Support DART >= 6.6.2

personalrobotics · Jan 17, 2019 · 7acb48f · 7acb48f
1 parent 9ae008f
commit 7acb48f
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Showing 8 changed files with 29 additions and 1 deletion.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -126,7 +126,7 @@ include(FindPkgConfig)
 
 find_package(Boost REQUIRED COMPONENTS filesystem)
 
-find_package(DART 6.7.0 REQUIRED
+find_package(DART 6.6.2 REQUIRED
   COMPONENTS optimizer-nlopt utils
   OPTIONAL_COMPONENTS utils-urdf # for 'perception' target
   CONFIG

diff --git a/src/planner/World.cpp b/src/planner/World.cpp
@@ -38,7 +38,11 @@ std::unique_ptr<World> World::clone(const std::string& newName) const
   worldClone->mSkeletons.reserve(mSkeletons.size());
   for (std::size_t i = 0; i < mSkeletons.size(); ++i)
   {
+#if DART_VERSION_AT_LEAST(6,7,0)
     const auto clonedSkeleton = mSkeletons[i]->cloneSkeleton();
+#elif
+    const auto clonedSkeleton = mSkeletons[i]->clone();
+#endif
     clonedSkeleton->setConfiguration(mSkeletons[i]->getConfiguration());
     worldClone->addSkeleton(std::move(clonedSkeleton));
   }

diff --git a/tests/statespace/dart/test_MetaSkeletonStateSpace.cpp b/tests/statespace/dart/test_MetaSkeletonStateSpace.cpp
@@ -98,7 +98,11 @@ TEST(MetaSkeletonStateSpace, RevoluteJoint_CompatibleSkeletons)
       withBoundSpace.checkCompatibility(withoutBound.get()),
       std::invalid_argument);
 
+#if DART_VERSION_AT_LEAST(6,7,0)
   auto withoutBoundClone = withoutBound->cloneSkeleton();
+#else
+  auto withoutBoundClone = withoutBound->clone();
+#endif
   EXPECT_TRUE(withoutBoundSpace.isCompatible(withoutBoundClone.get()));
   EXPECT_NO_THROW(
       withoutBoundSpace.checkCompatibility(withoutBoundClone.get()));

diff --git a/tests/statespace/test_CartesianProduct.cpp b/tests/statespace/test_CartesianProduct.cpp
@@ -20,7 +20,11 @@ TEST(CartesianProduct, Clone)
   for (auto i = 0u; i < 5u; ++i)
   {
     auto s1 = space.createState();
+#if DART_VERSION_AT_LEAST(6,7,0)
     const auto angle = dart::math::Random::uniform(-M_PI, M_PI);
+#else
+    const auto angle = dart::math::random(-M_PI, M_PI);
+#endif
     s1.getSubStateHandle<SO2>(0).fromAngle(angle);
     s1.getSubStateHandle<R2>(1).setValue(Eigen::Vector2d::Random());
 

diff --git a/tests/statespace/test_SE2.cpp b/tests/statespace/test_SE2.cpp
@@ -10,7 +10,11 @@ TEST(SE2, Clone)
 
   for (auto i = 0u; i < 5u; ++i)
   {
+#if DART_VERSION_AT_LEAST(6,7,0)
     const auto angle = dart::math::Random::uniform(-M_PI, M_PI);
+#else
+    const auto angle = dart::math::random(-M_PI, M_PI);
+#endif
     Eigen::Isometry2d pose = Eigen::Isometry2d::Identity();
     pose.rotate(Eigen::Rotation2Dd(angle));
     pose.translation() = Eigen::Vector2d::Random();

diff --git a/tests/statespace/test_SE3.cpp b/tests/statespace/test_SE3.cpp
@@ -12,7 +12,11 @@ TEST(SE3, Clone)
   for (auto i = 0u; i < 5u; ++i)
   {
     Eigen::Isometry3d pose = Eigen::Isometry3d::Identity();
+#if DART_VERSION_AT_LEAST(6,7,0)
     const auto angle = dart::math::Random::uniform(-M_PI, M_PI);
+#else
+    const auto angle = dart::math::random(-M_PI, M_PI);
+#endif
     const auto axis = Eigen::Vector3d::Random().normalized();
     const auto angleAxis = Eigen::AngleAxisd(angle, axis);
     pose.linear() = angleAxis.toRotationMatrix();

diff --git a/tests/statespace/test_SO2.cpp b/tests/statespace/test_SO2.cpp
@@ -33,7 +33,11 @@ TEST(SO2, Clone)
 
   for (auto i = 0u; i < 5u; ++i)
   {
+#if DART_VERSION_AT_LEAST(6,7,0)
     const auto angle = dart::math::Random::uniform(-M_PI, M_PI);
+#else
+    const auto angle = dart::math::random(-M_PI, M_PI);
+#endif
 
     auto s1 = so2.createState();
     s1.fromAngle(angle);

diff --git a/tests/statespace/test_SO3.cpp b/tests/statespace/test_SO3.cpp
@@ -10,7 +10,11 @@ TEST(SO3, Clone)
 
   for (auto i = 0u; i < 5u; ++i)
   {
+#if DART_VERSION_AT_LEAST(6,7,0)
     const auto angle = dart::math::Random::uniform(-M_PI, M_PI);
+#else
+    const auto angle = dart::math::random(-M_PI, M_PI);
+#endif
     const auto axis = Eigen::Vector3d::Random().normalized();
     const auto angleAxis = Eigen::AngleAxisd(angle, axis);
     const Eigen::Quaterniond quat(angleAxis);