From 6277bd0b76a586a4c03b8738a54dd8ed37e14418 Mon Sep 17 00:00:00 2001
From: asantamaria <somriu@gmail.com>
Date: Mon, 27 Jun 2016 17:58:40 +0200
Subject: [PATCH] change on function and added package deb stuff
---
CMakeLists.txt | 19 +++++++++++++++++++
Findquadarm_task_priority_ctrl.cmake | 2 +-
src/quadarm_task_priority_ctrl.cpp | 7 +++----
src/quadarm_task_priority_ctrl.h | 2 +-
4 files changed, 24 insertions(+), 6 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7cab2a2..46768a5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -65,4 +65,23 @@ ELSE(UNIX)
)
ENDIF(UNIX)
+IF (UNIX)
+ SET(CPACK_PACKAGE_FILE_NAME "iri-${PROJECT_NAME}-dev-${CPACK_PACKAGE_VERSION}${CPACK_DEBIAN_PACKAGE_ARCHITECTURE}")
+ SET(CPACK_PACKAGE_NAME "iri-${PROJECT_NAME}-dev")
+ SET(CPACK_PACKAGE_DESCRIPTION_SUMMARY "Part of IRI-laboratory libraries. More information at http://wikiri.upc.es/index.php/Robotics_Lab")
+ SET(CPACK_PACKAGING_INSTALL_PREFIX ${CMAKE_INSTALL_PREFIX})
+ SET(CPACK_GENERATOR "DEB")
+ SET(CPACK_DEBIAN_PACKAGE_MAINTAINER "galenya - labrobotica@iri.upc.edu")
+ SET(CPACK_SET_DESTDIR "ON") # Necessary because of the absolute install paths
+ SET(BOOST_MIN_VERSION 1.48.0.2)
+ SET(KDL_MIN_VERSION 0.99)
+ SET(CPACK_DEBIAN_PACKAGE_DEPENDS "libboost-all-dev (>= ${BOOST_MIN_VERSION}), orocos-kdl (>= ${KDL_MIN_VERSION}), libeigen3-dev")
+
+ INCLUDE(CPack)
+ELSE(UNIX)
+ ADD_CUSTOM_COMMAND(
+ COMMENT "packaging only implemented in unix"
+ TARGET uninstall
+ )
+ENDIF(UNIX)
diff --git a/Findquadarm_task_priority_ctrl.cmake b/Findquadarm_task_priority_ctrl.cmake
index bb2fa9c..f9ffe90 100644
--- a/Findquadarm_task_priority_ctrl.cmake
+++ b/Findquadarm_task_priority_ctrl.cmake
@@ -3,7 +3,7 @@ FIND_PATH(quadarm_task_priority_ctrl_INCLUDE_DIR quadarm_task_priority_ctrl.h /u
FIND_LIBRARY(quadarm_task_priority_ctrl_LIBRARY
NAMES quadarm_task_priority_ctrl
- PATHS /usr/lib /usr/local/lib /usr/local/lib/iridrivers)
+ PATHS /usr/lib /usr/lib/iridrivers /usr/local/lib /usr/local/lib/iridrivers)
IF (quadarm_task_priority_ctrl_INCLUDE_DIR AND quadarm_task_priority_ctrl_LIBRARY)
SET(quadarm_task_priority_ctrl_FOUND TRUE)
diff --git a/src/quadarm_task_priority_ctrl.cpp b/src/quadarm_task_priority_ctrl.cpp
index 06f1415..d442bab 100644
--- a/src/quadarm_task_priority_ctrl.cpp
+++ b/src/quadarm_task_priority_ctrl.cpp
@@ -45,7 +45,7 @@ void CQuadarm_Task_Priority_Ctrl::quadarm_task_priority_ctrl(const MatrixXd& qua
this->quad_.pos = quad.pos;
uam_kinematics();
- uam_control();
+ uam_hierarchical_ctrl();
// Arm positions increment
//this->arm_.jnt_pos = this->arm_.jnt_pos+(this->uam_.vel.block(6,0,this->arm_.nj,1) * this->ctrl_params_.dt);
@@ -202,8 +202,8 @@ MatrixXd CQuadarm_Task_Priority_Ctrl::quadrotor_jacobian()
}
// Control
-void CQuadarm_Task_Priority_Ctrl::uam_control(){
-
+void CQuadarm_Task_Priority_Ctrl::uam_hierarchical_ctrl()
+{
// TASK 0: Security task (Inflation radius) _____________________
// task Jacobian and sigma
@@ -332,7 +332,6 @@ void CQuadarm_Task_Priority_Ctrl::uam_control(){
this->jacobians_.vs = JVS;
this->jacobians_.cog = JG;
this->jacobians_.jl = JL;
-
}
void CQuadarm_Task_Priority_Ctrl::task_infrad(MatrixXd& JIR,MatrixXd& JIR_pseudo,MatrixXd& sigmaIR)
{
diff --git a/src/quadarm_task_priority_ctrl.h b/src/quadarm_task_priority_ctrl.h
index 4364817..f52dae8 100644
--- a/src/quadarm_task_priority_ctrl.h
+++ b/src/quadarm_task_priority_ctrl.h
@@ -197,7 +197,7 @@ class CQuadarm_Task_Priority_Ctrl
* Compute the motions of the quadrotor and arm joints
*
*/
- void uam_control();
+ void uam_hierarchical_ctrl();
/**
* \brief Task: Visual Servoing
--
GitLab