Commit fb5efea3 authored by Guillem Alenyà's avatar Guillem Alenyà
Browse files

trunk/tags/branches creation

parent f0628817
# Pre-requisites about cmake itself
CMAKE_MINIMUM_REQUIRED(VERSION 2.4)
if(COMMAND cmake_policy)
cmake_policy(SET CMP0005 NEW)
cmake_policy(SET CMP0003 NEW)
endif(COMMAND cmake_policy)
# The project name and the type of project
PROJECT(comm)
SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/bin)
SET(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib)
SET(CMAKE_INSTALL_PREFIX /usr/local)
IF (NOT CMAKE_BUILD_TYPE)
SET(CMAKE_BUILD_TYPE "DEBUG")
ENDIF (NOT CMAKE_BUILD_TYPE)
SET(CMAKE_C_FLAGS_DEBUG "-g -Wall")
SET(CMAKE_C_FLAGS_RELEASE "-O3")
ADD_SUBDIRECTORY(src/)
ADD_SUBDIRECTORY(test/)
FIND_PACKAGE(Doxygen)
FIND_PATH(IRI_DOC_DIR doxygen.conf ${CMAKE_SOURCE_DIR}/doc/iri_doc/)
IF (IRI_DOC_DIR)
ADD_CUSTOM_TARGET (doc ${DOXYGEN_EXECUTABLE} ${CMAKE_SOURCE_DIR}/doc/iri_doc/doxygen.conf)
ELSE (IRI_DOC_DIR)
ADD_CUSTOM_TARGET (doc ${DOXYGEN_EXECUTABLE} ${CMAKE_SOURCE_DIR}/doc/doxygen.conf)
ENDIF (IRI_DOC_DIR)
ADD_CUSTOM_TARGET (distclean @echo cleaning cmake files)
IF (UNIX)
ADD_CUSTOM_COMMAND(
COMMENT "distribution clean"
COMMAND make ARGS clean
COMMAND rm ARGS -rf ${CMAKE_SOURCE_DIR}/build/*
TARGET distclean
)
ELSE(UNIX)
ADD_CUSTOM_COMMAND(
COMMENT "distclean only implemented in unix"
TARGET distclean
)
ENDIF(UNIX)
ADD_CUSTOM_TARGET (uninstall @echo uninstall package)
IF (UNIX)
ADD_CUSTOM_COMMAND(
COMMENT "uninstall package"
COMMAND xargs ARGS rm < install_manifest.txt
TARGET uninstall
)
ELSE(UNIX)
ADD_CUSTOM_COMMAND(
COMMENT "uninstall only implemented in unix"
TARGET uninstall
)
ENDIF(UNIX)
IF (UNIX)
SET(CPACK_PACKAGE_FILE_NAME "iri-${PROJECT_NAME}-dev-${CPACK_PACKAGE_VERSION}${DISTRIB}${CPACK_DEBIAN_PACKAGE_ARCHITECTURE}")
SET(CPACK_PACKAGE_NAME "iri-${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 "labrobotica@iri.upc.edu")
SET(CPACK_SET_DESTDIR "ON") # Necessary because of the absolute install paths
INCLUDE(CPack)
ELSE(UNIX)
ADD_CUSTOM_COMMAND(
COMMENT "packaging only implemented in unix"
TARGET uninstall
)
ENDIF(UNIX)
FIND_PATH(segway_rmp_400_INCLUDE_DIR segway_RMP400.h segway_RMP400_exceptions.h /usr/include/iridrivers /usr/local/include/iridrivers)
FIND_LIBRARY(segway_rmp_400_LIBRARY
NAMES segway_rmp_400
PATHS /usr/lib /usr/local/lib /usr/local/lib/iridrivers)
IF (segway_rmp_400_INCLUDE_DIR AND segway_rmp_400_LIBRARY)
SET(segway_rmp_400_FOUND TRUE)
ENDIF (segway_rmp_400_INCLUDE_DIR AND segway_rmp_400_LIBRARY)
IF (segway_rmp_400_FOUND)
IF (NOT segway_rmp_400_FIND_QUIETLY)
MESSAGE(STATUS "Found Segway RMP400 driver: ${segway_rmp_400_LIBRARY}")
ENDIF (NOT segway_rmp_400_FIND_QUIETLY)
ELSE (segway_rmp_400_FOUND)
IF (segway_rmp_400_FIND_REQUIRED)
MESSAGE(FATAL_ERROR "Could not find segway RMP200 driver")
ENDIF (segway_rmp_400_FIND_REQUIRED)
ENDIF (segway_rmp_400_FOUND)
Copyright (C) 2009-2010 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
Author cetto (cetto@iri.upc.edu)
All rights reserved.
