added openrave-createplugin tool and minor fixes to openrave bindings

CMakeLists.txt

@@ -710,7 +710,7 @@ if(CMAKE_CPACK_COMMAND AND UNIX AND OPT_BUILD_PACKAGES)
 
   set(CPACK_DEBIAN_BUILD_DEPENDS debhelper cmake python-dev libxml2-dev libboost-dev ffmpeg zlib1g-dev python-numpy "python-sympy (>=0.6.3)" desktop-file-utils libboost-filesystem-dev libboost-system-dev libboost-python-dev libboost-thread-dev libboost-date-time-dev octave3.2-headers "libcollada15dom-dev (>=2.3.1)" pkg-config)
   # plugins
-  set(CPACK_DEBIAN_BUILD_DEPENDS ${CPACK_DEBIAN_BUILD_DEPENDS} libboost-iostreams-dev libboost-regex-dev libqt4-dev qt4-dev-tools libqhull-dev libavcodec-dev libavformat-dev libswscale-dev libsimage-dev libode-dev libsoqt4-dev libassimp-dev libbullet-dev)
+  set(CPACK_DEBIAN_BUILD_DEPENDS ${CPACK_DEBIAN_BUILD_DEPENDS} libboost-iostreams-dev libboost-regex-dev libqt4-dev qt4-dev-tools libqhull-dev libavcodec-dev libavformat-dev libswscale-dev libsimage-dev libode-dev libsoqt4-dev libassimp-dev)
 
   # debian
   set(CPACK_DEBIAN_PACKAGE_PRIORITY optional)

Makefile

@@ -1,7 +1,7 @@
 CMAKE_BUILD_TYPE=$(shell if [ $(DEBUG) ]; then echo Debug; else echo RelWithDebInfo; fi)
 
 all:
-	@mkdir -p build; rm -f build/CMakeCache.txt rave/defines.h rave/classhashes.h
+	@mkdir -p build; rm -f build/CMakeCache.txt
 	@if [ $(prefix) ]; then \
 		cd build && cmake -DCMAKE_INSTALL_PREFIX=$(prefix) -DCMAKE_BUILD_TYPE=$(CMAKE_BUILD_TYPE) ..; \
 	else \

docs/en/changelog.rst

@@ -3,6 +3,29 @@
 ChangeLog
 #########
 
+Version 0.3.2
+=============
+
+Subversion Revision: **Unreleased**
+
+Initial Release: **Unreleased**
+
+Core
+----
+
+* added openrave-robot.py which allows introspection into robot files. This deprecates openrave-hash.py. added bash completion for it.
+
+* added openrave-createplugin.py which allows new users to easily setup the plugin directories and get something running. also works on creating executables. added bash completion for it.
+
+* changed way of searching for collada to prepare for 2.3.1 release.
+
+* small changes to the way symlinks are handled on install/uninstall
+
+Testing
+-------
+
+* fixed bugs in multiprocess plugin
+
 Version 0.3.1
 =============
 

docs/en/command_line_tools.rst

@@ -3,6 +3,8 @@
 Command Line Tools
 ==================
 
+.. _tool-openravepy
+
 openrave.py
 -----------
 
@@ -75,8 +77,10 @@ Command-line
 
 .. shell-block:: openrave.py --help
 
-openrave-hash.py
-----------------
+.. _tool-openrave-robot
+
+openrave-robot.py
+-----------------
 
 Queries information about OpenRAVE-loadable robots.
 
