diff --git a/20150930/src/beginner_tutorials/CMakeLists.txt b/20150930/src/beginner_tutorials/CMakeLists.txt new file mode 100644 index 00000000..b2ea5431 --- /dev/null +++ b/20150930/src/beginner_tutorials/CMakeLists.txt @@ -0,0 +1,180 @@ +cmake_minimum_required(VERSION 2.8.3) +project(beginner_tutorials) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + geometry_msgs + message_generation + message_runtime + roscpp + rospy + std_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependencies might have been +## pulled in transitively but can be declared for certainty nonetheless: +## * add a build_depend tag for "message_generation" +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) +add_message_files( + FILES + Hello.msg +) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# geometry_msgs# std_msgs +# ) +generate_messages( + DEPENDENCIES + geometry_msgs +) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if you package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES beginner_tutorials +# CATKIN_DEPENDS geometry_msgs message_generation message_runtime roscpp rospy std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +# include_directories(include) +include_directories( + ${catkin_INCLUDE_DIRS} +) + +## Declare a cpp library +# add_library(beginner_tutorials +# src/${PROJECT_NAME}/beginner_tutorials.cpp +# ) + +## Declare a cpp executable +# add_executable(beginner_tutorials_node src/beginner_tutorials_node.cpp) + +## Add cmake target dependencies of the executable/library +## as an example, message headers may need to be generated before nodes +# add_dependencies(beginner_tutorials_node beginner_tutorials_generate_messages_cpp) + +## Specify libraries to link a library or executable target against +# target_link_libraries(beginner_tutorials_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS beginner_tutorials beginner_tutorials_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_beginner_tutorials.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) + +### for listener, listener2 +add_executable(listener src/listener.cpp) +target_link_libraries(listener ${catkin_LIBRARIES}) +add_executable(listener2 src/listener2.cpp) +target_link_libraries(listener2 ${catkin_LIBRARIES}) \ No newline at end of file diff --git a/20150930/src/beginner_tutorials/msg/Hello.msg b/20150930/src/beginner_tutorials/msg/Hello.msg new file mode 100644 index 00000000..0a8b3331 --- /dev/null +++ b/20150930/src/beginner_tutorials/msg/Hello.msg @@ -0,0 +1,3 @@ +Header header +string hello +geometry_msgs/Vector3 pos \ No newline at end of file diff --git a/20150930/src/beginner_tutorials/package.xml b/20150930/src/beginner_tutorials/package.xml new file mode 100644 index 00000000..04f0f9df --- /dev/null +++ b/20150930/src/beginner_tutorials/package.xml @@ -0,0 +1,60 @@ + + + beginner_tutorials + 0.0.0 + The beginner_tutorials package + + + + + mech-user + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + geometry_msgs + message_generation + roscpp + rospy + std_msgs + geometry_msgs + message_runtime + roscpp + rospy + std_msgs + + + + + + + + \ No newline at end of file diff --git a/20150930/src/beginner_tutorials/scripts/talker.py b/20150930/src/beginner_tutorials/scripts/talker.py new file mode 100644 index 00000000..ceb8e244 --- /dev/null +++ b/20150930/src/beginner_tutorials/scripts/talker.py @@ -0,0 +1,17 @@ +#!/usr/bin/env python +import roslib +import rospy +from std_msgs.msg import String +def talker(): + pub = rospy.Publisher('chatter', String) + rospy.init_node('talker') + while not rospy.is_shutdown(): + str = "hello world %s"%rospy.get_time() + rospy.loginfo(str) + pub.publish(String(str)) + rospy.sleep(1.0) + +if __name__ == '__main__': + try: + talker() + except rospy.ROSInterryptException: pass diff --git a/20150930/src/beginner_tutorials/scripts/talker2.py b/20150930/src/beginner_tutorials/scripts/talker2.py new file mode 100644 index 00000000..b0590bd4 --- /dev/null +++ b/20150930/src/beginner_tutorials/scripts/talker2.py @@ -0,0 +1,24 @@ +#!/usr/bin/env python +import roslib +import rospy +from std_msgs.msg import String +from beginner_tutorials.msg import Hello + +def talker2(): + pub = rospy.Publisher('chatter2', Hello) + rospy.init_node('talker') + while not rospy.is_shutdown(): + str = "hello world %s"%rospy.get_time() + rospy.loginfo(str) + hello = Hello(); + hello.hello = "world" + hello.pos.x = 0; + hello.pos.y = 1; + hello.pos.z = 2; + pub.publish(hello); + rospy.sleep(1.0) + +if __name__ == '__main__': + try: + talker2() + except rospy.ROSInterryptException: pass diff --git a/20150930/src/beginner_tutorials/src/listener.cpp b/20150930/src/beginner_tutorials/src/listener.cpp new file mode 100644 index 00000000..e340595f --- /dev/null +++ b/20150930/src/beginner_tutorials/src/listener.cpp @@ -0,0 +1,16 @@ +#include "ros/ros.h" +#include "std_msgs/String.h" + +void chatterCallback(const std_msgs::String::ConstPtr& msg) +{ + ROS_INFO("I heard: [%s]", msg->data.c_str()); +} + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "listener"); + ros::NodeHandle n; + ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback); + ros::spin(); + return 0; +} diff --git a/20150930/src/beginner_tutorials/src/listener2.cpp b/20150930/src/beginner_tutorials/src/listener2.cpp new file mode 100644 index 00000000..b8f152b9 --- /dev/null +++ b/20150930/src/beginner_tutorials/src/listener2.cpp @@ -0,0 +1,18 @@ +#include "ros/ros.h" +#include "std_msgs/String.h" +#include "beginner_tutorials/Hello.h" + +void chatterCallback(const beginner_tutorials::Hello::ConstPtr& msg) +{ + ROS_INFO("I heard: [%s %f %f %f]", msg->hello.c_str(), + msg->pos.x, msg->pos.y, msg->pos.z); +} + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "listener2"); + ros::NodeHandle n; + ros::Subscriber sub = n.subscribe("chatter2", 1000, chatterCallback); + ros::spin(); + return 0; +} diff --git a/20151007/README.md b/20151007/README.md new file mode 100644 index 00000000..d38dd3e1 --- /dev/null +++ b/20151007/README.md @@ -0,0 +1,16 @@ +# Shukudai +03-140295 安江秀太 +1) +1-1) make はMakefileを用いてビルド, catkin_makeはcatkinによって自動生成されたROSに対応したCMakeListにしたがってビルドする. +ROSに必要なファイルがCMakeListやpackage.xmlにしたがって自動で用意されるため, +rosで実行するソースファイルをビルドするときには, +確実性や利便性において自分でMakefileを書くよりもcatkin_makeを用いるほうが良い． +1-2) pythonで書かれたコードの中で使用されるrosの構造体や，インスタンスの依存関係などを設定したり, subscribeやactionに必要なnodeやtopicなどを生成するファイルを作ったりする必要があるから． +1-3) ros::spin()はサーバなど常に入力待ち状態を保持したいときなどに用いられる無限ループ．