Merge pull request #3 from ethz-adrl/feature/elementaryCleanup

Feature/elementary cleanup

.gitignore

@@ -24,3 +24,5 @@ solution.mat
 *.tmp
 *.mat
 .settings/
+*.aux
+*.doc*

ct/cmake/clang-cxx-dev-tools.cmake

@@ -53,14 +53,14 @@ find_program(CLANG_FORMAT_BIN "clang-format")
 if(NOT CLANG_FORMAT_BIN)
   find_program(CLANG_FORMAT_BIN "clang-format-3.9")
 endif()
-message(WARNING "CLANG FORMAT IS: " ${CLANG_FORMAT_BIN})
+message(STATUS "CLANG FORMAT IS: " ${CLANG_FORMAT_BIN})
 if(NOT CLANG_FORMAT_BIN)
-    message (WARNING "CLANG-FORMAT not found. You can ignore this message if you are not a CT developer.")
+    message (STATUS "CLANG-FORMAT not found. You can ignore this message if you are not a CT developer.")
     add_custom_target(clang-format
         COMMAND ${CMAKE_COMMAND} -E echo_append "clang-format executable not found"
         VERBATIM)
 else()
-  message (WARNING "FOUND CLANG-FORMAT")
+  message (STATUS "FOUND CLANG-FORMAT")
   add_custom_target(
     clang-format
     COMMAND ${CLANG_FORMAT_BIN}
@@ -94,13 +94,13 @@ function(ct_configure_clang_tidy TIDY_INC_DIRS)
     if(NOT CLANG_TIDY_BIN)
       find_program(CLANG_TIDY_BIN "clang_tidy")
     endif()
-        message(${CLANG_TIDY_BIN})
+        message(STATUS ${CLANG_TIDY_BIN})
     if(NOT CLANG_TIDY_BIN)
         add_custom_target(clang-tidy
             COMMAND ${CMAKE_COMMAND} -E echo_append "clang-tidy executable not found"
             VERBATIM)
     else()
-        message (WARNING "FOUND CLANG-TIDY")
+        message (STATUS "FOUND CLANG-TIDY")
         set(CLANG_TIDY_COMMAND COMMAND ${CLANG_TIDY_BIN} ${ALL_CXX_SOURCE_FILES} -config='' -header-filter=\".*\\/ct\\/.*\" -- -std=c++11 -fopenmp ${CURRENT_INC_DIRS})
 
         add_custom_target(

ct/cmake/compilerSettings.cmake

@@ -4,8 +4,6 @@ option(BUILD_EXAMPLES "Compile all examples for ct" false)
 option(BUILD_HYQ_FULL "Compile all examples for HyQ (takes long, should use clang)" false)
 option(BUILD_HYQ_LINEARIZATION_TIMINGS "Build linearization timing tests for HyQ (takes long, should use clang)" false)
 option(BUILD_HYA_LINEARIZATION_TIMINGS "Build linearization timing tests for HyA (takes long, should use clang)" false)
-option(USE_LAPACKE "Use lapacke bindings for Eigen" false)
-option(USE_BLAS "Use blas bindings for Eigen" false)
 option(HPIPM "Build HPIPM Optimal Control solver" false)
 
 ## option to activate/deactivate explicit template prespecs
@@ -32,14 +30,4 @@ if(USE_INTEL)
     SET (CMAKE_C_COMPILER             ${INTEL_C_COMPILER})
     SET (CMAKE_CXX_COMPILER           ${INTEL_CXX_COMPILER})
     set(CMAKE_CXX_LINKER_FLAGS "${CMAKE_CXX_LINKER_FLAGS} -L${MKLROOT}/lib/intel64 -llibblas -lmkl_intel_lp64 -lmkl_sequential -lmkl_core -lpthread -lm -llapacke -lblas -llapack -lliblapack -liblapacke")
-endif(USE_INTEL)
-
-
-if(USE_LAPACKE)
-    add_definitions(-DEIGEN_USE_LAPACKE)
-    set(CMAKE_CXX_LINKER_FLAGS "${CMAKE_CXX_LINKER_FLAGS} -llapacke -lblas ")
-endif()
-
-if(USE_BLAS)
-    add_definitions(-DEIGEN_USE_BLAS)
-endif()
+endif(USE_INTEL)

ct_core/CMakeLists.txt

@@ -44,12 +44,9 @@ endif()
 include_directories(
   ${BOOST_INCLUDE_DIRS}
   ${catkin_INCLUDE_DIRS}
-)
-
-include_directories (
-    include
-    include/external
-    ${EIGEN3_INCLUDE_DIR}
+  ${EIGEN3_INCLUDE_DIR}
+  include
+  include/external
 )
 
