CLP │ │ │ │ │ └── FindCLP.cmake │ │ │ │ ├── CppAD │ │ │ │ │ ├── Findcppad.cmake │ │ │ │ │ └── Findcppadcg.cmake │ │ │ │ ├── GMP │ │ │ │ │ └── FindGMP.cmake │ │ │ │ ├── Julia │ │ │ │ │ └── FindJulia.cmake │ │ │ │ ├── MPFR │ │ │ │ │ └── FindMPFR.cmake │ │ │ │ ├── OpenMP │ │ │ │ │ └── FindOpenMP.cmake │ │ │ │ ├── OpenRTM │ │ │ │ │ └── FindOpenRTM.cmake │ │ │ │ ├── Qhull │ │ │ │ │ └── FindQhull.cmake │ │ │ │ ├── Simde │ │ │ │ │ └── FindSimde.cmake │ │ │ │ ├── TinyXML │ │ │ │ │ └── FindTinyXML.cmake │ │ │ │ ├── assimp │ │ │ │ │ └── Findassimp.cmake │ │ │ │ ├── glpk │ │ │ │ │ └── Findglpk.cmake │ │ │ │ └── qpOASES │ │ │ │ │ └── FindqpOASES.cmake │ │ │ ├── fix-license.sh │ │ │ ├── geometric-tools.cmake │ │ │ ├── git-archive-all.py │ │ │ ├── git-archive-all.sh │ │ │ ├── github │ │ │ │ └── update-doxygen-doc.sh │ │ │ ├── gitlog-to-changelog │ │ │ ├── gtest.cmake │ │ │ ├── gtest │ │ │ │ └── CMakeLists.txt.in │ │ │ ├── header.cmake │ │ │ ├── hpp.cmake │ │ │ ├── hpp │ │ │ │ ├── doc.cmake │ │ │ │ ├── doc │ │ │ │ │ └── layout.xml │ │ │ │ └── idl │ │ │ │ │ └── omniidl_be_python_with_docstring.py │ │ │ ├── ide.cmake │ │ │ ├── idl.cmake │ │ │ ├── idlrtc.cmake │ │ │ ├── image │ │ │ │ └── visp.cmake │ │ │ ├── install-data.cmake │ │ │ ├── julia.cmake │ │ │ ├── kineo.cmake │ │ │ ├── lapack.cmake │ │ │ ├── logging.cmake │ │ │ ├── man.cmake │ │ │ ├── metapodfromurdf.cmake │ │ │ ├── modernize-links.cmake │ │ │ ├── msvc-specific.cmake │ │ │ ├── msvc.vcxproj.user.in │ │ │ ├── openhrp.cmake │ │ │ ├── openhrpcontroller.cmake │ │ │ ├── openrtm.cmake │ │ │ ├── oscheck.cmake │ │ │ ├── package-config.cmake │ │ │ ├── pkg-config.cmake │ │ │ ├── pkg-config.pc.cmake │ │ │ ├── portability.cmake │ │ │ ├── post-project.cmake │ │ │ ├── pthread.cmake │ │ │ ├── pyproject.py │ │ │ ├── python.cmake │ │ │ ├── python │ │ │ │ ├── FindPythonInterp.cmake │ │ │ │ └── FindPythonLibs.cmake │ │ │ ├── qhull.cmake │ │ │ ├── release.cmake │ │ │ ├── relpath.cmake │ │ │ ├── ros.cmake │ │ │ ├── sdformat.cmake │ │ │ ├── setup.cfg │ │ │ ├── shared-library.cmake │ │ │ ├── sphinx.cmake │ │ │ ├── sphinx │ │ │ │ ├── conf.py.in │ │ │ │ └── index.rst.in │ │ │ ├── stubgen │ │ │ │ └── CMakeLists.txt.in │ │ │ ├── stubs.cmake │ │ │ ├── swig.cmake │ │ │ ├── test.cmake │ │ │ ├── uninstall.cmake │ │ │ ├── version-script-test.lds │ │ │ ├── version-script.cmake │ │ │ ├── version.cmake │ │ │ ├── warning.hh.cmake │ │ │ └── xacro.cmake │ │ ├── include │ │ │ └── eiquadprog │ │ │ │ ├── eiquadprog-fast.hpp │ │ │ │ ├── eiquadprog-rt.hpp │ │ │ │ ├── eiquadprog-rt.hxx │ │ │ │ ├── eiquadprog-utils.hxx │ │ │ │ └── eiquadprog.hpp │ │ ├── package.xml │ │ ├── src │ │ │ ├── eiquadprog-fast.cpp │ │ │ └── eiquadprog.cpp │ │ └── tests │ │ │ ├── CMakeLists.txt │ │ │ ├── TestA.cpp │ │ │ ├── TestA.hpp │ │ │ ├── TestB.cpp │ │ │ ├── TestB.hpp │ │ │ ├── eiquadprog-basic.cpp │ │ │ ├── eiquadprog-both.cpp │ │ │ ├── eiquadprog-fast.cpp │ │ │ ├── eiquadprog-rt.cpp │ │ │ └── test-integration.cpp │ ├── hpipm_ament │ │ ├── CMakeLists.txt │ │ └── package.xml │ ├── hpipm_interface_ament │ │ ├── CMakeLists.txt │ │ └── package.xml │ ├── mujocodl │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── lodepng.h │ │ ├── mujoco │ │ │ ├── THIRD_PARTY_NOTICES │ │ │ ├── bin │ │ │ │ ├── basic │ │ │ │ ├── compile │ │ │ │ ├── derivative │ │ │ │ ├── mujoco_plugin │ │ │ │ │ ├── libelasticity.so │ │ │ │ │ └── libsensor.so │ │ │ │ ├── record │ │ │ │ ├── simulate │ │ │ │ ├── testspeed │ │ │ │ └── testxml │ │ │ ├── include │ │ │ │ └── mujoco │ │ │ │ │ ├── mjdata.h │ │ │ │ │ ├── mjexport.h │ │ │ │ │ ├── mjmacro.h │ │ │ │ │ ├── mjmodel.h │ │ │ │ │ ├── mjplugin.h │ │ │ │ │ ├── mjrender.h │ │ │ │ │ ├── mjtnum.h │ │ │ │ │ ├── mjui.h │ │ │ │ │ ├── mjvisualize.h │ │ │ │ │ ├── mjxmacro.h │ │ │ │ │ └── mujoco.h │ │ │ ├── lib │ │ │ │ ├── libmujoco.so │ │ │ │ └── libmujoco.so.2.3.7 │ │ │ ├── model │ │ │ │ ├── adhesion │ │ │ │ │ ├── README.md │ │ │ │ │ └── active_adhesion.xml │ │ │ │ ├── balloons │ │ │ │ │ └── balloons.xml │ │ │ │ ├── car │ │ │ │ │ └── car.xml │ │ │ │ ├── composite │ │ │ │ │ ├── asset │ │ │ │ │ │ ├── carpet.png │ │ │ │ │ │ ├── marble.png │ │ │ │ │ │ └── sponge.png │ │ │ │ │ ├── cloth.xml │ │ │ │ │ ├── grid2pin.xml │ │ │ │ │ ├── loop.xml │ │ │ │ │ ├── particle.xml │ │ │ │ │ ├── particle_free.xml │ │ │ │ │ ├── particle_free2d.xml │ │ │ │ │ ├── scene.xml │ │ │ │ │ └── softbox.xml │ │ │ │ ├── cube │ │ │ │ │ ├── README.md │ │ │ │ │ ├── assets │ │ │ │ │ │ ├── blue.png │ │ │ │ │ │ ├── blue_orange.png │ │ │ │ │ │ ├── blue_orange_white.png │ │ │ │ │ │ ├── blue_orange_yellow.png │ │ │ │ │ │ ├── blue_red.png │ │ │ │ │ │ ├── blue_red_white.png │ │ │ │ │ │ ├── blue_red_yellow.png │ │ │ │ │ │ ├── blue_white.png │ │ │ │ │ │ ├── blue_yellow.png │ │ │ │ │ │ ├── green.png │ │ │ │ │ │ ├── green_orange.png │ │ │ │ │ │ ├── green_orange_white.png │ │ │ │ │ │ ├── green_orange_yellow.png │ │ │ │ │ │ ├── green_red.png │ │ │ │ │ │ ├── green_red_white.png │ │ │ │ │ │ ├── green_red_yellow.png │ │ │ │ │ │ ├── green_white.png │ │ │ │ │ │ ├── green_yellow.png │ │ │ │ │ │ ├── orange.png │ │ │ │ │ │ ├── orange_red.png │ │ │ │ │ │ ├── orange_white.png │ │ │ │ │ │ ├── orange_yellow.png │ │ │ │ │ │ ├── red.png │ │ │ │ │ │ ├── red_white.png │ │ │ │ │ │ ├── red_yellow.png │ │ │ │ │ │ ├── white.png │ │ │ │ │ │ └── yellow.png │ │ │ │ │ └── cube_3x3x3.xml │ │ │ │ ├── flag │ │ │ │ │ └── flag.xml │ │ │ │ ├── hammock │ │ │ │ │ ├── hammock.xml │ │ │ │ │ └── humanoid_body.xml │ │ │ │ ├── humanoid │ │ │ │ │ ├── 22_humanoids.xml │ │ │ │ │ ├── README.md │ │ │ │ │ ├── humanoid.png │ │ │ │ │ └── humanoid.xml │ │ │ │ ├── humanoid100 │ │ │ │ │ ├── humanoid100.xml │ │ │ │ │ └── humanoid_body.xml │ │ │ │ ├── mug │ │ │ │ │ ├── mug.obj │ │ │ │ │ ├── mug.png │ │ │ │ │ └── mug.xml │ │ │ │ ├── plugin │ │ │ │ │ ├── a.png │ │ │ │ │ ├── belt.xml │ │ │ │ │ ├── cable.xml │ │ │ │ │ ├── coil.xml │ │ │ │ │ ├── floppy.xml │ │ │ │ │ ├── jelly.xml │ │ │ │ │ ├── press.xml │ │ │ │ │ ├── scene.xml │ │ │ │ │ └── touch_grid.xml │ │ │ │ ├── slider_crank │ │ │ │ │ └── slider_crank.xml │ │ │ │ └── tendon_arm │ │ │ │ │ └── arm26.xml │ │ │ ├── sample │ │ │ │ ├── Makefile │ │ │ │ ├── array_safety.h │ │ │ │ ├── basic.cc │ │ │ │ ├── cmake │ │ │ │ │ ├── CheckAvxSupport.cmake │ │ │ │ │ ├── FindOrFetch.cmake │ │ │ │ │ ├── MujocoHarden.cmake │ │ │ │ │ ├── MujocoLinkOptions.cmake │ │ │ │ │ ├── MujocoMacOS.cmake │ │ │ │ │ ├── SampleDependencies.cmake │ │ │ │ │ └── SampleOptions.cmake │ │ │ │ ├── compile.cc │ │ │ │ ├── derivative.cc │ │ │ │ ├── record.cc │ │ │ │ ├── testspeed.cc │ │ │ │ └── testxml.cc │ │ │ └── simulate │ │ │ │ ├── Makefile │ │ │ │ ├── README.md │ │ │ │ ├── array_safety.h │ │ │ │ ├── cmake │ │ │ │ ├── CheckAvxSupport.cmake │ │ │ │ ├── FindOrFetch.cmake │ │ │ │ ├── MujocoHarden.cmake │ │ │ │ ├── MujocoLinkOptions.cmake │ │ │ │ ├── MujocoMacOS.cmake │ │ │ │ ├── SimulateDependencies.cmake │ │ │ │ └── SimulateOptions.cmake │ │ │ │ ├── glfw_adapter.cc │ │ │ │ ├── glfw_adapter.h │ │ │ │ ├── glfw_corevideo.h │ │ │ │ ├── glfw_corevideo.mm │ │ │ │ ├── glfw_dispatch.cc │ │ │ │ ├── glfw_dispatch.h │ │ │ │ ├── platform_ui_adapter.cc │ │ │ │ ├── platform_ui_adapter.h │ │ │ │ ├── simulate.cc │ │ │ │ └── simulate.h │ │ ├── package.xml │ │ └── src │ │ │ └── lodepng.cc │ ├── pinocchio │ │ ├── .coveragerc │ │ ├── .gitignore │ │ ├── .gitlab-ci.yml │ │ ├── .gitmodules │ │ ├── .pre-commit-config.yaml │ │ ├── CHANGELOG.md │ │ ├── CITATION.bib │ │ ├── CITATION.cff │ │ ├── CMakeLists.txt │ │ ├── CONTRIBUTING.md │ │ ├── COPYING.LESSER │ │ ├── README.md │ │ ├── benchmark │ │ │ ├── CMakeLists.txt │ │ │ ├── timings-cg.cpp │ │ │ ├── timings-cholesky.cpp │ │ │ ├── timings-derivatives.cpp │ │ │ ├── timings-eigen.cpp │ │ │ ├── timings-geometry.cpp │ │ │ ├── timings-jacobian.cpp │ │ │ ├── timings-parallel.cpp │ │ │ └── timings.cpp │ │ ├── cmake │ │ │ ├── .clang-format │ │ │ ├── .cmake-format.py │ │ │ ├── .docs │ │ │ │ ├── Makefile │ │ │ │ ├── _static │ │ │ │ │ └── css │ │ │ │ │ │ └── cmake.css │ │ │ │ ├── cmake.py │ │ │ │ ├── conf.py │ │ │ │ ├── examples │ │ │ │ │ ├── minimal-hpp.cmake │ │ │ │ │ ├── minimal-with-packages.cmake │ │ │ │ │ └── minimal.cmake │ │ │ │ ├── index.rst │ │ │ │ └── pages │ │ │ │ │ ├── base.rst │ │ │ │ │ ├── cmake-packages.rst │ │ │ │ │ ├── dependencies.rst │ │ │ │ │ ├── developers.rst │ │ │ │ │ ├── internal.rst │ │ │ │ │ ├── other.rst │ │ │ │ │ └── projects.rst │ │ │ ├── .git-blame-ignore-revs │ │ │ ├── .github │ │ │ │ └── workflows │ │ │ │ │ └── cmake.yml │ │ │ ├── .gitignore │ │ │ ├── .pre-commit-config.yaml │ │ │ ├── CMakeLists.txt │ │ │ ├── Config.cmake.in │ │ │ ├── GNUInstallDirs.cmake │ │ │ ├── LICENSE │ │ │ ├── README.md │ │ │ ├── _unittests │ │ │ │ ├── catkin │ │ │ │ │ └── CMakeLists.txt │ │ │ │ ├── cpp │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── include │ │ │ │ │ │ └── jrl_cmakemodule │ │ │ │ │ │ │ └── lib.hh │ │ │ │ │ └── src │ │ │ │ │ │ ├── lib.cc │ │ │ │ │ │ └── main.cc │ │ │ │ ├── dependency │ │ │ │ │ └── CMakeLists.txt │ │ │ │ ├── macros.cmake │ │ │ │ ├── python │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ └── jrl_cmakemodule │ │ │ │ │ │ └── python.py │ │ │ │ ├── run_unit_tests.sh │ │ │ │ └── test_pkg-config.cmake │ │ │ ├── announce-gen │ │ │ ├── apple.cmake │ │ │ ├── base.cmake │ │ │ ├── boost.cmake │ │ │ ├── boost │ │ │ │ └── FindBoost.cmake │ │ │ ├── catkin.cmake │ │ │ ├── cmake_reinstall.cmake.in │ │ │ ├── cmake_uninstall.cmake.in │ │ │ ├── compiler.cmake │ │ │ ├── componentConfig.cmake.in │ │ │ ├── config.h.cmake │ │ │ ├── config.hh.cmake │ │ │ ├── coverage.cmake │ │ │ ├── cpack.cmake │ │ │ ├── createshexe.cmake │ │ │ ├── cxx-standard.cmake │ │ │ ├── cxx11.cmake │ │ │ ├── cython │ │ │ │ ├── cython.cmake │ │ │ │ ├── dummy.cpp │ │ │ │ ├── python │ │ │ │ │ ├── FindPython.cmake │ │ │ │ │ ├── FindPython │ │ │ │ │ │ └── Support.cmake │ │ │ │ │ ├── FindPython2.cmake │ │ │ │ │ ├── FindPython3.cmake │ │ │ │ │ └── README.md │ │ │ │ └── setup.in.py │ │ │ ├── debian.cmake │ │ │ ├── deprecated.hh.cmake │ │ │ ├── dist.cmake │ │ │ ├── distcheck.cmake │ │ │ ├── doxygen.cmake │ │ │ ├── doxygen │ │ │ │ ├── MathJax │ │ │ │ │ ├── LICENSE │ │ │ │ │ ├── MathJax.js │ │ │ │ │ ├── extensions │ │ │ │ │ │ ├── CHTML-preview.js │ │ │ │ │ │ ├── FontWarnings.js │ │ │ │ │ │ ├── HelpDialog.js │ │ │ │ │ │ ├── MatchWebFonts.js │ │ │ │ │ │ ├── MathEvents.js │ │ │ │ │ │ ├── MathMenu.js │ │ │ │ │ │ ├── MathZoom.js │ │ │ │ │ │ ├── Safe.js │ │ │ │ │ │ ├── TeX │ │ │ │ │ │ │ ├── AMScd.js │ │ │ │ │ │ │ ├── AMSmath.js │ │ │ │ │ │ │ ├── AMSsymbols.js │ │ │ │ │ │ │ ├── HTML.js │ │ │ │ │ │ │ ├── action.js │ │ │ │ │ │ │ ├── autobold.js │ │ │ │ │ │ │ ├── autoload-all.js │ │ │ │ │ │ │ ├── bbox.js │ │ │ │ │ │ │ ├── begingroup.js │ │ │ │ │ │ │ ├── boldsymbol.js │ │ │ │ │ │ │ ├── cancel.js │ │ │ │ │ │ │ ├── color.js │ │ │ │ │ │ │ ├── enclose.js │ │ │ │ │ │ │ ├── extpfeil.js │ │ │ │ │ │ │ ├── mathchoice.js │ │ │ │ │ │ │ ├── mediawiki-texvc.js │ │ │ │ │ │ │ ├── mhchem.js │ │ │ │ │ │ │ ├── newcommand.js │ │ │ │ │ │ │ ├── noErrors.js │ │ │ │ │ │ │ ├── noUndefined.js │ │ │ │ │ │ │ ├── unicode.js │ │ │ │ │ │ │ └── verb.js │ │ │ │ │ │ ├── jsMath2jax.js │ │ │ │ │ │ ├── tex2jax.js │ │ │ │ │ │ └── toMathML.js │ │ │ │ │ └── jax │ │ │ │ │ │ ├── element │ │ │ │ │ │ └── mml │ │ │ │ │ │ │ ├── jax.js │ │ │ │ │ │ │ └── optable │ │ │ │ │ │ │ ├── Arrows.js │ │ │ │ │ │ │ ├── BasicLatin.js │ │ │ │ │ │ │ ├── CombDiacritMarks.js │ │ │ │ │ │ │ ├── CombDiactForSymbols.js │ │ │ │ │ │ │ ├── Dingbats.js │ │ │ │ │ │ │ ├── GeneralPunctuation.js │ │ │ │ │ │ │ ├── GeometricShapes.js │ │ │ │ │ │ │ ├── GreekAndCoptic.js │ │ │ │ │ │ │ ├── Latin1Supplement.js │ │ │ │ │ │ │ ├── LetterlikeSymbols.js │ │ │ │ │ │ │ ├── MathOperators.js │ │ │ │ │ │ │ ├── MiscMathSymbolsA.js │ │ │ │ │ │ │ ├── MiscMathSymbolsB.js │ │ │ │ │ │ │ ├── MiscSymbolsAndArrows.js │ │ │ │ │ │ │ ├── MiscTechnical.js │ │ │ │ │ │ │ ├── SpacingModLetters.js │ │ │ │ │ │ │ ├── SuppMathOperators.js │ │ │ │ │ │ │ ├── SupplementalArrowsA.js │ │ │ │ │ │ │ └── SupplementalArrowsB.js │ │ │ │ │ │ ├── input │ │ │ │ │ │ ├── AsciiMath │ │ │ │ │ │ │ ├── config.js │ │ │ │ │ │ │ └── jax.js │ │ │ │ │ │ ├── MathML │ │ │ │ │ │ │ ├── config.js │ │ │ │ │ │ │ ├── entities │ │ │ │ │ │ │ │ ├── a.js │ │ │ │ │ │ │ │ ├── b.js │ │ │ │ │ │ │ │ ├── c.js │ │ │ │ │ │ │ │ ├── d.js │ │ │ │ │ │ │ │ ├── e.js │ │ │ │ │ │ │ │ ├── f.js │ │ │ │ │ │ │ │ ├── fr.js │ │ │ │ │ │ │ │ ├── g.js │ │ │ │ │ │ │ │ ├── h.js │ │ │ │ │ │ │ │ ├── i.js │ │ │ │ │ │ │ │ ├── j.js │ │ │ │ │ │ │ │ ├── k.js │ │ │ │ │ │ │ │ ├── l.js │ │ │ │ │ │ │ │ ├── m.js │ │ │ │ │ │ │ │ ├── n.js │ │ │ │ │ │ │ │ ├── o.js │ │ │ │ │ │ │ │ ├── opf.js │ │ │ │ │ │ │ │ ├── p.js │ │ │ │ │ │ │ │ ├── q.js │ │ │ │ │ │ │ │ ├── r.js │ │ │ │ │ │ │ │ ├── s.js │ │ │ │ │ │ │ │ ├── scr.js │ │ │ │ │ │ │ │ ├── t.js │ │ │ │ │ │ │ │ ├── u.js │ │ │ │ │ │ │ │ ├── v.js │ │ │ │ │ │ │ │ ├── w.js │ │ │ │ │ │ │ │ ├── x.js │ │ │ │ │ │ │ │ ├── y.js │ │ │ │ │ │ │ │ └── z.js │ │ │ │ │ │ │ └── jax.js │ │ │ │ │ │ └── TeX │ │ │ │ │ │ │ ├── config.js │ │ │ │ │ │ │ └── jax.js │ │ │ │ │ │ └── output │ │ │ │ │ │ ├── CommonHTML │ │ │ │ │ │ ├── config.js │ │ │ │ │ │ └── jax.js │ │ │ │ │ │ └── SVG │ │ │ │ │ │ ├── autoload │ │ │ │ │ │ ├── annotation-xml.js │ │ │ │ │ │ ├── maction.js │ │ │ │ │ │ ├── menclose.js │ │ │ │ │ │ ├── mglyph.js │ │ │ │ │ │ ├── mmultiscripts.js │ │ │ │ │ │ ├── ms.js │ │ │ │ │ │ ├── mtable.js │ │ │ │ │ │ └── multiline.js │ │ │ │ │ │ ├── config.js │ │ │ │ │ │ ├── fonts │ │ │ │ │ │ └── TeX │ │ │ │ │ │ │ ├── AMS │ │ │ │ │ │ │ └── Regular │ │ │ │ │ │ │ │ ├── Arrows.js │ │ │ │ │ │ │ │ ├── BoxDrawing.js │ │ │ │ │ │ │ │ ├── CombDiacritMarks.js │ │ │ │ │ │ │ │ ├── Dingbats.js │ │ │ │ │ │ │ │ ├── EnclosedAlphanum.js │ │ │ │ │ │ │ │ ├── GeneralPunctuation.js │ │ │ │ │ │ │ │ ├── GeometricShapes.js │ │ │ │ │ │ │ │ ├── GreekAndCoptic.js │ │ │ │ │ │ │ │ ├── Latin1Supplement.js │ │ │ │ │ │ │ │ ├── LatinExtendedA.js │ │ │ │ │ │ │ │ ├── LetterlikeSymbols.js │ │ │ │ │ │ │ │ ├── Main.js │ │ │ │ │ │ │ │ ├── MathOperators.js │ │ │ │ │ │ │ │ ├── MiscMathSymbolsB.js │ │ │ │ │ │ │ │ ├── MiscSymbols.js │ │ │ │ │ │ │ │ ├── MiscTechnical.js │ │ │ │ │ │ │ │ ├── PUA.js │ │ │ │ │ │ │ │ ├── SpacingModLetters.js │ │ │ │ │ │ │ │ └── SuppMathOperators.js │ │ │ │ │ │ │ ├── Caligraphic │ │ │ │ │ │ │ ├── Bold │ │ │ │ │ │ │ │ └── Main.js │ │ │ │ │ │ │ └── Regular │ │ │ │ │ │ │ │ └── Main.js │ │ │ │ │ │ │ ├── Fraktur │ │ │ │ │ │ │ ├── Bold │ │ │ │ │ │ │ │ ├── BasicLatin.js │ │ │ │ │ │ │ │ ├── Main.js │ │ │ │ │ │ │ │ ├── Other.js │ │ │ │ │ │ │ │ └── PUA.js │ │ │ │ │ │ │ └── Regular │ │ │ │ │ │ │ │ ├── BasicLatin.js │ │ │ │ │ │ │ │ ├── Main.js │ │ │ │ │ │ │ │ ├── Other.js │ │ │ │ │ │ │ │ └── PUA.js │ │ │ │ │ │ │ ├── Main │ │ │ │ │ │ │ ├── Bold │ │ │ │ │ │ │ │ ├── Arrows.js │ │ │ │ │ │ │ │ ├── BasicLatin.js │ │ │ │ │ │ │ │ ├── CombDiacritMarks.js │ │ │ │ │ │ │ │ ├── CombDiactForSymbols.js │ │ │ │ │ │ │ │ ├── GeneralPunctuation.js │ │ │ │ │ │ │ │ ├── GeometricShapes.js │ │ │ │ │ │ │ │ ├── GreekAndCoptic.js │ │ │ │ │ │ │ │ ├── Latin1Supplement.js │ │ │ │ │ │ │ │ ├── LatinExtendedA.js │ │ │ │ │ │ │ │ ├── LatinExtendedB.js │ │ │ │ │ │ │ │ ├── LetterlikeSymbols.js │ │ │ │ │ │ │ │ ├── Main.js │ │ │ │ │ │ │ │ ├── MathOperators.js │ │ │ │ │ │ │ │ ├── MiscMathSymbolsA.js │ │ │ │ │ │ │ │ ├── MiscSymbols.js │ │ │ │ │ │ │ │ ├── MiscTechnical.js │ │ │ │ │ │ │ │ ├── SpacingModLetters.js │ │ │ │ │ │ │ │ ├── SuppMathOperators.js │ │ │ │ │ │ │ │ └── SupplementalArrowsA.js │ │ │ │ │ │ │ ├── Italic │ │ │ │ │ │ │ │ ├── BasicLatin.js │ │ │ │ │ │ │ │ ├── CombDiacritMarks.js │ │ │ │ │ │ │ │ ├── GeneralPunctuation.js │ │ │ │ │ │ │ │ ├── GreekAndCoptic.js │ │ │ │ │ │ │ │ ├── LatinExtendedA.js │ │ │ │ │ │ │ │ ├── LatinExtendedB.js │ │ │ │ │ │ │ │ ├── LetterlikeSymbols.js │ │ │ │ │ │ │ │ ├── Main.js │ │ │ │ │ │ │ │ └── MathOperators.js │ │ │ │ │ │ │ └── Regular │ │ │ │ │ │ │ │ ├── BasicLatin.js │ │ │ │ │ │ │ │ ├── CombDiacritMarks.js │ │ │ │ │ │ │ │ ├── GeometricShapes.js │ │ │ │ │ │ │ │ ├── GreekAndCoptic.js │ │ │ │ │ │ │ │ ├── LatinExtendedA.js │ │ │ │ │ │ │ │ ├── LatinExtendedB.js │ │ │ │ │ │ │ │ ├── LetterlikeSymbols.js │ │ │ │ │ │ │ │ ├── Main.js │ │ │ │ │ │ │ │ ├── MathOperators.js │ │ │ │ │ │ │ │ ├── MiscSymbols.js │ │ │ │ │ │ │ │ ├── SpacingModLetters.js │ │ │ │ │ │ │ │ └── SuppMathOperators.js │ │ │ │ │ │ │ ├── Math │ │ │ │ │ │ │ ├── BoldItalic │ │ │ │ │ │ │ │ └── Main.js │ │ │ │ │ │ │ └── Italic │ │ │ │ │ │ │ │ └── Main.js │ │ │ │ │ │ │ ├── SansSerif │ │ │ │ │ │ │ ├── Bold │ │ │ │ │ │ │ │ ├── BasicLatin.js │ │ │ │ │ │ │ │ ├── CombDiacritMarks.js │ │ │ │ │ │ │ │ ├── Main.js │ │ │ │ │ │ │ │ └── Other.js │ │ │ │ │ │ │ ├── Italic │ │ │ │ │ │ │ │ ├── BasicLatin.js │ │ │ │ │ │ │ │ ├── CombDiacritMarks.js │ │ │ │ │ │ │ │ ├── Main.js │ │ │ │ │ │ │ │ └── Other.js │ │ │ │ │ │ │ └── Regular │ │ │ │ │ │ │ │ ├── BasicLatin.js │ │ │ │ │ │ │ │ ├── CombDiacritMarks.js │ │ │ │ │ │ │ │ ├── Main.js │ │ │ │ │ │ │ │ └── Other.js │ │ │ │ │ │ │ ├── Script │ │ │ │ │ │ │ └── Regular │ │ │ │ │ │ │ │ ├── BasicLatin.js │ │ │ │ │ │ │ │ └── Main.js │ │ │ │ │ │ │ ├── Size1 │ │ │ │ │ │ │ └── Regular │ │ │ │ │ │ │ │ └── Main.js │ │ │ │ │ │ │ ├── Size2 │ │ │ │ │ │ │ └── Regular │ │ │ │ │ │ │ │ └── Main.js │ │ │ │ │ │ │ ├── Size3 │ │ │ │ │ │ │ └── Regular │ │ │ │ │ │ │ │ └── Main.js │ │ │ │ │ │ │ ├── Size4 │ │ │ │ │ │ │ └── Regular │ │ │ │ │ │ │ │ └── Main.js │ │ │ │ │ │ │ ├── Typewriter │ │ │ │ │ │ │ └── Regular │ │ │ │ │ │ │ │ ├── BasicLatin.js │ │ │ │ │ │ │ │ ├── CombDiacritMarks.js │ │ │ │ │ │ │ │ ├── Main.js │ │ │ │ │ │ │ │ └── Other.js │ │ │ │ │ │ │ ├── fontdata-extra.js │ │ │ │ │ │ │ └── fontdata.js │ │ │ │ │ │ └── jax.js │ │ │ │ ├── doxyfile.awk │ │ │ │ ├── doxygen.css │ │ │ │ ├── footer.html │ │ │ │ ├── header-mathjax.html │ │ │ │ ├── header.html │ │ │ │ ├── header.tex │ │ │ │ ├── style.rtf │ │ │ │ ├── style.tex │ │ │ │ └── tabs.css │ │ │ ├── dynamic_graph │ │ │ │ ├── python-module-py.cc.in │ │ │ │ └── submodule │ │ │ │ │ └── __init__.py.cmake │ │ │ ├── eigen.cmake │ │ │ ├── filefilter.txt │ │ │ ├── find-external │ │ │ │ ├── Accelerate │ │ │ │ │ └── FindAccelerate.cmake │ │ │ │ ├── CDD │ │ │ │ │ └── FindCDD.cmake │ │ │ │ ├── CHOLMOD │ │ │ │ │ └── FindCHOLMOD.cmake │ │ │ │ ├── CLP │ │ │ │ │ └── FindCLP.cmake │ │ │ │ ├── CoinUtils │ │ │ │ │ └── FindCoinUtils.cmake │ │ │ │ ├── CppAD │ │ │ │ │ ├── Findcppad.cmake │ │ │ │ │ └── Findcppadcg.cmake │ │ │ │ ├── GMP │ │ │ │ │ └── FindGMP.cmake │ │ │ │ ├── Julia │ │ │ │ │ └── FindJulia.cmake │ │ │ │ ├── MPFR │ │ │ │ │ └── FindMPFR.cmake │ │ │ │ ├── OpenMP │ │ │ │ │ └── FindOpenMP.cmake │ │ │ │ ├── OpenRTM │ │ │ │ │ └── FindOpenRTM.cmake │ │ │ │ ├── Qhull │ │ │ │ │ └── FindQhull.cmake │ │ │ │ ├── Simde │ │ │ │ │ └── FindSimde.cmake │ │ │ │ ├── TinyXML │ │ │ │ │ ├── FindTinyXML.cmake │ │ │ │ │ └── FindTinyXML2.cmake │ │ │ │ ├── assimp │ │ │ │ │ └── Findassimp.cmake │ │ │ │ ├── glpk │ │ │ │ │ └── Findglpk.cmake │ │ │ │ └── qpOASES │ │ │ │ │ └── FindqpOASES.cmake │ │ │ ├── fix-license.sh │ │ │ ├── geometric-tools.cmake │ │ │ ├── git-archive-all.py │ │ │ ├── git-archive-all.sh │ │ │ ├── github │ │ │ │ └── update-doxygen-doc.sh │ │ │ ├── gitlog-to-changelog │ │ │ ├── gtest.cmake │ │ │ ├── gtest │ │ │ │ └── CMakeLists.txt.in │ │ │ ├── header.cmake │ │ │ ├── hpp.cmake │ │ │ ├── hpp │ │ │ │ ├── doc.cmake │ │ │ │ ├── doc │ │ │ │ │ └── layout.xml │ │ │ │ └── idl │ │ │ │ │ └── omniidl_be_python_with_docstring.py │ │ │ ├── ide.cmake │ │ │ ├── idl.cmake │ │ │ ├── idlrtc.cmake │ │ │ ├── image │ │ │ │ └── visp.cmake │ │ │ ├── install-data.cmake │ │ │ ├── julia.cmake │ │ │ ├── kineo.cmake │ │ │ ├── lapack.cmake │ │ │ ├── logging.cmake │ │ │ ├── man.cmake │ │ │ ├── memorycheck_unit_test.cmake.in │ │ │ ├── metapodfromurdf.cmake │ │ │ ├── modernize-links.cmake │ │ │ ├── msvc-specific.cmake │ │ │ ├── msvc.vcxproj.user.in │ │ │ ├── openhrp.cmake │ │ │ ├── openhrpcontroller.cmake │ │ │ ├── openrtm.cmake │ │ │ ├── oscheck.cmake │ │ │ ├── package-config.cmake │ │ │ ├── pkg-config.cmake │ │ │ ├── pkg-config.pc.cmake │ │ │ ├── portability.cmake │ │ │ ├── post-project.cmake │ │ │ ├── pthread.cmake │ │ │ ├── pyproject.py │ │ │ ├── python-helpers.cmake │ │ │ ├── python.cmake │ │ │ ├── qhull.cmake │ │ │ ├── release.cmake │ │ │ ├── relpath.cmake │ │ │ ├── ros.cmake │ │ │ ├── sdformat.cmake │ │ │ ├── setup.cfg │ │ │ ├── shared-library.cmake │ │ │ ├── sphinx.cmake │ │ │ ├── sphinx │ │ │ │ ├── conf.py.in │ │ │ │ └── index.rst.in │ │ │ ├── stubgen │ │ │ │ └── CMakeLists.txt.in │ │ │ ├── stubs.cmake │ │ │ ├── swig.cmake │ │ │ ├── test.cmake │ │ │ ├── uninstall.cmake │ │ │ ├── version-script-test.lds │ │ │ ├── version-script.cmake │ │ │ ├── version.cmake │ │ │ ├── warning.hh.cmake │ │ │ └── xacro.cmake │ │ ├── colcon.pkg │ │ ├── include │ │ │ └── pinocchio │ │ │ │ ├── algorithm │ │ │ │ ├── aba-derivatives.hpp │ │ │ │ ├── aba-derivatives.hxx │ │ │ │ ├── aba.hpp │ │ │ │ ├── aba.hxx │ │ │ │ ├── center-of-mass-derivatives.hpp │ │ │ │ ├── center-of-mass-derivatives.hxx │ │ │ │ ├── center-of-mass.hpp │ │ │ │ ├── center-of-mass.hxx │ │ │ │ ├── centroidal-derivatives.hpp │ │ │ │ ├── centroidal-derivatives.hxx │ │ │ │ ├── centroidal.hpp │ │ │ │ ├── centroidal.hxx │ │ │ │ ├── check.hpp │ │ │ │ ├── check.hxx │ │ │ │ ├── cholesky.hpp │ │ │ │ ├── cholesky.hxx │ │ │ │ ├── compute-all-terms.hpp │ │ │ │ ├── compute-all-terms.hxx │ │ │ │ ├── contact-dynamics.hpp │ │ │ │ ├── contact-dynamics.hxx │ │ │ │ ├── copy.hpp │ │ │ │ ├── crba.hpp │ │ │ │ ├── crba.hxx │ │ │ │ ├── default-check.hpp │ │ │ │ ├── dynamics.hpp │ │ │ │ ├── energy.hpp │ │ │ │ ├── energy.hxx │ │ │ │ ├── frames-derivatives.hpp │ │ │ │ ├── frames-derivatives.hxx │ │ │ │ ├── frames.hpp │ │ │ │ ├── frames.hxx │ │ │ │ ├── geometry.hpp │ │ │ │ ├── geometry.hxx │ │ │ │ ├── jacobian.hpp │ │ │ │ ├── jacobian.hxx │ │ │ │ ├── joint-configuration.hpp │ │ │ │ ├── joint-configuration.hxx │ │ │ │ ├── kinematics-derivatives.hpp │ │ │ │ ├── kinematics-derivatives.hxx │ │ │ │ ├── kinematics.hpp │ │ │ │ ├── kinematics.hxx │ │ │ │ ├── model.hpp │ │ │ │ ├── model.hxx │ │ │ │ ├── parallel │ │ │ │ │ ├── aba.hpp │ │ │ │ │ ├── geometry.hpp │ │ │ │ │ └── rnea.hpp │ │ │ │ ├── regressor.hpp │ │ │ │ ├── regressor.hxx │ │ │ │ ├── rnea-derivatives.hpp │ │ │ │ ├── rnea-derivatives.hxx │ │ │ │ ├── rnea-second-order-derivatives.hpp │ │ │ │ ├── rnea-second-order-derivatives.hxx │ │ │ │ ├── rnea.hpp │ │ │ │ └── rnea.hxx │ │ │ │ ├── autodiff │ │ │ │ ├── casadi.hpp │ │ │ │ ├── casadi │ │ │ │ │ ├── math │ │ │ │ │ │ ├── matrix.hpp │ │ │ │ │ │ └── quaternion.hpp │ │ │ │ │ ├── spatial │ │ │ │ │ │ └── se3-tpl.hpp │ │ │ │ │ └── utils │ │ │ │ │ │ └── static-if.hpp │ │ │ │ ├── cppad.hpp │ │ │ │ └── cppad │ │ │ │ │ ├── algorithm │ │ │ │ │ └── aba.hpp │ │ │ │ │ ├── math │ │ │ │ │ ├── eigen_plugin.hpp │ │ │ │ │ └── quaternion.hpp │ │ │ │ │ ├── spatial │ │ │ │ │ ├── log.hxx │ │ │ │ │ └── se3-tpl.hpp │ │ │ │ │ └── utils │ │ │ │ │ └── static-if.hpp │ │ │ │ ├── bindings │ │ │ │ └── python │ │ │ │ │ ├── algorithm │ │ │ │ │ └── algorithms.hpp │ │ │ │ │ ├── fwd.hpp │ │ │ │ │ ├── multibody │ │ │ │ │ ├── data.hpp │ │ │ │ │ ├── fcl │ │ │ │ │ │ └── transform.hpp │ │ │ │ │ ├── frame.hpp │ │ │ │ │ ├── geometry-data.hpp │ │ │ │ │ ├── geometry-model.hpp │ │ │ │ │ ├── geometry-object.hpp │ │ │ │ │ ├── joint │ │ │ │ │ │ ├── joint-derived.hpp │ │ │ │ │ │ ├── joint.hpp │ │ │ │ │ │ ├── joints-datas.hpp │ │ │ │ │ │ ├── joints-models.hpp │ │ │ │ │ │ └── joints-variant.hpp │ │ │ │ │ ├── liegroups.hpp │ │ │ │ │ ├── model.hpp │ │ │ │ │ └── pool │ │ │ │ │ │ ├── geometry.hpp │ │ │ │ │ │ └── model.hpp │ │ │ │ │ ├── parsers │ │ │ │ │ ├── python.hpp │ │ │ │ │ ├── sample-models.hpp │ │ │ │ │ ├── srdf.hpp │ │ │ │ │ └── urdf.hpp │ │ │ │ │ ├── pybind11-all.hpp │ │ │ │ │ ├── pybind11.hpp │ │ │ │ │ ├── serialization │ │ │ │ │ ├── serializable.hpp │ │ │ │ │ └── serialization.hpp │ │ │ │ │ ├── spatial │ │ │ │ │ ├── explog.hpp │ │ │ │ │ ├── force.hpp │ │ │ │ │ ├── inertia.hpp │ │ │ │ │ ├── motion.hpp │ │ │ │ │ └── se3.hpp │ │ │ │ │ └── utils │ │ │ │ │ ├── constant.hpp │ │ │ │ │ ├── conversions.hpp │ │ │ │ │ ├── copyable.hpp │ │ │ │ │ ├── dependencies.hpp │ │ │ │ │ ├── deprecation.hpp │ │ │ │ │ ├── eigen.hpp │ │ │ │ │ ├── list.hpp │ │ │ │ │ ├── namespace.hpp │ │ │ │ │ ├── pickle-map.hpp │ │ │ │ │ ├── pickle-vector.hpp │ │ │ │ │ ├── printable.hpp │ │ │ │ │ ├── registration.hpp │ │ │ │ │ ├── std-aligned-vector.hpp │ │ │ │ │ ├── std-map.hpp │ │ │ │ │ ├── std-vector.hpp │ │ │ │ │ └── version.hpp │ │ │ │ ├── codegen │ │ │ │ ├── code-generator-algo.hpp │ │ │ │ ├── code-generator-base.hpp │ │ │ │ └── cppadcg.hpp │ │ │ │ ├── container │ │ │ │ ├── aligned-vector.hpp │ │ │ │ └── boost-container-limits.hpp │ │ │ │ ├── core │ │ │ │ ├── binary-op.hpp │ │ │ │ └── unary-op.hpp │ │ │ │ ├── deprecated-macros.hpp │ │ │ │ ├── deprecated-namespaces.hpp │ │ │ │ ├── deprecation.hpp │ │ │ │ ├── eigen-macros.hpp │ │ │ │ ├── fwd.hpp │ │ │ │ ├── macros.hpp │ │ │ │ ├── math │ │ │ │ ├── casadi.hpp │ │ │ │ ├── comparison-operators.hpp │ │ │ │ ├── cppad.hpp │ │ │ │ ├── cppadcg.hpp │ │ │ │ ├── fwd.hpp │ │ │ │ ├── matrix-block.hpp │ │ │ │ ├── matrix.hpp │ │ │ │ ├── multiprecision-mpfr.hpp │ │ │ │ ├── multiprecision.hpp │ │ │ │ ├── quaternion.hpp │ │ │ │ ├── rotation.hpp │ │ │ │ ├── rpy.hpp │ │ │ │ ├── rpy.hxx │ │ │ │ ├── sign.hpp │ │ │ │ ├── sincos.hpp │ │ │ │ ├── taylor-expansion.hpp │ │ │ │ └── tensor.hpp │ │ │ │ ├── multibody │ │ │ │ ├── constraint-base.hpp │ │ │ │ ├── constraint-generic.hpp │ │ │ │ ├── constraint.hpp │ │ │ │ ├── data.hpp │ │ │ │ ├── data.hxx │ │ │ │ ├── fcl.hpp │ │ │ │ ├── fcl.hxx │ │ │ │ ├── force-set.hpp │ │ │ │ ├── frame.hpp │ │ │ │ ├── fwd.hpp │ │ │ │ ├── geometry.hpp │ │ │ │ ├── geometry.hxx │ │ │ │ ├── joint │ │ │ │ │ ├── fwd.hpp │ │ │ │ │ ├── joint-base.hpp │ │ │ │ │ ├── joint-basic-visitors.hpp │ │ │ │ │ ├── joint-basic-visitors.hxx │ │ │ │ │ ├── joint-collection.hpp │ │ │ │ │ ├── joint-common-operations.hpp │ │ │ │ │ ├── joint-composite.hpp │ │ │ │ │ ├── joint-composite.hxx │ │ │ │ │ ├── joint-data-base.hpp │ │ │ │ │ ├── joint-free-flyer.hpp │ │ │ │ │ ├── joint-generic.hpp │ │ │ │ │ ├── joint-mimic.hpp │ │ │ │ │ ├── joint-model-base.hpp │ │ │ │ │ ├── joint-planar.hpp │ │ │ │ │ ├── joint-prismatic-unaligned.hpp │ │ │ │ │ ├── joint-prismatic.hpp │ │ │ │ │ ├── joint-revolute-unaligned.hpp │ │ │ │ │ ├── joint-revolute-unbounded-unaligned.hpp │ │ │ │ │ ├── joint-revolute-unbounded.hpp │ │ │ │ │ ├── joint-revolute.hpp │ │ │ │ │ ├── joint-spherical-ZYX.hpp │ │ │ │ │ ├── joint-spherical.hpp │ │ │ │ │ ├── joint-translation.hpp │ │ │ │ │ └── joints.hpp │ │ │ │ ├── liegroup │ │ │ │ │ ├── cartesian-product-variant.hpp │ │ │ │ │ ├── cartesian-product-variant.hxx │ │ │ │ │ ├── cartesian-product.hpp │ │ │ │ │ ├── fwd.hpp │ │ │ │ │ ├── liegroup-algo.hpp │ │ │ │ │ ├── liegroup-algo.hxx │ │ │ │ │ ├── liegroup-base.hpp │ │ │ │ │ ├── liegroup-base.hxx │ │ │ │ │ ├── liegroup-collection.hpp │ │ │ │ │ ├── liegroup-generic.hpp │ │ │ │ │ ├── liegroup-variant-visitors.hpp │ │ │ │ │ ├── liegroup-variant-visitors.hxx │ │ │ │ │ ├── liegroup.hpp │ │ │ │ │ ├── special-euclidean.hpp │ │ │ │ │ ├── special-orthogonal.hpp │ │ │ │ │ └── vector-space.hpp │ │ │ │ ├── model.hpp │ │ │ │ ├── model.hxx │ │ │ │ ├── pool │ │ │ │ │ ├── geometry.hpp │ │ │ │ │ └── model.hpp │ │ │ │ ├── visitor.hpp │ │ │ │ └── visitor │ │ │ │ │ ├── fusion.hpp │ │ │ │ │ ├── joint-binary-visitor.hpp │ │ │ │ │ └── joint-unary-visitor.hpp │ │ │ │ ├── parsers │ │ │ │ ├── python.hpp │ │ │ │ ├── sample-models.hpp │ │ │ │ ├── sample-models.hxx │ │ │ │ ├── srdf.hpp │ │ │ │ ├── srdf.hxx │ │ │ │ ├── urdf.hpp │ │ │ │ ├── urdf │ │ │ │ │ ├── geometry.hxx │ │ │ │ │ ├── model.hxx │ │ │ │ │ ├── types.hpp │ │ │ │ │ └── utils.hpp │ │ │ │ └── utils.hpp │ │ │ │ ├── serialization │ │ │ │ ├── aligned-vector.hpp │ │ │ │ ├── archive.hpp │ │ │ │ ├── data.hpp │ │ │ │ ├── eigen.hpp │ │ │ │ ├── force.hpp │ │ │ │ ├── frame.hpp │ │ │ │ ├── fwd.hpp │ │ │ │ ├── geometry.hpp │ │ │ │ ├── inertia.hpp │ │ │ │ ├── joints-constraint.hpp │ │ │ │ ├── joints-data.hpp │ │ │ │ ├── joints-model.hpp │ │ │ │ ├── joints-motion.hpp │ │ │ │ ├── joints-transform.hpp │ │ │ │ ├── joints.hpp │ │ │ │ ├── model.hpp │ │ │ │ ├── motion.hpp │ │ │ │ ├── se3.hpp │ │ │ │ ├── serializable.hpp │ │ │ │ ├── spatial.hpp │ │ │ │ ├── static-buffer.hpp │ │ │ │ ├── symmetric3.hpp │ │ │ │ └── vector.hpp │ │ │ │ ├── spatial │ │ │ │ ├── act-on-set.hpp │ │ │ │ ├── act-on-set.hxx │ │ │ │ ├── cartesian-axis.hpp │ │ │ │ ├── explog-quaternion.hpp │ │ │ │ ├── explog.hpp │ │ │ │ ├── fcl-pinocchio-conversions.hpp │ │ │ │ ├── force-base.hpp │ │ │ │ ├── force-dense.hpp │ │ │ │ ├── force-ref.hpp │ │ │ │ ├── force-tpl.hpp │ │ │ │ ├── force.hpp │ │ │ │ ├── fwd.hpp │ │ │ │ ├── inertia.hpp │ │ │ │ ├── log.hpp │ │ │ │ ├── log.hxx │ │ │ │ ├── motion-base.hpp │ │ │ │ ├── motion-dense.hpp │ │ │ │ ├── motion-ref.hpp │ │ │ │ ├── motion-tpl.hpp │ │ │ │ ├── motion-zero.hpp │ │ │ │ ├── motion.hpp │ │ │ │ ├── se3-base.hpp │ │ │ │ ├── se3-tpl.hpp │ │ │ │ ├── se3.hpp │ │ │ │ ├── skew.hpp │ │ │ │ ├── spatial-axis.hpp │ │ │ │ └── symmetric3.hpp │ │ │ │ └── utils │ │ │ │ ├── axis-label.hpp │ │ │ │ ├── cast.hpp │ │ │ │ ├── eigen-fix.hpp │ │ │ │ ├── file-explorer.hpp │ │ │ │ ├── helpers.hpp │ │ │ │ ├── openmp.hpp │ │ │ │ ├── static-if.hpp │ │ │ │ ├── string-generator.hpp │ │ │ │ ├── timer.hpp │ │ │ │ └── version.hpp │ │ ├── package.xml │ │ ├── sources.cmake │ │ ├── src │ │ │ ├── CMakeLists.txt │ │ │ ├── parsers │ │ │ │ └── urdf │ │ │ │ │ ├── geometry.cpp │ │ │ │ │ ├── model.cpp │ │ │ │ │ └── utils.cpp │ │ │ └── utils │ │ │ │ └── file-explorer.cpp │ │ └── utils │ │ │ ├── CMakeLists.txt │ │ │ └── pinocchio_read_model.cpp │ └── pinocchio_interface │ │ ├── CMakeLists.txt │ │ ├── cmake │ │ └── pinocchio_config.cmake │ │ ├── include │ │ └── pinocchio │ │ │ ├── Orientation.h │ │ │ └── PinocchioInterface.h │ │ ├── package.xml │ │ └── src │ │ └── pinocchio │ │ ├── Orientation.cc │ │ └── PinocchioInterface.cc ├── trans │ ├── CMakeLists.txt │ ├── msgs │ │ ├── ActuatorCmds.msg │ │ └── TouchSensor.msg │ ├── package.xml │ └── srv │ │ ├── GaitSwitch.srv │ │ └── SimulationReset.srv └── visualization │ ├── CMakeLists.txt │ ├── config │ ├── atlas_config.rviz │ ├── config.rviz │ └── spot_config.rviz │ ├── launch │ └── p1_vis_launch.py │ └── package.xml └── test.sh /.gitignore: -------------------------------------------------------------------------------- 1 | build/* 2 | install/* 3 | log/* -------------------------------------------------------------------------------- /.vscode/c_cpp_properties.json: -------------------------------------------------------------------------------- 1 | { 2 | "configurations": [ 3 | { 4 | "name": "Linux", 5 | "includePath": [ 6 | "${workspaceFolder}/**", 7 | "/opt/ros/foxy/include/**" 8 | ], 9 | "defines": [], 10 | "compilerPath": "/usr/bin/gcc", 11 | "compileCommands": "${workspaceFolder}/build/compile_commands.json", 12 | "cStandard": "c99", 13 | "cppStandard": "c++14", 14 | "intelliSenseMode": "linux-gcc-x64" 15 | } 16 | ], 17 | "version": 4 18 | } 19 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Model Predictive Control for Bipedal Robot TRON 1 in MuJoCo Simulator 2 | ![video](./display.gif) 3 | # Build Package 4 | ## Install ROS2 5 | Refer to [ROS2](https://ros.org/) official doc. 6 | 7 | ## Build 8 | 9 | ```bash 10 | cd ${source folder} & bash build.sh 11 | echo "source ${source folder}/install/setup.bash" >> ~/.bashrc 12 | ``` 13 | 14 | # Run Package 15 | ## Run Simulation 16 | ```bash 17 | ros2 launch sim sim_launch.py 18 | ``` 19 | 20 | ## Run Controller 21 | ```bash 22 | ros2 launch management management_launch.py 23 | ``` 24 | 25 | 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /build.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | set -e 3 | 4 | # Set the default build type 5 | # BUILD_TYPE=RelWithDebInfo 6 | BUILD_TYPE=Release 7 | colcon build \ 8 | --merge-install \ 9 | --symlink-install \ 10 | --cmake-args "-DCMAKE_BUILD_TYPE=$BUILD_TYPE" "-DCMAKE_EXPORT_COMPILE_COMMANDS=On" \ 11 | -Wall -Wextra -Wpedantic 12 | -------------------------------------------------------------------------------- /display.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/clearlab-sustech/Bipedal_MPC/0ea6df4c700d1ebbf941fae5483431214039379a/display.gif -------------------------------------------------------------------------------- /setup.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | set -e 3 | 4 | vcs import < src/ros2.repos src 5 | sudo apt-get update 6 | rosdep update 7 | rosdep install --from-paths src --ignore-src -y 8 | -------------------------------------------------------------------------------- /src/assets/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.8) 2 | project(assets) 3 | 4 | # Default to C99 5 | if(NOT CMAKE_C_STANDARD) 6 | set(CMAKE_C_STANDARD 99) 7 | endif() 8 | 9 | # Default to C++14 10 | if(NOT CMAKE_CXX_STANDARD) 11 | set(CMAKE_CXX_STANDARD 17) 12 | endif() 13 | 14 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") 15 | add_compile_options(-Wall -Wextra -Wpedantic) 16 | endif() 17 | 18 | # find dependencies 19 | find_package(ament_cmake REQUIRED) 20 | 21 | install(DIRECTORY p1 22 | DESTINATION share/${PROJECT_NAME}) 23 | 24 | ament_package() -------------------------------------------------------------------------------- /src/assets/p1/meshes/abad_left_link.STL: -------------------------------------------------------------------------------- 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https://raw.githubusercontent.com/clearlab-sustech/Bipedal_MPC/0ea6df4c700d1ebbf941fae5483431214039379a/src/assets/p1/meshes/knee_right_link.STL -------------------------------------------------------------------------------- /src/assets/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | assets 5 | 0.0.0 6 | TODO: Package description 7 | otsd 8 | TODO: License declaration 9 | 10 | ament_cmake 11 | 12 | ament_lint_auto 13 | ament_lint_common 14 | 15 | core 16 | 17 | 18 | ament_cmake 19 | 20 | 21 | -------------------------------------------------------------------------------- /src/core/cmake/clear_cxx_flags.cmake: -------------------------------------------------------------------------------- 1 | # list(APPEND CLEAR_CXX_FLAGS 2 | # "-march=native" 3 | # "-mtune=native" 4 | # "-fPIC" 5 | # "-pthread" 6 | # "-Wfatal-errors" 7 | # "-Wl,--no-as-needed" 8 | # ) 9 | 10 | find_package(Eigen3 3.3 REQUIRED NO_MODULE) 11 | list(APPEND CLEAR_CXX_FLAGS 12 | "-DBOOST_ALL_DYN_LINK" 13 | ) 14 | 15 | # Cpp standard version 16 | set(CMAKE_CXX_STANDARD 17) 17 | set(CMAKE_CXX_STANDARD_REQUIRED ON) 18 | -------------------------------------------------------------------------------- /src/core/include/core/gait/LegLogic.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | #include 5 | 6 | #include 7 | #include 8 | 9 | namespace clear { 10 | namespace biped { 11 | 12 | struct TimeInterval { 13 | scalar_t start; 14 | scalar_t end; 15 | }; 16 | 17 | std::vector 18 | getTimeOfNextTouchDown(scalar_t time_cur, 19 | const std::shared_ptr mode_schedule); 20 | 21 | std::vector 22 | getTimeOfNextLiftOff(scalar_t time_cur, 23 | const std::shared_ptr mode_schedule); 24 | } // namespace biped 25 | } // namespace clear 26 | -------------------------------------------------------------------------------- /src/core/include/core/misc/Buffer.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | 5 | namespace clear { 6 | 7 | template 8 | class Buffer { 9 | public: 10 | Buffer() = default; 11 | ~Buffer() = default; 12 | 13 | void push(T data) { 14 | const std::lock_guard guard(lock_); 15 | data_ = data; 16 | } 17 | 18 | T get() const { 19 | const std::lock_guard guard(lock_); 20 | return data_; 21 | } 22 | 23 | T clear() { 24 | const std::lock_guard guard(lock_); 25 | data_ = T(); 26 | } 27 | 28 | private: 29 | T data_; 30 | mutable std::mutex lock_; 31 | }; 32 | 33 | } // namespace clear -------------------------------------------------------------------------------- /src/core/include/core/trajectory/TrajectoryBase.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "core/types.h" 4 | 5 | namespace clear { 6 | 7 | template class TrajectoryBase { 8 | public: 9 | TrajectoryBase() = default; 10 | 11 | virtual ~TrajectoryBase() = default; 12 | 13 | virtual Sample evaluate(scalar_t time) = 0; 14 | 15 | virtual std::vector evaluate(std::vector time_array) = 0; 16 | 17 | virtual SampleDerivative derivative(scalar_t time, size_t n) = 0; 18 | 19 | virtual std::vector 20 | derivative(std::vector time_array, size_t n) = 0; 21 | 22 | void setTimeInterval(scalar_t ts, scalar_t tf) { 23 | ts_ = ts; 24 | tf_ = ts <= tf ? tf : ts; 25 | } 26 | 27 | scalar_t ts() { return ts_; } 28 | 29 | scalar_t tf() { return tf_; } 30 | 31 | scalar_t duration() { return std::max(tf_ - ts_, 0.0); } 32 | 33 | protected: 34 | scalar_t ts_, tf_; 35 | }; 36 | 37 | } // namespace clear 38 | -------------------------------------------------------------------------------- /src/core/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | core 5 | 0.0.0 6 | TODO: Package description 7 | otsd 8 | TODO: License declaration 9 | 10 | ament_cmake 11 | 12 | std_msgs 13 | builtin_interfaces 14 | rosidl_default_generators 15 | rosidl_default_runtime 16 | rosidl_interface_packages 17 | 18 | ament_lint_auto 19 | ament_lint_common 20 | 21 | Eigen3 22 | rcpputils 23 | 24 | 25 | ament_cmake 26 | 27 | -------------------------------------------------------------------------------- /src/motion/control/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | control 5 | 0.0.0 6 | TODO: Package description 7 | otsd 8 | TODO: License declaration 9 | 10 | ament_cmake 11 | 12 | ament_lint_auto 13 | ament_lint_common 14 | 15 | trans 16 | core 17 | nav_msgs 18 | sensor_msgs 19 | tsc 20 | yaml-cpp 21 | ament_index_cpp 22 | assets 23 | hpipm_interface_ament 24 | eiquadprog 25 | pinocchio_interface 26 | 27 | 28 | ament_cmake 29 | 30 | 31 | -------------------------------------------------------------------------------- /src/motion/estimation/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | estimation 5 | 0.0.0 6 | TODO: Package description 7 | otsd 8 | TODO: License declaration 9 | 10 | ament_cmake 11 | 12 | ament_lint_auto 13 | ament_lint_common 14 | 15 | rclcpp 16 | trans 17 | core 18 | pinocchio_interface 19 | nav_msgs 20 | sensor_msgs 21 | geometry_msgs 22 | visualization_msgs 23 | yaml-cpp 24 | ament_index_cpp 25 | 26 | 27 | ament_cmake 28 | 29 | 30 | -------------------------------------------------------------------------------- /src/motion/gait/include/gait/CycleTimer.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | #include 5 | #include 6 | 7 | using namespace rclcpp; 8 | 9 | namespace clear { 10 | class CycleTimer { 11 | public: 12 | CycleTimer(Node::SharedPtr nodeHandle, scalar_t cycle_duration); 13 | 14 | ~CycleTimer(); 15 | 16 | void timerReset(); 17 | 18 | scalar_t getCycleTime(); 19 | 20 | private: 21 | void innerLoop(); 22 | 23 | private: 24 | Node::SharedPtr nodeHandle_; 25 | scalar_t cycle_duration_; 26 | Buffer cycle_start_point_; 27 | Buffer current_cycle_time_; 28 | 29 | std::thread inner_loop_thread_; 30 | Buffer run_; 31 | }; 32 | 33 | } // namespace clear 34 | -------------------------------------------------------------------------------- /src/motion/gait/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | gait 5 | 0.0.0 6 | TODO: Package description 7 | otsd 8 | TODO: License declaration 9 | 10 | ament_cmake 11 | 12 | ament_lint_auto 13 | ament_lint_common 14 | 15 | trans 16 | core 17 | yaml-cpp 18 | ament_index_cpp 19 | assets 20 | 21 | 22 | ament_cmake 23 | 24 | 25 | -------------------------------------------------------------------------------- /src/motion/generation/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | generation 5 | 0.0.0 6 | TODO: Package description 7 | otsd 8 | TODO: License declaration 9 | 10 | ament_cmake 11 | 12 | ament_lint_auto 13 | ament_lint_common 14 | 15 | trans 16 | core 17 | nav_msgs 18 | sensor_msgs 19 | yaml-cpp 20 | ament_index_cpp 21 | asserts 22 | pinocchio_interface 23 | hpipm_interface_ament 24 | 25 | 26 | ament_cmake 27 | 28 | -------------------------------------------------------------------------------- /src/motion/management/include/Initialization.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "trans/srv/simulation_reset.hpp" 4 | #include 5 | #include 6 | 7 | using namespace rclcpp; 8 | using namespace std::chrono_literals; 9 | 10 | namespace clear { 11 | class Initialization { 12 | 13 | public: 14 | Initialization(Node::SharedPtr nodeHandle); 15 | 16 | ~Initialization(); 17 | 18 | void reset_simulation(); 19 | 20 | private: 21 | Node::SharedPtr nodeHandle_; 22 | }; 23 | } // namespace clear -------------------------------------------------------------------------------- /src/motion/management/include/JoyStick.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include 9 | #include 10 | 11 | namespace clear { 12 | 13 | class JoyStick { 14 | public: 15 | JoyStick(rclcpp::Node::SharedPtr nodeHandle); 16 | 17 | vector3_t getLinearVelCmd(); 18 | 19 | scalar_t getYawVelCmd(); 20 | 21 | scalar_t getHeightCmd(); 22 | 23 | bool eStop(); 24 | 25 | bool isStart(); 26 | 27 | private: 28 | void joy_cb(const std::shared_ptr joy_msg) const; 29 | 30 | rclcpp::Node::SharedPtr nodeHandle_; 31 | 32 | Buffer e_stop_; 33 | Buffer start_; 34 | mutable Buffer> joy_msg_; 35 | 36 | rclcpp::Subscription::SharedPtr joy_sub_; 37 | 38 | scalar_t h_des_ = 0.0; 39 | vector3_t vel_cmd; 40 | }; 41 | 42 | } // namespace clear 43 | -------------------------------------------------------------------------------- /src/motion/management/include/MotionManager.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "DataVisualization.h" 4 | #include "Initialization.h" 5 | #include "JoyStick.h" 6 | #include 7 | #include 8 | #include 9 | #include 10 | #include 11 | #include 12 | 13 | using namespace rclcpp; 14 | 15 | namespace clear { 16 | class MotionManager : public Node { 17 | 18 | public: 19 | MotionManager(); 20 | 21 | ~MotionManager(); 22 | 23 | void init(); 24 | 25 | private: 26 | void innerLoop(); 27 | 28 | private: 29 | std::shared_ptr estimatorPtr_; 30 | std::shared_ptr gaitSchedulePtr_; 31 | std::shared_ptr trajGenPtr_; 32 | std::shared_ptr trajectoryStabilizationPtr_; 33 | std::shared_ptr visPtr_; 34 | std::shared_ptr intializationPtr_; 35 | std::shared_ptr joyStickPtr_; 36 | 37 | std::thread inner_loop_thread_; 38 | Buffer run_; 39 | }; 40 | 41 | } // namespace clear 42 | -------------------------------------------------------------------------------- /src/motion/management/launch/management_launch.py: -------------------------------------------------------------------------------- 1 | import os 2 | from ament_index_python.packages import get_package_share_path 3 | from launch import LaunchDescription 4 | from launch.actions import DeclareLaunchArgument 5 | from launch.substitutions import LaunchConfiguration 6 | from launch_ros.actions import Node 7 | 8 | 9 | def generate_launch_description(): 10 | config_file_name = "p1/config.yaml" 11 | config_file = os.path.join(get_package_share_path("assets"), config_file_name) 12 | return LaunchDescription( 13 | [ 14 | Node( 15 | package="management", 16 | executable="management", 17 | name="p1_management", 18 | output="screen", 19 | emulate_tty=True, 20 | parameters=[ 21 | {"/config_file": config_file}, 22 | ], 23 | ), 24 | Node( 25 | package="joy", 26 | executable="joy_node", 27 | name="p1_joy_node", 28 | output="screen", 29 | emulate_tty=True, 30 | ), 31 | ] 32 | ) -------------------------------------------------------------------------------- /src/motion/management/src/main.cc: -------------------------------------------------------------------------------- 1 | #include "MotionManager.h" 2 | #include 3 | #include 4 | 5 | using namespace rclcpp::executors; 6 | 7 | int main(int argc, char **argv) { 8 | rclcpp::init(argc, argv); 9 | 10 | auto node = std::make_shared(); 11 | 12 | MultiThreadedExecutor executor(rclcpp::ExecutorOptions(), 4); 13 | 14 | try { 15 | node->init(); 16 | executor.add_node(node); 17 | executor.spin(); 18 | } catch (const std::exception &e) { 19 | RCLCPP_ERROR_STREAM(node->get_logger(), e.what() << '\n'); 20 | } 21 | 22 | rclcpp::shutdown(); 23 | } -------------------------------------------------------------------------------- /src/sim/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | sim 5 | 0.0.0 6 | TODO: Package description 7 | otsd 8 | TODO: License declaration 9 | 10 | ament_cmake 11 | 12 | ament_lint_auto 13 | ament_lint_common 14 | 15 | trans 16 | mujocodl 17 | assets 18 | rclcpp 19 | communication 20 | geometry_msgs 21 | tf2 22 | tf2_ros 23 | nav_msgs 24 | sensor_msgs 25 | cv_bridge 26 | ros2launch 27 | yaml-cpp 28 | ament_index_cpp 29 | 30 | 31 | ament_cmake 32 | 33 | 34 | -------------------------------------------------------------------------------- /src/third_parties/blasfeo_ament/cmake/blasfeo-extras.cmake.in: -------------------------------------------------------------------------------- 1 | # Forward BLASFEO_PATH explicitly 2 | set(BLASFEO_PATH @BLASFEO_DEVEL_PREFIX@) 3 | -------------------------------------------------------------------------------- /src/third_parties/blasfeo_ament/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | blasfeo_ament 5 | 0.0.0 6 | TODO: Package description 7 | Mriver Moon 8 | TODO: License declaration 9 | 10 | ament_cmake 11 | 12 | ament_lint_auto 13 | ament_lint_common 14 | ament_cmake_gtest 15 | 16 | 17 | ament_cmake 18 | 19 | 20 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/.clang-format: -------------------------------------------------------------------------------- 1 | --- 2 | BasedOnStyle: Google 3 | BreakBeforeBraces: Allman 4 | ... 