コールバックを呼ぶときに用い, ノードが閉じるまで続く. +ros::spinOnce()はその場で一度だけコールバックを待つときに必要. +2) 実行しました. +3) +topic: mobile_base/commands/motor_power message: kobuki_msgs/MotorPower +topic: mobile_base/commands/velocity message: geometry_msgs/Twist +4) mykeyop.pyにてlinear.x = 0.5,angular.z = 0.3 +5) できませんでした． \ No newline at end of file diff --git a/20151007/src/beginner_tutorials/CMakeLists.txt b/20151007/src/beginner_tutorials/CMakeLists.txt new file mode 100644 index 00000000..a5f67b5b --- /dev/null +++ b/20151007/src/beginner_tutorials/CMakeLists.txt @@ -0,0 +1,210 @@ +cmake_minimum_required(VERSION 2.8.3) +project(beginner_tutorials) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + geometry_msgs + message_generation + message_runtime + roscpp + rospy + std_msgs + actionlib actionlib_msgs + + kobuki_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependencies might have been +## pulled in transitively but can be declared for certainty nonetheless: +## * add a build_depend tag for "message_generation" +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) +add_service_files( + FILES + AddTwoInts.srv +) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) +add_action_files( + FILES + DoDishes.action +) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# geometry_msgs# std_msgs +# ) +generate_messages( + DEPENDENCIES + geometry_msgs + actionlib_msgs + + kobuki_msgs +) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if you package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES beginner_tutorials +# CATKIN_DEPENDS geometry_msgs message_generation message_runtime roscpp rospy std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +# include_directories(include) +include_directories( + ${catkin_INCLUDE_DIRS} +) + +## Declare a cpp library +# add_library(beginner_tutorials +# src/${PROJECT_NAME}/beginner_tutorials.cpp +# ) + +## Declare a cpp executable +# add_executable(beginner_tutorials_node src/beginner_tutorials_node.cpp) + +## Add cmake target dependencies of the executable/library +## as an example, message headers may need to be generated before nodes +# add_dependencies(beginner_tutorials_node beginner_tutorials_generate_messages_cpp) + +## Specify libraries to link a library or executable target against +# target_link_libraries(beginner_tutorials_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS beginner_tutorials beginner_tutorials_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_beginner_tutorials.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) + + +## For Talker and Listener +add_executable(talker src/talker.cpp) +target_link_libraries(talker ${catkin_LIBRARIES}) + +add_executable(listener src/listener.cpp) +target_link_libraries(listener ${catkin_LIBRARIES}) + +## For AddTwoInts Server/Client +add_executable(add_two_ints_server src/add_two_ints_server.cpp) +target_link_libraries(add_two_ints_server ${catkin_LIBRARIES}) + +add_executable(add_two_ints_client src/add_two_ints_client.cpp) +target_link_libraries(add_two_ints_client ${catkin_LIBRARIES}) + +add_dependencies(add_two_ints_server ${PROJECT_NAME}_generate_messages_cpp) +add_dependencies(add_two_ints_client ${PROJECT_NAME}_generate_messages_cpp) + +### For simple_action_client/server +add_executable(simple_action_client src/simple_action_client.cpp) +add_executable(simple_action_server src/simple_action_server.cpp) +target_link_libraries(simple_action_client ${catkin_LIBRARIES}) +target_link_libraries(simple_action_server ${catkin_LIBRARIES}) +add_dependencies(simple_action_client ${PROJECT_NAME}_generate_messages_cpp) +add_dependencies(simple_action_server ${PROJECT_NAME}_generate_messages_cpp) diff --git a/20151007/src/beginner_tutorials/action/DoDishes.action b/20151007/src/beginner_tutorials/action/DoDishes.action new file mode 100644 index 00000000..9f3bede6 --- /dev/null +++ b/20151007/src/beginner_tutorials/action/DoDishes.action @@ -0,0 +1,8 @@ +# Define the goal +uint32 dishwasher_id # Specify which dishwasher we want to use +--- +# Define the result +uint32 total_dishes_cleaned +--- +# Define a feedback message +float32 percent_complete diff --git a/20151007/src/beginner_tutorials/launch/turtlebot_empty_world.launch b/20151007/src/beginner_tutorials/launch/turtlebot_empty_world.launch new file mode 100644 index 00000000..449b8e1e --- /dev/null +++ b/20151007/src/beginner_tutorials/launch/turtlebot_empty_world.launch @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/20151007/src/beginner_tutorials/package.xml b/20151007/src/beginner_tutorials/package.xml new file mode 100644 index 00000000..62e386e1 --- /dev/null +++ b/20151007/src/beginner_tutorials/package.xml @@ -0,0 +1,63 @@ + + + beginner_tutorials + 0.0.0 + The beginner_tutorials package + + + + + mech-user + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + geometry_msgs + message_generation + roscpp + rospy + std_msgs + actionlib + actionlib_msgs + geometry_msgs + message_runtime + roscpp + rospy + std_msgs + actionlib + actionlib_msgs + + + + + + + diff --git a/20151007/src/beginner_tutorials/scripts/add_two_ints_client.py b/20151007/src/beginner_tutorials/scripts/add_two_ints_client.py new file mode 100755 index 00000000..4cea5122 --- /dev/null +++ b/20151007/src/beginner_tutorials/scripts/add_two_ints_client.py @@ -0,0 +1,29 @@ +#!