Merge branch 'devel' into 'devel'

Format See merge request loco-3d/multicontact-api!10
loco-3d · Sep 12, 2019 · 9493409 · 9493409
2 parents b528980 + 7ab19b5
commit 9493409
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Showing 68 changed files with 3,275 additions and 3,970 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -16,6 +16,13 @@ SET(PROJECT_DESCRIPTION "Multi-contact locomotion for multi-body systems")
 SET(PROJECT_URL "https://gepgitlab.laas.fr/${PROJECT_NAMESPACE}/${PROJECT_NAME}")
 
 OPTION(BUILD_PYTHON_INTERFACE "Build the python binding" ON)
+OPTION (INSTALL_PYTHON_INTERFACE_ONLY "Install *ONLY* the python binding" OFF)
+
+IF(INSTALL_PYTHON_INTERFACE_ONLY)
+  SET(INSTALL_DOCUMENTATION OFF CACHE BOOL "documentation is not in python interface")
+  SET(INSTALL_GENERATED_HEADERS OFF CACHE BOOL "headers are not in python interface")
+  SET(INSTALL_PKG_CONFIG_FILE OFF CACHE BOOL ".pc is not in python interface")
+ENDIF(INSTALL_PYTHON_INTERFACE_ONLY)
 
 SET(DOXYGEN_USE_MATHJAX YES)
 SET(CXX_DISABLE_WERROR True)
@@ -40,7 +47,9 @@ ENDIF(BUILD_PYTHON_INTERFACE)
 SEARCH_FOR_BOOST()
 INCLUDE_DIRECTORIES(SYSTEM ${Boost_INCLUDE_DIRS})
 
-ADD_SUBDIRECTORY(include/${CUSTOM_HEADER_DIR})
+IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+  ADD_SUBDIRECTORY(include/${CUSTOM_HEADER_DIR})
+ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
 ADD_SUBDIRECTORY(bindings)
 ADD_SUBDIRECTORY(unittest)
 

diff --git a/bindings/python/geometry/ellipsoid.cpp b/bindings/python/geometry/ellipsoid.cpp
@@ -4,13 +4,8 @@
 #include "multicontact-api/bindings/python/geometry/ellipsoid.hpp"
 #include "multicontact-api/bindings/python/geometry/expose-geometry.hpp"
 
-namespace multicontact_api
-{
-  namespace python
-  {
-    void exposeEllipsoid()
-    {
-      EllipsoidPythonVisitor<multicontact_api::geometry::Ellipsoid3d>::expose("Ellipsoid3d");
-    }
-  }
-}
+namespace multicontact_api {
+namespace python {
+void exposeEllipsoid() { EllipsoidPythonVisitor<multicontact_api::geometry::Ellipsoid3d>::expose("Ellipsoid3d"); }
+}  // namespace python
+}  // namespace multicontact_api
diff --git a/bindings/python/geometry/linear-cone.cpp b/bindings/python/geometry/linear-cone.cpp
@@ -4,14 +4,11 @@
 #include "multicontact-api/bindings/python/geometry/linear-cone.hpp"
 #include "multicontact-api/bindings/python/geometry/expose-geometry.hpp"
 
-namespace multicontact_api
-{
-  namespace python
-  {
-    void exposeLinearCone()
-    {
-      ForceConePythonVisitor<multicontact_api::geometry::ForceCone>::expose("ForceCone");
-      WrenchConePythonVisitor<multicontact_api::geometry::WrenchCone>::expose("WrenchCone");
-    }
-  }
+namespace multicontact_api {
+namespace python {
+void exposeLinearCone() {
+  ForceConePythonVisitor<multicontact_api::geometry::ForceCone>::expose("ForceCone");
+  WrenchConePythonVisitor<multicontact_api::geometry::WrenchCone>::expose("WrenchCone");
 }
+}  // namespace python
+}  // namespace multicontact_api
diff --git a/bindings/python/geometry/second-order-cone.cpp b/bindings/python/geometry/second-order-cone.cpp
@@ -4,14 +4,11 @@
 #include "multicontact-api/bindings/python/geometry/second-order-cone.hpp"
 #include "multicontact-api/bindings/python/geometry/expose-geometry.hpp"
 
-namespace multicontact_api
-{
-  namespace python
-  {
-    void exposeSecondOrderCone()
-    {
-      SOCPythonVisitor<multicontact_api::geometry::SOC6d>::expose("SOC6");
-      SOCPythonVisitor<multicontact_api::geometry::SOC3d>::expose("SOC3");
-    }
-  }
+namespace multicontact_api {
+namespace python {
+void exposeSecondOrderCone() {
+  SOCPythonVisitor<multicontact_api::geometry::SOC6d>::expose("SOC6");
+  SOCPythonVisitor<multicontact_api::geometry::SOC3d>::expose("SOC3");
 }
+}  // namespace python
+}  // namespace multicontact_api
diff --git a/bindings/python/module.cpp b/bindings/python/module.cpp
@@ -10,8 +10,7 @@
 
 namespace bp = boost::python;
 