5 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/.docs/_static/css/cmake.css: -------------------------------------------------------------------------------- 1 | .rst-content dl.variable dt { 2 | background: #ffe4c4; 3 | border-top-color: #ffa235; 4 | } 5 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/.docs/examples/minimal-hpp.cmake: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8) 2 | 3 | # These variables have to be defined before running SETUP_PROJECT 4 | set(PROJECT_NAME hpp-project-example) 5 | set(PROJECT_DESCRIPTION "A HPP project example") 6 | 7 | # hpp.cmake includes base.cmake. 8 | include(cmake/hpp.cmake) 9 | 10 | compute_project_args(PROJECT_ARGS LANGUAGES CXX) 11 | project(${PROJECT_NAME} ${PROJECT_ARGS}) 12 | 13 | # Configure the build of your project here add_subdirectory(src) 14 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/.docs/examples/minimal-with-packages.cmake: -------------------------------------------------------------------------------- 1 | # Target-based approach should work from CMake 2.8.12 but it should fully work 2 | # from 3.1 3 | cmake_minimum_required(VERSION 2.8.12) 4 | 5 | # These variables have to be defined before running SETUP_PROJECT 6 | set(PROJECT_NAME jrl-cmakemodules-minimal-working-example) 7 | set(PROJECT_DESCRIPTION "A project description") 8 | set(PROJECT_URL http://jrl-cmakemodules.readthedocs.io) 9 | set(PROJECT_USE_CMAKE_EXPORT TRUE) 10 | 11 | include(cmake/base.cmake) 12 | 13 | project(${PROJECT_NAME} CXX) 14 | 15 | # Add a required dependency 16 | add_project_dependency(MyDependency REQUIRED) 17 | 18 | # Another example to show that arguments can be passed down to the underlying 19 | # find_package call 20 | add_project_dependency(Boost 1.50 REQUIRED COMPONENT timer) 21 | 22 | add_library(myLibrary ${MY_SOURCES}) 23 | target_link_libraries(myLibrary MyDependency::MyAwesomeLib Boost::timer) 24 | 25 | install( 26 | TARGETS myLibrary 27 | EXPORT ${TARGETS_EXPORT_NAME} 28 | DESTINATION lib) 29 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/.docs/examples/minimal.cmake: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8) 2 | 3 | # These variables have to be defined before running SETUP_PROJECT 4 | set(PROJECT_NAME jrl-cmakemodules-minimal-working-example) 5 | set(PROJECT_DESCRIPTION "A project description") 6 | set(PROJECT_URL http://jrl-cmakemodules.readthedocs.io) 7 | 8 | include(cmake/base.cmake) 9 | 10 | project(${PROJECT_NAME} CXX) 11 | 12 | # Configure the build of your project here add_subdirectory(src) 13 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/.docs/index.rst: -------------------------------------------------------------------------------- 1 | .. Shared CMake submodule documentation master file, created by 2 | sphinx-quickstart on Wed Sep 27 13:16:53 2017. 3 | You can adapt this file completely to your liking, but it should at least 4 | contain the root `toctree` directive. 5 | 6 | Shared CMake submodule 7 | ###################### 8 | 9 | This repository_ is meant to be used as a submodule for any project 10 | from CNRS LAAS/HPP or JRL. 11 | 12 | It factorizes CMake mechanisms to provide a uniform look'n feel for 13 | all packages. 14 | 15 | .. setmode:: user 16 | 17 | Contents 18 | ######### 19 | 20 | .. toctree:: 21 | :maxdepth: 3 22 | 23 | /pages/base.rst 24 | /pages/cmake-packages.rst 25 | /pages/projects.rst 26 | /pages/dependencies.rst 27 | /pages/other.rst 28 | /pages/internal.rst 29 | /pages/developers.rst 30 | 31 | 32 | Indices and tables 33 | ################## 34 | 35 | * :ref:`genindex` 36 | * :ref:`search` 37 | 38 | .. * :ref:`modindex` 39 | .. _repository: https://github.com/jrl-umi3218/jrl-cmakemodules 40 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/.docs/pages/base.rst: -------------------------------------------------------------------------------- 1 | Basics 2 | ****** 3 | 4 | Setup the project 5 | ================= 6 | .. cmake-module:: ../../base.cmake 7 | 8 | C++ Headers 9 | =========== 10 | .. cmake-module:: ../../header.cmake 11 | 12 | Version 13 | =========== 14 | .. setmode:: user 15 | 16 | .. cmake-module:: ../../version.cmake 17 | 18 | Set a minimal C++ standard 19 | ========================== 20 | .. cmake-module:: ../../cxx-standard.cmake 21 | 22 | .. _minimal-working-example: 23 | 24 | Minimal working example 25 | ======================= 26 | 27 | .. literalinclude:: ../examples/minimal.cmake 28 | :language: cmake 29 | 30 | Code documentation using Doxygen 31 | ================================ 32 | .. cmake-module:: ../../doxygen.cmake 33 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/.docs/pages/internal.rst: -------------------------------------------------------------------------------- 1 | Internal commands 2 | ***************** 3 | 4 | .. setmode:: internal 5 | 6 | .. cmake-module:: ../../version.cmake 7 | .. cmake-module:: ../../pkg-config.cmake 8 | .. cmake-module:: ../../header.cmake 9 | .. cmake-module:: ../../cxx-standard.cmake 10 | 11 | Doxygen related 12 | =============== 13 | .. cmake-module:: ../../doxygen.cmake 14 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/.docs/pages/other.rst: -------------------------------------------------------------------------------- 1 | Other commands 2 | ************** 3 | 4 | Unit-testing 5 | ============ 6 | .. cmake-module:: ../../test.cmake 7 | .. cmake-module:: ../../gtest.cmake 8 | 9 | Xacro 10 | ===== 11 | .. cmake-module:: ../../xacro.cmake 12 | 13 | IDL 14 | === 15 | .. cmake-module:: ../../idl.cmake 16 | 17 | Version script 18 | ============== 19 | 20 | .. cmake-module:: ../../version-script.cmake 21 | 22 | Cython 23 | ====== 24 | 25 | .. cmake-module:: ../../cython/cython.cmake 26 | 27 | Make targets 28 | ============ 29 | 30 | The following macros define targets which are added to the Makefile: 31 | 32 | - :ref:`dist `: generates a tarball; 33 | - :ref:`distcheck `: checks the generated tarball; 34 | - :ref:`release `: releases a stable version of the current package. 35 | 36 | .. cmake-module:: ../../dist.cmake 37 | .. cmake-module:: ../../distcheck.cmake 38 | .. cmake-module:: ../../release.cmake 39 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/.docs/pages/projects.rst: -------------------------------------------------------------------------------- 1 | Project specific 2 | **************** 3 | 4 | Humanoid Path Planner 5 | ===================== 6 | 7 | These macros are used in packages of the 8 | `Humanoid Path Planner `_ project. 9 | 10 | .. setmode:: hpp 11 | 12 | .. cmake-module:: ../../hpp.cmake 13 | 14 | .. cmake-module:: ../../hpp/doc.cmake 15 | 16 | Stack of Tasks 17 | ============== 18 | 19 | These macros are used in packages of the 20 | `Stack of Tasks `_ project. 21 | 22 | .. setmode:: sot 23 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/.git-blame-ignore-revs: -------------------------------------------------------------------------------- 1 | # pre-commit run -a (Guilhem Saurel, 2022-07-26) 2 | a7abe2312a94b28f01173d6db5f74bb26c934e10 3 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/.github/workflows/cmake.yml: -------------------------------------------------------------------------------- 1 | name: cmake CI of jrl-cmakemodules 2 | 3 | on: [push,pull_request] 4 | 5 | jobs: 6 | build-ubuntu: 7 | 8 | runs-on: [ubuntu-18.04] 9 | 10 | steps: 11 | - uses: actions/checkout@v1 12 | 13 | - name: Run project tests 14 | run: | 15 | set -e 16 | set -x 17 | cd _unittests 18 | CMAKE_BIN="cmake" 19 | $CMAKE_BIN --version 20 | ./run_unit_tests.sh 21 | 22 | - name: Run script tests 23 | run: | 24 | set -e 25 | set -x 26 | cd _unittests 27 | ln -s .. cmake 28 | CMAKE_BIN="cmake" 29 | $CMAKE_BIN --version 30 | $CMAKE_BIN -P test_pkg-config.cmake 31 | 32 | name="cmake-3.2.2-Linux-x86_64" 33 | wget --quiet "https://cmake.org/files/v3.2/${name}.tar.gz" 34 | tar xf "${name}.tar.gz" 35 | 36 | CMAKE_BIN="${name}/bin/cmake" 37 | $CMAKE_BIN --version 38 | $CMAKE_BIN -P test_pkg-config.cmake 39 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/.gitignore: -------------------------------------------------------------------------------- 1 | hpp/idl/*.pyc 2 | .docs/build 3 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/LICENSE: -------------------------------------------------------------------------------- 1 | Unless otherwise specified, files of this project are released under the 2 | GNU Lesser General Public License. 3 | 4 | Some files are copies from other project and as such keep their initial license. 5 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/_unittests/cpp/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.2) 2 | 3 | set(PROJECT_NAME jrl-cmakemodules-cpp) 4 | set(PROJECT_VERSION 0.0.0) 5 | set(PROJECT_DESCRIPTION "JRL CMake module - cpp") 6 | set(PROJECT_URL http://jrl-cmakemodules.readthedocs.io) 7 | set(PROJECT_USE_CMAKE_EXPORT TRUE) 8 | 9 | include(../../base.cmake) 10 | 11 | compute_project_args(PROJECT_ARGS LANGUAGES CXX) 12 | project(${PROJECT_NAME} ${PROJECT_ARGS}) 13 | 14 | set(${PROJECT_NAME}_HEADERS include/jrl_cmakemodule/lib.hh) 15 | 16 | add_library(jrl_cmakemodule_lib SHARED src/lib.cc) 17 | target_include_directories( 18 | jrl_cmakemodule_lib 19 | PUBLIC $ 20 | $) 21 | 22 | install( 23 | TARGETS jrl_cmakemodule_lib 24 | EXPORT ${TARGETS_EXPORT_NAME} 25 | DESTINATION lib) 26 | 27 | add_executable(jrl_cmakemodule_main src/main.cc) 28 | target_link_libraries(jrl_cmakemodule_main jrl_cmakemodule_lib) 29 | 30 | install(TARGETS jrl_cmakemodule_main DESTINATION main) 31 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/_unittests/cpp/include/jrl_cmakemodule/lib.hh: -------------------------------------------------------------------------------- 1 | void lib_function(); 2 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/_unittests/cpp/src/lib.cc: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | void lib_function() { 5 | std::cout << "JRL CMake module - unittest - lib_function" << std::endl; 6 | } 7 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/_unittests/cpp/src/main.cc: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | int main() { 5 | std::cout << "JRL CMake module - unittest - cpp" << std::endl; 6 | lib_function(); 7 | } 8 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/_unittests/dependency/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.2) 2 | 3 | set(PROJECT_NAME jrl-cmakemodules-dependency) 4 | set(PROJECT_VERSION 0.0.0) 5 | set(PROJECT_DESCRIPTION "JRL CMake module - dependency") 6 | set(PROJECT_URL http://jrl-cmakemodules.readthedocs.io) 7 | set(INSTALL_DOCUMENTATION OFF) 8 | 9 | include(../macros.cmake) 10 | 11 | include(../../base.cmake) 12 | 13 | compute_project_args(PROJECT_ARGS LANGUAGES CXX) 14 | project(${PROJECT_NAME} ${PROJECT_ARGS}) 15 | 16 | add_project_dependency(jrl-cmakemodules-cpp REQUIRED) 17 | 18 | check_exist_target(jrl-cmakemodules-cpp::jrl_cmakemodule_lib "") 19 | 20 | check_exist_variable(jrl-cmakemodules-cpp_FOUND "") 21 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/_unittests/macros.cmake: -------------------------------------------------------------------------------- 1 | macro(check_exist_variable name message) 2 | if(NOT DEFINED ${name}) 3 | message(FATAL_ERROR "Variable ${name} not defined. ${message}") 4 | endif() 5 | endmacro() 6 | 7 | macro(check_exist_target name message) 8 | if(NOT TARGET ${name}) 9 | message(FATAL_ERROR "Expected target ${name}. ${message}") 10 | endif() 11 | endmacro() 12 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/_unittests/python/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.1) 2 | 3 | # These variables have to be defined before running SETUP_PROJECT 4 | set(PROJECT_NAME jrl-cmakemodules-python) 5 | set(PROJECT_VERSION 0.0.0) 6 | set(PROJECT_DESCRIPTION "JRL CMake module - python") 7 | set(PROJECT_URL http://jrl-cmakemodules.readthedocs.io) 8 | 9 | include(../macros.cmake) 10 | 11 | include(../../base.cmake) 12 | include(../../python.cmake) 13 | 14 | compute_project_args(PROJECT_ARGS) 15 | project(${PROJECT_NAME} ${PROJECT_ARGS}) 16 | findpython() 17 | 18 | check_exist_variable(PYTHON_SITELIB "") 19 | 20 | python_install_on_site(jrl_cmakemodule python.py) 21 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/_unittests/python/jrl_cmakemodule/python.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/clearlab-sustech/Bipedal_MPC/0ea6df4c700d1ebbf941fae5483431214039379a/src/third_parties/eiquadprog/cmake/_unittests/python/jrl_cmakemodule/python.py -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/_unittests/run_unit_tests.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | unittests="python cpp dependency" 4 | 5 | # Code for running a specific unit test 6 | # For unit test foo, function `run_foo` is executed if defined. 7 | # Otherwise, a default procedure is run. 8 | 9 | # function run_foo 10 | # { 11 | # echo "run_foo" 12 | # } 13 | 14 | function run_default() 15 | { 16 | $CMAKE_BIN ${cmake_options} "$1" 17 | make all 18 | make install 19 | } 20 | 21 | function run_cpp() 22 | { 23 | run_default $here/cpp 24 | } 25 | 26 | # The code below run all the unit tests 27 | here="`pwd`" 28 | rm -rf build install 29 | mkdir build install 30 | 31 | if [[ -z "${CMAKE_BIN}" ]]; then 32 | CMAKE_BIN=cmake 33 | fi 34 | cmake_options="-DCMAKE_INSTALL_PREFIX='${here}/install'" 35 | export CMAKE_PREFIX_PATH=$here/install 36 | 37 | for unittest in ${unittests}; do 38 | mkdir build/${unittest} 39 | cd build/${unittest} 40 | if [[ "$(type -t run_${unittest})" == "function" ]]; then 41 | run_${unittest} 42 | else 43 | run_default "$here/$unittest" 44 | fi 45 | cd "$here" 46 | done 47 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/catkin.cmake: -------------------------------------------------------------------------------- 1 | # Copyright (C) 2008-2014 LAAS-CNRS, JRL AIST-CNRS. 2 | # 3 | # Author: Florent Lamiraux 4 | # 5 | # This program is free software: you can redistribute it and/or modify it under 6 | # the terms of the GNU General Public License as published by the Free Software 7 | # Foundation, either version 3 of the License, or (at your option) any later 8 | # version. 9 | # 10 | # This program is distributed in the hope that it will be useful, but WITHOUT 11 | # ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS 12 | # FOR A PARTICULAR PURPOSE. See the GNU General Public License for more 13 | # details. 14 | # 15 | # You should have received a copy of the GNU General Public License along with 16 | # this program. If not, see . 17 | 18 | # Override binary installation directory Be aware that including this file 19 | # implies that binary installation directory cannot be chosen by user. 20 | set(CATKIN_PACKAGE_BIN_DESTINATION ${CMAKE_INSTALL_LIBDIR}/${PROJECT_NAME}) 21 | set(CMAKE_INSTALL_BINDIR ${CATKIN_PACKAGE_BIN_DESTINATION}) 22 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/cmake_reinstall.cmake.in: -------------------------------------------------------------------------------- 1 | # Copyright (C) 2019 LAAS-CNRS, JRL AIST-CNRS, INRIA. 2 | # 3 | # This program is free software: you can redistribute it and/or modify 4 | # it under the terms of the GNU General Public License as published by 5 | # the Free Software Foundation, either version 3 of the License, or 6 | # (at your option) any later version. 7 | # 8 | # This program is distributed in the hope that it will be useful, 9 | # but WITHOUT ANY WARRANTY; without even the implied warranty of 10 | # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 11 | # GNU General Public License for more details. 12 | # 13 | # You should have received a copy of the GNU General Public License 14 | # along with this program. If not, see . 15 | cmake_policy(SET CMP0007 NEW) 16 | if(EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt") 17 | execute_process(COMMAND "@CMAKE_COMMAND@" --build "@PROJECT_BINARY_DIR@" --target uninstall --config $) 18 | endif() 19 | execute_process(COMMAND "@CMAKE_COMMAND@" --build "@PROJECT_BINARY_DIR@" --target install --config $) 20 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/componentConfig.cmake.in: -------------------------------------------------------------------------------- 1 | @PACKAGE_INIT@ 2 | 3 | if(NOT @PROJECT_NAME@_FOUND) 4 | set(@PROJECT_NAME@_@COMPONENT@_FOUND FALSE) 5 | return() 6 | endif() 7 | 8 | # At the moment, components only support targets 9 | #set("@PROJECT_NAME@_@COMPONENT@_INCLUDE_DIRS" "@CMAKE_INSTALL_FULL_INCLUDEDIR@") 10 | #set("@PROJECT_NAME@_@COMPONENT@_LIBRARIES" ${_PACKAGE_CONFIG_LIBRARIES}) 11 | set(@PROJECT_NAME@_@COMPONENT@_DEPENDENCIES "@_PACKAGE_CONFIG_COMPONENT_DEPENDENCIES_PROJECTS@") 12 | 13 | include(CMakeFindDependencyMacro) 14 | if(${CMAKE_VERSION} VERSION_LESS "3.15.0") 15 | @COMPONENT_FIND_PACKAGE@ 16 | else() 17 | @COMPONENT_FIND_DEPENDENCY@ 18 | endif() 19 | 20 | include("${CMAKE_CURRENT_LIST_DIR}/@COMPONENT@Targets.cmake") 21 | set(@PROJECT_NAME@_@COMPONENT@_FOUND TRUE) 22 | 23 | @COMPONENT_EXTRA_MACRO@ 24 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/cython/dummy.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/clearlab-sustech/Bipedal_MPC/0ea6df4c700d1ebbf941fae5483431214039379a/src/third_parties/eiquadprog/cmake/cython/dummy.cpp -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/cython/python/README.md: -------------------------------------------------------------------------------- 1 | These files are taken from CMake v3.14.5 at 2 | [github](https://github.com/Kitware/CMake/tree/f3e9a6ff62f6f58cd661dd447c22a01c50f6f4ad) 3 | with small modifications to allow them to work outside of their expected 4 | location. 5 | 6 | They are used in the modules for CMake < 3.12 7 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/doxygen/MathJax/jax/element/mml/optable/CombDiacritMarks.js: -------------------------------------------------------------------------------- 1 | /* 2 | * /MathJax/jax/element/mml/optable/CombDiacritMarks.js 3 | * 4 | * Copyright (c) 2009-2015 The MathJax Consortium 5 | * 6 | * Licensed under the Apache License, Version 2.0 (the "License"); 7 | * you may not use this file except in compliance with the License. 8 | * You may obtain a copy of the License at 9 | * 10 | * http://www.apache.org/licenses/LICENSE-2.0 11 | * 12 | * Unless required by applicable law or agreed to in writing, software 13 | * distributed under the License is distributed on an "AS IS" BASIS, 14 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 | * See the License for the specific language governing permissions and 16 | * limitations under the License. 17 | */ 18 | 19 | (function(a){var c=a.mo.OPTYPES;var b=a.TEXCLASS;MathJax.Hub.Insert(a.mo.prototype,{OPTABLE:{postfix:{"\u0311":c.ACCENT}}});MathJax.Ajax.loadComplete(a.optableDir+"/CombDiacritMarks.js")})(MathJax.ElementJax.mml); 20 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/doxygen/MathJax/jax/element/mml/optable/CombDiactForSymbols.js: -------------------------------------------------------------------------------- 1 | /* 2 | * /MathJax/jax/element/mml/optable/CombDiactForSymbols.js 3 | * 4 | * Copyright (c) 2009-2015 The MathJax Consortium 5 | * 6 | * Licensed under the Apache License, Version 2.0 (the "License"); 7 | * you may not use this file except in compliance with the License. 8 | * You may obtain a copy of the License at 9 | * 10 | * http://www.apache.org/licenses/LICENSE-2.0 11 | * 12 | * Unless required by applicable law or agreed to in writing, software 13 | * distributed under the License is distributed on an "AS IS" BASIS, 14 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 | * See the License for the specific language governing permissions and 16 | * limitations under the License. 17 | */ 18 | 19 | (function(a){var c=a.mo.OPTYPES;var b=a.TEXCLASS;MathJax.Hub.Insert(a.mo.prototype,{OPTABLE:{postfix:{"\u20DB":c.ACCENT,"\u20DC":c.ACCENT}}});MathJax.Ajax.loadComplete(a.optableDir+"/CombDiactForSymbols.js")})(MathJax.ElementJax.mml); 20 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/doxygen/MathJax/jax/element/mml/optable/Dingbats.js: -------------------------------------------------------------------------------- 1 | /* 2 | * /MathJax/jax/element/mml/optable/Dingbats.js 3 | * 4 | * Copyright (c) 2009-2015 The MathJax Consortium 5 | * 6 | * Licensed under the Apache License, Version 2.0 (the "License"); 7 | * you may not use this file except in compliance with the License. 