This file is part of Segway RMP 400 driver library
Segway RMP400 driver library is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>
# Doxyfile 1.5.5
@INCLUDE_PATH = ../doc/
@INCLUDE = doxygen_project_name.conf
#---------------------------------------------------------------------------
# Project related configuration options
#---------------------------------------------------------------------------
DOXYFILE_ENCODING = UTF-8
PROJECT_NUMBER =
OUTPUT_DIRECTORY = ../doc
CREATE_SUBDIRS = NO
OUTPUT_LANGUAGE = English
BRIEF_MEMBER_DESC = YES
REPEAT_BRIEF = NO
ABBREVIATE_BRIEF =
ALWAYS_DETAILED_SEC = NO
INLINE_INHERITED_MEMB = NO
FULL_PATH_NAMES = YES
STRIP_FROM_PATH =
STRIP_FROM_INC_PATH =
SHORT_NAMES = NO
JAVADOC_AUTOBRIEF = NO
QT_AUTOBRIEF = NO
MULTILINE_CPP_IS_BRIEF = NO
DETAILS_AT_TOP = NO
INHERIT_DOCS = YES
SEPARATE_MEMBER_PAGES = NO
TAB_SIZE = 8
ALIASES =
OPTIMIZE_OUTPUT_FOR_C = YES
OPTIMIZE_OUTPUT_JAVA = NO
OPTIMIZE_FOR_FORTRAN = NO
OPTIMIZE_OUTPUT_VHDL = NO
BUILTIN_STL_SUPPORT = NO
CPP_CLI_SUPPORT = NO
SIP_SUPPORT = NO
DISTRIBUTE_GROUP_DOC = NO
SUBGROUPING = YES
TYPEDEF_HIDES_STRUCT = NO
#---------------------------------------------------------------------------
# Build related configuration options
#---------------------------------------------------------------------------
EXTRACT_ALL = NO
EXTRACT_PRIVATE = NO
EXTRACT_STATIC = NO
EXTRACT_LOCAL_CLASSES = YES
EXTRACT_LOCAL_METHODS = NO
EXTRACT_ANON_NSPACES = NO
HIDE_UNDOC_MEMBERS = NO
HIDE_UNDOC_CLASSES = NO
HIDE_FRIEND_COMPOUNDS = NO
HIDE_IN_BODY_DOCS = NO
INTERNAL_DOCS = NO
CASE_SENSE_NAMES = YES
HIDE_SCOPE_NAMES = NO
SHOW_INCLUDE_FILES = YES
INLINE_INFO = YES
SORT_MEMBER_DOCS = NO
SORT_BRIEF_DOCS = NO
SORT_GROUP_NAMES = NO
SORT_BY_SCOPE_NAME = NO
GENERATE_TODOLIST = YES
GENERATE_TESTLIST = YES
GENERATE_BUGLIST = YES
GENERATE_DEPRECATEDLIST= YES
ENABLED_SECTIONS =
MAX_INITIALIZER_LINES = 30
SHOW_USED_FILES = YES
SHOW_DIRECTORIES = YES
FILE_VERSION_FILTER =
#---------------------------------------------------------------------------
# configuration options related to warning and progress messages
#---------------------------------------------------------------------------
QUIET = YES
WARNINGS = YES
WARN_IF_UNDOCUMENTED = YES
WARN_IF_DOC_ERROR = YES
WARN_NO_PARAMDOC = NO
WARN_FORMAT = "$file:$line: $text"
WARN_LOGFILE =
#---------------------------------------------------------------------------
# configuration options related to the input files
#---------------------------------------------------------------------------
INPUT = ../src \
../doc/main.dox
INPUT_ENCODING = UTF-8
FILE_PATTERNS = *.c \
*.h \
*.cpp
RECURSIVE = YES
EXCLUDE =
EXCLUDE_SYMLINKS = NO
EXCLUDE_PATTERNS = *.tab.c \
*.tab.h \
lex* \
*glr.h \
*llr.h \
*glr.c \
*llr.c \
*general.h
EXCLUDE_SYMBOLS =
EXAMPLE_PATH = ../src/examples
EXAMPLE_PATTERNS =
EXAMPLE_RECURSIVE = NO
IMAGE_PATH = ../doc/images
INPUT_FILTER =
FILTER_PATTERNS =
FILTER_SOURCE_FILES = NO
#---------------------------------------------------------------------------
# configuration options related to source browsing
#---------------------------------------------------------------------------
SOURCE_BROWSER = YES
INLINE_SOURCES = NO
STRIP_CODE_COMMENTS = YES
REFERENCED_BY_RELATION = YES
REFERENCES_RELATION = YES
REFERENCES_LINK_SOURCE = YES
USE_HTAGS = NO
VERBATIM_HEADERS = YES
#---------------------------------------------------------------------------
# configuration options related to the alphabetical class index
#---------------------------------------------------------------------------
ALPHABETICAL_INDEX = YES
COLS_IN_ALPHA_INDEX = 5
IGNORE_PREFIX =
#---------------------------------------------------------------------------
