Merge remote-tracking branch 'origin/release-5.1'

ci/before_install_osx.sh

@@ -1,23 +1,26 @@
 brew tap dartsim/dart
 brew tap homebrew/science
 
-brew update
+brew update > /dev/null
 
-brew install git
-# brew install cmake   # installed cmake-3.0.2
-brew install assimp
-brew install fcl
-brew install bullet
-brew install flann     # 1.8.14
-# brew install boost   # installed boost-1.55.2
-brew install eigen     # 3.2.2
-brew install tinyxml   # 2.6.2
-brew install tinyxml2  # 2.2.0
-brew install libccd    #
-brew install nlopt     # 2.4.2
-brew install ipopt
-brew install ros/deps/urdfdom
-brew install ros/deps/urdfdom_headers
-brew install ros/deps/console_bridge
-brew install ros/deps/gtest
+PACKAGES='
+git
+cmake
+assimp
+fcl
+bullet
+flann
+boost
+eigen
+tinyxml
+tinyxml2
+libccd
+nlopt
+ipopt
+ros/deps/urdfdom
+ros/deps/urdfdom_headers
+ros/deps/console_bridge
+ros/deps/gtest
+'
 
+brew install $PACKAGES | grep -v '%$'

dart/common/LocalResourceRetriever.cpp

@@ -45,7 +45,7 @@ namespace dart {
 namespace common {
 
 //==============================================================================
-bool LocalResourceRetriever::exists(const Uri& _uri) const
+bool LocalResourceRetriever::exists(const Uri& _uri)
 {
   // Open and close the file to check if it exists. It would be more efficient
   // to stat() it, but that is not portable.
@@ -58,7 +58,7 @@ bool LocalResourceRetriever::exists(const Uri& _uri) const
 }
 
 //==============================================================================
-common::ResourcePtr LocalResourceRetriever::retrieve(const Uri& _uri) const
+common::ResourcePtr LocalResourceRetriever::retrieve(const Uri& _uri)
 {
   if(_uri.mScheme.get_value_or("file") != "file")
     return nullptr;

dart/common/LocalResourceRetriever.h

@@ -50,10 +50,10 @@ class LocalResourceRetriever : public virtual ResourceRetriever
   virtual ~LocalResourceRetriever() = default;
 
   // Documentation inherited.
-  bool exists(const Uri& _uri) const override;
+  bool exists(const Uri& _uri) override;
 
   // Documentation inherited.
-  ResourcePtr retrieve(const Uri& _uri) const override;
+  ResourcePtr retrieve(const Uri& _uri) override;
 };
 
 using LocalResourceRetrieverPtr = std::shared_ptr<LocalResourceRetriever>;

dart/common/ResourceRetriever.h

@@ -54,10 +54,16 @@ class ResourceRetriever
   virtual ~ResourceRetriever() = default;
 
   /// \brief Return whether the resource specified by a URI exists.
-  virtual bool exists(const Uri& _uri) const = 0;
+  virtual bool exists(const Uri& _uri) = 0;
 
   /// \brief Return the resource specified by a URI or nullptr on failure.
-  virtual ResourcePtr retrieve(const Uri& _uri) const = 0;
+  virtual ResourcePtr retrieve(const Uri& _uri) = 0;
+
+  // We don't const-qualify for exists and retrieve here. Derived classes of
+  // ResourceRetriever will be interacting with external resources that you
+  // don't necessarily have control over so we cannot guarantee that you get the
+  // same result every time with the same input Uri. Indeed, const-qualification
+  // for those functions is pointless.
 };
 
 using ResourceRetrieverPtr = std::shared_ptr<ResourceRetriever>;

dart/utils/CompositeResourceRetriever.cpp

@@ -74,7 +74,7 @@ bool CompositeResourceRetriever::addSchemaRetriever(
 }
 
 //==============================================================================
-bool CompositeResourceRetriever::exists(const common::Uri& _uri) const
+bool CompositeResourceRetriever::exists(const common::Uri& _uri)
 {
   for(const common::ResourceRetrieverPtr& resourceRetriever
       : getRetrievers(_uri))
@@ -87,7 +87,7 @@ bool CompositeResourceRetriever::exists(const common::Uri& _uri) const
 