8 | * You may obtain a copy of the License at 9 | * 10 | * http://www.apache.org/licenses/LICENSE-2.0 11 | * 12 | * Unless required by applicable law or agreed to in writing, software 13 | * distributed under the License is distributed on an "AS IS" BASIS, 14 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 | * See the License for the specific language governing permissions and 16 | * limitations under the License. 17 | */ 18 | 19 | (function(a){var c=a.mo.OPTYPES;var b=a.TEXCLASS;MathJax.Hub.Insert(a.mo.prototype,{OPTABLE:{prefix:{"\u2772":c.OPEN},postfix:{"\u2773":c.CLOSE}}});MathJax.Ajax.loadComplete(a.optableDir+"/Dingbats.js")})(MathJax.ElementJax.mml); 20 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/doxygen/MathJax/jax/element/mml/optable/GreekAndCoptic.js: -------------------------------------------------------------------------------- 1 | /* 2 | * /MathJax/jax/element/mml/optable/GreekAndCoptic.js 3 | * 4 | * Copyright (c) 2009-2015 The MathJax Consortium 5 | * 6 | * Licensed under the Apache License, Version 2.0 (the "License"); 7 | * you may not use this file except in compliance with the License. 8 | * You may obtain a copy of the License at 9 | * 10 | * http://www.apache.org/licenses/LICENSE-2.0 11 | * 12 | * Unless required by applicable law or agreed to in writing, software 13 | * distributed under the License is distributed on an "AS IS" BASIS, 14 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 | * See the License for the specific language governing permissions and 16 | * limitations under the License. 17 | */ 18 | 19 | (function(a){var c=a.mo.OPTYPES;var b=a.TEXCLASS;MathJax.Hub.Insert(a.mo.prototype,{OPTABLE:{infix:{"\u03F6":c.REL}}});MathJax.Ajax.loadComplete(a.optableDir+"/GreekAndCoptic.js")})(MathJax.ElementJax.mml); 20 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/doxygen/MathJax/jax/element/mml/optable/Latin1Supplement.js: -------------------------------------------------------------------------------- 1 | /* 2 | * /MathJax/jax/element/mml/optable/Latin1Supplement.js 3 | * 4 | * Copyright (c) 2009-2015 The MathJax Consortium 5 | * 6 | * Licensed under the Apache License, Version 2.0 (the "License"); 7 | * you may not use this file except in compliance with the License. 8 | * You may obtain a copy of the License at 9 | * 10 | * http://www.apache.org/licenses/LICENSE-2.0 11 | * 12 | * Unless required by applicable law or agreed to in writing, software 13 | * distributed under the License is distributed on an "AS IS" BASIS, 14 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 | * See the License for the specific language governing permissions and 16 | * limitations under the License. 17 | */ 18 | 19 | (function(a){var c=a.mo.OPTYPES;var b=a.TEXCLASS;MathJax.Hub.Insert(a.mo.prototype,{OPTABLE:{postfix:{"\u00B0":c.ORD,"\u00B4":c.ACCENT,"\u00B8":c.ACCENT}}});MathJax.Ajax.loadComplete(a.optableDir+"/Latin1Supplement.js")})(MathJax.ElementJax.mml); 20 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/doxygen/MathJax/jax/element/mml/optable/LetterlikeSymbols.js: -------------------------------------------------------------------------------- 1 | /* 2 | * /MathJax/jax/element/mml/optable/LetterlikeSymbols.js 3 | * 4 | * Copyright (c) 2009-2015 The MathJax Consortium 5 | * 6 | * Licensed under the Apache License, Version 2.0 (the "License"); 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7 | * you may not use this file except in compliance with the License. 8 | * You may obtain a copy of the License at 9 | * 10 | * http://www.apache.org/licenses/LICENSE-2.0 11 | * 12 | * Unless required by applicable law or agreed to in writing, software 13 | * distributed under the License is distributed on an "AS IS" BASIS, 14 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 | * See the License for the specific language governing permissions and 16 | * limitations under the License. 17 | */ 18 | 19 | (function(a){var c=a.mo.OPTYPES;var b=a.TEXCLASS;MathJax.Hub.Insert(a.mo.prototype,{OPTABLE:{prefix:{"\u27E6":c.OPEN,"\u27EA":c.OPEN,"\u27EC":c.OPEN},postfix:{"\u27E7":c.CLOSE,"\u27EB":c.CLOSE,"\u27ED":c.CLOSE}}});MathJax.Ajax.loadComplete(a.optableDir+"/MiscMathSymbolsA.js")})(MathJax.ElementJax.mml); 20 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/doxygen/MathJax/jax/element/mml/optable/MiscSymbolsAndArrows.js: -------------------------------------------------------------------------------- 1 | /* 2 | * /MathJax/jax/element/mml/optable/MiscSymbolsAndArrows.js 3 | * 4 | * Copyright (c) 2009-2015 The MathJax Consortium 5 | * 6 | * Licensed under the Apache License, Version 2.0 (the "License"); 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7 | * you may not use this file except in compliance with the License. 8 | * You may obtain a copy of the License at 9 | * 10 | * http://www.apache.org/licenses/LICENSE-2.0 11 | * 12 | * Unless required by applicable law or agreed to in writing, software 13 | * distributed under the License is distributed on an "AS IS" BASIS, 14 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 | * See the License for the specific language governing permissions and 16 | * limitations under the License. 17 | */ 18 | 19 | (function(a){var c=a.mo.OPTYPES;var b=a.TEXCLASS;MathJax.Hub.Insert(a.mo.prototype,{OPTABLE:{infix:{"\u27F0":c.RELSTRETCH,"\u27F1":c.RELSTRETCH,"\u27FB":c.WIDEREL,"\u27FD":c.WIDEREL,"\u27FE":c.WIDEREL,"\u27FF":c.WIDEREL}}});MathJax.Ajax.loadComplete(a.optableDir+"/SupplementalArrowsA.js")})(MathJax.ElementJax.mml); 20 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/doxygen/MathJax/jax/input/AsciiMath/config.js: -------------------------------------------------------------------------------- 1 | /* 2 | * /MathJax/jax/input/AsciiMath/config.js 3 | * 4 | * Copyright (c) 2009-2015 The MathJax Consortium 5 | * 6 | * Licensed under the Apache License, Version 2.0 (the "License"); 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7 | * you may not use this file except in compliance with the License. 8 | * You may obtain a copy of the License at 9 | * 10 | * http://www.apache.org/licenses/LICENSE-2.0 11 | * 12 | * Unless required by applicable law or agreed to in writing, software 13 | * distributed under the License is distributed on an "AS IS" BASIS, 14 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 | * See the License for the specific language governing permissions and 16 | * limitations under the License. 17 | */ 18 | 19 | MathJax.OutputJax.SVG.FONTDATA.FONTS.MathJax_Fraktur={directory:"Fraktur/Regular",family:"MathJax_Fraktur",id:"MJFRAK",Ranges:[[0,127,"BasicLatin"],[128,57343,"Other"],[58112,58128,"PUA"]]};MathJax.Ajax.loadComplete(MathJax.OutputJax.SVG.fontDir+"/Fraktur/Regular/Main.js"); 20 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/doxygen/MathJax/jax/output/SVG/fonts/TeX/Main/Italic/MathOperators.js: -------------------------------------------------------------------------------- 1 | /* 2 | * /MathJax/jax/output/SVG/fonts/TeX/Main/Italic/MathOperators.js 3 | * 4 | * Copyright (c) 2009-2015 The MathJax Consortium 5 | * 6 | * Licensed under the Apache License, Version 2.0 (the "License"); 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7 | * you may not use this file except in compliance with the License. 8 | * You may obtain a copy of the License at 9 | * 10 | * http://www.apache.org/licenses/LICENSE-2.0 11 | * 12 | * Unless required by applicable law or agreed to in writing, software 13 | * distributed under the License is distributed on an "AS IS" BASIS, 14 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 | * See the License for the specific language governing permissions and 16 | * limitations under the License. 17 | */ 18 | 19 | MathJax.Hub.Insert(MathJax.OutputJax.SVG.FONTDATA.FONTS.MathJax_Main,{8710:[716,0,833,46,786,""]});MathJax.Ajax.loadComplete(MathJax.OutputJax.SVG.fontDir+"/Main/Regular/MathOperators.js"); 20 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/doxygen/MathJax/jax/output/SVG/fonts/TeX/SansSerif/Bold/Main.js: -------------------------------------------------------------------------------- 1 | /* 2 | * /MathJax/jax/output/SVG/fonts/TeX/SansSerif/Bold/Main.js 3 | * 4 | * Copyright (c) 2009-2015 The MathJax Consortium 5 | * 6 | * Licensed under the Apache License, Version 2.0 (the "License"); 7 | * you may not use this file except in compliance with the License. 8 | * You may obtain a copy of the License at 9 | * 10 | * http://www.apache.org/licenses/LICENSE-2.0 11 | * 12 | * Unless required by applicable law or agreed to in writing, software 13 | * distributed under the License is distributed on an "AS IS" BASIS, 14 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 | * See the License for the specific language governing permissions and 16 | * limitations under the License. 17 | */ 18 | 19 | MathJax.OutputJax.SVG.FONTDATA.FONTS["MathJax_SansSerif-bold"]={directory:"SansSerif/Bold",family:"MathJax_SansSerif",id:"MJSSB",weight:"bold",Ranges:[[0,127,"BasicLatin"],[128,65535,"Other"],[768,879,"CombDiacritMarks"]]};MathJax.Ajax.loadComplete(MathJax.OutputJax.SVG.fontDir+"/SansSerif/Bold/Main.js"); 20 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/doxygen/MathJax/jax/output/SVG/fonts/TeX/SansSerif/Italic/Main.js: -------------------------------------------------------------------------------- 1 | /* 2 | * /MathJax/jax/output/SVG/fonts/TeX/SansSerif/Italic/Main.js 3 | * 4 | * Copyright (c) 2009-2015 The MathJax Consortium 5 | * 6 | * Licensed under the Apache License, Version 2.0 (the "License"); 7 | * you may not use this file except in compliance with the License. 8 | * You may obtain a copy of the License at 9 | * 10 | * http://www.apache.org/licenses/LICENSE-2.0 11 | * 12 | * Unless required by applicable law or agreed to in writing, software 13 | * distributed under the License is distributed on an "AS IS" BASIS, 14 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 | * See the License for the specific language governing permissions and 16 | * limitations under the License. 17 | */ 18 | 19 | MathJax.OutputJax.SVG.FONTDATA.FONTS["MathJax_SansSerif-italic"]={directory:"SansSerif/Italic",family:"MathJax_SansSerif",id:"MJSSI",style:"italic",Ranges:[[0,127,"BasicLatin"],[128,65535,"Other"],[768,879,"CombDiacritMarks"]]};MathJax.Ajax.loadComplete(MathJax.OutputJax.SVG.fontDir+"/SansSerif/Italic/Main.js"); 20 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/doxygen/MathJax/jax/output/SVG/fonts/TeX/SansSerif/Regular/Main.js: -------------------------------------------------------------------------------- 1 | /* 2 | * /MathJax/jax/output/SVG/fonts/TeX/SansSerif/Regular/Main.js 3 | * 4 | * Copyright (c) 2009-2015 The MathJax Consortium 5 | * 6 | * Licensed under the Apache License, Version 2.0 (the "License"); 7 | * you may not use this file except in compliance with the License. 8 | * You may obtain a copy of the License at 9 | * 10 | * http://www.apache.org/licenses/LICENSE-2.0 11 | * 12 | * Unless required by applicable law or agreed to in writing, software 13 | * distributed under the License is distributed on an "AS IS" BASIS, 14 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 | * See the License for the specific language governing permissions and 16 | * limitations under the License. 17 | */ 18 | 19 | MathJax.OutputJax.SVG.FONTDATA.FONTS.MathJax_SansSerif={directory:"SansSerif/Regular",family:"MathJax_SansSerif",id:"MJSS",Ranges:[[0,127,"BasicLatin"],[128,65535,"Other"],[768,879,"CombDiacritMarks"]]};MathJax.Ajax.loadComplete(MathJax.OutputJax.SVG.fontDir+"/SansSerif/Regular/Main.js"); 20 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/doxygen/MathJax/jax/output/SVG/fonts/TeX/Typewriter/Regular/Main.js: -------------------------------------------------------------------------------- 1 | /* 2 | * /MathJax/jax/output/SVG/fonts/TeX/Typewriter/Regular/Main.js 3 | * 4 | * Copyright (c) 2009-2015 The MathJax Consortium 5 | * 6 | * Licensed under the Apache License, Version 2.0 (the "License"); 7 | * you may not use this file except in compliance with the License. 8 | * You may obtain a copy of the License at 9 | * 10 | * http://www.apache.org/licenses/LICENSE-2.0 11 | * 12 | * Unless required by applicable law or agreed to in writing, software 13 | * distributed under the License is distributed on an "AS IS" BASIS, 14 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 | * See the License for the specific language governing permissions and 16 | * limitations under the License. 17 | */ 18 | 19 | MathJax.OutputJax.SVG.FONTDATA.FONTS.MathJax_Typewriter={directory:"Typewriter/Regular",family:"MathJax_Typewriter",id:"MJTT",Ranges:[[0,127,"BasicLatin"],[128,65535,"Other"],[768,879,"CombDiacritMarks"]]};MathJax.Ajax.loadComplete(MathJax.OutputJax.SVG.fontDir+"/Typewriter/Regular/Main.js"); 20 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/doxygen/doxyfile.awk: -------------------------------------------------------------------------------- 1 | BEGIN { 2 | indent=" " 3 | print indent, "# This list was generated using" 4 | print indent, "# doxygen -s -g Doxyfile.tmp" 5 | print indent, "# awk -f doxyfile.awk doxygen" 6 | print 7 | } 8 | /^#/ { print indent, $0 } 9 | /^$/ { print indent, $0 } 10 | /=/ { print indent, $1 } 11 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/doxygen/footer.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 12 | 13 | 14 |
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22 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/dynamic_graph/submodule/__init__.py.cmake: -------------------------------------------------------------------------------- 1 | # 2 | # Copyright 2020 CNRS 3 | # 4 | # Author: Joseph Mirabel (from Florent Lamiraux) 5 | # 6 | # This file is free software: you can redistribute it and/or 7 | # modify it under the terms of the GNU Lesser General Public License 8 | # as published by the Free Software Foundation, either version 3 of 9 | # the License, or (at your option) any later version. 10 | # 11 | # This file is distributed in the hope that it will be useful, but 12 | # WITHOUT ANY WARRANTY; without even the implied warranty of 13 | # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 14 | # General Lesser Public License for more details. You should have 15 | # received a copy of the GNU Lesser General Public License along with 16 | # this file. If not, see . 17 | 18 | from .wrap import * 19 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/find-external/GMP/FindGMP.cmake: -------------------------------------------------------------------------------- 1 | # Try to find the GNU Multiple Precision Arithmetic Library (GMP) See 2 | # http://gmplib.org/ 3 | 4 | if(GMP_INCLUDES AND GMP_LIBRARIES) 5 | set(GMP_FIND_QUIETLY TRUE) 6 | endif(GMP_INCLUDES AND GMP_LIBRARIES) 7 | 8 | find_path( 9 | GMP_INCLUDES 10 | NAMES gmp.h 11 | PATHS $ENV{GMPDIR} ${INCLUDE_INSTALL_DIR}) 12 | 13 | find_library( 14 | GMP_LIBRARIES 15 | NAMES gmp 16 | PATHS $ENV{GMPDIR} ${LIB_INSTALL_DIR}) 17 | 18 | include(FindPackageHandleStandardArgs) 19 | find_package_handle_standard_args(GMP DEFAULT_MSG GMP_INCLUDES GMP_LIBRARIES) 20 | 21 | # Set gmp target 22 | if(GMP_FOUND) 23 | add_library(gmp SHARED IMPORTED) 24 | set_target_properties( 25 | gmp PROPERTIES IMPORTED_LOCATION ${GMP_LIBRARIES} 26 | INTERFACE_INCLUDE_DIRECTORIES "${GMP_INCLUDE_DIR}") 27 | endif() 28 | 29 | mark_as_advanced(GMP_INCLUDES GMP_LIBRARIES) 30 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/find-external/OpenMP/FindOpenMP.cmake: -------------------------------------------------------------------------------- 1 | find_library(OpenMP_CXX_LIBRARY NAMES omp) 2 | 3 | find_path(OpenMP_CXX_INCLUDE_DIR omp.h) 4 | 5 | mark_as_advanced(OpenMP_CXX_LIBRARY OpenMP_CXX_INCLUDE_DIR) 6 | 7 | include(FindPackageHandleStandardArgs) 8 | find_package_handle_standard_args(OpenMP DEFAULT_MSG OpenMP_CXX_LIBRARY 9 | OpenMP_CXX_INCLUDE_DIR) 10 | 11 | if(OpenMP_FOUND) 12 | set(OpenMP_CXX_LIBRARIES ${OpenMP_CXX_LIBRARY}) 13 | set(OpenMP_CXX_INCLUDE_DIRS ${OpenMP_CXX_INCLUDE_DIR}) 14 | set(OpenMP_CXX_COMPILE_OPTIONS -Xpreprocessor -fopenmp) 15 | set(OpenMP_CXX_FLAGS ${OpenMP_CXX_COMPILE_OPTIONS}) 16 | 17 | add_library(OpenMP::OpenMP_CXX SHARED IMPORTED) 18 | set_target_properties( 19 | OpenMP::OpenMP_CXX 20 | PROPERTIES IMPORTED_LOCATION ${OpenMP_CXX_LIBRARIES} 21 | INTERFACE_INCLUDE_DIRECTORIES "${OpenMP_CXX_INCLUDE_DIRS}" 22 | INTERFACE_COMPILE_OPTIONS "${OpenMP_CXX_COMPILE_OPTIONS}") 23 | endif() 24 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/gtest/CMakeLists.txt.in: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.1) 2 | 3 | project(gtest NONE) 4 | 5 | include(ExternalProject) 6 | ExternalProject_Add(gtest 7 | GIT_REPOSITORY https://github.com/google/googletest.git 8 | GIT_TAG "${GTEST_GIT_TAG}" 9 | SOURCE_DIR "${CMAKE_CURRENT_BINARY_DIR}/gtest/src" 10 | BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}/gtest/build" 11 | CONFIGURE_COMMAND "" 12 | BUILD_COMMAND "" 13 | INSTALL_COMMAND "" 14 | TEST_COMMAND "" 15 | ) 16 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/julia.cmake: -------------------------------------------------------------------------------- 1 | # .rst: .. command:: JULIA_CHECK_PACKAGE (PKG_NAME) 2 | # 3 | # Test if package PKG_NAME is installed in Julia. This will define 4 | # Julia_${PKG_NAME}_found. 5 | # 6 | # :param PKG_NAME: the package to check :param :return Julia_${PKG_NAME}_found 7 | # :return: 8 | macro(JULIA_CHECK_PACKAGE PKG_NAME) 9 | set(file_content 10 | "try\n@eval import ${PKG_NAME}\nprintln(1)\ncatch\nprintln(0)\nend") 11 | file(WRITE ${PROJECT_SOURCE_DIR}/_tmp_cmake_julia/test_julia_package.jl 12 | ${file_content}) 13 | execute_process( 14 | COMMAND ${Julia_EXECUTABLE} 15 | ${PROJECT_SOURCE_DIR}/_tmp_cmake_julia/test_julia_package.jl 16 | OUTPUT_VARIABLE Julia_${PKG_NAME}_found) 17 | file(REMOVE_RECURSE ${PROJECT_SOURCE_DIR}/_tmp_cmake_julia/) 18 | endmacro(JULIA_CHECK_PACKAGE PKG_NAME) 19 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/msvc.vcxproj.user.in: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | @GMDUT_COMMAND@ 5 | @GMDUT_COMMAND_ARGS@ 6 | @GMDUT_WORKING_DIRECTORY@ 7 | PATH=@CMAKE_MSVCIDE_RUN_PATH@@MSVC_DOT_USER_ADDITIONAL_PATH_DOT_USER@;%PATH% 8 | WindowsLocalDebugger 9 | 10 | 11 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/pkg-config.pc.cmake: -------------------------------------------------------------------------------- 1 | prefix=${_PKG_CONFIG_PREFIX} 2 | exec_prefix=${_PKG_CONFIG_EXEC_PREFIX} 3 | libdir=${_PKG_CONFIG_LIBDIR} 4 | bindir=${_PKG_CONFIG_BINDIR} 5 | pkglibdir=${_PKG_CONFIG_PKGLIBDIR} 6 | includedir=${_PKG_CONFIG_INCLUDEDIR} 7 | datarootdir=${_PKG_CONFIG_DATAROOTDIR} 8 | pkgdatarootdir=${_PKG_CONFIG_PKGDATAROOTDIR} 9 | docdir=${_PKG_CONFIG_DOCDIR} 10 | doxygendocdir=${_PKG_CONFIG_DOXYGENDOCDIR} 11 | 12 | Name: ${_PKG_CONFIG_PROJECT_NAME} 13 | Description: ${_PKG_CONFIG_DESCRIPTION} 14 | URL: ${_PKG_CONFIG_URL} 15 | Version: ${_PKG_CONFIG_VERSION} 16 | Requires: ${_PKG_CONFIG_REQUIRES_LIST} 17 | Conflicts: ${_PKG_CONFIG_CONFLICTS} 18 | Libs: ${_PKG_CONFIG_LIBS} 19 | Libs.private: ${_PKG_CONFIG_LIBS_PRIVATE} 20 | Cflags: ${_PKG_CONFIG_CFLAGS} 21 | 22 | ${PKG_CONFIG_EXTRA} 23 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/pyproject.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | import sys 3 | 4 | try: 5 | import tomlkit 6 | except ImportError as e: 7 | print( 8 | "tomlkit not found. Please make sure to install the package.\n" 9 | "If it is already installed, make sure that it is included in the search path." 10 | ) 11 | raise e 12 | 13 | 14 | def update_pyproject_version(version): 15 | with open("pyproject.toml") as f: 16 | doc = tomlkit.load(f) 17 | if "project" not in doc or "version" not in doc["project"]: 18 | print("pyproject.toml doesn't contain project / version") 19 | return 20 | doc["project"]["version"] = version 21 | with open("pyproject.toml", "w") as f: 22 | tomlkit.dump(doc, f) 23 | 24 | 25 | if __name__ == "__main__": 26 | if len(sys.argv) == 2: 27 | update_pyproject_version(sys.argv[1]) 28 | else: 29 | print("you must provide the version as argument.") 