 ## dummy prespec libs
@@ -72,14 +69,13 @@ catkin_package(
         examples
         ${EIGEN3_INCLUDE_DIR}
    LIBRARIES
-       dl
-       ct_core
-       ${PRESPEC_LIB_NAMES}
+        ct_core
+        dl #required for gcc-compatibility
+        ${PRESPEC_LIB_NAMES}
    DEPENDS
-       EIGEN3
+        EIGEN3
 )
 
-
 set(CODEGEN_TEMPLATE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/templates")
 set(CODEGEN_OUTPUT_DIR "${CMAKE_CURRENT_SOURCE_DIR}/generated")
 configure_file(${CMAKE_CURRENT_SOURCE_DIR}/include/ct/core/templateDir.h.in ${CMAKE_CURRENT_SOURCE_DIR}/include/ct/core/templateDir.h)

ct_core/package.xml

@@ -2,11 +2,10 @@
   <name>ct_core</name>
   <version>0.3.0</version>
   <description>
-  ADRL control toolbox - core module
+    Control toolbox - core module.
   </description>
   <maintainer email="[email protected]">Markus Giftthaler</maintainer>
   <maintainer email="[email protected]">Michael Neunert</maintainer>
   <license>BSD-2</license>
   <buildtool_depend>catkin</buildtool_depend>
-
 </package>

ct_doc/doc/ct_doc.doxyfile

@@ -38,7 +38,7 @@ PROJECT_NAME           = ct
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = v2.3
+PROJECT_NUMBER         = v3.0
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

ct_doc/doc/developer_info.dox

@@ -10,13 +10,6 @@ to align the development with ongoing activities.
 \section Code Formatting
 We support clang-format and provide a style template to automatically format the source code. 
 Please refer to the clang-format style sheet in the package root directory for our conventions. 
-Or simply rely on clang-format to do the formatting for you.
-
-Note for developers using the *Eclipse IDE*: you can conveniently integrate clang-format (and our .clang-format 
-configuration file) in your project using the "CppStyle" plugin (see http://www.cppstyle.com/ for 
-detailed information). To automatically format the code according to ct-style, just mark the source-code 
-and press *Ctrl+Shift+f*.
-
 
 Example command for running clang-tidy:
 \code

ct_doc/doc/installation.dox

@@ -1,43 +1,78 @@
 /*!
 
 \page install_guide Installation
-- \subpage requirements
-- \subpage install
-
-
-\page requirements Requirements
 @tableofcontents
-This library is written in C++11. It is tested under Ubuntu 14.04 and 16.04 with
-library versions as provided in the package sources.
 
+\section req Requirements:
+
+- Ubuntu 16.04 or 18.04
+- a compiler with C++14 support, e.g. gcc or clang
 
-\section dep Dependencies
 
- - C++ compiler with C++11 support (we recommend gcc-5.4.1 or greater or clang-3.5 or greater)
- - <a href="http://eigen.tuxfamily.org/index.php?title=Main_Page">Eigen 3</a>
- - <a href="http://wiki.ros.org/catkin">catkin</a> (build system, easy to switch to CMakeLists.txt where needed). We recommend using <a href="http://catkin-tools.readthedocs.io/en/latest/verbs/catkin_build.html">catkin_tools</a>
- - boost 1.54 or greater (soon optional)
- - <a href="https://github.com/ethz-asl/kindr">kindr</a>, a kinematics library for robotics,
- which is required for building ct_rbd. Ideally, clone the newest version into your
- catkin workspace:
+\section dep Dependencies and building the library
+ - install ROS, please follow the steps in <a href="http://wiki.ros.org/Installation/Ubuntu"> this tutorial</a> for your Linux distribution.
+ - install <a href="http://eigen.tuxfamily.org/index.php?title=Main_Page">Eigen 3</a> via
+  \code{.sh} 
+  sudo apt-get update 
+  sudo apt-get install libeigen3-dev 
+  \endcode
+ - install the <a href="http://catkin-tools.readthedocs.io/en/latest/verbs/catkin_build.html">catkin_tools</a> build system
+ \code{.sh}
+ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
+ wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
+ sudo apt-get update
+ sudo apt-get install python-catkin-tools
+ \endcode
+ - install boost
  \code{.sh}
- $ git clone https://github.com/ethz-asl/kindr.git
+ sudo apt-get install libboost-all-dev
+ \endcode
+ - create a catkin workspace and initialize it
+ \code{.sh}
+ mkdir -p ~/catkin_ws/src
+ cd ~/catkin_ws
+ catkin init
  \endcode
 
