End Effector, Inverse Kinematics, and OpenSceneGraph

CMakeLists.txt

@@ -65,6 +65,7 @@ if(MSVC)
 else()
   option(BUILD_SHARED_LIBS "Build shared libraries" ON)
 endif()
+option(DART_BUILD_OSGDART "Build osgDart library" ON)
 option(DART_BUILD_EXAMPLES "Build examples" ON)
 option(DART_BUILD_UNITTESTS "Build unit tests" ON)
 
@@ -356,15 +357,6 @@ if(NOT BUILD_CORE_ONLY)
                         ${TINYXML_LIBRARIES}
                         ${TINYXML2_LIBRARIES}
   )
-  if(HAVE_NLOPT)
-    set(DART_DEPENDENCIES ${DART_DEPENDENCIES} ${NLOPT_LIBRARIES})
-  endif()
-  if(HAVE_IPOPT)
-    set(DART_DEPENDENCIES ${DART_DEPENDENCIES} ${IPOPT_LIBRARIES})
-  endif()
-  if(HAVE_SHARK)
-    set(DART_DEPENDENCIES ${DART_DEPENDENCIES} ${SHARK_LIBRARIES})
-  endif()
 endif()
 
 #===============================================================================
@@ -481,6 +473,7 @@ message(STATUS "Build type       : ${CMAKE_BUILD_TYPE}")
 message(STATUS "BUILD_SHARED_LIBS: ${BUILD_SHARED_LIBS}")
 message(STATUS "ENABLE_OPENMP    : ${ENABLE_OPENMP}")
 message(STATUS "Build core only  : ${BUILD_CORE_ONLY}")
+message(STATUS "Build osgDart    : ${DART_BUILD_OSGDART}")
 message(STATUS "Build examples   : ${DART_BUILD_EXAMPLES}")
 message(STATUS "Build unit tests : ${DART_BUILD_UNITTESTS}")
 message(STATUS "Install path     : ${CMAKE_INSTALL_PREFIX}")
@@ -547,18 +540,22 @@ add_subdirectory(dart)
 
 if(NOT BUILD_CORE_ONLY)
 
+  if(DART_BUILD_OSGDART)
+    add_subdirectory(osgDart)
+  endif(DART_BUILD_OSGDART)
+
   # Unit tests
   if(DART_BUILD_UNITTESTS)
     enable_testing()
     add_subdirectory(unittests)
-  endif()
+  endif(DART_BUILD_UNITTESTS)
 
   # Examples
   if(DART_BUILD_EXAMPLES)
     add_subdirectory(apps)
-  endif()
+  endif(DART_BUILD_EXAMPLES)
 
-endif()
+endif(NOT BUILD_CORE_ONLY)
 
 #===============================================================================
 # Export targets

cmake/DARTConfig.cmake.in

@@ -19,6 +19,23 @@ set(DART_LIBRARY_DIRS "@CMAKE_INSTALL_PREFIX@/lib" "@Boost_LIBRARY_DIRS@")
 
 include("${CURRENT_DIR}/DARTTargets.cmake")
 
-set(DART_LIBRARIES dart)
+find_library(dart_location NAMES "dart" PATHS "@CMAKE_INSTALL_PREFIX@/lib")
+set(DART_LIBRARIES "${dart_location}")
+
+if(DART_FIND_COMPONENTS)
+  foreach(comp ${DART_FIND_COMPONENTS})
+    find_library(dart_${comp}_location
+                 NAMES "dart-${comp}"
+                 PATHS "@CMAKE_INSTALL_PREFIX@/lib")
+    if(dart_${comp}_location)
+      list(APPEND DART_LIBRARIES "${dart_${comp}_location}")
+    else()
+      if(DART_FIND_REQUIRED_${comp})
+        message(FATAL_ERROR "dart-${comp} not available")
+      endif(DART_FIND_REQUIRED_${comp})
+    endif(dart_${comp}_location)
+  endforeach(comp)
+endif(DART_FIND_COMPONENTS)
+
 
 set(DART_VERSION @DART_VERSION@)

dart/CMakeLists.txt

@@ -13,14 +13,14 @@ add_subdirectory(collision)
 add_subdirectory(common)
 add_subdirectory(constraint)
 add_subdirectory(dynamics)
+add_subdirectory(optimizer)
 add_subdirectory(integration)
 add_subdirectory(lcpsolver)
 add_subdirectory(math)
 add_subdirectory(renderer)
 add_subdirectory(simulation)
 if(NOT BUILD_CORE_ONLY)
   add_subdirectory(gui)
-  add_subdirectory(optimizer)
   add_subdirectory(planning)
   add_subdirectory(utils)
 endif()
@@ -33,6 +33,7 @@ set(dart_core_hdrs
   ${dart_integration_hdrs}
   ${dart_lcpsolver_hdrs}
   ${dart_dynamics_hdrs}
+  ${dart_optimizer_hdrs}
   ${dart_collision_hdrs}
   ${dart_constraint_hdrs}
   ${dart_simulation_hdrs}
@@ -43,6 +44,7 @@ set(dart_core_srcs
   ${dart_integration_srcs}
   ${dart_lcpsolver_srcs}
   ${dart_dynamics_srcs}
+  ${dart_optimizer_srcs}
   ${dart_collision_srcs}
   ${dart_constraint_srcs}
   ${dart_simulation_srcs}
@@ -51,14 +53,12 @@ if(NOT BUILD_CORE_ONLY)
   set(dart_hdrs
     dart.h
     ${dart_gui_hdrs}
-    ${dart_optimizer_hdrs}
     ${dart_planning_hdrs}
     ${dart_renderer_hdrs}
     ${dart_utils_hdrs}
   )
   set(dart_srcs
     ${dart_gui_srcs}
-    ${dart_optimizer_srcs}
     ${dart_planning_srcs}
     ${dart_renderer_srcs}
     ${dart_utils_srcs}

dart/collision/bullet/BulletCollisionNode.h

@@ -43,6 +43,7 @@
 #include <btBulletCollisionCommon.h>
 #include <Eigen/Dense>
 
+#include "dart/dynamics/SmartPointer.h"
 #include "dart/dynamics/Shape.h"
 #include "dart/collision/CollisionNode.h"
 

dart/collision/fcl_mesh/FCLMeshCollisionDetector.cpp

@@ -35,6 +35,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
+#define NOMINMAX
+
 #include "dart/collision/fcl_mesh/FCLMeshCollisionDetector.h"
 
 #include <algorithm>