-BOOST_PYTHON_MODULE(libmulticontact_api)
-{
+BOOST_PYTHON_MODULE(libmulticontact_api) {
   eigenpy::enableEigenPy();
 
   using namespace multicontact_api::python;

diff --git a/bindings/python/scenario/contact-model.cpp b/bindings/python/scenario/contact-model.cpp
@@ -4,13 +4,10 @@
 #include "multicontact-api/bindings/python/scenario/expose-scenario.hpp"
 #include "multicontact-api/bindings/python/scenario/contact-model-planar.hpp"
 
-namespace multicontact_api
-{
-  namespace python
-  {
-    void exposeContactModels()
-    {
-      ContactModelPlanarPythonVisitor<multicontact_api::scenario::ContactModelPlanar>::expose("ContactModelPlanar");
-    }
-  }
+namespace multicontact_api {
+namespace python {
+void exposeContactModels() {
+  ContactModelPlanarPythonVisitor<multicontact_api::scenario::ContactModelPlanar>::expose("ContactModelPlanar");
 }
+}  // namespace python
+}  // namespace multicontact_api
diff --git a/bindings/python/scenario/contact-patch.cpp b/bindings/python/scenario/contact-patch.cpp
@@ -4,13 +4,10 @@
 #include "multicontact-api/bindings/python/scenario/expose-scenario.hpp"
 #include "multicontact-api/bindings/python/scenario/contact-patch.hpp"
 
-namespace multicontact_api
-{
-  namespace python
-  {
-    void exposeContactPatch()
-    {
-      ContactPatchPythonVisitor<multicontact_api::scenario::ContactPatch>::expose("ContactPatch");
-    }
-  }
+namespace multicontact_api {
+namespace python {
+void exposeContactPatch() {
+  ContactPatchPythonVisitor<multicontact_api::scenario::ContactPatch>::expose("ContactPatch");
 }
+}  // namespace python
+}  // namespace multicontact_api
diff --git a/bindings/python/scenario/contact-phase.cpp b/bindings/python/scenario/contact-phase.cpp
@@ -5,14 +5,11 @@
 #include "multicontact-api/bindings/python/scenario/contact-phase.hpp"
 #include "multicontact-api/bindings/python/scenario/contact-phase-humanoid.hpp"
 
-namespace multicontact_api
-{
-  namespace python
-  {
-    void exposeContactPhase()
-    {
-      ContactPhasePythonVisitor<multicontact_api::scenario::ContactPhase4>::expose("ContactPhase4");
-      ContactPhaseHumanoidPythonVisitor<multicontact_api::scenario::ContactPhaseHumanoid>::expose("ContactPhaseHumanoid");
-    }
-  }
+namespace multicontact_api {
+namespace python {
+void exposeContactPhase() {
+  ContactPhasePythonVisitor<multicontact_api::scenario::ContactPhase4>::expose("ContactPhase4");
+  ContactPhaseHumanoidPythonVisitor<multicontact_api::scenario::ContactPhaseHumanoid>::expose("ContactPhaseHumanoid");
 }
+}  // namespace python
+}  // namespace multicontact_api
diff --git a/bindings/python/scenario/contact-sequence.cpp b/bindings/python/scenario/contact-sequence.cpp
@@ -6,15 +6,13 @@
 #include "multicontact-api/bindings/python/scenario/contact-phase-humanoid.hpp"
 #include "multicontact-api/bindings/python/scenario/ms-interval.hpp"
 
-namespace multicontact_api
-{
-  namespace python
-  {
-    void exposeContactSequence()
-    {
-//      ContactSequencePythonVisitor<multicontact_api::scenario::ContactSequence4>::expose("ContactSequence4");
-      ContactSequencePythonVisitor<multicontact_api::scenario::ContactSequenceHumanoid>::expose("ContactSequenceHumanoid");
-      MSIntervalPythonVisitor<multicontact_api::scenario::ContactSequenceHumanoid::MSIntervalData>::expose("MSIntervalData");
-    }
-  }
+namespace multicontact_api {
+namespace python {
+void exposeContactSequence() {
+  //      ContactSequencePythonVisitor<multicontact_api::scenario::ContactSequence4>::expose("ContactSequence4");
+  ContactSequencePythonVisitor<multicontact_api::scenario::ContactSequenceHumanoid>::expose("ContactSequenceHumanoid");
+  MSIntervalPythonVisitor<multicontact_api::scenario::ContactSequenceHumanoid::MSIntervalData>::expose(
+      "MSIntervalData");
 }
+}  // namespace python
+}  // namespace multicontact_api
diff --git a/bindings/python/scenario/enums.cpp b/bindings/python/scenario/enums.cpp
@@ -7,39 +7,32 @@
 