@@ -93,6 +97,24 @@ Command-line
 
 .. shell-block:: openrave-robot.py --help
 
+.. _tool-openrave-createplugin
+
+openrave-createplugin.py
+------------------------
+
+Sets up a project directory and initial files for creating OpenRAVE plugins and executables. For example:
+
+.. code-block:: bash
+
+  openrave-createplugin.py myplugin --problem MyNewProblem
+
+Command-line
+~~~~~~~~~~~~
+
+.. shell-block:: openrave-createplugin.py --help
+
+.. _tool-openrave
+
 openrave
 --------
 
@@ -104,3 +126,15 @@ Command-line
 ~~~~~~~~~~~~
 
 .. shell-block:: openrave --help
+
+.. _tool-openrave-config
+
+openrave-config
+---------------
+
+Used to find the openrave installation directories, used libraries, headers, and shared files.
+
+Command-line
+~~~~~~~~~~~~
+
+.. shell-block:: openrave-config --help

docs/en/getting_started.rst

@@ -11,9 +11,7 @@ Getting Started Tutorials
    command_line_tools
    tutorials/openravepy_advanced
    environment_variables
+   writing_plugins
 
-.. htmlonly::
-   - `FindOpenRAVE.cmake`_ - searches for the OpenRAVE installation when using CMake build system.
-   - `Writing Plugins and Interfaces in C++ <../coreapihtml/writing_plugins.html>`_
    - `Writing and Using Controllers in C++ <../coreapihtml/arch_controller.html>`_
    - `Octave/MATLAB`_ Scripting

docs/en/tutorials/writing_plugins.rst

@@ -0,0 +1,5 @@
+Writing Plugins in C++
+======================
+
+.. htmlonly::
+   - `Writing Plugins and Interfaces in C++ <../coreapihtml/writing_plugins.html>`_

include/openrave/openrave.h

@@ -1,5 +1,5 @@
 // -*- coding: utf-8 -*-
-// Copyright (C) 2006-2011 Rosen Diankov (rosen.diankov@gmail.com)
+// Copyright (C) 2006-2011 Rosen Diankov <rosen.diankov@gmail.com>
 //
 // This file is part of OpenRAVE.
 // OpenRAVE is free software: you can redistribute it and/or modify
@@ -591,6 +591,7 @@ enum InterfaceType
     PT_SensorSystem=3, ///< describes \ref SensorSystemBase interface
     PT_Controller=4, ///< describes \ref ControllerBase interface
     PT_ProblemInstance=5, ///< describes \ref ProblemInstance interface
+    PT_IkSolver=6, ///< describes \ref IkSolverBase interface
     PT_InverseKinematicsSolver=6, ///< describes \ref IkSolverBase interface
     PT_KinBody=7, ///< describes \ref KinBody
     PT_PhysicsEngine=8, ///< describes \ref PhysicsEngineBase
@@ -1186,6 +1187,7 @@ OPENRAVE_API PlannerBasePtr RaveCreatePlanner(EnvironmentBasePtr penv, const std
 OPENRAVE_API SensorSystemBasePtr RaveCreateSensorSystem(EnvironmentBasePtr penv, const std::string& name);
 OPENRAVE_API ControllerBasePtr RaveCreateController(EnvironmentBasePtr penv, const std::string& name);
 OPENRAVE_API ProblemInstancePtr RaveCreateProblem(EnvironmentBasePtr penv, const std::string& name);
+OPENRAVE_API ProblemInstancePtr RaveCreateProblemInstance(EnvironmentBasePtr penv, const std::string& name);
 OPENRAVE_API IkSolverBasePtr RaveCreateIkSolver(EnvironmentBasePtr penv, const std::string& name);
 OPENRAVE_API PhysicsEngineBasePtr RaveCreatePhysicsEngine(EnvironmentBasePtr penv, const std::string& name);
 OPENRAVE_API SensorBasePtr RaveCreateSensor(EnvironmentBasePtr penv, const std::string& name);

