Merge branch 'fix-72-deps' into develop

CMakeLists.txt

@@ -44,9 +44,8 @@ list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake
 # Find project's hard dependencies.
 find_package(YCM 0.8 REQUIRED)
 find_package(COLOR_DEBUG REQUIRED)
-find_package(OpenRAVE REQUIRED)
-find_package(Boost ${OpenRAVE_Boost_VERSION} EXACT REQUIRED
-             COMPONENTS iostreams python thread system)
+find_package(OpenRAVE 0.9 REQUIRED)
+find_package(Boost "${OpenRAVE_Boost_VERSION}" EXACT REQUIRED COMPONENTS thread)
 find_package(YARP 3.0 QUIET)
 # https://github.com/roboticslab-uc3m/questions-and-answers/issues/65
 if(NOT YARP_FOUND)

doc/openrave-yarp-plugins-install.md

@@ -5,6 +5,8 @@ First install the dependencies:
 - [Install YCM 0.8+](https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-ycm.md)
 - [Install YARP 2.3.70+](https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-yarp.md)
 - [Install OpenRAVE 0.9+](https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-openrave.md)
+- [Install Boost](https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-boost.md) (implicitly required by OpenRAVE)
+  - Components: Boost.Thread.
 - [Install color-debug](https://github.com/roboticslab-uc3m/color-debug)
 
 # Install openrave-yarp-plugins on Ubuntu (working on all tested versions)

libraries/OpenravePlugins/OpenraveDumpManipulatorJointLinks/CMakeLists.txt

@@ -5,19 +5,17 @@ option(ENABLE_OpenraveDumpManipulatorJointLinks "Enable/disable OpenraveDumpMani
 
 if(ENABLE_OpenraveDumpManipulatorJointLinks)
 
-include_directories(${CMAKE_CURRENT_SOURCE_DIR}
-                    ${OpenRAVE_INCLUDE_DIRS}
-                    ${Boost_INCLUDE_DIRS})
+include_directories(${OpenRAVE_INCLUDE_DIRS})
 
-link_directories(${OpenRAVE_LIBRARY_DIRS}
-                 ${Boost_LIBRARY_DIRS})
+link_directories(${OpenRAVE_LIBRARY_DIRS})
 
 add_library(OpenraveDumpManipulatorJointLinks MODULE OpenraveDumpManipulatorJointLinks.cpp)
 
 set_target_properties(OpenraveDumpManipulatorJointLinks PROPERTIES COMPILE_OPTIONS "${OpenRAVE_CXX_FLAGS}"
                                                                    LINK_FLAGS "${OpenRAVE_LINK_FLAGS}")
 
 target_link_libraries(OpenraveDumpManipulatorJointLinks ${OpenRAVE_LIBRARIES}
+                                                        Boost::boost
                                                         ROBOTICSLAB::ColorDebug)
 
 include(InstallOpenravePlugin)

libraries/OpenravePlugins/OpenraveDumpManipulatorJointLinks/OpenraveDumpManipulatorJointLinks.cpp

@@ -1,8 +1,13 @@
 // -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
+#include <sstream>
+#include <string>
+#include <vector>
+
 #include <openrave/openrave.h>
 #include <openrave/plugin.h>
-#include <boost/bind.hpp>
+
+#include <boost/bind/bind.hpp>
 