30 | exit(1) 31 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/setup.cfg: -------------------------------------------------------------------------------- 1 | [flake8] 2 | max-line-length = 88 3 | extend-ignore = E203 4 | exclude = .docs/cmake.py 5 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/sphinx/conf.py.in: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/clearlab-sustech/Bipedal_MPC/0ea6df4c700d1ebbf941fae5483431214039379a/src/third_parties/eiquadprog/cmake/sphinx/conf.py.in -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/sphinx/index.rst.in: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/clearlab-sustech/Bipedal_MPC/0ea6df4c700d1ebbf941fae5483431214039379a/src/third_parties/eiquadprog/cmake/sphinx/index.rst.in -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/stubgen/CMakeLists.txt.in: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.1) 2 | 3 | project(stubgen NONE) 4 | 5 | include(ExternalProject) 6 | ExternalProject_Add(stubgen 7 | GIT_REPOSITORY https://github.com/jcarpent/pybind11-stubgen.git 8 | GIT_TAG "${GIT_TAG}" 9 | SOURCE_DIR "${CMAKE_CURRENT_BINARY_DIR}/stubgen/src" 10 | BINARY_DIR "" 11 | CONFIGURE_COMMAND "" 12 | BUILD_COMMAND "" 13 | INSTALL_COMMAND "" 14 | TEST_COMMAND "" 15 | ) 16 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/cmake/version-script-test.lds: -------------------------------------------------------------------------------- 1 | { 2 | }; 3 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/tests/TestA.cpp: -------------------------------------------------------------------------------- 1 | #include "TestA.hpp" 2 | 3 | #include 4 | #include 5 | 6 | using namespace eiquadprog::solvers; 7 | using namespace eiquadprog::tests; 8 | 9 | A::A() : Q_(2, 2), C_(2), Aeq_(0, 2), Beq_(0), Aineq_(0, 2), Bineq_(0), QP_() { 10 | QP_.reset(2, 0, 0); 11 | 12 | Q_.setZero(); 13 | Q_(0, 0) = 1.0; 14 | Q_(1, 1) = 1.0; 15 | 16 | C_.setZero(); 17 | 18 | expected_ = EIQUADPROG_FAST_OPTIMAL; 19 | } 20 | 21 | EiquadprogFast_status A::solve(Eigen::VectorXd &x) { 22 | return QP_.solve_quadprog(Q_, C_, Aeq_, Beq_, Aineq_, Bineq_, x); 23 | } 24 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/tests/TestA.hpp: -------------------------------------------------------------------------------- 1 | #ifndef TEST_EIQUADPROG_CLASS_A_ 2 | #define TEST_EIQUADPROG_CLASS_A_ 3 | 4 | #include 5 | #include 6 | 7 | namespace eiquadprog { 8 | namespace tests { 9 | 10 | class A { 11 | protected: 12 | eiquadprog::solvers::EiquadprogFast_status expected_; 13 | Eigen::MatrixXd Q_; 14 | Eigen::VectorXd C_; 15 | Eigen::MatrixXd Aeq_; 16 | Eigen::VectorXd Beq_; 17 | Eigen::MatrixXd Aineq_; 18 | Eigen::VectorXd Bineq_; 19 | 20 | public: 21 | eiquadprog::solvers::EiquadprogFast QP_; 22 | 23 | A(); 24 | eiquadprog::solvers::EiquadprogFast_status solve(Eigen::VectorXd &x); 25 | }; 26 | 27 | } // namespace tests 28 | } /* namespace eiquadprog */ 29 | 30 | #endif /* TEST_EIQUADPROG_CLASS_A_ */ 31 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/tests/TestB.cpp: -------------------------------------------------------------------------------- 1 | #include "TestB.hpp" 2 | 3 | #include 4 | #include 5 | 6 | using namespace eiquadprog::solvers; 7 | namespace eiquadprog { 8 | namespace tests { 9 | 10 | B::B() : solution_(2) { solution_.setZero(); } 11 | 12 | bool B::do_something() { 13 | eiquadprog::solvers::EiquadprogFast_status expected = EIQUADPROG_FAST_OPTIMAL; 14 | 15 | Eigen::VectorXd x(2); 16 | 17 | eiquadprog::solvers::EiquadprogFast_status status = A_.solve(x); 18 | 19 | bool rstatus = true; 20 | 21 | if (status != expected) { 22 | std::cerr << "Status not to true for A_" << expected << " " << status 23 | << std::endl; 24 | rstatus = false; 25 | } 26 | 27 | if (!x.isApprox(solution_)) { 28 | std::cerr << "x!=solution : " << x << "!=" << solution_ << std::endl; 29 | rstatus = false; 30 | } 31 | return rstatus; 32 | } 33 | 34 | } // namespace tests 35 | } // namespace eiquadprog 36 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/tests/TestB.hpp: -------------------------------------------------------------------------------- 1 | #ifndef TEST_EIQUADPROG_CLASS_B_ 2 | #define TEST_EIQUADPROG_CLASS_B_ 3 | 4 | #include "TestA.hpp" 5 | 6 | namespace eiquadprog { 7 | namespace tests { 8 | 9 | class B { 10 | protected: 11 | Eigen::VectorXd solution_; 12 | 13 | public: 14 | A A_; 15 | 16 | B(); 17 | bool do_something(); 18 | }; 19 | } // namespace tests 20 | } // namespace eiquadprog 21 | #endif /* TEST_EIQUADPROG_CLASS_B_ */ 22 | -------------------------------------------------------------------------------- /src/third_parties/eiquadprog/tests/test-integration.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | 5 | #include "TestA.hpp" 6 | #include "TestB.hpp" 7 | 8 | BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) 9 | 10 | BOOST_AUTO_TEST_CASE(test_class_A_and_class_B) { 11 | eiquadprog::tests::B aB; 12 | 13 | BOOST_CHECK(aB.do_something()); 14 | } 15 | 16 | BOOST_AUTO_TEST_SUITE_END() 17 | -------------------------------------------------------------------------------- /src/third_parties/hpipm_ament/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | hpipm_ament 5 | 0.0.0 6 | TODO: Package description 7 | Mriver Moon 8 | TODO: License declaration 9 | 10 | ament_cmake 11 | 12 | ament_lint_auto 13 | ament_lint_common 14 | ament_cmake_gtest 15 | 16 | core 17 | blasfeo_ament 18 | 19 | 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Active adhesion example 2 | 3 | This example model shows how to use adhesion actuators. 4 | 5 | The video below is a screen capture of a user interacting with the model: 6 | 7 | 8 | [![Active adhesion example model](https://img.youtube.com/vi/BcHZ5BFeTmU/0.jpg)](https://www.youtube.com/watch?v=BcHZ5BFeTmU) 9 | 10 | -------------------------------------------------------------------------------- /src/third_parties/mujocodl/mujoco/model/composite/asset/carpet.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/clearlab-sustech/Bipedal_MPC/0ea6df4c700d1ebbf941fae5483431214039379a/src/third_parties/mujocodl/mujoco/model/composite/asset/carpet.png -------------------------------------------------------------------------------- /src/third_parties/mujocodl/mujoco/model/composite/asset/marble.png: -------------------------------------------------------------------------------- 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For details regarding its creation, see the associated [repository](https://github.com/kevinzakka/mujoco_cube). 4 | 5 | Click the video below to see a user interacting with the cube: 6 | 7 | [![3x3x3 cube example model](https://img.youtube.com/vi/ZppeDArq6AU/0.jpg)](https://www.youtube.com/watch?v=ZppeDArq6AU) 8 | -------------------------------------------------------------------------------- /src/third_parties/mujocodl/mujoco/model/cube/assets/blue.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/clearlab-sustech/Bipedal_MPC/0ea6df4c700d1ebbf941fae5483431214039379a/src/third_parties/mujocodl/mujoco/model/cube/assets/blue.png -------------------------------------------------------------------------------- /src/third_parties/mujocodl/mujoco/model/cube/assets/blue_orange.png: -------------------------------------------------------------------------------- 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While several variants of it exist in the wild, this version is based on the model 9 | in the DeepMind Control Suite [2], which has fairly realistic actuator gains. 10 | 11 | [1] [Synthesis and Stabilization of Complex Behaviors through Online Trajectory Optimization] 12 | (https://doi.org/10.1109/IROS.2012.6386025). 13 | 14 | [2] [DeepMind Control Suite](https://arxiv.org/abs/1801.00690). 15 | 16 | 17 | ![humanoid](humanoid.png) 18 | -------------------------------------------------------------------------------- /src/third_parties/mujocodl/mujoco/model/humanoid/humanoid.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/clearlab-sustech/Bipedal_MPC/0ea6df4c700d1ebbf941fae5483431214039379a/src/third_parties/mujocodl/mujoco/model/humanoid/humanoid.png -------------------------------------------------------------------------------- /src/third_parties/mujocodl/mujoco/model/mug/mug.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/clearlab-sustech/Bipedal_MPC/0ea6df4c700d1ebbf941fae5483431214039379a/src/third_parties/mujocodl/mujoco/model/mug/mug.png -------------------------------------------------------------------------------- /src/third_parties/mujocodl/mujoco/model/plugin/a.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/clearlab-sustech/Bipedal_MPC/0ea6df4c700d1ebbf941fae5483431214039379a/src/third_parties/mujocodl/mujoco/model/plugin/a.png -------------------------------------------------------------------------------- /src/third_parties/mujocodl/mujoco/sample/Makefile: -------------------------------------------------------------------------------- 1 | # This Makefile assumes that you have GLFW libraries and headers installed on, 2 | # which is commonly available through your distro's package manager. 3 | # On Debian and Ubuntu, GLFW can be installed via `apt install libglfw3-dev`. 4 | 5 | COMMON=-O2 -I../include -L../lib -std=c++17 -pthread -Wl,-no-as-needed -Wl,-rpath,'$$ORIGIN'/../lib 6 | 7 | .PHONY: all 8 | all: 9 | $(CXX) $(COMMON) testxml.cc -lmujoco -o ../bin/testxml 10 | $(CXX) $(COMMON) testspeed.cc -lmujoco -o ../bin/testspeed 11 | $(CXX) $(COMMON) compile.cc -lmujoco -o ../bin/compile 12 | $(CXX) $(COMMON) derivative.cc -lmujoco -fopenmp -o ../bin/derivative 13 | $(CXX) $(COMMON) basic.cc -lmujoco -lglfw -o ../bin/basic 14 | $(CXX) $(COMMON) record.cc -lmujoco -lglfw -o ../bin/record 15 | -------------------------------------------------------------------------------- /src/third_parties/mujocodl/mujoco/simulate/Makefile: -------------------------------------------------------------------------------- 1 | # This Makefile assumes that you have GLFW libraries and headers installed on, 2 | # which is commonly available through your distro's package manager. 3 | # On Debian and Ubuntu, GLFW can be installed via `apt install libglfw3-dev`. 4 | 5 | COMMON=-O2 -I../include -L../lib -pthread -Wl,-no-as-needed -Wl,-rpath,'$$ORIGIN'/../lib 6 | 7 | all: 8 | $(CXX) $(COMMON) -std=c++17 -c simulate.cc 9 | $(CC) $(COMMON) -std=c11 -c uitools.c 10 | $(CXX) $(COMMON) -std=c++17 main.cc simulate.o uitools.o -lmujoco -lglfw -o ../bin/simulate 11 | rm uitools.o simulate.o 12 | -------------------------------------------------------------------------------- /src/third_parties/mujocodl/mujoco/simulate/README.md: -------------------------------------------------------------------------------- 1 | # Simulate App 2 | 3 | `simulate` is a fully-featured interactive application for MuJoCo. It opens an 4 | OpenGL window using the platform-independent GLFW library, and renders the 5 | simulation state in it. There is built-in help, simulation statistics, profiler, 6 | sensor data plots. The model file can be specified as a command-line argument, 7 | or loaded at runtime using drag-and-drop functionality. Below is a 8 | screen-capture of simulate in action: 9 | 10 | 11 | Watch the video 12 | 13 | -------------------------------------------------------------------------------- /src/third_parties/mujocodl/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | mujocodl 5 | 0.0.0 6 | TODO: Package description 7 | otsd 8 | TODO: License declaration 9 | 10 | ament_cmake 11 | 12 | ament_lint_auto 13 | ament_lint_common 14 | 15 | 16 | ament_cmake 17 | 18 | 19 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/.coveragerc: -------------------------------------------------------------------------------- 1 | [run] 2 | source = src,python 3 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/.gitignore: -------------------------------------------------------------------------------- 1 | # build* 2 | # Xcode* 3 | # *~ 4 | # *.pyc 5 | # coverage* 6 | # .travis 7 | # .vscode* 8 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/.gitlab-ci.yml: -------------------------------------------------------------------------------- 1 | include: http://rainboard.laas.fr/project/pinocchio/.gitlab-ci.yml 2 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/.gitmodules: -------------------------------------------------------------------------------- 1 | [submodule "cmake"] 2 | path = cmake 3 | url = https://github.com/jrl-umi3218/jrl-cmakemodules 4 | [submodule "models/example-robot-data"] 5 | path = models/example-robot-data 6 | url = https://github.com/Gepetto/example-robot-data.git 7 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/.pre-commit-config.yaml: -------------------------------------------------------------------------------- 1 | ci: 2 | autoupdate_branch: 'devel' 3 | repos: 4 | - repo: https://github.com/pre-commit/pre-commit-hooks 5 | rev: v4.6.0 6 | hooks: 7 | - id: check-json 8 | - id: check-symlinks 9 | - id: check-toml 10 | - id: check-yaml 11 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/CITATION.bib: -------------------------------------------------------------------------------- 1 | @inproceedings{carpentier:hal-01866228, 2 | TITLE = {{The Pinocchio C++ library -- A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives}}, 3 | AUTHOR = {Carpentier, Justin and Saurel, Guilhem and Buondonno, Gabriele and Mirabel, Joseph and Lamiraux, Florent and Stasse, Olivier and Mansard, Nicolas}, 4 | URL = {https://hal.laas.fr/hal-01866228}, 5 | BOOKTITLE = {{SII 2019 - International Symposium on System Integrations}}, 6 | ADDRESS = {Paris, France}, 7 | HAL_LOCAL_REFERENCE = {Rapport LAAS n{\textdegree} 18288}, 8 | YEAR = {2019}, 9 | MONTH = Jan, 10 | PDF = {https://hal.laas.fr/hal-01866228v2/file/19-sii-pinocchio.pdf}, 11 | HAL_ID = {hal-01866228}, 12 | HAL_VERSION = {v2}, 13 | } 14 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/.clang-format: -------------------------------------------------------------------------------- 1 | --- 2 | BasedOnStyle: Google 3 | BreakBeforeBraces: Allman 4 | ... 5 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/.docs/_static/css/cmake.css: -------------------------------------------------------------------------------- 1 | .rst-content dl.variable dt { 2 | background: #ffe4c4; 3 | border-top-color: #ffa235; 4 | } 5 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/.docs/examples/minimal-hpp.cmake: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8) 2 | 3 | # These variables have to be defined before running SETUP_PROJECT 4 | set(PROJECT_NAME hpp-project-example) 5 | set(PROJECT_DESCRIPTION "A HPP project example") 6 | 7 | # hpp.cmake includes base.cmake. 8 | include(cmake/hpp.cmake) 9 | 10 | compute_project_args(PROJECT_ARGS LANGUAGES CXX) 11 | project(${PROJECT_NAME} ${PROJECT_ARGS}) 12 | 13 | # Configure the build of your project here add_subdirectory(src) 14 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/.docs/examples/minimal-with-packages.cmake: -------------------------------------------------------------------------------- 1 | # Target-based approach should work from CMake 2.8.12 but it should fully work 2 | # from 3.1 3 | cmake_minimum_required(VERSION 2.8.12) 4 | 5 | # These variables have to be defined before running SETUP_PROJECT 6 | set(PROJECT_NAME jrl-cmakemodules-minimal-working-example) 7 | set(PROJECT_DESCRIPTION "A project description") 8 | set(PROJECT_URL http://jrl-cmakemodules.readthedocs.io) 9 | set(PROJECT_USE_CMAKE_EXPORT TRUE) 10 | 11 | include(cmake/base.cmake) 12 | 13 | project(${PROJECT_NAME} CXX) 14 | 15 | # Add a required dependency 16 | add_project_dependency(MyDependency REQUIRED) 17 | 18 | # Another example to show that arguments can be passed down to the underlying 19 | # find_package call 20 | add_project_dependency(Boost 1.50 REQUIRED COMPONENT timer) 21 | 22 | add_library(myLibrary ${MY_SOURCES}) 23 | target_link_libraries(myLibrary MyDependency::MyAwesomeLib Boost::timer) 24 | 25 | install( 26 | TARGETS myLibrary 27 | EXPORT ${TARGETS_EXPORT_NAME} 28 | DESTINATION lib) 29 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/.docs/examples/minimal.cmake: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8) 2 | 3 | # These variables have to be defined before running SETUP_PROJECT 4 | set(PROJECT_NAME jrl-cmakemodules-minimal-working-example) 5 | set(PROJECT_DESCRIPTION "A project description") 6 | set(PROJECT_URL http://jrl-cmakemodules.readthedocs.io) 7 | 8 | include(cmake/base.cmake) 9 | 10 | project(${PROJECT_NAME} CXX) 11 | 12 | # Configure the build of your project here add_subdirectory(src) 13 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/.docs/index.rst: -------------------------------------------------------------------------------- 1 | .. Shared CMake submodule documentation master file, created by 2 | sphinx-quickstart on Wed Sep 27 13:16:53 2017. 3 | You can adapt this file completely to your liking, but it should at least 4 | contain the root `toctree` directive. 5 | 6 | Shared CMake submodule 7 | ###################### 8 | 9 | This repository_ is meant to be used as a submodule for any project 10 | from CNRS LAAS/HPP or JRL. 11 | 12 | It factorizes CMake mechanisms to provide a uniform look'n feel for 13 | all packages. 14 | 15 | .. setmode:: user 16 | 17 | Contents 18 | ######### 19 | 20 | .. toctree:: 21 | :maxdepth: 3 22 | 23 | /pages/base.rst 24 | /pages/cmake-packages.rst 25 | /pages/projects.rst 26 | /pages/dependencies.rst 27 | /pages/other.rst 28 | /pages/internal.rst 29 | /pages/developers.rst 30 | 31 | 32 | Indices and tables 33 | ################## 34 | 35 | * :ref:`genindex` 36 | * :ref:`search` 37 | 38 | .. * :ref:`modindex` 39 | .. _repository: https://github.com/jrl-umi3218/jrl-cmakemodules 40 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/.docs/pages/base.rst: -------------------------------------------------------------------------------- 1 | Basics 2 | ****** 3 | 4 | Setup the project 5 | ================= 6 | .. cmake-module:: ../../base.cmake 7 | 8 | C++ Headers 9 | =========== 10 | .. cmake-module:: ../../header.cmake 11 | 12 | Version 13 | =========== 14 | .. setmode:: user 15 | 16 | .. cmake-module:: ../../version.cmake 17 | 18 | Set a minimal C++ standard 19 | ========================== 20 | .. cmake-module:: ../../cxx-standard.cmake 21 | 22 | .. _minimal-working-example: 23 | 24 | Minimal working example 25 | ======================= 26 | 27 | .. literalinclude:: ../examples/minimal.cmake 28 | :language: cmake 29 | 30 | Code documentation using Doxygen 31 | ================================ 32 | .. cmake-module:: ../../doxygen.cmake 33 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/.docs/pages/internal.rst: -------------------------------------------------------------------------------- 1 | Internal commands 2 | ***************** 3 | 4 | .. setmode:: internal 5 | 6 | .. cmake-module:: ../../version.cmake 7 | .. cmake-module:: ../../pkg-config.cmake 8 | .. cmake-module:: ../../header.cmake 9 | .. cmake-module:: ../../cxx-standard.cmake 10 | 11 | Doxygen related 12 | =============== 13 | .. cmake-module:: ../../doxygen.cmake 14 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/.docs/pages/other.rst: -------------------------------------------------------------------------------- 1 | Other commands 2 | ************** 3 | 4 | Unit-testing 5 | ============ 6 | .. cmake-module:: ../../test.cmake 7 | .. cmake-module:: ../../gtest.cmake 8 | 9 | Xacro 10 | ===== 11 | .. cmake-module:: ../../xacro.cmake 12 | 13 | IDL 14 | === 15 | .. cmake-module:: ../../idl.cmake 16 | 17 | Version script 18 | ============== 19 | 20 | .. cmake-module:: ../../version-script.cmake 21 | 22 | Cython 23 | ====== 24 | 25 | .. cmake-module:: ../../cython/cython.cmake 26 | 27 | Make targets 28 | ============ 29 | 30 | The following macros define targets which are added to the Makefile: 31 | 32 | - :ref:`dist `: generates a tarball; 33 | - :ref:`distcheck `: checks the generated tarball; 34 | - :ref:`release `: releases a stable version of the current package. 35 | 36 | .. cmake-module:: ../../dist.cmake 37 | .. cmake-module:: ../../distcheck.cmake 38 | .. cmake-module:: ../../release.cmake 39 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/.docs/pages/projects.rst: -------------------------------------------------------------------------------- 1 | Project specific 2 | **************** 3 | 4 | Humanoid Path Planner 5 | ===================== 6 | 7 | These macros are used in packages of the 8 | `Humanoid Path Planner `_ project. 9 | 10 | .. setmode:: hpp 11 | 12 | .. cmake-module:: ../../hpp.cmake 13 | 14 | .. cmake-module:: ../../hpp/doc.cmake 15 | 16 | Stack of Tasks 17 | ============== 18 | 19 | These macros are used in packages of the 20 | `Stack of Tasks `_ project. 21 | 22 | .. setmode:: sot 23 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/.git-blame-ignore-revs: -------------------------------------------------------------------------------- 1 | # pre-commit run -a (Guilhem Saurel, 2022-07-26) 2 | a7abe2312a94b28f01173d6db5f74bb26c934e10 3 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/.github/workflows/cmake.yml: -------------------------------------------------------------------------------- 1 | name: cmake CI of jrl-cmakemodules 2 | 3 | on: [push,pull_request] 4 | 5 | jobs: 6 | build-ubuntu: 7 | 8 | runs-on: [ubuntu-22.04] 9 | 10 | steps: 11 | - uses: actions/checkout@v3 12 | 13 | - name: Run project tests 14 | run: | 15 | set -e 16 | set -x 17 | cd _unittests 18 | CMAKE_BIN="cmake" 19 | $CMAKE_BIN --version 20 | ./run_unit_tests.sh 21 | 22 | - name: Run script tests 23 | run: | 24 | set -e 25 | set -x 26 | cd _unittests 27 | ln -s .. cmake 28 | CMAKE_BIN="cmake" 29 | $CMAKE_BIN --version 30 | $CMAKE_BIN -P test_pkg-config.cmake 31 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/.gitignore: -------------------------------------------------------------------------------- 1 | hpp/idl/*.pyc 2 | .docs/build 3 | _unittests/build/ 4 | _unittests/install/ 5 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/LICENSE: -------------------------------------------------------------------------------- 1 | Unless otherwise specified, files of this project are released under the 2 | GNU Lesser General Public License. 3 | 4 | Some files are copies from other project and as such keep their initial license. 