 //==============================================================================
 common::ResourcePtr CompositeResourceRetriever::retrieve(
-  const common::Uri& _uri) const
+  const common::Uri& _uri)
 {
   const std::vector<common::ResourceRetrieverPtr> &retrievers
     = getRetrievers(_uri);

dart/utils/CompositeResourceRetriever.h

@@ -71,10 +71,10 @@ class CompositeResourceRetriever : public virtual common::ResourceRetriever
     const common::ResourceRetrieverPtr& _resourceRetriever);
 
   // Documentation inherited.
-  bool exists(const common::Uri& _uri) const override;
+  bool exists(const common::Uri& _uri) override;
 
   // Documentation inherited.
-  common::ResourcePtr retrieve(const common::Uri& _uri) const override;
+  common::ResourcePtr retrieve(const common::Uri& _uri) override;
 
 private:
   std::vector<common::ResourceRetrieverPtr> getRetrievers(

dart/utils/PackageResourceRetriever.cpp

@@ -71,7 +71,7 @@ void PackageResourceRetriever::addPackageDirectory(
 }
 
 //==============================================================================
-bool PackageResourceRetriever::exists(const common::Uri& _uri) const
+bool PackageResourceRetriever::exists(const common::Uri& _uri)
 {
   std::string packageName, relativePath;
   if (!resolvePackageUri(_uri, packageName, relativePath))
@@ -89,8 +89,7 @@ bool PackageResourceRetriever::exists(const common::Uri& _uri) const
 }
 
 //==============================================================================
-common::ResourcePtr PackageResourceRetriever::retrieve(
-    const common::Uri& _uri) const
+common::ResourcePtr PackageResourceRetriever::retrieve(const common::Uri& _uri)
 {
   std::string packageName, relativePath;
   if (!resolvePackageUri(_uri, packageName, relativePath))

dart/utils/PackageResourceRetriever.h

@@ -90,10 +90,10 @@ class PackageResourceRetriever : public virtual common::ResourceRetriever
                            const std::string& _packageDirectory);
 
   // Documentation inherited.
-  bool exists(const common::Uri& _uri) const override;
+  bool exists(const common::Uri& _uri) override;
 
   // Documentation inherited.
-  common::ResourcePtr retrieve(const common::Uri& _uri) const override;
+  common::ResourcePtr retrieve(const common::Uri& _uri) override;
 
 private:
   common::ResourceRetrieverPtr mLocalRetriever;

package.xml

@@ -22,6 +22,7 @@
   <buildtool_depend>cmake</buildtool_depend>
   <buildtool_depend>pkg-config</buildtool_depend>
   <depend>assimp</depend>
+  <depend>bullet</depend>
   <depend>eigen</depend>
   <depend>fcl</depend>
   <depend>glut</depend>

unittests/TestHelpers.h

@@ -404,41 +404,39 @@ struct TestResource : public dart::common::Resource
 //==============================================================================
 struct PresentResourceRetriever : public dart::common::ResourceRetriever
 {
-  bool exists(const dart::common::Uri& _uri) const override
+  bool exists(const dart::common::Uri& _uri) override
   {
     mExists.push_back(_uri.toString());
     return true;
   }
 
-  dart::common::ResourcePtr retrieve(
-          const dart::common::Uri& _uri) const override
+  dart::common::ResourcePtr retrieve(const dart::common::Uri& _uri) override
   {
     mRetrieve.push_back(_uri.toString());
     return std::make_shared<TestResource>();
   }
 
-  mutable std::vector<std::string> mExists;
-  mutable std::vector<std::string> mRetrieve;
+  std::vector<std::string> mExists;
+  std::vector<std::string> mRetrieve;
 };
 
 //==============================================================================
 struct AbsentResourceRetriever : public dart::common::ResourceRetriever
 {
-  bool exists(const dart::common::Uri& _uri) const override
+  bool exists(const dart::common::Uri& _uri) override
   {
     mExists.push_back(_uri.toString());
     return false;
   }
 
-  dart::common::ResourcePtr retrieve(
-          const dart::common::Uri& _uri) const override
+  dart::common::ResourcePtr retrieve(const dart::common::Uri& _uri) override
   {
     mRetrieve.push_back(_uri.toString());
     return nullptr;
   }
 
-  mutable std::vector<std::string> mExists;
-  mutable std::vector<std::string> mRetrieve;
+  std::vector<std::string> mExists;
+  std::vector<std::string> mRetrieve;
 };
 
 #endif // #ifndef DART_UNITTESTS_TEST_HELPERS_H