modules-cmake/cmake_uninstall.cmake.in

@@ -6,16 +6,12 @@ FILE(READ "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt" files)
 STRING(REGEX REPLACE "\n" ";" files "${files}")
 FOREACH(file ${files})
   MESSAGE(STATUS "Uninstalling \"$ENV{DESTDIR}${file}\"")
-  IF(EXISTS "$ENV{DESTDIR}${file}")
-    EXEC_PROGRAM(
-      "@CMAKE_COMMAND@" ARGS "-E remove \"$ENV{DESTDIR}${file}\""
-      OUTPUT_VARIABLE rm_out
-      RETURN_VALUE rm_retval
-      )
-    IF(NOT "${rm_retval}" STREQUAL 0)
-      MESSAGE(FATAL_ERROR "Problem when removing \"$ENV{DESTDIR}${file}\"")
-    ENDIF(NOT "${rm_retval}" STREQUAL 0)
-  ELSE(EXISTS "$ENV{DESTDIR}${file}")
-    MESSAGE(STATUS "File \"$ENV{DESTDIR}${file}\" does not exist.")
-  ENDIF(EXISTS "$ENV{DESTDIR}${file}")
+  EXEC_PROGRAM(
+    "@CMAKE_COMMAND@" ARGS "-E remove \"$ENV{DESTDIR}${file}\""
+    OUTPUT_VARIABLE rm_out
+    RETURN_VALUE rm_retval
+    )
+  IF(NOT "${rm_retval}" STREQUAL 0)
+    MESSAGE(FATAL_ERROR "Problem when removing \"$ENV{DESTDIR}${file}\"")
+  ENDIF(NOT "${rm_retval}" STREQUAL 0)
 ENDFOREACH(file)

openrave_completion.bash.in

@@ -61,7 +61,7 @@ function _complete_openravepy {
     esac
 
     # not processing a current option, so offer all the options again
-    opts="--loadplugin --collision --physics --viewer --server --serverport --level --ipython --pythoncmd --listinterfaces --listplugins  --listdatabases --listexamples"
+    opts="--loadplugin --collision --physics --viewer --server --serverport --level --ipython --pythoncmd --listinterfaces --listplugins  --listdatabases --listexamples --help"
     if [[ $COMP_CWORD == 1 ]]; then
         # these options transfer the args to another program
         opts="$opts --database --example"
@@ -116,15 +116,23 @@ function _complete_openrave_robotpy {
     esac
 
     # not processing a current option, so offer all the options again
-    opts="--manipname --sensorname --hash --info --list"
+    opts="--manipname --sensorname --hash --info --list --help"
     COMPREPLY=($(compgen -W "$opts" -- ${cur}))
     if [[ ${cur} != -* ]] ; then
         # add in xml and dae and zae files
         COMPREPLY=($(compgen -f -X "!*.+(dae|zae|xml)" -- ${cur}) ${COMPREPLY[@]})
     fi
 }
 
+function _complete_openrave_createpluginpy {
+    cur="${COMP_WORDS[COMP_CWORD]}"
+    prev="${COMP_WORDS[COMP_CWORD-1]}"
+    opts="--usecore --planner --robot --sensorsystem --controller --probleminstance --iksolver --kinbody --physicsengine --sensor --collisionchecker --trajectory --help"
+    COMPREPLY=($(compgen -W "$opts" -- ${cur}))
+}
 complete -F "_complete_openravepy" -o filenames -o plusdirs "openrave.py"
 complete -F "_complete_openrave_robotpy" -o filenames -o plusdirs "openrave-robot.py"
+complete -F "_complete_openrave_createpluginpy" "openrave-createplugin.py"
 complete -F "_complete_openravepy" -o filenames -o plusdirs "openrave@OPENRAVE_BIN_SUFFIX@.py"
 complete -F "_complete_openrave_robotpy" -o filenames -o plusdirs "openrave@OPENRAVE_BIN_SUFFIX@-robot.py"
+complete -F "_complete_openrave_createpluginpy" "openrave@OPENRAVE_BIN_SUFFIX@-createplugin.py"

plugins/ikfastsolvers/ikfastsolvers.cpp