# configuration options related to the HTML output
#---------------------------------------------------------------------------
GENERATE_HTML = YES
HTML_OUTPUT = html
HTML_FILE_EXTENSION = .html
HTML_HEADER =
HTML_FOOTER =
HTML_STYLESHEET =
HTML_ALIGN_MEMBERS = YES
GENERATE_HTMLHELP = NO
GENERATE_DOCSET = NO
DOCSET_FEEDNAME = "Doxygen generated docs"
DOCSET_BUNDLE_ID = org.doxygen.Project
HTML_DYNAMIC_SECTIONS = NO
CHM_FILE =
HHC_LOCATION =
GENERATE_CHI = NO
BINARY_TOC = NO
TOC_EXPAND = NO
DISABLE_INDEX = NO
ENUM_VALUES_PER_LINE = 4
GENERATE_TREEVIEW = NO
TREEVIEW_WIDTH = 250
#---------------------------------------------------------------------------
# configuration options related to the LaTeX output
#---------------------------------------------------------------------------
GENERATE_LATEX = NO
LATEX_OUTPUT = latex
LATEX_CMD_NAME = latex
MAKEINDEX_CMD_NAME = makeindex
COMPACT_LATEX = NO
PAPER_TYPE = a4
EXTRA_PACKAGES =
LATEX_HEADER =
PDF_HYPERLINKS = YES
USE_PDFLATEX = NO
LATEX_BATCHMODE = NO
LATEX_HIDE_INDICES = NO
#---------------------------------------------------------------------------
# configuration options related to the RTF output
#---------------------------------------------------------------------------
GENERATE_RTF = NO
RTF_OUTPUT = rtf
COMPACT_RTF = NO
RTF_HYPERLINKS = NO
RTF_STYLESHEET_FILE =
RTF_EXTENSIONS_FILE =
#---------------------------------------------------------------------------
# configuration options related to the man page output
#---------------------------------------------------------------------------
GENERATE_MAN = NO
MAN_OUTPUT = man
MAN_EXTENSION = .3
MAN_LINKS = NO
#---------------------------------------------------------------------------
# configuration options related to the XML output
#---------------------------------------------------------------------------
GENERATE_XML = NO
XML_OUTPUT = xml
XML_SCHEMA =
XML_DTD =
XML_PROGRAMLISTING = YES
#---------------------------------------------------------------------------
# configuration options for the AutoGen Definitions output
#---------------------------------------------------------------------------
GENERATE_AUTOGEN_DEF = NO
#---------------------------------------------------------------------------
# configuration options related to the Perl module output
#---------------------------------------------------------------------------
GENERATE_PERLMOD = NO
PERLMOD_LATEX = NO
PERLMOD_PRETTY = YES
PERLMOD_MAKEVAR_PREFIX =
#---------------------------------------------------------------------------
# Configuration options related to the preprocessor
#---------------------------------------------------------------------------
ENABLE_PREPROCESSING = YES
MACRO_EXPANSION = NO
EXPAND_ONLY_PREDEF = NO
SEARCH_INCLUDES = YES
INCLUDE_PATH =
INCLUDE_FILE_PATTERNS =
PREDEFINED = _USE_MPI=1
EXPAND_AS_DEFINED =
SKIP_FUNCTION_MACROS = YES
#---------------------------------------------------------------------------
# Configuration::additions related to external references
#---------------------------------------------------------------------------
TAGFILES =
GENERATE_TAGFILE =
ALLEXTERNALS = NO
EXTERNAL_GROUPS = YES
PERL_PATH = /usr/bin/perl
#---------------------------------------------------------------------------
# Configuration options related to the dot tool
#---------------------------------------------------------------------------
CLASS_DIAGRAMS = YES
MSCGEN_PATH =
HIDE_UNDOC_RELATIONS = YES
HAVE_DOT = YES
CLASS_GRAPH = YES
COLLABORATION_GRAPH = YES
GROUP_GRAPHS = YES
UML_LOOK = NO
TEMPLATE_RELATIONS = NO
INCLUDE_GRAPH = NO
INCLUDED_BY_GRAPH = NO
CALL_GRAPH = YES
CALLER_GRAPH = YES
GRAPHICAL_HIERARCHY = YES
DIRECTORY_GRAPH = NO