/usr/bin/env python +import roslib; roslib.load_manifest('beginner_tutorials') + +import sys + +import rospy +from beginner_tutorials.srv import * + +def add_two_ints_client(x, y): + rospy.wait_for_service('add_two_ints') + try: + add_two_ints = rospy.ServiceProxy('add_two_ints', AddTwoInts) + resp1 = add_two_ints(x,y) + return resp1.sum + except rospy.ServiceException, e: + print "Service call failed: %s" % e + +def usage(): + return "%s [x y]" % sys.argv[0] + +if __name__ == "__main__": + if len(sys.argv) == 3: + x = int(sys.argv[1]) + y = int(sys.argv[2]) + else: + print usage() + sys.exit(1) + print "Requesting %s + %s" % (x, y) + print "%s + %s = %s" %(x, y, add_two_ints_client(x, y)) diff --git a/20151007/src/beginner_tutorials/scripts/add_two_ints_server.py b/20151007/src/beginner_tutorials/scripts/add_two_ints_server.py new file mode 100755 index 00000000..e66e47ab --- /dev/null +++ b/20151007/src/beginner_tutorials/scripts/add_two_ints_server.py @@ -0,0 +1,18 @@ +#!/usr/bin/env python +import roslib; roslib.load_manifest('beginner_tutorials') + +from beginner_tutorials.srv import * +import rospy + +def handle_add_two_ints(req): + print "Returning [%s + %s = %s]" % (req.a, req.b, (req.a + req.b)) + return AddTwoIntsResponse(req.a + req.b) + +def add_two_ints_server(): + rospy.init_node('add_two_ints_server') + s = rospy.Service('add_two_ints', AddTwoInts, handle_add_two_ints) + print "Ready to add two ints." + rospy.spin() + +if __name__ == "__main__": + add_two_ints_server() diff --git a/20151007/src/beginner_tutorials/scripts/listener.py b/20151007/src/beginner_tutorials/scripts/listener.py new file mode 100755 index 00000000..d5489856 --- /dev/null +++ b/20151007/src/beginner_tutorials/scripts/listener.py @@ -0,0 +1,14 @@ +#!/usr/bin/env python +import rospy +from std_msgs.msg import String + +def callback(data): + rospy.loginfo(rospy.get_name() + ": I heard %s" % data.data) + +def listener(): + rospy.init_node('listener', anonymous = True) + rospy.Subscriber("chatter", String, callback) + rospy.spin() + +if __name__ == '__main__': + listener() diff --git a/20151007/src/beginner_tutorials/scripts/mykeyop.py b/20151007/src/beginner_tutorials/scripts/mykeyop.py new file mode 100755 index 00000000..0c16c3ef --- /dev/null +++ b/20151007/src/beginner_tutorials/scripts/mykeyop.py @@ -0,0 +1,29 @@ +#!/usr/bin/env python +import rospy +from kobuki_msgs.msg import MotorPower +from geometry_msgs.msg import Twist + +def talker(): + pow_pub = rospy.Publisher('mobile_base/commands/motor_power', MotorPower) + vel_pub = rospy.Publisher('mobile_base/commands/velocity', Twist); + rospy.init_node('mykeyop') + while not rospy.is_shutdown(): + motor_power = MotorPower() + motor_power.state = motor_power.ON + velocity = Twist() + velocity.linear.x = 0.5 + velocity.angular.z = 0.3 + + rospy.loginfo(motor_power) + rospy.loginfo(velocity) + pow_pub.publish(motor_power) + vel_pub.publish(velocity) + + + rospy.sleep(0.01) + +if __name__ == '__main__': + try: + talker() + except rospy.ROSInterruptException: + pass diff --git a/20151007/src/beginner_tutorials/scripts/simple_action_client.py b/20151007/src/beginner_tutorials/scripts/simple_action_client.py new file mode 100755 index 00000000..2a2fe705 --- /dev/null +++ b/20151007/src/beginner_tutorials/scripts/simple_action_client.py @@ -0,0 +1,21 @@ +#!/usr/bin/env python +import roslib; roslib.load_manifest('beginner_tutorials') +import rospy +import actionlib + +from beginner_tutorials.msg import * + +if __name__ == '__main__': + rospy.init_node('do_dishes_client') + client = actionlib.SimpleActionClient('do_dishes', DoDishesAction) + client.wait_for_server() + + goal = DoDishesGoal() + goal.dishwasher_id = 1 + print "Requesting dishwasher %d" % (goal.dishwasher_id) + # Fill in the goal here + client.send_goal(goal) + client.wait_for_result(rospy.Duration.from_sec(5.0)) + + result = client.get_result() + print "Resulting dishwsher %d" % (result.total_dishes_cleaned) diff --git a/20151007/src/beginner_tutorials/scripts/simple_action_server.py b/20151007/src/beginner_tutorials/scripts/simple_action_server.py new file mode 100755 index 00000000..c8195096 --- /dev/null +++ b/20151007/src/beginner_tutorials/scripts/simple_action_server.py @@ -0,0 +1,23 @@ +#!/usr/bin/env python +import roslib; roslib.load_manifest('beginner_tutorials') +import rospy +import actionlib +from beginner_tutorials.msg import * + +class DoDishesServer: + def __init__(self): + self.server = actionlib.SimpleActionServer('do_dishes', DoDishesAction, self.execute, False) + self.server.start() + + def execute(self, goal): + # Do lots of awesome groundbreaking robot stuff here + print "Requesting dishwasher %d" % (goal.dishwasher_id) + result = self.server.get_default_result() + result.total_dishes_cleaned = 100 + print "Returning dishes_cleaned %d" % (result.total_dishes_cleaned) + self.server.set_succeeded(result) + +if __name__ == '__main__': + rospy.init_node('do_dishes_server') + server = DoDishesServer() + rospy.spin() diff --git a/20151007/src/beginner_tutorials/scripts/talker.py b/20151007/src/beginner_tutorials/scripts/talker.py new file mode 100755 index 00000000..3a780b15 --- /dev/null +++ b/20151007/src/beginner_tutorials/scripts/talker.py @@ -0,0 +1,18 @@ +#!/usr/bin/env python +import rospy +from std_msgs.msg import String + +def talker(): + pub = rospy.Publisher('chatter', String) + rospy.init_node('talker') + while not rospy.is_shutdown(): + str = "hello world %s" % rospy.get_time() + rospy.loginfo(str) + pub.publish(String(str)) + rospy.sleep(1.0) + +if __name__ == '__main__': + try: + talker() + except rospy.ROSInterruptException: + pass diff --git a/20151007/src/beginner_tutorials/src/add_two_ints_client.cpp b/20151007/src/beginner_tutorials/src/add_two_ints_client.cpp new file mode 100644 index 00000000..c6087123 --- /dev/null +++ b/20151007/src/beginner_tutorials/src/add_two_ints_client.cpp @@ -0,0 +1,24 @@ +#include "ros/ros.h" +#include "beginner_tutorials/AddTwoInts.h" +#include + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "add_two_ints_client"); + if (argc != 3) { + ROS_INFO("usage: add_two_ints_client X Y"); + return 1; + } + ros::NodeHandle n; + ros::ServiceClient client = n.serviceClient("add_two_ints"); + beginner_tutorials::AddTwoInts srv; + srv.request.a = atoll(argv[1]); + srv.request.b = atoll(argv[2]); + if (client.call(srv)){ + ROS_INFO("SUM: %ld", (long int)srv.response.sum); + } else { + ROS_ERROR("Failed to call service add_two_ints"); + return 1; + } + return 0; +} diff --git a/20151007/src/beginner_tutorials/src/add_two_ints_server.cpp b/20151007/src/beginner_tutorials/src/add_two_ints_server.cpp new file mode 100644 index 00000000..50051f2d --- /dev/null +++ b/20151007/src/beginner_tutorials/src/add_two_ints_server.cpp @@ -0,0 +1,23 @@ +#include "ros/ros.h" +#include "beginner_tutorials/AddTwoInts.h" + +bool add(beginner_tutorials::AddTwoInts::Request &req, + beginner_tutorials::AddTwoInts::Response &res) +{ + res.sum = req.a + req.b; + ROS_INFO("request: x = %ld, y = %ld", (long int)req.a, (long int)req.b); + ROS_INFO("sending back response: [%ld]", (long int)res.sum); + return true; +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "add_two_ints_server"); + ros::NodeHandle n; + + ros::ServiceServer service = n.advertiseService("add_two_ints", add); + ROS_INFO("Ready to add two ints."); + ros::spin(); + + return 0; +} diff --git a/20151007/src/beginner_tutorials/src/listener.cpp b/20151007/src/beginner_tutorials/src/listener.cpp new file mode 100644 index 00000000..d838d9be --- /dev/null +++ b/20151007/src/beginner_tutorials/src/listener.cpp @@ -0,0 +1,19 @@ +#include "ros/ros.h" +#include "std_msgs/String.h" + +void chatterCallback(const std_msgs::String::ConstPtr& msg) +{ + ROS_INFO("I heard: [%s]", msg->data.c_str()); +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "listener"); + + ros::NodeHandle n; + + ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback); + + ros::spin(); + return 0; +} diff --git a/20151007/src/beginner_tutorials/src/simple_action_client.cpp b/20151007/src/beginner_tutorials/src/simple_action_client.cpp new file mode 100644 index 00000000..2ab1761a --- /dev/null +++ b/20151007/src/beginner_tutorials/src/simple_action_client.cpp @@ -0,0 +1,19 @@ +#include +#include + +typedef actionlib::SimpleActionClient Client; + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "do_dishes_client"); + Client client("do_dishes", true); // true -> don't need ros::spin() + client.waitForServer(); + beginner_tutorials::DoDishesGoal goal; + // Fill in goal here + client.sendGoal(goal); + client.waitForResult(ros::Duration(5.0)); + if (client.getState() == actionlib::SimpleClientGoalState::SUCCEEDED) + printf("Yay! The dishes are now clean"); + printf("Current State: %s\n", client.getState().toString().c_str()); + return 0; +} diff --git a/20151007/src/beginner_tutorials/src/simple_action_server.cpp b/20151007/src/beginner_tutorials/src/simple_action_server.cpp new file mode 100644 index 00000000..292d23cb --- /dev/null +++ b/20151007/src/beginner_tutorials/src/simple_action_server.cpp @@ -0,0 +1,20 @@ +#include +#include + +typedef actionlib::SimpleActionServer Server; + +void execute(const beginner_tutorials::DoDishesGoalConstPtr& goal, Server* as) +{ + // Do lots of awesome groundbreaking robot stuff here + as -> setSucceeded(); +} + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "do_dishes_server"); + ros::NodeHandle n; + Server server(n, "do_dishes", boost::bind(&execute, _1, &server), false); + server.start(); + ros::spin(); + return 0; +} diff --git a/20151007/src/beginner_tutorials/src/talker.cpp b/20151007/src/beginner_tutorials/src/talker.cpp new file mode 100644 index 00000000..7f46ceba --- /dev/null +++ b/20151007/src/beginner_tutorials/src/talker.cpp @@ -0,0 +1,29 @@ +#include "ros/ros.h" +#include "std_msgs/String.h" +#include + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "talker"); + + ros::NodeHandle n; + + ros::Publisher chatter_pub = n.advertise("chatter", 1000); + ros::Rate loop_rate(1); + + int count = 0; + while(ros::ok()) + { + std_msgs::String msg; + std::stringstream ss; + ss << "hello world " << count; + msg.data = ss.str(); + ROS_INFO("%s", msg.data.c_str()); + + chatter_pub.publish(msg); + ros::spinOnce(); + loop_rate.sleep(); + ++count; + } + return 0; +} diff --git a/20151007/src/beginner_tutorials/srv/AddTwoInts.srv b/20151007/src/beginner_tutorials/srv/AddTwoInts.srv new file mode 100644 index 00000000..3a68808e --- /dev/null +++ b/20151007/src/beginner_tutorials/srv/AddTwoInts.srv @@ -0,0 +1,4 @@ +int64 a +int64 b +--- +int64 sum diff --git a/20151014/.catkin_workspace b/20151014/.catkin_workspace new file mode 100644 index 00000000..52fd97e7 --- /dev/null +++ b/20151014/.catkin_workspace @@ -0,0 +1 @@ +# This file currently only serves to mark the location of a catkin workspace for tool integration diff --git a/20151014/README.md b/20151014/README.md new file mode 100644 index 00000000..d25f6357 --- /dev/null +++ b/20151014/README.md @@ -0,0 +1,67 @@ +# HOMEWORK 20151014 + +##オペレータx + +1) (car (x (cdr '(a (b c) d)))) + b + *x = car* + +2) (x 13 (/ 1 0)) + 13 + *x = quote* + +3) (x #'list 1 nil) + (1) + *x = apply* + +##反復と再帰 + +1) + (反復) + (defun periods_iter (n) + (do ((i n (- i 1))) + ((= i 0) (format t "~%")) + (format t "."))) + + (再帰) + (defun periods_rec (n) + (if (> n 0) + (progn + (format t ".") + (periods_rec (- n 1))) + (format t "~%"))) + +2) + (反復) + (defun count_a_iter (lst) + (setq count 0) + (dolist (x lst) + (if (eql x 'a) (setq count (+ count 1)) nil)) + count) + + (再帰) + (defun count_a_rec (lst) + (if (atom lst) 0 + (+ (count_a_rec (cdr lst)) + (if (eql 'a (car lst)) 1 0)))) + +## summit修正 + +1) (remove nil lst)の結果をlstに戻していないため、+がnilにも適用されてエラーとなる + + (defun summit (lst) + (setq lst + (remove nil lst)) + (apply #'+ lst)) + +2) lstが空になった判別を行わず、そのまま再帰呼び出しを続けているため、無限回呼び出しとなってSegmetation Faultとなる + + (defun summit (lst) + (if (atom lst) 0 + (let ((x (car lst))) + (if (null x) + (summit (cdr lst)) + (+ x (summit (cdr lst))))))) + + + diff --git a/20151014/README.md~ b/20151014/README.md~ new file mode 100644 index 00000000..bcaf1d28 --- /dev/null +++ b/20151014/README.md~ @@ -0,0 +1,2 @@ +# HOMEWORK 20151014 + diff --git a/20151014/build/CATKIN_IGNORE b/20151014/build/CATKIN_IGNORE new file mode 100644 index 