 #include <ColorDebug.h>
 
@@ -23,7 +28,7 @@ class OpenraveDumpManipulatorJointLinks : public OpenRAVE::ModuleBase
     OpenraveDumpManipulatorJointLinks(OpenRAVE::EnvironmentBasePtr penv) : OpenRAVE::ModuleBase(penv)
     {
         __description = "OpenraveDumpManipulatorJointLinks plugin.";
-        RegisterCommand("open",boost::bind(&OpenraveDumpManipulatorJointLinks::Open, this,_1,_2),"opens OpenraveDumpManipulatorJointLinks");
+        OpenRAVE::InterfaceBase::RegisterCommand("open",boost::bind(&OpenraveDumpManipulatorJointLinks::Open, this,_1,_2),"opens OpenraveDumpManipulatorJointLinks");
     }
 
     virtual ~OpenraveDumpManipulatorJointLinks()
@@ -70,7 +75,7 @@ class OpenraveDumpManipulatorJointLinks : public OpenRAVE::ModuleBase
 
             std::istringstream sinput( openStrings[i] );
             std::ostringstream sout;
-            if( ! SendCommand(sout,sinput) )
+            if( ! OpenRAVE::InterfaceBase::SendCommand(sout,sinput) )
                 return 1;
         }
         return 0;

libraries/OpenravePlugins/OpenraveYarpCoupled/CMakeLists.txt

@@ -5,12 +5,9 @@ option(ENABLE_OpenraveYarpCoupled "Enable/disable OpenraveYarpCoupled" ON)
 
 if(ENABLE_OpenraveYarpCoupled)
 
-include_directories(${CMAKE_CURRENT_SOURCE_DIR}
-                    ${OpenRAVE_INCLUDE_DIRS}
-                    ${Boost_INCLUDE_DIRS})
+include_directories(${OpenRAVE_INCLUDE_DIRS})
 
-link_directories(${OpenRAVE_LIBRARY_DIRS}
-                 ${Boost_LIBRARY_DIRS})
+link_directories(${OpenRAVE_LIBRARY_DIRS})
 
 add_library(OpenraveYarpCoupled MODULE OpenraveYarpCoupled.cpp)
 
@@ -21,7 +18,8 @@ target_link_libraries(OpenraveYarpCoupled YARP::YARP_OS
                                           YARP::YARP_init
                                           YARP::YARP_dev
                                           YARP::YARP_sig
-                                          ${OpenRAVE_LIBRARIES})
+                                          ${OpenRAVE_LIBRARIES}
+                                          Boost::boost)
 
 include(InstallOpenravePlugin)
 

libraries/OpenravePlugins/OpenraveYarpCoupled/OpenraveYarpCoupled.cpp

@@ -25,28 +25,36 @@
    \endverbatim
    <b>Full Example Code:</b>
  */
+
+#include <cstdio>
+
+#include <sstream>
+#include <string>
+#include <vector>
+
 #include <openrave/openrave.h>
 #include <openrave/plugin.h>
-#include <boost/bind.hpp>
 
-#include <yarp/os/all.h>
-#include <yarp/dev/all.h>
-#include <yarp/sig/all.h>
+#include <boost/bind/bind.hpp>
+#include <boost/smart_ptr/shared_ptr.hpp>
 
-using namespace std;
-using namespace OpenRAVE;
+#include <yarp/os/Bottle.h>
+#include <yarp/os/BufferedPort.h>
+#include <yarp/os/ConstString.h>
+#include <yarp/os/Network.h>
+#include <yarp/os/RateThread.h>
 
+#include <yarp/dev/PolyDriver.h>
 
-#define NULL_JMC_MS 20
-
-//YARP_DECLARE_PLUGINS(yarpplugins)
+#include <yarp/sig/Image.h>
 
+#define NULL_JMC_MS 20
 
 class TeoSimRateThread : public yarp::os::RateThread {
      public:
 
         // Set the Thread Rate in the class constructor
-        TeoSimRateThread() : RateThread(NULL_JMC_MS) {}  // In ms
+        TeoSimRateThread() : yarp::os::RateThread(NULL_JMC_MS) {}  // In ms
 
         void setEnvironmentPtr(const OpenRAVE::EnvironmentBasePtr& environmentPtr) {
             this->environmentPtr = environmentPtr;
@@ -230,16 +238,16 @@ void TeoSimRateThread::run() {
 