5 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/_unittests/catkin/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.10) 2 | 3 | set(PROJECT_NAME jrl-cmakemodules-catkin) 4 | set(PROJECT_VERSION 0.0.0) 5 | set(PROJECT_DESCRIPTION "JRL CMake module - catkin") 6 | set(PROJECT_URL http://jrl-cmakemodules.readthedocs.io) 7 | 8 | include(../../base.cmake) 9 | 10 | project(${PROJECT_NAME} LANGUAGES CXX) 11 | 12 | # This project test the correct behavior of #622 13 | # 14 | # * If .catkin is already here when the project is configured it is not removed 15 | # * Otherwise it is assumed it is created by the project and removed with the 16 | # uninstall target 17 | 18 | option(FORCE_DOT_CATKIN_CREATION 19 | "Force creation of .catkin file in install destination" OFF) 20 | 21 | if(FORCE_DOT_CATKIN_CREATION) 22 | install( 23 | CODE "execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_INSTALL_PREFIX}/.catkin)" 24 | ) 25 | endif() 26 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/_unittests/cpp/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.10) 2 | 3 | set(PROJECT_NAME jrl-cmakemodules-cpp) 4 | set(PROJECT_VERSION 0.0.0) 5 | set(PROJECT_DESCRIPTION "JRL CMake module - cpp") 6 | set(PROJECT_URL http://jrl-cmakemodules.readthedocs.io) 7 | set(PROJECT_USE_CMAKE_EXPORT TRUE) 8 | 9 | include(../../base.cmake) 10 | 11 | compute_project_args(PROJECT_ARGS LANGUAGES CXX) 12 | project(${PROJECT_NAME} ${PROJECT_ARGS}) 13 | 14 | set(${PROJECT_NAME}_HEADERS include/jrl_cmakemodule/lib.hh) 15 | 16 | add_library(jrl_cmakemodule_lib SHARED src/lib.cc) 17 | target_include_directories( 18 | jrl_cmakemodule_lib 19 | PUBLIC $ 20 | $) 21 | 22 | install( 23 | TARGETS jrl_cmakemodule_lib 24 | EXPORT ${TARGETS_EXPORT_NAME} 25 | DESTINATION lib) 26 | 27 | add_executable(jrl_cmakemodule_main src/main.cc) 28 | target_link_libraries(jrl_cmakemodule_main jrl_cmakemodule_lib) 29 | 30 | install(TARGETS jrl_cmakemodule_main DESTINATION main) 31 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/_unittests/cpp/include/jrl_cmakemodule/lib.hh: -------------------------------------------------------------------------------- 1 | void lib_function(); 2 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/_unittests/cpp/src/lib.cc: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | void lib_function() { 5 | std::cout << "JRL CMake module - unittest - lib_function" << std::endl; 6 | } 7 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/_unittests/cpp/src/main.cc: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | int main() { 5 | std::cout << "JRL CMake module - unittest - cpp" << std::endl; 6 | lib_function(); 7 | } 8 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/_unittests/dependency/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.10) 2 | 3 | set(PROJECT_NAME jrl-cmakemodules-dependency) 4 | set(PROJECT_VERSION 0.0.0) 5 | set(PROJECT_DESCRIPTION "JRL CMake module - dependency") 6 | set(PROJECT_URL http://jrl-cmakemodules.readthedocs.io) 7 | set(INSTALL_DOCUMENTATION OFF) 8 | 9 | include(../macros.cmake) 10 | 11 | include(../../base.cmake) 12 | 13 | compute_project_args(PROJECT_ARGS LANGUAGES CXX) 14 | project(${PROJECT_NAME} ${PROJECT_ARGS}) 15 | 16 | add_project_dependency(jrl-cmakemodules-cpp REQUIRED) 17 | 18 | check_exist_target(jrl-cmakemodules-cpp::jrl_cmakemodule_lib "") 19 | 20 | check_exist_variable(jrl-cmakemodules-cpp_FOUND "") 21 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/_unittests/macros.cmake: -------------------------------------------------------------------------------- 1 | macro(check_exist_variable name message) 2 | if(NOT DEFINED ${name}) 3 | message(FATAL_ERROR "Variable ${name} not defined. ${message}") 4 | endif() 5 | endmacro() 6 | 7 | macro(check_exist_target name message) 8 | if(NOT TARGET ${name}) 9 | message(FATAL_ERROR "Expected target ${name}. ${message}") 10 | endif() 11 | endmacro() 12 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/_unittests/python/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.10) 2 | 3 | # These variables have to be defined before running SETUP_PROJECT 4 | set(PROJECT_NAME jrl-cmakemodules-python) 5 | set(PROJECT_VERSION 0.0.0) 6 | set(PROJECT_DESCRIPTION "JRL CMake module - python") 7 | set(PROJECT_URL http://jrl-cmakemodules.readthedocs.io) 8 | 9 | include(../macros.cmake) 10 | 11 | include(../../base.cmake) 12 | include(../../python.cmake) 13 | 14 | compute_project_args(PROJECT_ARGS) 15 | project(${PROJECT_NAME} ${PROJECT_ARGS}) 16 | findpython() 17 | 18 | check_exist_variable(PYTHON_SITELIB "") 19 | 20 | python_install_on_site(jrl_cmakemodule python.py) 21 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/_unittests/python/jrl_cmakemodule/python.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/clearlab-sustech/Bipedal_MPC/0ea6df4c700d1ebbf941fae5483431214039379a/src/third_parties/pinocchio/cmake/_unittests/python/jrl_cmakemodule/python.py -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/catkin.cmake: -------------------------------------------------------------------------------- 1 | # Copyright (C) 2008-2014 LAAS-CNRS, JRL AIST-CNRS. 2 | # 3 | # Author: Florent Lamiraux 4 | # 5 | # This program is free software: you can redistribute it and/or modify it under 6 | # the terms of the GNU General Public License as published by the Free Software 7 | # Foundation, either version 3 of the License, or (at your option) any later 8 | # version. 9 | # 10 | # This program is distributed in the hope that it will be useful, but WITHOUT 11 | # ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS 12 | # FOR A PARTICULAR PURPOSE. See the GNU General Public License for more 13 | # details. 14 | # 15 | # You should have received a copy of the GNU General Public License along with 16 | # this program. If not, see . 17 | 18 | # Override binary installation directory Be aware that including this file 19 | # implies that binary installation directory cannot be chosen by user. 20 | set(CATKIN_PACKAGE_BIN_DESTINATION ${CMAKE_INSTALL_LIBDIR}/${PROJECT_NAME}) 21 | set(CMAKE_INSTALL_BINDIR ${CATKIN_PACKAGE_BIN_DESTINATION}) 22 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/cmake_reinstall.cmake.in: -------------------------------------------------------------------------------- 1 | # Copyright (C) 2019 LAAS-CNRS, JRL AIST-CNRS, INRIA. 2 | # 3 | # This program is free software: you can redistribute it and/or modify 4 | # it under the terms of the GNU General Public License as published by 5 | # the Free Software Foundation, either version 3 of the License, or 6 | # (at your option) any later version. 7 | # 8 | # This program is distributed in the hope that it will be useful, 9 | # but WITHOUT ANY WARRANTY; without even the implied warranty of 10 | # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 11 | # GNU General Public License for more details. 12 | # 13 | # You should have received a copy of the GNU General Public License 14 | # along with this program. If not, see . 15 | if(EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt") 16 | execute_process(COMMAND ${CMAKE_COMMAND} --build "@PROJECT_BINARY_DIR@" --target uninstall --config $) 17 | endif() 18 | execute_process(COMMAND ${CMAKE_COMMAND} --build "@PROJECT_BINARY_DIR@" --target install --config $) 19 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/componentConfig.cmake.in: -------------------------------------------------------------------------------- 1 | @PACKAGE_INIT@ 2 | 3 | if(NOT @PROJECT_NAME@_FOUND) 4 | set(@PROJECT_NAME@_@COMPONENT@_FOUND FALSE) 5 | return() 6 | endif() 7 | 8 | # At the moment, components only support targets 9 | #set("@PROJECT_NAME@_@COMPONENT@_INCLUDE_DIRS" "@CMAKE_INSTALL_FULL_INCLUDEDIR@") 10 | #set("@PROJECT_NAME@_@COMPONENT@_LIBRARIES" ${_PACKAGE_CONFIG_LIBRARIES}) 11 | set(@PROJECT_NAME@_@COMPONENT@_DEPENDENCIES "@_PACKAGE_CONFIG_COMPONENT_DEPENDENCIES_PROJECTS@") 12 | 13 | include(CMakeFindDependencyMacro) 14 | if(${CMAKE_VERSION} VERSION_LESS "3.15.0") 15 | @COMPONENT_FIND_PACKAGE@ 16 | else() 17 | @COMPONENT_FIND_DEPENDENCY@ 18 | endif() 19 | 20 | include("${CMAKE_CURRENT_LIST_DIR}/@COMPONENT@Targets.cmake") 21 | set(@PROJECT_NAME@_@COMPONENT@_FOUND TRUE) 22 | 23 | @COMPONENT_EXTRA_MACRO@ 24 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/cxx11.cmake: -------------------------------------------------------------------------------- 1 | # Copyright (C) 2018-2019 LAAS-CNRS, JRL AIST-CNRS, INRIA 2 | # 3 | # This program is free software: you can redistribute it and/or modify it under 4 | # the terms of the GNU General Public License as published by the Free Software 5 | # Foundation, either version 3 of the License, or (at your option) any later 6 | # version. 7 | # 8 | # This program is distributed in the hope that it will be useful, but WITHOUT 9 | # ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS 10 | # FOR A PARTICULAR PURPOSE. See the GNU General Public License for more 11 | # details. 12 | # 13 | # You should have received a copy of the GNU General Public License along with 14 | # this program. If not, see . 15 | 16 | # .rst: .. ifmode:: user 17 | # 18 | # .. command:: PROJECT_USE_CXX11 19 | # 20 | # DEPRECATED. This macro set up the project to compile the whole project with 21 | # C++11 standards. 22 | # 23 | macro(PROJECT_USE_CXX11) 24 | message( 25 | DEPRECATION 26 | "This macro is deprecated. Use CHECK_MINIMAL_CXX_STANDARD instead.") 27 | check_minimal_cxx_standard(11 REQUIRED) 28 | endmacro(PROJECT_USE_CXX11) 29 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/cython/dummy.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/clearlab-sustech/Bipedal_MPC/0ea6df4c700d1ebbf941fae5483431214039379a/src/third_parties/pinocchio/cmake/cython/dummy.cpp -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/cython/python/README.md: -------------------------------------------------------------------------------- 1 | These files are taken from CMake v3.14.5 at 2 | [github](https://github.com/Kitware/CMake/tree/f3e9a6ff62f6f58cd661dd447c22a01c50f6f4ad) 3 | with small modifications to allow them to work outside of their expected 4 | location. 5 | 6 | They are used in the modules for CMake < 3.12 7 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/doxygen/MathJax/jax/element/mml/optable/CombDiacritMarks.js: -------------------------------------------------------------------------------- 1 | /* 2 | * /MathJax/jax/element/mml/optable/CombDiacritMarks.js 3 | * 4 | * Copyright (c) 2009-2015 The MathJax Consortium 5 | * 6 | * Licensed under the Apache License, Version 2.0 (the "License"); 7 | * you may not use this file except in compliance with the License. 8 | * You may obtain a copy of the License at 9 | * 10 | * http://www.apache.org/licenses/LICENSE-2.0 11 | * 12 | * Unless required by applicable law or agreed to in writing, software 13 | * distributed under the License is distributed on an "AS IS" BASIS, 14 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 | * See the License for the specific language governing permissions and 16 | * limitations under the License. 17 | */ 18 | 19 | (function(a){var c=a.mo.OPTYPES;var b=a.TEXCLASS;MathJax.Hub.Insert(a.mo.prototype,{OPTABLE:{postfix:{"\u0311":c.ACCENT}}});MathJax.Ajax.loadComplete(a.optableDir+"/CombDiacritMarks.js")})(MathJax.ElementJax.mml); 20 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/doxygen/MathJax/jax/element/mml/optable/CombDiactForSymbols.js: -------------------------------------------------------------------------------- 1 | /* 2 | * /MathJax/jax/element/mml/optable/CombDiactForSymbols.js 3 | * 4 | * Copyright (c) 2009-2015 The MathJax Consortium 5 | * 6 | * Licensed under the Apache License, Version 2.0 (the "License"); 7 | * you may not use this file except in compliance with the License. 8 | * You may obtain a copy of the License at 9 | * 10 | * http://www.apache.org/licenses/LICENSE-2.0 11 | * 12 | * Unless required by applicable law or agreed to in writing, software 13 | * distributed under the License is distributed on an "AS IS" BASIS, 14 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 | * See the License for the specific language governing permissions and 16 | * limitations under the License. 17 | */ 18 | 19 | (function(a){var c=a.mo.OPTYPES;var b=a.TEXCLASS;MathJax.Hub.Insert(a.mo.prototype,{OPTABLE:{postfix:{"\u20DB":c.ACCENT,"\u20DC":c.ACCENT}}});MathJax.Ajax.loadComplete(a.optableDir+"/CombDiactForSymbols.js")})(MathJax.ElementJax.mml); 20 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/doxygen/MathJax/jax/element/mml/optable/Dingbats.js: -------------------------------------------------------------------------------- 1 | /* 2 | * /MathJax/jax/element/mml/optable/Dingbats.js 3 | * 4 | * Copyright (c) 2009-2015 The MathJax Consortium 5 | * 6 | * Licensed under the Apache License, Version 2.0 (the "License"); 7 | * you may not use this file except in compliance with the License. 8 | * You may obtain a copy of the License at 9 | * 10 | * http://www.apache.org/licenses/LICENSE-2.0 11 | * 12 | * Unless required by applicable law or agreed to in writing, software 13 | * distributed under the License is distributed on an "AS IS" BASIS, 14 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 | * See the License for the specific language governing permissions and 16 | * limitations under the License. 17 | */ 18 | 19 | (function(a){var c=a.mo.OPTYPES;var b=a.TEXCLASS;MathJax.Hub.Insert(a.mo.prototype,{OPTABLE:{prefix:{"\u2772":c.OPEN},postfix:{"\u2773":c.CLOSE}}});MathJax.Ajax.loadComplete(a.optableDir+"/Dingbats.js")})(MathJax.ElementJax.mml); 20 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/doxygen/MathJax/jax/element/mml/optable/GreekAndCoptic.js: -------------------------------------------------------------------------------- 1 | /* 2 | * /MathJax/jax/element/mml/optable/GreekAndCoptic.js 3 | * 4 | * Copyright (c) 2009-2015 The MathJax Consortium 5 | * 6 | * Licensed under the Apache License, Version 2.0 (the "License"); 7 | * you may not use this file except in compliance with the License. 8 | * You may obtain a copy of the License at 9 | * 10 | * http://www.apache.org/licenses/LICENSE-2.0 11 | * 12 | * Unless required by applicable law or agreed to in writing, software 13 | * distributed under the License is distributed on an "AS IS" BASIS, 14 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 | * See the License for the specific language governing permissions and 16 | * limitations under the License. 17 | */ 18 | 19 | (function(a){var c=a.mo.OPTYPES;var b=a.TEXCLASS;MathJax.Hub.Insert(a.mo.prototype,{OPTABLE:{infix:{"\u03F6":c.REL}}});MathJax.Ajax.loadComplete(a.optableDir+"/GreekAndCoptic.js")})(MathJax.ElementJax.mml); 20 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/doxygen/MathJax/jax/element/mml/optable/Latin1Supplement.js: -------------------------------------------------------------------------------- 1 | /* 2 | * /MathJax/jax/element/mml/optable/Latin1Supplement.js 3 | * 4 | * Copyright (c) 2009-2015 The MathJax Consortium 5 | * 6 | * Licensed under the Apache License, Version 2.0 (the "License"); 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7 | * you may not use this file except in compliance with the License. 8 | * You may obtain a copy of the License at 9 | * 10 | * http://www.apache.org/licenses/LICENSE-2.0 11 | * 12 | * Unless required by applicable law or agreed to in writing, software 13 | * distributed under the License is distributed on an "AS IS" BASIS, 14 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 | * See the License for the specific language governing permissions and 16 | * limitations under the License. 17 | */ 18 | 19 | (function(a){MathJax.Hub.Insert(a.Parse.Entity,{KHcy:"\u0425",KJcy:"\u040C",Kappa:"\u039A",Kcedil:"\u0136",Kcy:"\u041A",kcedil:"\u0137",kcy:"\u043A",kgreen:"\u0138",khcy:"\u0445",kjcy:"\u045C"});MathJax.Ajax.loadComplete(a.entityDir+"/k.js")})(MathJax.InputJax.MathML); 20 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/doxygen/MathJax/jax/input/MathML/entities/q.js: -------------------------------------------------------------------------------- 1 | /* 2 | * /MathJax/jax/input/MathML/entities/q.js 3 | * 4 | * Copyright (c) 2009-2015 The MathJax Consortium 5 | * 6 | * Licensed under the Apache License, Version 2.0 (the "License"); 7 | * you may not use this file except in compliance with the License. 8 | * You may obtain a copy of the License at 9 | * 10 | * http://www.apache.org/licenses/LICENSE-2.0 11 | * 12 | * Unless required by applicable law or agreed to in writing, software 13 | * distributed under the License is distributed on an "AS IS" BASIS, 14 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 | * See the License for the specific language governing permissions and 16 | * limitations under the License. 17 | */ 18 | 19 | (function(a){MathJax.Hub.Insert(a.Parse.Entity,{QUOT:"\u0022",qint:"\u2A0C",qprime:"\u2057",quaternions:"\u210D",quatint:"\u2A16",quest:"\u003F",questeq:"\u225F",quot:"\u0022"});MathJax.Ajax.loadComplete(a.entityDir+"/q.js")})(MathJax.InputJax.MathML); 20 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/doxygen/MathJax/jax/input/MathML/entities/w.js: -------------------------------------------------------------------------------- 1 | /* 2 | * /MathJax/jax/input/MathML/entities/w.js 3 | * 4 | * Copyright (c) 2009-2015 The MathJax Consortium 5 | * 6 | * Licensed under the Apache License, Version 2.0 (the "License"); 7 | * you may not use this file except in compliance with the License. 8 | * You may obtain a copy of the License at 9 | * 10 | * http://www.apache.org/licenses/LICENSE-2.0 11 | * 12 | * Unless required by applicable law or agreed to in writing, software 13 | * distributed under the License is distributed on an "AS IS" BASIS, 14 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 | * See the License for the specific language governing permissions and 16 | * limitations under the License. 17 | */ 18 | 19 | (function(a){MathJax.Hub.Insert(a.Parse.Entity,{Wcirc:"\u0174",wcirc:"\u0175",wedbar:"\u2A5F",wedge:"\u2227",wedgeq:"\u2259",wp:"\u2118",wr:"\u2240",wreath:"\u2240"});MathJax.Ajax.loadComplete(a.entityDir+"/w.js")})(MathJax.InputJax.MathML); 20 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/doxygen/MathJax/jax/input/MathML/entities/y.js: -------------------------------------------------------------------------------- 1 | /* 2 | * /MathJax/jax/input/MathML/entities/y.js 3 | * 4 | * Copyright (c) 2009-2015 The MathJax Consortium 5 | * 6 | * Licensed under the Apache License, Version 2.0 (the "License"); 7 | * you may not use this file except in compliance with the License. 8 | * You may obtain a copy of the License at 9 | * 10 | * http://www.apache.org/licenses/LICENSE-2.0 11 | * 12 | * Unless required by applicable law or agreed to in writing, software 13 | * distributed under the License is distributed on an "AS IS" BASIS, 14 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 | * See the License for the specific language governing permissions and 16 | * limitations under the License. 17 | */ 18 | 19 | (function(a){MathJax.Hub.Insert(a.Parse.Entity,{YAcy:"\u042F",YIcy:"\u0407",YUcy:"\u042E",Yacute:"\u00DD",Ycirc:"\u0176",Ycy:"\u042B",Yuml:"\u0178",yacute:"\u00FD",yacy:"\u044F",ycirc:"\u0177",ycy:"\u044B",yicy:"\u0457",yucy:"\u044E",yuml:"\u00FF"});MathJax.Ajax.loadComplete(a.entityDir+"/y.js")})(MathJax.InputJax.MathML); 20 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/doxygen/MathJax/jax/input/MathML/entities/z.js: -------------------------------------------------------------------------------- 1 | /* 2 | * /MathJax/jax/input/MathML/entities/z.js 3 | * 4 | * Copyright (c) 2009-2015 The MathJax Consortium 5 | * 6 | * Licensed under the Apache License, Version 2.0 (the "License"); 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7 | * you may not use this file except in compliance with the License. 8 | * You may obtain a copy of the License at 9 | * 10 | * http://www.apache.org/licenses/LICENSE-2.0 11 | * 12 | * Unless required by applicable law or agreed to in writing, software 13 | * distributed under the License is distributed on an "AS IS" BASIS, 14 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 | * See the License for the specific language governing permissions and 16 | * limitations under the License. 17 | */ 18 | 19 | MathJax.Hub.Insert(MathJax.OutputJax.SVG.FONTDATA.FONTS["MathJax_Main-italic"],{8710:[716,0,818,70,751,""]});MathJax.Ajax.loadComplete(MathJax.OutputJax.SVG.fontDir+"/Main/Italic/MathOperators.js"); 20 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/doxygen/MathJax/jax/output/SVG/fonts/TeX/Main/Regular/MathOperators.js: -------------------------------------------------------------------------------- 1 | /* 2 | * /MathJax/jax/output/SVG/fonts/TeX/Main/Regular/MathOperators.js 3 | * 4 | * Copyright (c) 2009-2015 The MathJax Consortium 5 | * 6 | * Licensed under the Apache License, Version 2.0 (the "License"); 7 | * you may not use this file except in compliance with the License. 8 | * You may obtain a copy of the License at 9 | * 10 | * http://www.apache.org/licenses/LICENSE-2.0 11 | * 12 | * Unless required by applicable law or agreed to in writing, software 13 | * distributed under the License is distributed on an "AS IS" BASIS, 14 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 | * See the License for the specific language governing permissions and 16 | * limitations under the License. 17 | */ 18 | 19 | MathJax.Hub.Insert(MathJax.OutputJax.SVG.FONTDATA.FONTS.MathJax_Main,{8710:[716,0,833,46,786,""]});MathJax.Ajax.loadComplete(MathJax.OutputJax.SVG.fontDir+"/Main/Regular/MathOperators.js"); 20 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/doxygen/MathJax/jax/output/SVG/fonts/TeX/SansSerif/Bold/Main.js: -------------------------------------------------------------------------------- 1 | /* 2 | * /MathJax/jax/output/SVG/fonts/TeX/SansSerif/Bold/Main.js 3 | * 4 | * Copyright (c) 2009-2015 The MathJax Consortium 5 | * 6 | * Licensed under the Apache License, Version 2.0 (the "License"); 7 | * you may not use this file except in compliance with the License. 8 | * You may obtain a copy of the License at 9 | * 10 | * http://www.apache.org/licenses/LICENSE-2.0 11 | * 12 | * Unless required by applicable law or agreed to in writing, software 13 | * distributed under the License is distributed on an "AS IS" BASIS, 14 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 | * See the License for the specific language governing permissions and 16 | * limitations under the License. 17 | */ 18 | 19 | MathJax.OutputJax.SVG.FONTDATA.FONTS["MathJax_SansSerif-bold"]={directory:"SansSerif/Bold",family:"MathJax_SansSerif",id:"MJSSB",weight:"bold",Ranges:[[0,127,"BasicLatin"],[128,65535,"Other"],[768,879,"CombDiacritMarks"]]};MathJax.Ajax.loadComplete(MathJax.OutputJax.SVG.fontDir+"/SansSerif/Bold/Main.js"); 20 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/doxygen/MathJax/jax/output/SVG/fonts/TeX/SansSerif/Italic/Main.js: -------------------------------------------------------------------------------- 1 | /* 2 | * /MathJax/jax/output/SVG/fonts/TeX/SansSerif/Italic/Main.js 3 | * 4 | * Copyright (c) 2009-2015 The MathJax Consortium 5 | * 6 | * Licensed under the Apache License, Version 2.0 (the "License"); 7 | * you may not use this file except in compliance with the License. 