DOT_IMAGE_FORMAT = png
DOT_PATH =
DOTFILE_DIRS =
DOT_GRAPH_MAX_NODES = 50
MAX_DOT_GRAPH_DEPTH = 2
DOT_TRANSPARENT = YES
DOT_MULTI_TARGETS = NO
GENERATE_LEGEND = YES
DOT_CLEANUP = YES
#---------------------------------------------------------------------------
# Configuration::additions related to the search engine
#---------------------------------------------------------------------------
SEARCHENGINE = NO
PROJECT_NAME = "Segway RMP400 driver"
/*! \mainpage segway RMP400 driver
\section Introduction
\subsection Pre-Requisites
This package requires of the following libraries and packages
- <A href="http://www.cmake.org">cmake</A>, a cross-platform build system.
- <A href="http://www.doxygen.org">doxygen</a> and
<A href="http://www.graphviz.org">graphviz</a> to generate the documentation.
- stdc++,
.
Under linux all of these utilities are available in ready-to-use packages.
Under MacOS most of the packages are available via <a href="http://www.finkproject.org/">fink</a>. <br>
\subsection Compilation
Just download this package, uncompress it, and execute
- cd build
- cmake ..
.
to generate the makefile and then
- make
.
to obtain the shared library (in this case called <em>iriutils.so</em>) and
also all the example programs.
The <em>cmake</em> only need to be executed once (make will automatically call
<em>cmake</em> if you modify one of the <em>CMakeList.txt</em> files).
To generate this documentation type
- make doc
.
The files in the <em>build</em> directory are genetated by <em>cmake</em>
and <em>make</em> and can be safely removed.
After doing so you will need to call cmake manually again.
\subsection Configuration
The default build mode is DEBUG. That is, objects and executables
include debug information.
The RELEASE build mode optimizes for speed. To build in this mode
execute
- cmake .. -DCMAKE_BUILD_TYPE=RELEASE
.
The release mode will be kept until next time cmake is executed.
\subsection Installation
In order to be able to use the library, it it necessary to copy it into the system.
To do that, execute
- make install
.
as root and the shared libraries will be copied to <em>/usr/local/lib/iriutils</em> directory
and the header files will be copied to <em>/usr/local/include/iriutils</em> dierctory. At
this point, the library may be used by any user.
To remove the library from the system, exceute
- make uninstall
.
as root, and all the associated files will be removed from the system.
\section Customization
To build a new application using these library, first it is necessary to locate if the library
has been installed or not using the following command
- FIND_PACKAGE(library_name REQUIRED)
In the case that the package is present, it is necessary to add the header files directory to
the include directory path by using
- INCLUDE_DIRECTORIES(${library_name_INCLUDE_DIR})
Finally, it is also nevessary to link with the desired libraries by using the following command
- TARGET_LINK_LIBRARIES(<executable name> ${library_name_LIBRARY})
.
\section License
This package is licensed under a
<a href="http://www.gnu.org/licenses/lgpl.html">
LGPL 3.0 License</a>.
\section Disclaimer
This is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
# edit the following line to add all the source code files of the library
SET(sources segway_RMP400.cpp segway_RMP400_exception.cpp)
# edit the following line to add all the header files of the library
SET(headers segway_RMP400.h segway_RMP400_exception.h)
# edit the following line to find the necessary packages
FIND_PACKAGE(iriutils REQUIRED)
FIND_PACKAGE(comm REQUIRED)
FIND_PACKAGE(segway_rmp_200 REQUIRED)
# edit the following line to add the necessary include directories
INCLUDE_DIRECTORIES(.)