 }
 
-class OpenraveYarpCoulped : public ModuleBase
+class OpenraveYarpCoupled : public OpenRAVE::ModuleBase
 {
 public:
-    OpenraveYarpCoulped(EnvironmentBasePtr penv) : ModuleBase(penv) {
+    OpenraveYarpCoupled(OpenRAVE::EnvironmentBasePtr penv) : OpenRAVE::ModuleBase(penv) {
         //YARP_REGISTER_PLUGINS(yarpplugins);
         __description = "OpenraveYarpCoulped plugin.";
-        RegisterCommand("open",boost::bind(&OpenraveYarpCoulped::Open, this,_1,_2),"opens OpenraveYarpCoulped");
+        OpenRAVE::InterfaceBase::RegisterCommand("open",boost::bind(&OpenraveYarpCoupled::Open, this,_1,_2),"opens OpenraveYarpCoulped");
     }
 
-    virtual ~OpenraveYarpCoulped() {
+    virtual ~OpenraveYarpCoupled() {
         for(int i=0;i<robotDevices.size();i++)
         {
             robotDevices[i]->close();
@@ -257,14 +265,14 @@ class OpenraveYarpCoulped : public ModuleBase
         return 0;
     }*/
 
-    bool Open(ostream& sout, istream& sinput)
+    bool Open(std::ostream& sout, std::istream& sinput)
     {
         bool alternativeRobotName = false;
 
-        vector<string> funcionArgs;
+        std::vector<std::string> funcionArgs;
         while(sinput)
         {
-            string funcionArg;
+            std::string funcionArg;
             sinput >> funcionArg;
             funcionArgs.push_back(funcionArg);
         }
@@ -285,14 +293,14 @@ class OpenraveYarpCoulped : public ModuleBase
 
         for ( unsigned int robotIter = 0; robotIter<vectorOfRobotPtr.size(); robotIter++ ) {
             std::vector<OpenRAVE::RobotBase::AttachedSensorPtr> sensors = vectorOfRobotPtr.at(robotIter)->GetAttachedSensors();
-            printf("Sensors found on robot %d (%s): %d.\n",robotIter,vectorOfRobotPtr.at(robotIter)->GetName().c_str(),(int)sensors.size());
+            std::printf("Sensors found on robot %d (%s): %d.\n",robotIter,vectorOfRobotPtr.at(robotIter)->GetName().c_str(),(int)sensors.size());
             for ( unsigned int sensorIter = 0; sensorIter<sensors.size(); sensorIter++ ) {
                 OpenRAVE::SensorBasePtr psensorbase = sensors.at(sensorIter)->GetSensor();
                 std::string tipo = psensorbase->GetName();
-                printf("Sensor %d name: %s\n",sensorIter,tipo.c_str());
+                std::printf("Sensor %d name: %s\n",sensorIter,tipo.c_str());
                 // printf("Sensor %d description: %s\n",sensorIter,psensorbase->GetDescription().c_str());
                 if (psensorbase->Supports(OpenRAVE::SensorBase::ST_Camera)) {
-                    printf("Sensor %d supports ST_Camera.\n", sensorIter);
+                    std::printf("Sensor %d supports ST_Camera.\n", sensorIter);
                     // Activate the camera
                     psensorbase->Configure(OpenRAVE::SensorBase::CC_PowerOn);
                     // Show the camera image in a separate window
@@ -319,7 +327,7 @@ class OpenraveYarpCoulped : public ModuleBase
                     tmpPort->open(tmpName);
                     vectorOfRgbPortPtr.push_back(tmpPort);
                 } else if (psensorbase->Supports(OpenRAVE::SensorBase::ST_Laser)) {
-                    printf("Sensor %d supports ST_Laser.\n", sensorIter);
+                    std::printf("Sensor %d supports ST_Laser.\n", sensorIter);
                     // Activate the sensor
                     psensorbase->Configure(OpenRAVE::SensorBase::CC_PowerOn);
                     // Paint the rays in the OpenRAVE viewer
@@ -346,7 +354,7 @@ class OpenraveYarpCoulped : public ModuleBase
                     tmpPort->open(tmpName);
                     vectorOfIntPortPtr.push_back(tmpPort);
                 } else if (psensorbase->Supports(OpenRAVE::SensorBase::ST_Force6D)) {
-                    printf("Sensor %d supports ST_Force6D.\n", sensorIter);
+                    std::printf("Sensor %d supports ST_Force6D.\n", sensorIter);
                     // Activate the sensor
                     psensorbase->Configure(OpenRAVE::SensorBase::CC_PowerOn);
                     // Get a pointer to access the force6D data stream
@@ -359,7 +367,7 @@ class OpenraveYarpCoulped : public ModuleBase
                     portName += sensorName.substr (pos+1,sensorName.size());
                     tmpPort->open(portName);
                     vectorOfForce6DPortPtr.push_back(tmpPort);
-                } else printf("Sensor %d not supported.\n", robotIter);
+                } else std::printf("Sensor %d not supported.\n", robotIter);
             }
         }
 
