From 7acb48f62e1dbddfa5169697b385270502ab3ef6 Mon Sep 17 00:00:00 2001
From: Jeongseok Lee <jslee02@gmail.com>
Date: Wed, 16 Jan 2019 16:41:40 -0800
Subject: [PATCH] Support DART >= 6.6.2

---
 CMakeLists.txt                                        | 2 +-
 src/planner/World.cpp                                 | 4 ++++
 tests/statespace/dart/test_MetaSkeletonStateSpace.cpp | 4 ++++
 tests/statespace/test_CartesianProduct.cpp            | 4 ++++
 tests/statespace/test_SE2.cpp                         | 4 ++++
 tests/statespace/test_SE3.cpp                         | 4 ++++
 tests/statespace/test_SO2.cpp                         | 4 ++++
 tests/statespace/test_SO3.cpp                         | 4 ++++
 8 files changed, 29 insertions(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 750784ba52..08f0e062b3 100644
--- 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
index 0472a7ccba..600546feb2 100644
--- 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
index b593f60d0d..8d5974181d 100644
--- 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
index b169d20038..5851f57715 100644
--- 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
index e28453aa0c..f5e7d52c8a 100644
--- 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
index 68fbb42e58..635ad87bb8 100644
--- 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
index 83510bf704..083c760ca1 100644
--- 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
index fae78f890c..d611bca371 100644
--- 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);