8 | * You may obtain a copy of the License at 9 | * 10 | * http://www.apache.org/licenses/LICENSE-2.0 11 | * 12 | * Unless required by applicable law or agreed to in writing, software 13 | * distributed under the License is distributed on an "AS IS" BASIS, 14 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 | * See the License for the specific language governing permissions and 16 | * limitations under the License. 17 | */ 18 | 19 | MathJax.OutputJax.SVG.FONTDATA.FONTS["MathJax_SansSerif-italic"]={directory:"SansSerif/Italic",family:"MathJax_SansSerif",id:"MJSSI",style:"italic",Ranges:[[0,127,"BasicLatin"],[128,65535,"Other"],[768,879,"CombDiacritMarks"]]};MathJax.Ajax.loadComplete(MathJax.OutputJax.SVG.fontDir+"/SansSerif/Italic/Main.js"); 20 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/doxygen/MathJax/jax/output/SVG/fonts/TeX/SansSerif/Regular/Main.js: -------------------------------------------------------------------------------- 1 | /* 2 | * /MathJax/jax/output/SVG/fonts/TeX/SansSerif/Regular/Main.js 3 | * 4 | * Copyright (c) 2009-2015 The MathJax Consortium 5 | * 6 | * Licensed under the Apache License, Version 2.0 (the "License"); 7 | * you may not use this file except in compliance with the License. 8 | * You may obtain a copy of the License at 9 | * 10 | * http://www.apache.org/licenses/LICENSE-2.0 11 | * 12 | * Unless required by applicable law or agreed to in writing, software 13 | * distributed under the License is distributed on an "AS IS" BASIS, 14 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 | * See the License for the specific language governing permissions and 16 | * limitations under the License. 17 | */ 18 | 19 | MathJax.OutputJax.SVG.FONTDATA.FONTS.MathJax_SansSerif={directory:"SansSerif/Regular",family:"MathJax_SansSerif",id:"MJSS",Ranges:[[0,127,"BasicLatin"],[128,65535,"Other"],[768,879,"CombDiacritMarks"]]};MathJax.Ajax.loadComplete(MathJax.OutputJax.SVG.fontDir+"/SansSerif/Regular/Main.js"); 20 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/doxygen/MathJax/jax/output/SVG/fonts/TeX/Typewriter/Regular/Main.js: -------------------------------------------------------------------------------- 1 | /* 2 | * /MathJax/jax/output/SVG/fonts/TeX/Typewriter/Regular/Main.js 3 | * 4 | * Copyright (c) 2009-2015 The MathJax Consortium 5 | * 6 | * Licensed under the Apache License, Version 2.0 (the "License"); 7 | * you may not use this file except in compliance with the License. 8 | * You may obtain a copy of the License at 9 | * 10 | * http://www.apache.org/licenses/LICENSE-2.0 11 | * 12 | * Unless required by applicable law or agreed to in writing, software 13 | * distributed under the License is distributed on an "AS IS" BASIS, 14 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 | * See the License for the specific language governing permissions and 16 | * limitations under the License. 17 | */ 18 | 19 | MathJax.OutputJax.SVG.FONTDATA.FONTS.MathJax_Typewriter={directory:"Typewriter/Regular",family:"MathJax_Typewriter",id:"MJTT",Ranges:[[0,127,"BasicLatin"],[128,65535,"Other"],[768,879,"CombDiacritMarks"]]};MathJax.Ajax.loadComplete(MathJax.OutputJax.SVG.fontDir+"/Typewriter/Regular/Main.js"); 20 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/doxygen/doxyfile.awk: -------------------------------------------------------------------------------- 1 | BEGIN { 2 | indent=" " 3 | print indent, "# This list was generated using" 4 | print indent, "# doxygen -s -g Doxyfile.tmp" 5 | print indent, "# awk -f doxyfile.awk doxygen" 6 | print 7 | } 8 | /^#/ { print indent, $0 } 9 | /^$/ { print indent, $0 } 10 | /=/ { print indent, $1 } 11 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/doxygen/footer.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 12 | 13 | 14 |
15 | $generatedby   16 | doxygen 17 | $doxygenversion 18 |
19 | 20 | 21 | 22 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/doxygen/header-mathjax.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | $title 4 | 5 | 6 | 12 | 13 | 14 | 15 | 16 | 17 | $treeview 18 | $search 19 | 20 |
21 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/doxygen/header.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | $projectname: $title 9 | $title 10 | 11 | 12 | 13 | 14 | $treeview 15 | $search 16 | $mathjax 17 | 18 | $extrastylesheet 19 | 20 | 21 |
22 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/dynamic_graph/submodule/__init__.py.cmake: -------------------------------------------------------------------------------- 1 | # 2 | # Copyright 2020 CNRS 3 | # 4 | # Author: Joseph Mirabel (from Florent Lamiraux) 5 | # 6 | # This file is free software: you can redistribute it and/or 7 | # modify it under the terms of the GNU Lesser General Public License 8 | # as published by the Free Software Foundation, either version 3 of 9 | # the License, or (at your option) any later version. 10 | # 11 | # This file is distributed in the hope that it will be useful, but 12 | # WITHOUT ANY WARRANTY; without even the implied warranty of 13 | # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 14 | # General Lesser Public License for more details. You should have 15 | # received a copy of the GNU Lesser General Public License along with 16 | # this file. If not, see . 17 | 18 | from .wrap import * 19 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/find-external/GMP/FindGMP.cmake: -------------------------------------------------------------------------------- 1 | # Try to find the GNU Multiple Precision Arithmetic Library (GMP) See 2 | # http://gmplib.org/ 3 | 4 | if(GMP_INCLUDES AND GMP_LIBRARIES) 5 | set(GMP_FIND_QUIETLY TRUE) 6 | endif(GMP_INCLUDES AND GMP_LIBRARIES) 7 | 8 | find_path( 9 | GMP_INCLUDES 10 | NAMES gmp.h 11 | PATHS $ENV{GMPDIR} ${INCLUDE_INSTALL_DIR}) 12 | 13 | find_library( 14 | GMP_LIBRARIES 15 | NAMES gmp 16 | PATHS $ENV{GMPDIR} ${LIB_INSTALL_DIR}) 17 | 18 | include(FindPackageHandleStandardArgs) 19 | find_package_handle_standard_args(GMP DEFAULT_MSG GMP_INCLUDES GMP_LIBRARIES) 20 | 21 | # Set gmp target 22 | if(GMP_FOUND) 23 | add_library(gmp SHARED IMPORTED) 24 | set_target_properties( 25 | gmp PROPERTIES IMPORTED_LOCATION ${GMP_LIBRARIES} 26 | INTERFACE_INCLUDE_DIRECTORIES "${GMP_INCLUDE_DIR}") 27 | endif() 28 | 29 | mark_as_advanced(GMP_INCLUDES GMP_LIBRARIES) 30 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/gtest/CMakeLists.txt.in: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.10) 2 | 3 | project(gtest NONE) 4 | 5 | include(ExternalProject) 6 | ExternalProject_Add(gtest 7 | GIT_REPOSITORY https://github.com/google/googletest.git 8 | GIT_TAG "${GTEST_GIT_TAG}" 9 | SOURCE_DIR "${CMAKE_CURRENT_BINARY_DIR}/gtest/src" 10 | BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}/gtest/build" 11 | CONFIGURE_COMMAND "" 12 | BUILD_COMMAND "" 13 | INSTALL_COMMAND "" 14 | TEST_COMMAND "" 15 | ) 16 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/julia.cmake: -------------------------------------------------------------------------------- 1 | # .rst: .. command:: JULIA_CHECK_PACKAGE (PKG_NAME) 2 | # 3 | # Test if package PKG_NAME is installed in Julia. This will define 4 | # Julia_${PKG_NAME}_found. 5 | # 6 | # :param PKG_NAME: the package to check :param :return Julia_${PKG_NAME}_found 7 | # :return: 8 | macro(JULIA_CHECK_PACKAGE PKG_NAME) 9 | set(file_content 10 | "try\n@eval import ${PKG_NAME}\nprintln(1)\ncatch\nprintln(0)\nend") 11 | file(WRITE ${PROJECT_SOURCE_DIR}/_tmp_cmake_julia/test_julia_package.jl 12 | ${file_content}) 13 | execute_process( 14 | COMMAND ${Julia_EXECUTABLE} 15 | ${PROJECT_SOURCE_DIR}/_tmp_cmake_julia/test_julia_package.jl 16 | OUTPUT_VARIABLE Julia_${PKG_NAME}_found) 17 | file(REMOVE_RECURSE ${PROJECT_SOURCE_DIR}/_tmp_cmake_julia/) 18 | endmacro(JULIA_CHECK_PACKAGE PKG_NAME) 19 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/msvc.vcxproj.user.in: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | @GMDUT_COMMAND@ 5 | @GMDUT_COMMAND_ARGS@ 6 | @GMDUT_WORKING_DIRECTORY@ 7 | PATH=@CMAKE_MSVCIDE_RUN_PATH@@MSVC_DOT_USER_ADDITIONAL_PATH_DOT_USER@;%PATH% 8 | WindowsLocalDebugger 9 | 10 | 11 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/pkg-config.pc.cmake: -------------------------------------------------------------------------------- 1 | prefix=${_PKG_CONFIG_PREFIX} 2 | exec_prefix=${_PKG_CONFIG_EXEC_PREFIX} 3 | libdir=${_PKG_CONFIG_LIBDIR} 4 | bindir=${_PKG_CONFIG_BINDIR} 5 | pkglibdir=${_PKG_CONFIG_PKGLIBDIR} 6 | includedir=${_PKG_CONFIG_INCLUDEDIR} 7 | datarootdir=${_PKG_CONFIG_DATAROOTDIR} 8 | pkgdatarootdir=${_PKG_CONFIG_PKGDATAROOTDIR} 9 | docdir=${_PKG_CONFIG_DOCDIR} 10 | doxygendocdir=${_PKG_CONFIG_DOXYGENDOCDIR} 11 | 12 | Name: ${_PKG_CONFIG_PROJECT_NAME} 13 | Description: ${_PKG_CONFIG_DESCRIPTION} 14 | URL: ${_PKG_CONFIG_URL} 15 | Version: ${_PKG_CONFIG_VERSION} 16 | Requires: ${_PKG_CONFIG_REQUIRES_LIST} 17 | Conflicts: ${_PKG_CONFIG_CONFLICTS} 18 | Libs: ${_PKG_CONFIG_LIBS} 19 | Libs.private: ${_PKG_CONFIG_LIBS_PRIVATE} 20 | Cflags: ${_PKG_CONFIG_CFLAGS} 21 | 22 | ${PKG_CONFIG_EXTRA} 23 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/pyproject.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | import sys 3 | 4 | try: 5 | import tomlkit 6 | except ImportError as e: 7 | print( 8 | "tomlkit not found. Please make sure to install the package.\n" 9 | "If it is already installed, make sure that it is included in the search path." 10 | ) 11 | raise e 12 | 13 | 14 | def update_pyproject_version(version): 15 | with open("pyproject.toml") as f: 16 | doc = tomlkit.load(f) 17 | if "project" not in doc or "version" not in doc["project"]: 18 | print("pyproject.toml doesn't contain project / version") 19 | return 20 | doc["project"]["version"] = version 21 | with open("pyproject.toml", "w") as f: 22 | tomlkit.dump(doc, f) 23 | 24 | 25 | if __name__ == "__main__": 26 | if len(sys.argv) == 2: 27 | update_pyproject_version(sys.argv[1]) 28 | else: 29 | print("you must provide the version as argument.") 30 | exit(1) 31 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/setup.cfg: -------------------------------------------------------------------------------- 1 | [flake8] 2 | max-line-length = 88 3 | extend-ignore = E203 4 | exclude = .docs/cmake.py 5 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/sphinx/conf.py.in: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/clearlab-sustech/Bipedal_MPC/0ea6df4c700d1ebbf941fae5483431214039379a/src/third_parties/pinocchio/cmake/sphinx/conf.py.in -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/sphinx/index.rst.in: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/clearlab-sustech/Bipedal_MPC/0ea6df4c700d1ebbf941fae5483431214039379a/src/third_parties/pinocchio/cmake/sphinx/index.rst.in -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/stubgen/CMakeLists.txt.in: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.10) 2 | 3 | project(stubgen NONE) 4 | 5 | include(ExternalProject) 6 | ExternalProject_Add(stubgen 7 | GIT_REPOSITORY https://github.com/jcarpent/pybind11-stubgen.git 8 | GIT_TAG "${GIT_TAG}" 9 | SOURCE_DIR "${CMAKE_CURRENT_BINARY_DIR}/stubgen/src" 10 | BINARY_DIR "" 11 | CONFIGURE_COMMAND "" 12 | BUILD_COMMAND "" 13 | INSTALL_COMMAND "" 14 | TEST_COMMAND "" 15 | ) 16 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/cmake/version-script-test.lds: -------------------------------------------------------------------------------- 1 | { 2 | }; 3 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/colcon.pkg: -------------------------------------------------------------------------------- 1 | { 2 | "hooks": [ 3 | "share/pinocchio/hook/ament_prefix_path.dsv", 4 | "share/pinocchio/hook/python_path.dsv" 5 | ] 6 | } -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/algorithm/default-check.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2016-2018 CNRS 3 | // 4 | 5 | #ifndef __pinocchio_default_check_hpp__ 6 | #define __pinocchio_default_check_hpp__ 7 | 8 | #include 9 | #include 10 | #include 11 | 12 | namespace pinocchio 13 | { 14 | /// Default checker-list, used as the default argument in Model::check(). 15 | inline AlgorithmCheckerList makeDefaultCheckerList() 16 | { return makeAlgoCheckerList(ParentChecker(),CRBAChecker(),ABAChecker()); } 17 | 18 | #define DEFAULT_CHECKERS makeDefaultCheckerList() 19 | 20 | template class JointCollectionTpl> 21 | inline bool ModelTpl::check() const 22 | { return this->check(DEFAULT_CHECKERS); } 23 | 24 | } // namespace pinocchio 25 | 26 | #endif // ifndef __pinocchio_default_check_hpp__ 27 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/algorithm/dynamics.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2018 INRIA 3 | // 4 | 5 | #ifndef __pinocchio_dynamics_hpp__ 6 | #define __pinocchio_dynamics_hpp__ 7 | 8 | #include "pinocchio/macros.hpp" 9 | 10 | PINOCCHIO_PRAGMA_DEPRECATED_HEADER(pinocchio/algorithm/dynamics.hpp,pinocchio/algorithm/contact-dynamics.hpp) 11 | 12 | #include "pinocchio/algorithm/contact-dynamics.hpp" 13 | 14 | #endif // ifndef __pinocchio_dynamics_hpp__ 15 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/autodiff/casadi/math/matrix.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2019-2020 INRIA 3 | // 4 | 5 | #ifndef __pinocchio_autodiff_casadi_math_matrix_hpp__ 6 | #define __pinocchio_autodiff_casadi_math_matrix_hpp__ 7 | 8 | #include "pinocchio/math/matrix.hpp" 9 | 10 | namespace pinocchio 11 | { 12 | namespace internal 13 | { 14 | template 15 | struct CallCorrectMatrixInverseAccordingToScalar< ::casadi::Matrix > 16 | { 17 | typedef ::casadi::Matrix SX; 18 | template 19 | static void run(const Eigen::MatrixBase & mat, 20 | const Eigen::MatrixBase & dest) 21 | { 22 | SX cs_mat(mat.rows(),mat.cols()); 23 | casadi::copy(mat.derived(),cs_mat); 24 | 25 | SX cs_mat_inv = SX::inv(cs_mat); 26 | 27 | MatrixOut & dest_ = PINOCCHIO_EIGEN_CONST_CAST(MatrixOut,dest); 28 | casadi::copy(cs_mat_inv,dest_); 29 | } 30 | 31 | }; 32 | } 33 | } // namespace pinocchio 34 | 35 | #endif // ifndef __pinocchio_autodiff_casadi_math_matrix_hpp__ 36 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/autodiff/casadi/spatial/se3-tpl.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2020 INRIA 3 | // 4 | 5 | #ifndef __pinocchio_autodiff_casadi_spatial_se3_tpl_hpp__ 6 | #define __pinocchio_autodiff_casadi_spatial_se3_tpl_hpp__ 7 | 8 | #include "pinocchio/spatial/fwd.hpp" 9 | 10 | namespace pinocchio 11 | { 12 | namespace internal 13 | { 14 | template 15 | struct cast_call_normalize_method,Options>,NewScalar,::casadi::Matrix> 16 | { 17 | template 18 | static void run(T &) 19 | { 20 | // do nothing 21 | } 22 | }; 23 | 24 | template 25 | struct cast_call_normalize_method,::casadi::Matrix,Scalar> 26 | { 27 | template 28 | static void run(T &) 29 | { 30 | // do nothing 31 | } 32 | }; 33 | 34 | } // namespace internal 35 | 36 | } // namespace pinocchio 37 | 38 | #endif // ifndef __pinocchio_autodiff_casadi_spatial_se3_tpl_hpp__ 39 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/autodiff/cppad/math/eigen_plugin.hpp: -------------------------------------------------------------------------------- 1 | #if !EIGEN_VERSION_AT_LEAST(3,3,3) 2 | typedef Scalar value_type; 3 | #endif 4 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/autodiff/cppad/spatial/se3-tpl.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2020 INRIA 3 | // 4 | 5 | #ifndef __pinocchio_autodiff_cppad_spatial_se3_tpl_hpp__ 6 | #define __pinocchio_autodiff_cppad_spatial_se3_tpl_hpp__ 7 | 8 | #include "pinocchio/spatial/fwd.hpp" 9 | 10 | namespace pinocchio 11 | { 12 | namespace internal 13 | { 14 | template 15 | struct cast_call_normalize_method,Options>,NewScalar,CppAD::AD > 16 | { 17 | template 18 | static void run(T &) 19 | { 20 | // do nothing 21 | } 22 | }; 23 | 24 | template 25 | struct cast_call_normalize_method,CppAD::AD,Scalar> 26 | { 27 | template 28 | static void run(T &) 29 | { 30 | // do nothing 31 | } 32 | }; 33 | 34 | } // namespace internal 35 | 36 | } // namespace pinocchio 37 | 38 | #endif // ifndef __pinocchio_autodiff_cppad_spatial_se3_tpl_hpp__ 39 | 40 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/bindings/python/parsers/sample-models.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2015-2020 CNRS INRIA 3 | // 4 | 5 | #ifndef __pinocchio_python_sample_models_hpp__ 6 | #define __pinocchio_python_sample_models_hpp__ 7 | 8 | namespace pinocchio 9 | { 10 | namespace python 11 | { 12 | void exposeSampleModels(); 13 | } 14 | } // namespace pinocchio::python 15 | 16 | #endif // ifndef __pinocchio_python_sample_models_hpp__ 17 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/bindings/python/parsers/srdf.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2015-2020 CNRS INRIA 3 | // 4 | 5 | #ifndef __pinocchio_python_parsers_srdf_hpp__ 6 | #define __pinocchio_python_parsers_srdf_hpp__ 7 | 8 | namespace pinocchio 9 | { 10 | namespace python 11 | { 12 | void exposeSRDFParser(); 13 | } 14 | } 15 | 16 | #endif // ifndef __pinocchio_python_parsers_srdf_hpp__ 17 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/bindings/python/parsers/urdf.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2015-2020 CNRS INRIA 3 | // 4 | 5 | #ifndef __pinocchio_python_parsers_urdf_hpp__ 6 | #define __pinocchio_python_parsers_urdf_hpp__ 7 | 8 | namespace pinocchio 9 | { 10 | namespace python 11 | { 12 | void exposeURDFModel(); 13 | void exposeURDFGeometry(); 14 | 15 | inline void exposeURDFParser() 16 | { 17 | exposeURDFModel(); 18 | exposeURDFGeometry(); 19 | } 20 | 21 | } 22 | } 23 | 24 | #endif // ifndef __pinocchio_python_parsers_urdf_hpp__ 25 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/bindings/python/utils/constant.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2018 CNRS 3 | // 4 | 5 | #ifndef __pinocchio_python_utils_constant_hpp__ 6 | #define __pinocchio_python_utils_constant_hpp__ 7 | 8 | #include 9 | 10 | namespace boost 11 | { 12 | namespace python 13 | { 14 | 15 | /// 16 | /// \brief Define a constant given its value and a name within the current Boost Python scope. 17 | /// 18 | /// \tparam T Type of the constant. 19 | /// 20 | /// \param[in] name Name of the constant. 21 | /// \param[in] value Value of the constant. 22 | /// 23 | template 24 | void def_constant(const char * name, const T & value) 25 | { 26 | namespace bp = boost::python; 27 | bp::scope().attr(name) = value; 28 | } 29 | 30 | } // namespace python 31 | } // namespace boost 32 | 33 | #endif // ifndef __pinocchio_python_utils_constant_hpp__ 34 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/bindings/python/utils/conversions.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2019 CNRS 3 | // 4 | 5 | namespace pinocchio 6 | { 7 | namespace python 8 | { 9 | 10 | void exposeConversions(); 11 | 12 | } // namespace python 13 | } // namespace pinocchio 14 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/bindings/python/utils/dependencies.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2019 INRIA 3 | // 4 | 5 | #ifndef __pinocchio_python_utils_dependencies_hpp__ 6 | #define __pinocchio_python_utils_dependencies_hpp__ 7 | 8 | #include "pinocchio/bindings/python/fwd.hpp" 9 | 10 | namespace pinocchio 11 | { 12 | namespace python 13 | { 14 | 15 | void exposeDependencies(); 16 | 17 | } // namespace python 18 | } // namespace pinocchio 19 | 20 | #endif // ifndef __pinocchio_python_utils_dependencies_hpp__ 21 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/bindings/python/utils/printable.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2016 CNRS 3 | // 4 | 5 | #ifndef __pinocchio_python_utils_printable_hpp__ 6 | #define __pinocchio_python_utils_printable_hpp__ 7 | 8 | #include 9 | 10 | namespace pinocchio 11 | { 12 | namespace python 13 | { 14 | 15 | namespace bp = boost::python; 16 | 17 | /// 18 | /// \brief Set the Python method __str__ and __repr__ to use the overloading operator<<. 19 | /// 20 | template 21 | struct PrintableVisitor : public bp::def_visitor< PrintableVisitor > 22 | { 23 | template 24 | void visit(PyClass & cl) const 25 | { 26 | cl 27 | .def(bp::self_ns::str(bp::self_ns::self)) 28 | .def(bp::self_ns::repr(bp::self_ns::self)) 29 | ; 30 | } 31 | }; 32 | } // namespace python 33 | } // namespace pinocchio 34 | 35 | #endif // ifndef __pinocchio_python_utils_printable_hpp__ 36 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/bindings/python/utils/registration.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2019 INRIA 3 | // 4 | 5 | #ifndef __pinocchio_python_utils_registration_hpp__ 6 | #define __pinocchio_python_utils_registration_hpp__ 7 | 8 | #include 9 | #include 10 | 11 | #include 12 | 13 | namespace pinocchio 14 | { 15 | namespace python 16 | { 17 | 18 | template 19 | inline bool register_symbolic_link_to_registered_type() 20 | { 21 | namespace bp = boost::python; 22 | if(eigenpy::check_registration()) 23 | { 24 | const bp::type_info info = bp::type_id(); 25 | const bp::converter::registration* reg = bp::converter::registry::query(info); 26 | bp::handle<> class_obj(reg->get_class_object()); 27 | bp::scope().attr(reg->get_class_object()->tp_name) = bp::object(class_obj); 28 | return true; 29 | } 30 | 31 | return false; 32 | } 33 | 34 | } // namespace python 35 | } // namespace pinocchio 36 | 37 | #endif // ifndef __pinocchio_python_utils_registration_hpp__ 38 | 39 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/bindings/python/utils/version.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2018 CNRS 3 | // 4 | 5 | #ifndef __pinocchio_python_utils_version_hpp__ 6 | #define __pinocchio_python_utils_version_hpp__ 7 | 8 | #include "pinocchio/bindings/python/fwd.hpp" 9 | 10 | namespace pinocchio 11 | { 12 | namespace python 13 | { 14 | 15 | void exposeVersion(); 16 | 17 | } // namespace python 18 | } // namespace pinocchio 19 | 20 | #endif // ifndef __pinocchio_python_utils_version_hpp__ 21 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/core/binary-op.