@@ -407,15 +415,15 @@ class OpenraveYarpCoulped : public ModuleBase
 
 };
 
-InterfaceBasePtr CreateInterfaceValidated(InterfaceType type, const std::string& interfacename, std::istream& sinput, EnvironmentBasePtr penv) {
-    if( type == PT_Module && interfacename == "openraveyarpcoupled" ) {
-        return InterfaceBasePtr(new OpenraveYarpCoulped(penv));
+OpenRAVE::InterfaceBasePtr CreateInterfaceValidated(OpenRAVE::InterfaceType type, const std::string& interfacename, std::istream& sinput, OpenRAVE::EnvironmentBasePtr penv) {
+    if( type == OpenRAVE::PT_Module && interfacename == "openraveyarpcoupled" ) {
+        return OpenRAVE::InterfaceBasePtr(new OpenraveYarpCoupled(penv));
     }
-    return InterfaceBasePtr();
+    return OpenRAVE::InterfaceBasePtr();
 }
 
-void GetPluginAttributesValidated(PLUGININFO& info) {
-    info.interfacenames[PT_Module].push_back("OpenraveYarpCoulped");
+void GetPluginAttributesValidated(OpenRAVE::PLUGININFO& info) {
+    info.interfacenames[OpenRAVE::PT_Module].push_back("OpenraveYarpCoulped");
 }
 
 OPENRAVE_PLUGIN_API void DestroyPlugin() {

libraries/OpenravePlugins/OpenraveYarpForceEstimator/CMakeLists.txt

@@ -5,12 +5,9 @@ option(ENABLE_OpenraveYarpForceEstimator "Enable/disable OpenraveYarpForceEstima
 
 if(ENABLE_OpenraveYarpForceEstimator)
 
-include_directories(${CMAKE_CURRENT_SOURCE_DIR}
-                    ${OpenRAVE_INCLUDE_DIRS}
-                    ${Boost_INCLUDE_DIRS})
+include_directories(${OpenRAVE_INCLUDE_DIRS})
 
-link_directories(${OpenRAVE_LIBRARY_DIRS}
-                 ${Boost_LIBRARY_DIRS})
+link_directories(${OpenRAVE_LIBRARY_DIRS})
 
 add_library(OpenraveYarpForceEstimator MODULE OpenraveYarpForceEstimator.cpp)
 
@@ -20,6 +17,7 @@ set_target_properties(OpenraveYarpForceEstimator PROPERTIES COMPILE_OPTIONS "${O
 target_link_libraries(OpenraveYarpForceEstimator YARP::YARP_OS
                                                  YARP::YARP_init
                                                  ${OpenRAVE_LIBRARIES}
+                                                 Boost::boost
                                                  ROBOTICSLAB::ColorDebug)
 
 include(InstallOpenravePlugin)