+ - install the <a href="https://github.com/ethz-asl/kindr">kindr</a> library
+  \code{.sh}
+  cd ~/catkin_ws/src
+  git clone https://github.com/ANYbotics/kindr.git
+  \endcode
+
+ - finally, clone the control toolbox and build your workspace
+  \code{.sh}
+  cd ~/catkin_ws/src
+  git clone https://github.com/ethz-adrl/control-toolbox.git
+  catkin build -DCMAKE_BUILD_TYPE=Release
+  \endcode
+
+ - if you would like to run an example, build the library with 
+  \code{.sh}
+  cd ~/catkin_ws/src
+  catkin build -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=true
+  \endcode
+  Now, try to run the examples, e.g. the optimal control and optimal filtering examples:
+   \code{.sh}
+  cd ~/catkin_ws/src
+  catkin build -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=true
+  rosrun ct_optcon ex_NLOC
+  rosrun ct_optcon ex_KalmanFiltering
+  \endcode
+
 
 \section opt_dep Optional Dependencies and Bindings
 The following dependencies and bindings are optional but can help to enhance the functionality or performance of the CT
 
  - <a href="http://www.netlib.org/lapack/">lapack</a> (enables Schur method as an alternative to iterative method in ct::optcon::LQR)
+ \code{.sh} $ sudo apt-get install liblapack-dev \endcode
 
  - <a href="https://clang.llvm.org/">clang</a> compiler (faster compilation for large linear models), install from command-line via
  \code{.sh} $ sudo apt-get install clang \endcode
  and possibly replace `clang` with a more specific version, e.g. `clang-3.8`.
  Please make sure that the `clang` and `clang++` commands are in your path.
  You may need to create a symbolic link in `/usr/bin` or use a bash alias.
 
- - <a href="http://wiki.ros.org/indigo">ROS Indigo</a> or <a href="http://wiki.ros.org/kinetic">Kinetic</a> (for ROS bindings, visualization and extended examples), see <a href="../../../../ct_ros/ct_ros_nodes/doc/html/index.html">ct_ros_nodes</a>, <a href="../../../../ct_ros/ct_ros_nodes/doc/html/index.html">ct_ros_msgs</a>
-
  - <a href="https://projects.coin-or.org/Ipopt">IPOPT</a> or <a href="http://www.sbsi-sol-optimize.com/asp/sol_product_snopt.htm">SNOPT</a>
   (for ct::optcon::SnoptSolver and ct::optcon::IpoptSolver as used by ct::optcon::DMS)
 
@@ -61,19 +96,8 @@ The following dependencies and bindings are optional but can help to enhance the
  \endcode
 
 
-\page install Compile
-@tableofcontents
-
-\section build_lib Build the library
-
-In order to build the library, execute the following commands in your terminal
-\code{.sh}
-cd catkin_ws/src
-git clone https://github.com/ethz-asl/kindr.git
-git clone https://bitbucket.org/adrlab/ct.git
-catkin build -DCMAKE_BUILD_TYPE=RELEASE
-\endcode
 
+\section Additional build arguments
 The following additional build flags are available, which can be appended to the build command above
 
 Build Flag  | Default value | Description
@@ -95,7 +119,7 @@ To build the documentation do
 \code{.sh}
 catkin build ct_doc -v --make-args doc # build the doc
 \endcode
-This will build the documentation and open it in your browser.
+This will build the documentation. The index.html can be found in ct_doc.
 
 
 \section run_tests Run Unit Tests

ct_doc/doc/mainpage.dox

@@ -6,7 +6,7 @@
 
 \section ct1 Control Toolbox
 
-This is the ADRL Control Toolbox ('CT'), an open-source C++ library for efficient modelling, control, 
+The Control Toolbox ('CT'), an open-source C++ library for efficient modelling, control, 
 estimation, trajectory optimization and model predictive control.
 The CT is applicable to a broad class of dynamic systems, but features additional modelling tools specially designed for robotics.
 This page outlines its general concept, its major building blocks and highlights selected application examples.
@@ -47,7 +47,7 @@ The CT was designed with the following features in mind:
     - all algorithm flavors and solver backends are available through simple configuration files.
 