INCLUDE_DIRECTORIES(${iriutils_INCLUDE_DIR})
INCLUDE_DIRECTORIES(${comm_INCLUDE_DIR})
INCLUDE_DIRECTORIES(${segway_rmp_200_INCLUDE_DIR})
ADD_LIBRARY(segway_rmp_400 SHARED ${sources})
#edit the following line to add the necessary system libraries (if any)
TARGET_LINK_LIBRARIES(segway_rmp_400 ${iriutils_LIBRARY})
TARGET_LINK_LIBRARIES(segway_rmp_400 ${comm_LIBRARY})
TARGET_LINK_LIBRARIES(segway_rmp_400 ${segway_rmp_200_LIBRARY})
INSTALL(TARGETS segway_rmp_400
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib/iridrivers
ARCHIVE DESTINATION lib/iridrivers
)
INSTALL(FILES ${headers} DESTINATION include/iridrivers)
INSTALL(FILES ../Findsegway_rmp_400.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
# edit the following line to add the source code for the example and the name of the executable
ADD_EXECUTABLE(test_segwayRMP400 test_segwayRMP400.cpp)
# edit the following line to add the necessary libraries
TARGET_LINK_LIBRARIES(test_segwayRMP400 ${segway_rmp_200_LIBRARY} segway_rmp_200)
#include "segway_RMP400.h"
#include <iostream>
void wait()
{
// std::puts("Press any key to continue...");
// std::getchar();
sleep(1);
}
/*void tensecs(CSegwayRMP400* segway)
{
int i;
//std::string info;
// std::ostream info;
for(i=0;i<10;i++)
{
sleep(1);
// segway->get_info(info);
std::cout << (*segway) << std::endl;
}
}
*/
int main(int argc, char *argv[])
{
CSegwayRMP400 *segway;
segway=new CSegwayRMP400();
segway->set_operation_mode(tractor);
segway->reset_integrators();
std::cout << "CAUTION!! THIS PROGRAM MOVES THE SEGWAYRMP400" << std::endl;
std::cout << "You need at least 4x4 meter clearance around the robot for these tests!" << std::endl;
std::cout << "No obstacle avoidance is implemented. If there is something in the way the robot will hit it!" << std::endl;
std::cout << "Moving 0.5 meters at 0.05m/sec" << std::endl;
wait();
segway->move(0.05,0.0); // 5cm per second 10 seconds = half a meter
int i;
for(i=0;i<10;i++)
{
sleep(1);
std::cout << (*segway) << std::endl;
}
segway->stop();
sleep(2);
std::cout << "Rotating 360 degrees with center of rotation on the side of the base" << std::endl;
wait();
segway->move(0.0,0.1); // one 10th rev per second, 10 seconds = 360 degrees turn
// center right on the side of the base (about 54 cm from center of base)
// tensecs(segway);
segway->stop();
sleep(2);
std::cout << "Rotating 360 degrees with center of rotation 1m away from the base center" << std::endl;
wait();
segway->move(0.1,0.1); // one 10th rev per second, 10 seconds = 360 degrees turn
// center of rotation vT/vR = 1meter from the center of the base
// tensecs(segway);
segway->stop();
sleep(2);
std::cout << "Rotating backwards 360 degrees with center of rotation 1m away from the base center" << std::endl;
wait();
segway->move(-0.1,0.1); // one 10th rev per second, 10 seconds = 360 degrees turn BACKWARDS
// center of rotation vT/vR = 1meter from the center of the base
// tensecs(segway);
segway->stop();
delete segway;
return 0;
}
#include "segway_RMP400.h"
#include "segway_RMP400_exception.h"
#include <iridrivers/segway_rmp200_exceptions.h>
#include <cmath>
CSegwayRMP400::CSegwayRMP400() :
status_(rmp400_off),
forward_displacement_(0.0),
yaw_displacement_(0.0),
yaw_rate_ (0.0),
wheel_radius_(default_wheel_radius_),
use_correction_wheel_factor_(true)
{
scan_ftdi_for_segways();
}
CSegwayRMP400::CSegwayRMP400(const std::string serial1, const std::string serial2) :
status_(rmp400_off),
forward_displacement_(0.0),
yaw_displacement_(0.0),
yaw_rate_ (0.0),
wheel_radius_(default_wheel_radius_),
use_correction_wheel_factor_(true)
{
if (serial1 == serial2)
throw RMP400IdemSerialException(_HERE_, serial1);
scan_ftdi_for_segways();
for (int i = 0; i < serial_ftdi_segway_devices_.size(); i++) {