@@ -36,7 +36,7 @@ namespace katana5d_trans { IkSolverBasePtr CreateIkSolver(EnvironmentBasePtr, co
 InterfaceBasePtr CreateInterfaceValidated(InterfaceType type, const std::string& interfacename, std::istream& sinput, EnvironmentBasePtr penv)
 {
     switch(type) {
-    case PT_InverseKinematicsSolver: {
+    case PT_IkSolver: {
         if( interfacename == "ikfast" ) {
             string ikfastname;
             sinput >> ikfastname;
@@ -104,19 +104,19 @@ InterfaceBasePtr CreateInterfaceValidated(InterfaceType type, const std::string&
 void GetPluginAttributesValidated(PLUGININFO& info)
 {
     info.interfacenames[PT_ProblemInstance].push_back("ikfast");
-    info.interfacenames[PT_InverseKinematicsSolver].push_back("ikfast");
-    info.interfacenames[PT_InverseKinematicsSolver].push_back("wam7ikfast");
-    info.interfacenames[PT_InverseKinematicsSolver].push_back("pa10ikfast");
-    info.interfacenames[PT_InverseKinematicsSolver].push_back("pumaikfast");
-    info.interfacenames[PT_InverseKinematicsSolver].push_back("ikfast_pr2_head");
-    info.interfacenames[PT_InverseKinematicsSolver].push_back("ikfast_pr2_head_torso");
-    info.interfacenames[PT_InverseKinematicsSolver].push_back("ikfast_pr2_rightarm");
-    info.interfacenames[PT_InverseKinematicsSolver].push_back("ikfast_pr2_rightarm_torso");
-    info.interfacenames[PT_InverseKinematicsSolver].push_back("ikfast_pr2_leftarm");
-    info.interfacenames[PT_InverseKinematicsSolver].push_back("ikfast_pr2_leftarm_torso");
-    info.interfacenames[PT_InverseKinematicsSolver].push_back("ikfast_schunk_lwa3");
-    info.interfacenames[PT_InverseKinematicsSolver].push_back("ikfast_katana5d");
-    info.interfacenames[PT_InverseKinematicsSolver].push_back("ikfast_katana5d_trans");
+    info.interfacenames[PT_IkSolver].push_back("ikfast");
+    info.interfacenames[PT_IkSolver].push_back("wam7ikfast");
+    info.interfacenames[PT_IkSolver].push_back("pa10ikfast");
+    info.interfacenames[PT_IkSolver].push_back("pumaikfast");
+    info.interfacenames[PT_IkSolver].push_back("ikfast_pr2_head");
+    info.interfacenames[PT_IkSolver].push_back("ikfast_pr2_head_torso");
+    info.interfacenames[PT_IkSolver].push_back("ikfast_pr2_rightarm");
+    info.interfacenames[PT_IkSolver].push_back("ikfast_pr2_rightarm_torso");
+    info.interfacenames[PT_IkSolver].push_back("ikfast_pr2_leftarm");
+    info.interfacenames[PT_IkSolver].push_back("ikfast_pr2_leftarm_torso");
+    info.interfacenames[PT_IkSolver].push_back("ikfast_schunk_lwa3");
+    info.interfacenames[PT_IkSolver].push_back("ikfast_katana5d");
+    info.interfacenames[PT_IkSolver].push_back("ikfast_katana5d_trans");
 }
 
 OPENRAVE_PLUGIN_API void DestroyPlugin()

python/CMakeLists.txt

@@ -10,6 +10,11 @@ install(CODE "execute_process(COMMAND ${CMAKE_COMMAND} -E create_symlink openrav
 install(FILES openrave-robot.py DESTINATION bin PERMISSIONS OWNER_EXECUTE OWNER_WRITE OWNER_READ GROUP_EXECUTE GROUP_READ WORLD_EXECUTE WORLD_READ COMPONENT ${COMPONENT_PREFIX}python RENAME openrave${OPENRAVE_BIN_SUFFIX}-robot.py)
 install(CODE "execute_process(COMMAND ${CMAKE_COMMAND} -E create_symlink openrave${OPENRAVE_BIN_SUFFIX}-robot.py openrave-robot.py WORKING_DIRECTORY \${CMAKE_INSTALL_PREFIX}/bin)" COMPONENT ${COMPONENT_PREFIX}python)
 