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2019 INRIA 3 | // 4 | 5 | #ifndef __pinocchio_core_binary_op_hpp__ 6 | #define __pinocchio_core_binary_op_hpp__ 7 | 8 | namespace pinocchio 9 | { 10 | /// 11 | /// \brief Forward declaration of the multiplication operation return type. 12 | /// Should be overloaded, otherwise it will procude a compilation error. 13 | /// 14 | template 15 | struct MultiplicationOp; 16 | 17 | namespace impl 18 | { 19 | template 20 | struct LhsMultiplicationOp; 21 | } 22 | } 23 | 24 | #endif // ifndef __pinocchio_core_binary_op_hpp__ 25 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/core/unary-op.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2019 INRIA 3 | // 4 | 5 | #ifndef __pinocchio_core_unary_op_hpp__ 6 | #define __pinocchio_core_unary_op_hpp__ 7 | 8 | namespace pinocchio 9 | { 10 | 11 | } 12 | 13 | #endif // ifndef __pinocchio_core_unary_op_hpp__ 14 | 15 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/deprecated-macros.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2018 INRIA 3 | // 4 | 5 | #ifndef __pinocchio_deprecated_macros_hpp__ 6 | #define __pinocchio_deprecated_macros_hpp__ 7 | 8 | #ifdef PINOCCHIO_WITH_HPP_FCL 9 | #ifdef PINOCCHIO_ENABLE_COMPATIBILITY_WITH_VERSION_1 // for backward compatibility 10 | #define WITH_HPP_FCL 11 | #endif 12 | #endif 13 | 14 | #ifdef PINOCCHIO_WITH_URDFDOM 15 | #ifdef PINOCCHIO_ENABLE_COMPATIBILITY_WITH_VERSION_1 // for backward compatibility 16 | #define WITH_URDFDOM 17 | #endif 18 | #endif 19 | 20 | #endif // ifndef __pinocchio_deprecated_macros_hpp__ 21 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/deprecated-namespaces.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2018 INRIA 3 | // 4 | 5 | #ifndef __pinocchio_deprecated_namespaces_hpp__ 6 | #define __pinocchio_deprecated_namespaces_hpp__ 7 | 8 | #if PINOCCHIO_ENABLE_COMPATIBILITY_WITH_VERSION_1 // do not warn 9 | namespace se3 = ::pinocchio; 10 | #endif 11 | 12 | #endif // ifndef __pinocchio_deprecated_namespaces_hpp__ 13 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/deprecation.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2018 INRIA 3 | // 4 | 5 | #ifndef __pinocchio_deprecation_hpp__ 6 | #define __pinocchio_deprecation_hpp__ 7 | 8 | #include "pinocchio/deprecated.hpp" 9 | #include "pinocchio/deprecated-macros.hpp" 10 | #include "pinocchio/deprecated-namespaces.hpp" 11 | 12 | #endif // ifndef __pinocchio_deprecation_hpp__ 13 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/math/casadi.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2019 INRIA 3 | // 4 | 5 | #ifndef __pinocchio_math_casadi_hpp__ 6 | #define __pinocchio_math_casadi_hpp__ 7 | 8 | #include "pinocchio/macros.hpp" 9 | 10 | PINOCCHIO_PRAGMA_DEPRECATED_HEADER(pinocchio/math/casadi.hpp,pinocchio/autodiff/casadi.hpp) 11 | 12 | #include "pinocchio/autodiff/casadi.hpp" 13 | 14 | #endif // #ifndef __pinocchio_math_casadi_hpp__ 15 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/math/cppad.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2019 INRIA 3 | // 4 | 5 | #ifndef __pinocchio_math_ccpad_hpp__ 6 | #define __pinocchio_math_ccpad_hpp__ 7 | 8 | #include "pinocchio/macros.hpp" 9 | 10 | PINOCCHIO_PRAGMA_DEPRECATED_HEADER(pinocchio/math/cppad.hpp,pinocchio/autodiff/cppad.hpp) 11 | 12 | #include "pinocchio/autodiff/cppad.hpp" 13 | 14 | #endif // #ifndef __pinocchio_math_ccpad_hpp__ 15 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/math/cppadcg.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2019 INRIA 3 | // 4 | 5 | #ifndef __pinocchio_math_ccpadcg_hpp__ 6 | #define __pinocchio_math_ccpadcg_hpp__ 7 | 8 | #include "pinocchio/macros.hpp" 9 | 10 | PINOCCHIO_PRAGMA_DEPRECATED_HEADER(pinocchio/math/cppadcg.hpp,pinocchio/codegen/cppadcg.hpp) 11 | 12 | #include "pinocchio/codegen/cppadcg.hpp" 13 | 14 | #endif // #ifndef __pinocchio_math_ccpadcg_hpp__ 15 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/math/sign.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2020 INRIA 3 | // 4 | 5 | #ifndef __pinocchio_math_sign_hpp__ 6 | #define __pinocchio_math_sign_hpp__ 7 | 8 | namespace pinocchio 9 | { 10 | /// 11 | /// \brief Returns the robust sign of t 12 | /// 13 | template 14 | Scalar sign(const Scalar & t) 15 | { 16 | return (t > Scalar(0)) - (t < Scalar(0)); 17 | } 18 | } 19 | 20 | #endif //#ifndef __pinocchio_math_sign_hpp__ 21 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/multibody/constraint.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2015-2019 CNRS, INRIA 3 | // 4 | 5 | #ifndef __pinocchio_multibody_constraint_hpp__ 6 | #define __pinocchio_multibody_constraint_hpp__ 7 | 8 | #include "pinocchio/macros.hpp" 9 | 10 | namespace pinocchio 11 | { 12 | 13 | template struct ConstraintTpl; 14 | 15 | typedef ConstraintTpl<1,double,0> Constraint1d; 16 | typedef ConstraintTpl<3,double,0> Constraint3d; 17 | typedef ConstraintTpl<6,double,0> Constraint6d; 18 | typedef ConstraintTpl ConstraintXd; 19 | 20 | } // namespace pinocchio 21 | 22 | #include "pinocchio/multibody/constraint-base.hpp" 23 | #include "pinocchio/multibody/constraint-generic.hpp" 24 | 25 | #endif // ifndef __pinocchio_multibody_constraint_hpp__ 26 | 27 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/multibody/joint/joint-base.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2015-2019 CNRS INRIA 3 | // Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France. 4 | // 5 | 6 | #ifndef __pinocchio_multibody_joint_base_hpp__ 7 | #define __pinocchio_multibody_joint_base_hpp__ 8 | 9 | #include "pinocchio/multibody/joint/fwd.hpp" 10 | 11 | #include "pinocchio/multibody/joint/joint-model-base.hpp" 12 | #include "pinocchio/multibody/joint/joint-data-base.hpp" 13 | 14 | #endif // ifndef __pinocchio_multibody_joint_base_hpp__ 15 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/multibody/joint/joints.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2019 INRIA 3 | // 4 | 5 | #ifndef __pinocchio_joint_joints_hpp__ 6 | #define __pinocchio_joint_joints_hpp__ 7 | 8 | #include "pinocchio/multibody/joint/joint-free-flyer.hpp" 9 | #include "pinocchio/multibody/joint/joint-planar.hpp" 10 | #include "pinocchio/multibody/joint/joint-prismatic.hpp" 11 | #include "pinocchio/multibody/joint/joint-prismatic-unaligned.hpp" 12 | #include "pinocchio/multibody/joint/joint-revolute.hpp" 13 | #include "pinocchio/multibody/joint/joint-revolute-unbounded.hpp" 14 | #include "pinocchio/multibody/joint/joint-revolute-unaligned.hpp" 15 | #include "pinocchio/multibody/joint/joint-revolute-unbounded-unaligned.hpp" 16 | #include "pinocchio/multibody/joint/joint-spherical-ZYX.hpp" 17 | #include "pinocchio/multibody/joint/joint-spherical.hpp" 18 | #include "pinocchio/multibody/joint/joint-translation.hpp" 19 | #include "pinocchio/multibody/joint/joint-mimic.hpp" 20 | 21 | #endif // ifndef __pinocchio_joint_joints_hpp__ 22 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/multibody/liegroup/fwd.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2018 CNRS 3 | // 4 | 5 | #ifndef __pinocchio_lie_group_fwd_hpp__ 6 | #define __pinocchio_lie_group_fwd_hpp__ 7 | 8 | #include "pinocchio/fwd.hpp" 9 | 10 | namespace pinocchio 11 | { 12 | template struct LieGroupGenericTpl; 13 | } 14 | 15 | #endif // ifndef __pinocchio_lie_group_fwd_hpp__ 16 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/multibody/liegroup/liegroup-algo.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2018-2020 CNRS INRIA 3 | // 4 | 5 | #ifndef __pinocchio_multibody_liegroup_liegroup_algo_hpp__ 6 | #define __pinocchio_multibody_liegroup_liegroup_algo_hpp__ 7 | 8 | #include "pinocchio/multibody/joint/joint-base.hpp" 9 | #include "pinocchio/multibody/liegroup/liegroup.hpp" 10 | 11 | #include "pinocchio/multibody/liegroup/liegroup-algo.hxx" 12 | 13 | #endif // ifndef __pinocchio_multibody_liegroup_liegroup_algo_hpp__ 14 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/multibody/visitor.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2015-2019 CNRS INRIA 3 | // Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France. 4 | // 5 | 6 | #ifndef __pinocchio_multibody_visitor_hpp__ 7 | #define __pinocchio_multibody_visitor_hpp__ 8 | 9 | #include "pinocchio/multibody/visitor/joint-unary-visitor.hpp" 10 | #include "pinocchio/multibody/visitor/joint-binary-visitor.hpp" 11 | 12 | #endif // ifndef __pinocchio_multibody_visitor_hpp__ 13 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/parsers/python.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2015-2023 CNRS INRIA 3 | // 4 | 5 | #ifndef __pinocchio_parser_python_hpp__ 6 | #define __pinocchio_parser_python_hpp__ 7 | 8 | #include "pinocchio/bindings/python/parsers/python.hpp" 9 | 10 | #endif // ifndef __pinocchio_parser_python_hpp__ 11 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/parsers/urdf/utils.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2015-2020 CNRS INRIA 3 | // 4 | 5 | #ifndef __pinocchio_parsers_urdf_utils_hpp__ 6 | #define __pinocchio_parsers_urdf_utils_hpp__ 7 | 8 | #include "pinocchio/spatial/se3.hpp" 9 | #include 10 | 11 | namespace pinocchio 12 | { 13 | namespace urdf 14 | { 15 | namespace details 16 | { 17 | /// 18 | /// \brief Convert URDF Pose quantity to SE3. 19 | /// 20 | /// \param[in] M The input URDF Pose. 21 | /// 22 | /// \return The converted pose/transform pinocchio::SE3. 23 | /// 24 | SE3 convertFromUrdf(const ::urdf::Pose & M); 25 | } 26 | } 27 | } 28 | 29 | #endif // __pinocchio_parsers_urdf_utils_hpp__ 30 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/serialization/fwd.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2017-2019 CNRS INRIA 3 | // 4 | 5 | #ifndef __pinocchio_serialization_fwd_hpp__ 6 | #define __pinocchio_serialization_fwd_hpp__ 7 | 8 | #include "pinocchio/fwd.hpp" 9 | #include 10 | 11 | #include "pinocchio/serialization/eigen.hpp" 12 | 13 | #define BOOST_SERIALIZATION_MAKE_NVP(member) boost::serialization::make_nvp(##member,member) 14 | 15 | namespace pinocchio 16 | { 17 | template 18 | struct Serialize 19 | { 20 | template 21 | static void run(Archive & ar, T & object); 22 | }; 23 | } 24 | 25 | #endif // ifndef __pinocchio_serialization_fwd_hpp__ 26 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/serialization/joints.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2019 INRIA 3 | // 4 | 5 | #ifndef __pinocchio_serialization_joints_hpp__ 6 | #define __pinocchio_serialization_joints_hpp__ 7 | 8 | #include "pinocchio/multibody/joint/joints.hpp" 9 | #include "pinocchio/multibody/joint/joint-generic.hpp" 10 | #include "pinocchio/multibody/joint/joint-composite.hpp" 11 | #include "pinocchio/multibody/joint/joint-collection.hpp" 12 | 13 | #include "pinocchio/serialization/fwd.hpp" 14 | #include "pinocchio/serialization/vector.hpp" 15 | #include "pinocchio/serialization/aligned-vector.hpp" 16 | 17 | #include 18 | #include 19 | 20 | #include "pinocchio/serialization/joints-transform.hpp" 21 | #include "pinocchio/serialization/joints-motion.hpp" 22 | #include "pinocchio/serialization/joints-constraint.hpp" 23 | #include "pinocchio/serialization/joints-model.hpp" 24 | #include "pinocchio/serialization/joints-data.hpp" 25 | 26 | #endif // ifndef __pinocchio_serialization_joints_hpp__ 27 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/serialization/spatial.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2019 INRIA 3 | // 4 | 5 | #ifndef __pinocchio_serialization_spatial_hpp__ 6 | #define __pinocchio_serialization_spatial_hpp__ 7 | 8 | #include "pinocchio/serialization/se3.hpp" 9 | #include "pinocchio/serialization/motion.hpp" 10 | #include "pinocchio/serialization/force.hpp" 11 | #include "pinocchio/serialization/symmetric3.hpp" 12 | #include "pinocchio/serialization/inertia.hpp" 13 | 14 | #endif // ifndef __pinocchio_serialization_spatial_hpp__ 15 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/spatial/fcl-pinocchio-conversions.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2015-2016 CNRS 3 | // 4 | 5 | #ifndef __pinocchio_fcl_convertion_hpp__ 6 | #define __pinocchio_fcl_convertion_hpp__ 7 | 8 | #include 9 | #include "pinocchio/spatial/se3.hpp" 10 | 11 | namespace pinocchio 12 | { 13 | inline hpp::fcl::Transform3f toFclTransform3f(const SE3 & m) 14 | { 15 | return hpp::fcl::Transform3f(m.rotation(), m.translation()); 16 | } 17 | 18 | inline SE3 toPinocchioSE3(const hpp::fcl::Transform3f & tf) 19 | { 20 | return SE3(tf.getRotation(), tf.getTranslation()); 21 | } 22 | 23 | } // namespace pinocchio 24 | 25 | #endif // ifndef __pinocchio_fcl_convertion_hpp__ 26 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/spatial/log.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2015-2020 CNRS INRIA 3 | 4 | #ifndef __pinocchio_spatial_log_hpp__ 5 | #define __pinocchio_spatial_log_hpp__ 6 | 7 | namespace pinocchio 8 | { 9 | 10 | template struct log3_impl; 11 | template struct Jlog3_impl; 12 | 13 | template struct log6_impl; 14 | template struct Jlog6_impl; 15 | 16 | } // namespace pinocchio 17 | 18 | #endif // ifndef __pinocchio_spatial_log_hpp__ 19 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/utils/axis-label.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2018 CNRS 3 | // 4 | 5 | #ifndef __pinocchio_axis_label_hpp__ 6 | #define __pinocchio_axis_label_hpp__ 7 | 8 | namespace pinocchio 9 | { 10 | 11 | /// 12 | /// \brief Generate the label (X, Y or Z) of the axis relative to its index. 13 | /// 14 | /// \tparam axis Index of the axis (either 0 for X, 1 for Y and Z for 2). 15 | /// 16 | /// \returns a char containing the label of the axis. 17 | /// 18 | template inline char axisLabel(); 19 | 20 | template<> inline char axisLabel<0>() { return 'X'; } 21 | template<> inline char axisLabel<1>() { return 'Y'; } 22 | template<> inline char axisLabel<2>() { return 'Z'; } 23 | } 24 | 25 | #endif // __pinocchio_axis_label_hpp__ 26 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/utils/cast.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2020 INRIA 3 | // 4 | 5 | #ifndef __pinocchio_utils_cast_hpp__ 6 | #define __pinocchio_utils_cast_hpp__ 7 | 8 | #include 9 | 10 | namespace pinocchio 11 | { 12 | template 13 | NewScalar cast(const Scalar & value) 14 | { 15 | return Eigen::internal::cast_impl::run(value); 16 | } 17 | } // namespace pinocchio 18 | 19 | #endif // ifndef __pinocchio_utils_cast_hpp__ 20 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/utils/helpers.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2020 INRIA 3 | // 4 | 5 | #ifndef __pinocchio_utils_helpers_hpp__ 6 | #define __pinocchio_utils_helpers_hpp__ 7 | 8 | namespace pinocchio 9 | { 10 | namespace internal 11 | { 12 | template 13 | struct is_same_type 14 | { 15 | static const bool value = false; 16 | }; 17 | 18 | template 19 | struct is_same_type 20 | { 21 | static const bool value = true; 22 | }; 23 | } 24 | } 25 | 26 | #endif // __pinocchio_utils_helpers_hpp__ 27 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/utils/openmp.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2021 INRIA 3 | // 4 | 5 | #ifndef __pinocchio_utils_openmp_hpp__ 6 | #define __pinocchio_utils_openmp_hpp__ 7 | 8 | #include 9 | 10 | namespace pinocchio 11 | { 12 | 13 | /// \brief Returns the number of thread defined by the environment variable OMP_NUM_THREADS. 14 | /// If this variable is not defined, this simply returns the default value 1. 15 | /// 16 | inline int getOpenMPNumThreadsEnv() 17 | { 18 | int num_threads = 1; 19 | 20 | if(const char* env_p = std::getenv("OMP_NUM_THREADS")) 21 | num_threads = atoi(env_p); 22 | 23 | return num_threads; 24 | } 25 | } 26 | 27 | #endif // ifndef __pinocchio_utils_openmp_hpp__ 28 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio/include/pinocchio/utils/string-generator.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2016-2019 CNRS INRIA 3 | // 4 | 5 | #ifndef __pinocchio_utils_string_generator_hpp__ 6 | #define __pinocchio_utils_string_generator_hpp__ 7 | 8 | #include 9 | #include 10 | 11 | namespace pinocchio 12 | { 13 | 14 | /// 15 | /// \brief Generate a random string composed of alphanumeric symbols of a given length. 16 | /// 17 | /// \input len The length of the output string. 18 | /// 19 | /// \returns a random string composed of alphanumeric symbols. 20 | /// 21 | inline std::string randomStringGenerator(const int len) 22 | { 23 | std::string res; 24 | static const char alphanum[] = 25 | "0123456789" 26 | "ABCDEFGHIJKLMNOPQRSTUVWXYZ" 27 | "abcdefghijklmnopqrstuvwxyz"; 28 | 29 | for (int i=0; i 4 | #include 5 | #include 6 | 7 | namespace clear 8 | { 9 | matrix3_t getJacobiFromOmegaToRPY(const vector3_t &rpy); 10 | 11 | matrix3_t getJacobiFromRPYToOmega(const vector3_t &rpy); 12 | 13 | matrix3_t getJacobiDotFromRPYToOmega(const vector3_t &rpy, 14 | const vector3_t &rpy_dot); 15 | 16 | vector3_t toEulerAngles(const Eigen::Quaternion &q); 17 | 18 | vector3_t toEulerAngles(const matrix3_t &R); 19 | 20 | Eigen::Quaternion toQuaternion(const matrix3_t &R); 21 | 22 | Eigen::Quaternion 23 | toQuaternion(const vector3_t &rpy); // roll (x), pitch (Y), yaw (z) 24 | 25 | matrix3_t 26 | toRotationMatrix(const vector3_t &rpy); // roll (x), pitch (Y), yaw (z) 27 | 28 | matrix3_t skew(const vector3_t &vec); 29 | 30 | vector3_t computeEulerAngleErr(const vector3_t &rpy_m, 31 | const vector3_t &rpy_d); 32 | } // namespace clear 33 | -------------------------------------------------------------------------------- /src/third_parties/pinocchio_interface/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | pinocchio_interface 5 | 0.0.0 6 | TODO: Package description 7 | otsd 8 | TODO: License declaration 9 | 10 | ament_cmake 11 | 12 | ament_lint_auto 13 | ament_lint_common 14 | 15 | core 16 | pinocchio 17 | 18 | 19 | ament_cmake 20 | 21 | 22 | -------------------------------------------------------------------------------- /src/trans/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(trans) 3 | 4 | # Default to C99 5 | if(NOT CMAKE_C_STANDARD) 6 | set(CMAKE_C_STANDARD 99) 7 | endif() 8 | 9 | # Default to C++14 10 | if(NOT CMAKE_CXX_STANDARD) 11 | set(CMAKE_CXX_STANDARD 17) 12 | endif() 13 | 14 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") 15 | add_compile_options(-Wall -Wextra -Wpedantic) 16 | endif() 17 | 18 | # find dependencies 19 | find_package(ament_cmake REQUIRED) 20 | find_package(std_msgs REQUIRED) 21 | find_package(geometry_msgs REQUIRED) 22 | find_package(sensor_msgs REQUIRED) 23 | find_package(nav_msgs REQUIRED) 24 | find_package(rosidl_default_generators REQUIRED) 25 | 26 | set(TARGET_DEPENDENCE 27 | ament_cmake 28 | std_msgs 29 | geometry_msgs 30 | sensor_msgs 31 | nav_msgs 32 | rosidl_default_generators 33 | ) 34 | 35 | rosidl_generate_interfaces(${PROJECT_NAME} 36 | msgs/ActuatorCmds.msg 37 | msgs/TouchSensor.msg 38 | srv/SimulationReset.srv 39 | srv/GaitSwitch.srv 40 | DEPENDENCIES ament_cmake std_msgs geometry_msgs sensor_msgs nav_msgs 41 | ) 42 | 43 | ament_package() 44 | -------------------------------------------------------------------------------- /src/trans/msgs/ActuatorCmds.msg: -------------------------------------------------------------------------------- 1 | std_msgs/Header header 2 | string[] names 3 | float64[<=30] gain_p 4 | float64[<=30] pos_des 5 | float64[<=30] gaid_d 6 | float64[<=30] vel_des 7 | float64[<=30] feedforward_torque -------------------------------------------------------------------------------- /src/trans/msgs/TouchSensor.msg: -------------------------------------------------------------------------------- 1 | std_msgs/Header header 2 | string[<=10] names 3 | float32[<=10] value -------------------------------------------------------------------------------- /src/trans/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | trans 5 | 0.0.0 6 | TODO: Package description 7 | otsd 8 | TODO: License declaration 9 | 10 | ament_cmake 11 | 12 | std_msgs 13 | geometry_msgs 14 | sensor_msgs 15 | nav_msgs 16 | 17 | builtin_interfaces 18 | rosidl_default_generators 19 | rosidl_default_runtime 20 | rosidl_interface_packages 21 | 22 | ament_lint_auto 23 | ament_lint_common 24 | 25 | 26 | ament_cmake 27 | 28 | -------------------------------------------------------------------------------- /src/trans/srv/GaitSwitch.srv: -------------------------------------------------------------------------------- 1 | std_msgs/Header header 2 | string gait_name 3 | --- 4 | bool is_success -------------------------------------------------------------------------------- /src/trans/srv/SimulationReset.srv: -------------------------------------------------------------------------------- 1 | std_msgs/Header header 2 | geometry_msgs/Pose base_pose 3 | sensor_msgs/JointState joint_state 4 | --- 5 | bool is_success -------------------------------------------------------------------------------- /src/visualization/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.8) 2 | project(visualization) 3 | 4 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") 5 | add_compile_options(-Wall -Wextra -Wpedantic) 6 | endif() 7 | 8 | # find dependencies 9 | find_package(ament_cmake REQUIRED) 10 | 11 | set(TARGET_DEPENDENCE 12 | ament_cmake 13 | ) 14 | 15 | install(DIRECTORY launch 16 | DESTINATION share/${PROJECT_NAME}) 17 | 18 | install(DIRECTORY config 19 | DESTINATION share/${PROJECT_NAME}) 20 | 21 | ament_package() 22 | -------------------------------------------------------------------------------- /src/visualization/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | visualization 5 | 0.0.0 6 | TODO: Package description 7 | Mriver Moon 8 | TODO: License declaration 9 | 10 | ament_cmake 11 | 12 | ament_lint_auto 13 | ament_lint_common 14 | 15 | 16 | ament_cmake 17 | 18 | 19 | -------------------------------------------------------------------------------- /test.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | set -e 3 | 4 | if [ -f install/setup.bash ]; then source install/setup.bash; fi 5 | colcon test --merge-install 6 | colcon test-result --verbose 7 | --------------------------------------------------------------------------------