 #include <boost/python/enum.hpp>
 
-namespace multicontact_api
-{
-  namespace python
-  {
-    namespace bp = boost::python;
+namespace multicontact_api {
+namespace python {
+namespace bp = boost::python;
 
-    using namespace multicontact_api::scenario;
+using namespace multicontact_api::scenario;
 
-    void exposeEnumHumanoidPhaseType()
-    {
-      bp::enum_<HumanoidPhaseType>("HumanoidPhaseType")
-      .value("SINGLE_SUPPORT",SINGLE_SUPPORT)
-      .value("DOUBLE_SUPPORT",DOUBLE_SUPPORT)
-      .value("TRIPLE_SUPPORT",TRIPLE_SUPPORT)
-      .value("QUADRUPLE_SUPPORT",QUADRUPLE_SUPPORT)
-      .value("NO_SUPPORT",NO_SUPPORT)
-      .value("HUMANOID_PHASE_UNDEFINED",HUMANOID_PHASE_UNDEFINED)
-      ;
-    }
+void exposeEnumHumanoidPhaseType() {
+  bp::enum_<HumanoidPhaseType>("HumanoidPhaseType")
+      .value("SINGLE_SUPPORT", SINGLE_SUPPORT)
+      .value("DOUBLE_SUPPORT", DOUBLE_SUPPORT)
+      .value("TRIPLE_SUPPORT", TRIPLE_SUPPORT)
+      .value("QUADRUPLE_SUPPORT", QUADRUPLE_SUPPORT)
+      .value("NO_SUPPORT", NO_SUPPORT)
+      .value("HUMANOID_PHASE_UNDEFINED", HUMANOID_PHASE_UNDEFINED);
+}
 
-    void exposeEnumConicType()
-    {
-      bp::enum_<ConicType>("ConicType")
-      .value("CONIC_SOWC",CONIC_SOWC)
-      .value("CONIC_DOUBLE_DESCRIPTION",CONIC_DOUBLE_DESCRIPTION)
-      .value("CONIC_UNDEFINED",CONIC_UNDEFINED)
-      ;
-    }
+void exposeEnumConicType() {
+  bp::enum_<ConicType>("ConicType")
+      .value("CONIC_SOWC", CONIC_SOWC)
+      .value("CONIC_DOUBLE_DESCRIPTION", CONIC_DOUBLE_DESCRIPTION)
+      .value("CONIC_UNDEFINED", CONIC_UNDEFINED);
+}
 
-    void exposeScenarioEnums()
-    {
-      exposeEnumHumanoidPhaseType();
-      exposeEnumConicType();
-    }
-  }
+void exposeScenarioEnums() {
+  exposeEnumHumanoidPhaseType();
+  exposeEnumConicType();
 }
+}  // namespace python
+}  // namespace multicontact_api
diff --git a/bindings/python/trajectories/trajectories.cpp b/bindings/python/trajectories/trajectories.cpp
@@ -3,19 +3,16 @@
 
 #include "multicontact-api/bindings/python/trajectories/cubic-hermite-spline.hpp"
 
-namespace multicontact_api
-{
-  namespace python
-  {
-    void exposeTrajectories()
-    {
-      using namespace trajectories;
-      typedef CubicHermiteSplineTpl<double,3> CubicHermiteSpline3;
-      typedef CubicHermiteSplineTpl<double,Eigen::Dynamic> CubicHermiteSpline;
+namespace multicontact_api {
+namespace python {
+void exposeTrajectories() {
+  using namespace trajectories;
+  typedef CubicHermiteSplineTpl<double, 3> CubicHermiteSpline3;
+  typedef CubicHermiteSplineTpl<double, Eigen::Dynamic> CubicHermiteSpline;
 
-      CubicHermiteSplinePythonVisitor<CubicHermiteSpline3>::expose("CubicHermiteSpline3");
-      CubicHermiteSplinePythonVisitor<CubicHermiteSpline>::expose("CubicHermiteSpline");
-      exposeSplineAlgos();
-    }
-  }
+  CubicHermiteSplinePythonVisitor<CubicHermiteSpline3>::expose("CubicHermiteSpline3");
+  CubicHermiteSplinePythonVisitor<CubicHermiteSpline>::expose("CubicHermiteSpline");
+  exposeSplineAlgos();
 }
+}  // namespace python
+}  // namespace multicontact_api