00000000..e69de29b diff --git a/20151014/build/CMakeCache.txt b/20151014/build/CMakeCache.txt new file mode 100644 index 00000000..00d17ae8 --- /dev/null +++ b/20151014/build/CMakeCache.txt @@ -0,0 +1,531 @@ +# This is the CMakeCache file. +# For build in directory: /home/mech-user/git/2015-soft3/20151014/build +# It was generated by CMake: /usr/bin/cmake +# You can edit this file to change values found and used by cmake. +# If you do not want to change any of the values, simply exit the editor. +# If you do want to change a value, simply edit, save, and exit the editor. +# The syntax for the file is as follows: +# KEY:TYPE=VALUE +# KEY is the name of a variable in the cache. +# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!. +# VALUE is the current value for the KEY. + +######################## +# EXTERNAL cache entries +######################## + +//Build shared libraries (DLLs). +BUILD_SHARED_LIBS:BOOL=ON + +//List of ';' separated packages to exclude +CATKIN_BLACKLIST_PACKAGES:STRING= + +//catkin devel space +CATKIN_DEVEL_PREFIX:PATH=/home/mech-user/git/2015-soft3/20151014/devel + +//Catkin enable testing +CATKIN_ENABLE_TESTING:BOOL=ON + +//Catkin skip testing +CATKIN_SKIP_TESTING:BOOL=OFF + +//List of ';' separated packages to build +CATKIN_WHITELIST_PACKAGES:STRING= + +//Path to a program. +CMAKE_AR:FILEPATH=/usr/bin/ar + +//Choose the type of build, options are: None(CMAKE_CXX_FLAGS or +// CMAKE_C_FLAGS used) Debug Release RelWithDebInfo MinSizeRel. +CMAKE_BUILD_TYPE:STRING= + +//Enable/Disable color output during build. +CMAKE_COLOR_MAKEFILE:BOOL=ON + +//CXX compiler. +CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++ + +//Flags used by the compiler during all build types. +CMAKE_CXX_FLAGS:STRING= + +//Flags used by the compiler during debug builds. +CMAKE_CXX_FLAGS_DEBUG:STRING=-g + +//Flags used by the compiler during release minsize builds. +CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG + +//Flags used by the compiler during release builds (/MD /Ob1 /Oi +// /Ot /Oy /Gs will produce slightly less optimized but smaller +// files). +CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG + +//Flags used by the compiler during Release with Debug Info builds. +CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG + +//C compiler. +CMAKE_C_COMPILER:FILEPATH=/usr/bin/cc + +//Flags used by the compiler during all build types. +CMAKE_C_FLAGS:STRING= + +//Flags used by the compiler during debug builds. +CMAKE_C_FLAGS_DEBUG:STRING=-g + +//Flags used by the compiler during release minsize builds. +CMAKE_C_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG + +//Flags used by the compiler during release builds (/MD /Ob1 /Oi +// /Ot /Oy /Gs will produce slightly less optimized but smaller +// files). +CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG + +//Flags used by the compiler during Release with Debug Info builds. +CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG + +//Flags used by the linker. +CMAKE_EXE_LINKER_FLAGS:STRING=' ' + +//Flags used by the linker during debug builds. +CMAKE_EXE_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during release minsize builds. +CMAKE_EXE_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during release builds. +CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during Release with Debug Info builds. +CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//Enable/Disable output of compile commands during generation. +CMAKE_EXPORT_COMPILE_COMMANDS:BOOL=OFF + +//Install path prefix, prepended onto install directories. +CMAKE_INSTALL_PREFIX:PATH=/home/mech-user/git/2015-soft3/20151014/install + +//Path to a program. +CMAKE_LINKER:FILEPATH=/usr/bin/ld + +//Path to a program. +CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/make + +//Flags used by the linker during the creation of modules. +CMAKE_MODULE_LINKER_FLAGS:STRING=' ' + +//Flags used by the linker during debug builds. +CMAKE_MODULE_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during release minsize builds. +CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during release builds. +CMAKE_MODULE_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during Release with Debug Info builds. +CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//Path to a program. +CMAKE_NM:FILEPATH=/usr/bin/nm + +//Path to a program. +CMAKE_OBJCOPY:FILEPATH=/usr/bin/objcopy + +//Path to a program. +CMAKE_OBJDUMP:FILEPATH=/usr/bin/objdump + +//Value Computed by CMake +CMAKE_PROJECT_NAME:STATIC=Project + +//Path to a program. +CMAKE_RANLIB:FILEPATH=/usr/bin/ranlib + +//Flags used by the linker during the creation of dll's. +CMAKE_SHARED_LINKER_FLAGS:STRING=' ' + +//Flags used by the linker during debug builds. +CMAKE_SHARED_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during release minsize builds. +CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during release builds. +CMAKE_SHARED_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during Release with Debug Info builds. +CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//If set, runtime paths are not added when installing shared libraries, +// but are added when building. +CMAKE_SKIP_INSTALL_RPATH:BOOL=NO + +//If set, runtime paths are not added when using shared libraries. +CMAKE_SKIP_RPATH:BOOL=NO + +//Flags used by the linker during the creation of static libraries. +CMAKE_STATIC_LINKER_FLAGS:STRING= + +//Flags used by the linker during debug builds. +CMAKE_STATIC_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during release minsize builds. +CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during release builds. +CMAKE_STATIC_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during Release with Debug Info builds. +CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//Path to a program. +CMAKE_STRIP:FILEPATH=/usr/bin/strip + +//If true, cmake will use relative paths in makefiles and projects. +CMAKE_USE_RELATIVE_PATHS:BOOL=OFF + +//If this value is on, makefiles will be generated without