 
-The CT is hosted on bitbucket: <a href="https://bitbucket.org/adrlab/ct" target="_blank">https://bitbucket.org/adrlab/ct</a>
+The CT is hosted on github: <a href="https://github.com/ethz-adrl/control-toolbox" target="_blank">https://github.com/ethz-adrl/control-toolbox</a>
 
 
 
@@ -212,11 +212,6 @@ The four different main modules are detailed in the following.
  - <a href="../../../ct_models/doc/html/index.html">quick link to ct_models</a>
 
 
-\section source_code Source Code
-
-The source code is available at <a href="https://bitbucket.org/adrlab/ct" target="_blank">https://bitbucket.org/adrlab/ct</a>
-
-Examples for interfacing with ROS and advanced application examples are available at <a href="https://bitbucket.org/adrlab/ct_ros/src/master/" target="_blank">ct_ros</a>.
 
 \section gs How to use the Control Toolbox
 
@@ -226,15 +221,15 @@ To get started with the control toolbox, please see \ref getting_started "Gettin
 \section contact Support
 
 For any questions, issues or other troubleshooting please either
-- create an issue: https://bitbucket.org/adrlab/ct/issues
+- create an issue: https://github.com/ethz-adrl/control-toolbox/issues
 - contact the devs: [email protected]
 
 
 \section ct_doc_acknowledgement Acknowledgements
 
 \subsection contribs Contributors
- - Michael Neunert
  - Markus Giftthaler
+ - Michael Neunert
  - Markus Stäuble
  - Farbod Farshidian
  - Diego Pardo
@@ -243,12 +238,11 @@ For any questions, issues or other troubleshooting please either
  - Ruben Grandia
  - Hamza Merzic
 
-\subsection lead_overview Project Lead and Maintenance 
- - Michael Neunert, neunertm (at) gmail (dot) com
+\subsection lead_overview Maintenance 
  - Markus Giftthaler, markusgft (at) gmail (dot) com
 
-\subsection funding Funding
-This software has been developed at the <a href="http://www.adrl.ethz.ch" target="_blank">Agile & Dexterous Robotics Lab</a> 
+\subsection funding Funding 2014-2018
+The core of this software has been developed at the <a href="http://www.adrl.ethz.ch" target="_blank">Agile & Dexterous Robotics Lab</a> 
 at <a href="http://www.ethz.ch/en" target="_blank">ETH Zurich</a>, Switzerland between 2014 and 2018.
 During that time, development has been made possible through financial support from the <a href="http://www.snf.ch/en/" target="_blank">Swiss National Science Foundation (SNF)</a> 
 through a SNF Professorship award to Jonas Buchli and the National Competence Centers in Research (NCCR) 

ct_models/CMakeLists.txt

@@ -60,7 +60,7 @@ endif(USE_PRESPEC)
 
 ################ HyQ #################
 add_executable(HyQLinearizationCodgen src/HyQ/codegen/HyQLinearizationCodgen.cpp)
-target_link_libraries(HyQLinearizationCodgen ${catkin_LIBRARIES} )
+target_link_libraries(HyQLinearizationCodgen ${catkin_LIBRARIES})
 
 if (BUILD_HYQ_FULL)
   if (NOT USE_CLANG)

ct_models/doc/ct_models.doxyfile

@@ -38,7 +38,7 @@ PROJECT_NAME           = ct_models
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = v2.3
+PROJECT_NUMBER         = v3.0
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

ct_models/package.xml

@@ -10,9 +10,6 @@
 
 	<buildtool_depend>catkin</buildtool_depend>
 
-	<depend>roscpp</depend>
-	<depend>std_msgs</depend>
-	<depend>ct_core</depend>
 	<depend>ct_rbd</depend>
 
 </package>

ct_optcon/doc/ct_optcon.doxyfile

@@ -38,7 +38,7 @@ PROJECT_NAME           = ct_optcon
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = v2.3
+PROJECT_NUMBER         = v3.0
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

ct_optcon/package.xml

@@ -1,17 +1,20 @@
 <package format="2">
   <name>ct_optcon</name>
+
   <version>0.3.0</version>
+
   <description>Optimal Control package of the ADRL Control Toolbox</description>
+
+  <license>BSD-2</license>
+
   <maintainer email="[email protected]">Markus Giftthaler</maintainer>  
   <maintainer email="[email protected]">Michael Neunert</maintainer>
-  <license>BSD-2</license>
 
   <author>Markus Giftthaler</author>
   <author>Michael Neunert</author>
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <depend>roscpp</depend>
   <depend>ct_core</depend>
   <depend>cmake_modules</depend>