+file(READ "${CMAKE_CURRENT_SOURCE_DIR}/../src/cppexamples/FindOpenRAVE.cmake" FindOpenRAVE)
+configure_file("${CMAKE_CURRENT_SOURCE_DIR}/openrave-createplugin.py.in" "${CMAKE_CURRENT_BINARY_DIR}/openrave${OPENRAVE_BIN_SUFFIX}-createplugin.py" IMMEDIATE @ONLY)
+install(FILES "${CMAKE_CURRENT_BINARY_DIR}/openrave${OPENRAVE_BIN_SUFFIX}-createplugin.py" DESTINATION bin PERMISSIONS OWNER_EXECUTE OWNER_WRITE OWNER_READ GROUP_EXECUTE GROUP_READ WORLD_EXECUTE WORLD_READ COMPONENT ${COMPONENT_PREFIX}python)
+install(CODE "execute_process(COMMAND ${CMAKE_COMMAND} -E create_symlink openrave${OPENRAVE_BIN_SUFFIX}-createplugin.py openrave-createplugin.py WORKING_DIRECTORY \${CMAKE_INSTALL_PREFIX}/bin)" COMPONENT ${COMPONENT_PREFIX}python)
+
 # install rest python files
 install(FILES __init__.py metaclass.py openravepy_ext.py DESTINATION ${OPENRAVEPY_INSTALL_DIR} COMPONENT ${COMPONENT_PREFIX}python)
 install(DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/examples" DESTINATION ${OPENRAVEPY_INSTALL_DIR} FILE_PERMISSIONS OWNER_EXECUTE OWNER_WRITE OWNER_READ GROUP_EXECUTE GROUP_READ WORLD_EXECUTE WORLD_READ COMPONENT ${COMPONENT_PREFIX}python PATTERN ".svn" EXCLUDE PATTERN ".pyc" EXCLUDE)

python/bindings/openravepy_int.cpp

@@ -2583,7 +2583,7 @@ class PyEnvironmentBase : public boost::enable_shared_from_this<PyEnvironmentBas
         case PT_SensorSystem: return PySensorSystemBasePtr(new PySensorSystemBase(boost::static_pointer_cast<SensorSystemBase>(pinterface),shared_from_this()));
         case PT_Controller: return PyControllerBasePtr(new PyControllerBase(boost::static_pointer_cast<ControllerBase>(pinterface),shared_from_this()));
         case PT_ProblemInstance: return PyProblemInstancePtr(new PyProblemInstance(boost::static_pointer_cast<ProblemInstance>(pinterface),shared_from_this()));
-        case PT_InverseKinematicsSolver: return PyIkSolverBasePtr(new PyIkSolverBase(boost::static_pointer_cast<IkSolverBase>(pinterface),shared_from_this()));
+        case PT_IkSolver: return PyIkSolverBasePtr(new PyIkSolverBase(boost::static_pointer_cast<IkSolverBase>(pinterface),shared_from_this()));
         case PT_KinBody: return PyKinBodyPtr(new PyKinBody(boost::static_pointer_cast<KinBody>(pinterface),shared_from_this()));
         case PT_PhysicsEngine: return PyPhysicsEngineBasePtr(new PyPhysicsEngineBase(boost::static_pointer_cast<PhysicsEngineBase>(pinterface),shared_from_this()));
         case PT_Sensor: return PySensorBasePtr(new PySensorBase(boost::static_pointer_cast<SensorBase>(pinterface),shared_from_this()));
@@ -2723,7 +2723,7 @@ class PyEnvironmentBase : public boost::enable_shared_from_this<PyEnvironmentBas
     PyProblemInstancePtr CreateProblem(const string& name)
     {
         RAVELOG_WARN("Environment.CreateProblem deprecated, use RaveCreateProblem\n");
-        return openravepy::RaveCreateProblem(shared_from_this(),name);
+        return openravepy::RaveCreateProblemInstance(shared_from_this(),name);
     }
     PyIkSolverBasePtr CreateIkSolver(const string& name)
     {
@@ -3641,9 +3641,9 @@ namespace openravepy