the +// .SILENT directive, and all commands will be echoed to the console +// during the make. This is useful for debugging only. With Visual +// Studio IDE projects all commands are done without /nologo. +CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE + +//Path to a program. +DOXYGEN_EXECUTABLE:FILEPATH=/usr/bin/doxygen + +//Doxygen found +DOXYGEN_FOUND:BOOL=TRUE + +//Path to a program. +EMPY_EXECUTABLE:FILEPATH=/usr/bin/empy + +//Empy script +EMPY_SCRIPT:STRING=/usr/bin/empy + +//Path to a file. +GTEST_INCLUDE_DIR:PATH=/usr/include + +//Path to a library. +GTEST_LIBRARY:FILEPATH=GTEST_LIBRARY-NOTFOUND + +//Path to a library. +GTEST_LIBRARY_DEBUG:FILEPATH=GTEST_LIBRARY_DEBUG-NOTFOUND + +//Path to a library. +GTEST_MAIN_LIBRARY:FILEPATH=GTEST_MAIN_LIBRARY-NOTFOUND + +//Path to a library. +GTEST_MAIN_LIBRARY_DEBUG:FILEPATH=GTEST_MAIN_LIBRARY_DEBUG-NOTFOUND + +//lsb_release executable was found +LSB_FOUND:BOOL=TRUE + +//Path to a program. +LSB_RELEASE_EXECUTABLE:FILEPATH=/usr/bin/lsb_release + +//Path to a program. +NOSETESTS:FILEPATH=/usr/bin/nosetests-2.7 + +//Path to a program. +PYTHON_EXECUTABLE:FILEPATH=/usr/bin/python + +//Specify specific Python version to use ('major.minor' or 'major') +PYTHON_VERSION:STRING= + +//Value Computed by CMake +Project_BINARY_DIR:STATIC=/home/mech-user/git/2015-soft3/20151014/build + +//Value Computed by CMake +Project_SOURCE_DIR:STATIC=/home/mech-user/git/2015-soft3/20151014/src + +//Path to a library. +RT_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/librt.so + +//Enable debian style python package layout +SETUPTOOLS_DEB_LAYOUT:BOOL=ON + +//LSB Distrib tag +UBUNTU:BOOL=TRUE + +//LSB Distrib - codename tag +UBUNTU_TRUSTY:BOOL=TRUE + +//Path to a file. +_CATKIN_GTEST_INCLUDE:FILEPATH=/usr/include/gtest/gtest.h + +//Path to a file. +_CATKIN_GTEST_SRC:FILEPATH=/usr/src/gtest/src/gtest.cc + +//The directory containing a CMake configuration file for actionlib_msgs. +actionlib_msgs_DIR:PATH=/opt/ros/indigo/share/actionlib_msgs/cmake + +//The directory containing a CMake configuration file for catkin. +catkin_DIR:PATH=/opt/ros/indigo/share/catkin/cmake + +//The directory containing a CMake configuration file for cpp_common. +cpp_common_DIR:PATH=/opt/ros/indigo/share/cpp_common/cmake + +//Value Computed by CMake +enshu_20151014_BINARY_DIR:STATIC=/home/mech-user/git/2015-soft3/20151014/build/enshu_20151014 + +//Value Computed by CMake +enshu_20151014_SOURCE_DIR:STATIC=/home/mech-user/git/2015-soft3/20151014/src/enshu_20151014 + +//The directory containing a CMake configuration file for euslisp. +euslisp_DIR:PATH=/opt/ros/indigo/share/euslisp/cmake + +//The directory containing a CMake configuration file for gencpp. +gencpp_DIR:PATH=/opt/ros/indigo/share/gencpp/cmake + +//The directory containing a CMake configuration file for geneus. +geneus_DIR:PATH=/opt/ros/indigo/share/geneus/cmake + +//The directory containing a CMake configuration file for genlisp. +genlisp_DIR:PATH=/opt/ros/indigo/share/genlisp/cmake + +//The directory containing a CMake configuration file for genmsg. +genmsg_DIR:PATH=/opt/ros/indigo/share/genmsg/cmake + +//The directory containing a CMake configuration file for genpy. +genpy_DIR:PATH=/opt/ros/indigo/share/genpy/cmake + +//The directory containing a CMake configuration file for geometry_msgs. +geometry_msgs_DIR:PATH=/opt/ros/indigo/share/geometry_msgs/cmake + +//Value Computed by CMake +gtest_BINARY_DIR:STATIC=/home/mech-user/git/2015-soft3/20151014/build/gtest + +//Dependencies for the target +gtest_LIB_DEPENDS:STATIC=general;-lpthread; + +//Value Computed by CMake +gtest_SOURCE_DIR:STATIC=/usr/src/gtest + +//Build gtest's sample programs. +gtest_build_samples:BOOL=OFF + +//Build all of gtest's own tests. +gtest_build_tests:BOOL=OFF + +//Disable uses of pthreads in gtest. +gtest_disable_pthreads:BOOL=OFF + +//Use shared (DLL) run-time lib even when Google Test is built +// as static lib. +gtest_force_shared_crt:BOOL=OFF + +//Dependencies for the target +gtest_main_LIB_DEPENDS:STATIC=general;-lpthread;general;gtest; + +//The directory containing a CMake configuration file for kobuki_msgs. 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http://www.iar.com */ +#elif defined(__IAR_SYSTEMS_ICC__ ) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" + +/* sdcc, the small devices C compiler for embedded systems, + http://sdcc.sourceforge.net */ +#elif defined(SDCC) +# define COMPILER_ID "SDCC" + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) + +#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION) +# define COMPILER_ID "MIPSpro" +# if defined(_SGI_COMPILER_VERSION) + /* _SGI_COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION % 10) +# else + /* _COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION % 10) +# endif + +/* This compiler is either not known or is too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__sgi) +# define COMPILER_ID "MIPSpro" + +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" + +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__sgi) || defined(__sgi__) || defined(_SGI) +# define PLATFORM_ID "IRIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#else /* unknown platform */ +# define PLATFORM_ID "" + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM) +# define ARCHITECTURE_ID "ARM" + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID "" +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +int main(int argc, char* argv[]) +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif + (void)argv; + return require; +} +#endif diff --git a/20151014/build/CMakeFiles/2.8.12.2/CompilerIdC/a.out b/20151014/build/CMakeFiles/2.8.12.2/CompilerIdC/a.out new file mode 100755 index 00000000..33a3d2b5 Binary files /dev/null and b/20151014/build/CMakeFiles/2.8.12.2/CompilerIdC/a.out differ diff --git a/20151014/build/CMakeFiles/2.8.12.2/CompilerIdCXX/CMakeCXXCompilerId.cpp b/20151014/build/CMakeFiles/2.8.12.2/CompilerIdCXX/CMakeCXXCompilerId.cpp new file mode 100644 index 00000000..e8220b26 --- /dev/null +++ b/20151014/build/CMakeFiles/2.8.12.2/CompilerIdCXX/CMakeCXXCompilerId.cpp @@ -0,0 +1,377 @@ +/* This source file must have a .cpp extension so that all C++ compilers + recognize the extension without flags. Borland does not know .cxx for + example. */ +#ifndef __cplusplus +# error "A C compiler has been selected for C++." +#endif + +/* Version number components: V=Version, R=Revision, P=Patch + Version date components: YYYY=Year, MM=Month, DD=Day */ + +#if defined(__COMO__) +# define COMPILER_ID "Comeau" + /* __COMO_VERSION__ = VRR */ +# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100) +# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100) + +#elif defined(__INTEL_COMPILER) || defined(__ICC) +# define COMPILER_ID "Intel" + /* __INTEL_COMPILER = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) +# if defined(__INTEL_COMPILER_BUILD_DATE) + /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ +# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) +# endif + +#elif defined(__PATHCC__) +# define COMPILER_ID "PathScale" +# define COMPILER_VERSION_MAJOR DEC(__PATHCC__) +# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) +# if defined(__PATHCC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) +# endif + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) + +#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) +# define COMPILER_ID "Embarcadero" +# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) +# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) +# define COMPILER_VERSION_PATCH HEX(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC(__WATCOMC__ % 100) + +#elif defined(__SUNPRO_CC) +# define COMPILER_ID "SunPro" +# if __SUNPRO_CC >= 0x5100 + /* __SUNPRO_CC = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# endif + +#elif defined(__HP_aCC) +# define COMPILER_ID "HP" + /* __HP_aCC = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) + +#elif defined(__DECCXX) +# define COMPILER_ID "Compaq" + /* __DECCXX_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) + +#elif defined(__IBMCPP__) +# if defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" +# else +# if __IBMCPP__ >= 800 +# define COMPILER_ID "XL" +# else +# define COMPILER_ID "VisualAge" +# endif + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) +# endif + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +/* Analog VisualDSP++ >= 4.5.6 */ +#elif defined(__VISUALDSPVERSION__) +# define COMPILER_ID "ADSP" + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) + +/* Analog VisualDSP++ < 4.5.6 */ +#elif defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" + +/* IAR Systems compiler for embedded systems. + http://www.iar.com */ +#elif defined(__IAR_SYSTEMS_ICC__ ) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" + +#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION) +# define COMPILER_ID "MIPSpro" +# if defined(_SGI_COMPILER_VERSION) + /* _SGI_COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION % 10) +# else + /* _COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION % 10) +# endif + +/* This compiler is either not known or is too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__sgi) +# define COMPILER_ID "MIPSpro" + +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" + +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__sgi) || defined(__sgi__) || defined(_SGI) +# define PLATFORM_ID "IRIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#else /* unknown platform */ +# define PLATFORM_ID "" + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM) +# define ARCHITECTURE_ID "ARM" + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID "" +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. 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b/20151014/build/catkin_generated/env_cached.sh new file mode 100755 index 00000000..d6be91db --- /dev/null +++ b/20151014/build/catkin_generated/env_cached.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup_cached.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup_cached.sh" +exec "$@" diff --git a/20151014/build/catkin_generated/generate_cached_setup.py b/20151014/build/catkin_generated/generate_cached_setup.py new file mode 100644 index 00000000..31dc1580 --- /dev/null +++ b/20151014/build/catkin_generated/generate_cached_setup.py @@ -0,0 +1,29 @@ +from __future__ import print_function +import argparse +import os +import stat +import sys + +# find the import for catkin's python package - either from source space or from an installed underlay +if os.path.exists(os.path.join('/opt/ros/indigo/share/catkin/cmake', 'catkinConfig.cmake.in')): + sys.path.insert(0, os.path.join('/opt/ros/indigo/share/catkin/cmake', '..', 'python')) +try: + from catkin.environment_cache import generate_environment_script +except ImportError: + # search for catkin package in all workspaces and prepend to path + for workspace in "/home/mech-user/catkin_ws/ws_euslisp/devel;/home/mech-user/catkin_ws/devel;/opt/ros/indigo".split(';'): + python_path = os.path.join(workspace, 'lib/python2.7/dist-packages') + if os.path.isdir(os.path.join(python_path, 'catkin')): + sys.path.insert(0, python_path) + break + from catkin.environment_cache import generate_environment_script + +code = generate_environment_script('/home/mech-user/git/2015-soft3/20151014/devel/env.sh') + +output_filename = '/home/mech-user/git/2015-soft3/20151014/build/catkin_generated/setup_cached.sh' +with open(output_filename, 'w') as f: + #print('Generate script for cached setup "%s"' % output_filename) + f.write('\n'.join(code)) + +mode = os.stat(output_filename).st_mode +os.chmod(output_filename, mode | stat.S_IXUSR) diff --git a/20151014/build/catkin_generated/installspace/.rosinstall b/20151014/build/catkin_generated/installspace/.rosinstall new file mode 100644 index 00000000..5cd74e25 --- /dev/null +++ b/20151014/build/catkin_generated/installspace/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/mech-user/git/2015-soft3/20151014/install/setup.sh diff --git a/20151014/build/catkin_generated/installspace/_setup_util.py b/20151014/build/catkin_generated/installspace/_setup_util.py new file mode 100755 index 00000000..3d0b52fa --- /dev/null +++ b/20151014/build/catkin_generated/installspace/_setup_util.py @@ -0,0 +1,287 @@ +#!