         return PyControllerBasePtr(new PyControllerBase(p,pyenv));
     }
 
-    PyProblemInstancePtr RaveCreateProblem(PyEnvironmentBasePtr pyenv, const std::string& name)
+    PyProblemInstancePtr RaveCreateProblemInstance(PyEnvironmentBasePtr pyenv, const std::string& name)
     {
-        ProblemInstancePtr p = OpenRAVE::RaveCreateProblem(pyenv->GetEnv(), name);
+        ProblemInstancePtr p = OpenRAVE::RaveCreateProblemInstance(pyenv->GetEnv(), name);
         if( !p ) {
             return PyProblemInstancePtr();
         }
@@ -3783,7 +3783,7 @@ BOOST_PYTHON_MODULE(openravepy_int)
         .value(RaveGetInterfaceName(PT_SensorSystem).c_str(),PT_SensorSystem)
         .value(RaveGetInterfaceName(PT_Controller).c_str(),PT_Controller)
         .value(RaveGetInterfaceName(PT_ProblemInstance).c_str(),PT_ProblemInstance)
-        .value(RaveGetInterfaceName(PT_InverseKinematicsSolver).c_str(),PT_InverseKinematicsSolver)
+        .value(RaveGetInterfaceName(PT_IkSolver).c_str(),PT_IkSolver)
         .value(RaveGetInterfaceName(PT_KinBody).c_str(),PT_KinBody)
         .value(RaveGetInterfaceName(PT_PhysicsEngine).c_str(),PT_PhysicsEngine)
         .value(RaveGetInterfaceName(PT_Sensor).c_str(),PT_Sensor)
@@ -4833,7 +4833,8 @@ In python, the syntax is::\n\n\
     def("RaveCreatePlanner",openravepy::RaveCreatePlanner,args("env","name"),DOXY_FN1(RaveCreatePlanner));
     def("RaveCreateSensorSystem",openravepy::RaveCreateSensorSystem,args("env","name"),DOXY_FN1(RaveCreateSensorSystem));
     def("RaveCreateController",openravepy::RaveCreateController,args("env","name"),DOXY_FN1(RaveCreateController));
-    def("RaveCreateProblem",openravepy::RaveCreateProblem,args("env","name"),DOXY_FN1(RaveCreateProblem));
+    def("RaveCreateProblem",openravepy::RaveCreateProblemInstance,args("env","name"),DOXY_FN1(RaveCreateProblemInstance));
+    def("RaveCreateProblemInstance",openravepy::RaveCreateProblemInstance,args("env","name"),DOXY_FN1(RaveCreateProblemInstance));
     def("RaveCreateIkSolver",openravepy::RaveCreateIkSolver,args("env","name"),DOXY_FN1(RaveCreateIkSolver));
     def("RaveCreatePhysicsEngine",openravepy::RaveCreatePhysicsEngine,args("env","name"),DOXY_FN1(RaveCreatePhysicsEngine));
     def("RaveCreateSensor",openravepy::RaveCreateSensor,args("env","name"),DOXY_FN1(RaveCreateSensor));

python/bindings/openravepy_int.h

@@ -354,7 +354,7 @@ namespace openravepy
     PyPlannerBasePtr RaveCreatePlanner(PyEnvironmentBasePtr pyenv, const std::string& name);
     PySensorSystemBasePtr RaveCreateSensorSystem(PyEnvironmentBasePtr pyenv, const std::string& name);
     PyControllerBasePtr RaveCreateController(PyEnvironmentBasePtr pyenv, const std::string& name);
-    PyProblemInstancePtr RaveCreateProblem(PyEnvironmentBasePtr pyenv, const std::string& name);
+    PyProblemInstancePtr RaveCreateProblemInstance(PyEnvironmentBasePtr pyenv, const std::string& name);
     PyIkSolverBasePtr RaveCreateIkSolver(PyEnvironmentBasePtr pyenv, const std::string& name);
     PyPhysicsEngineBasePtr RaveCreatePhysicsEngine(PyEnvironmentBasePtr pyenv, const std::string& name);
     PySensorBasePtr RaveCreateSensor(PyEnvironmentBasePtr pyenv, const std::string& name);