/usr/bin/python + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +'''This file generates shell code for the setup.SHELL scripts to set environment variables''' + +from __future__ import print_function +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'CPATH': 'include', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': 'bin', + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + ''' + Generate shell code to reset environment variables + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + ''' + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + value = _rollback_env_variable(unmodified_environ, key, subfolder) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolder): + ''' + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolder: str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + ''' + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + ''' + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + ''' + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + ''' + Generate shell code to prepend environment variables + for the all workspaces. + ''' + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted([key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH']): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + ''' + Return the prefix to prepend to the environment variable NAME, adding any path in NEW_PATHS_STR without creating duplicate or empty items. + ''' + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + ''' + Generate shell code with found environment hooks + for the all workspaces. + ''' + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + # environment at generation time + CMAKE_PREFIX_PATH = '/home/mech-user/catkin_ws/ws_euslisp/devel;/home/mech-user/catkin_ws/devel;/opt/ros/indigo'.split(';') + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potantial "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/20151014/build/catkin_generated/installspace/env.sh b/20151014/build/catkin_generated/installspace/env.sh new file mode 100755 index 00000000..8aa9d244 --- /dev/null +++ b/20151014/build/catkin_generated/installspace/env.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/20151014/build/catkin_generated/installspace/setup.bash b/20151014/build/catkin_generated/installspace/setup.bash new file mode 100644 index 00000000..ff47af8f --- /dev/null +++ b/20151014/build/catkin_generated/installspace/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/20151014/build/catkin_generated/installspace/setup.sh b/20151014/build/catkin_generated/installspace/setup.sh new file mode 100644 index 00000000..1a5f19c8 --- /dev/null +++ b/20151014/build/catkin_generated/installspace/setup.sh @@ -0,0 +1,87 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/mech-user/git/2015-soft3/20151014/install} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +export CPATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +_SETUP_TMP=`mktemp /tmp/setup.sh.XXXXXXXXXX` +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ > $_SETUP_TMP +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f $_SETUP_TMP + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. $_SETUP_TMP +rm -f $_SETUP_TMP +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/20151014/build/catkin_generated/installspace/setup.zsh b/20151014/build/catkin_generated/installspace/setup.zsh new file mode 100644 index 00000000..952f72a4 --- /dev/null +++ b/20151014/build/catkin_generated/installspace/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +source "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/20151014/build/catkin_generated/order_packages.cmake b/20151014/build/catkin_generated/order_packages.cmake new file mode 100644 index 00000000..f57e17a7 --- /dev/null +++ b/20151014/build/catkin_generated/order_packages.cmake @@ -0,0 +1,18 @@ +# generated from catkin/cmake/em/order_packages.cmake.em + +set(CATKIN_ORDERED_PACKAGES "") +set(CATKIN_ORDERED_PACKAGE_PATHS "") +set(CATKIN_ORDERED_PACKAGES_IS_META "") +set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "") +list(APPEND CATKIN_ORDERED_PACKAGES "enshu_20151014") +list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "enshu_20151014") +list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False") +list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin") +list(APPEND CATKIN_ORDERED_PACKAGES "workspace") +list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "workspace") +list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False") +list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin") + +set(CATKIN_MESSAGE_GENERATORS ) + +set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "/usr/lib/python2.7/dist-packages/catkin_pkg/templates/metapackage.cmake.in") diff --git a/20151014/build/catkin_generated/order_packages.py b/20151014/build/catkin_generated/order_packages.py new file mode 100644 index 00000000..32da600f --- /dev/null +++ b/20151014/build/catkin_generated/order_packages.py @@ -0,0 +1,5 @@ +# generated from catkin/cmake/template/order_packages.context.py.in +source_root_dir = "/home/mech-user/git/2015-soft3/20151014/src" +whitelisted_packages = "".split(';') if "" != "" else [] +blacklisted_packages = "".split(';') if "" != "" else [] +underlay_workspaces = "/home/mech-user/catkin_ws/ws_euslisp/devel;/home/mech-user/catkin_ws/devel;/opt/ros/indigo".split(';') if "/home/mech-user/catkin_ws/ws_euslisp/devel;/home/mech-user/catkin_ws/devel;/opt/ros/indigo" != "" else [] diff --git a/20151014/build/catkin_generated/setup_cached.sh b/20151014/build/catkin_generated/setup_cached.sh new file mode 100755 index 00000000..b9f6f57a --- /dev/null +++ b/20151014/build/catkin_generated/setup_cached.sh @@ -0,0 +1,22 @@ +#!/usr/bin/env sh +# generated from catkin/python/catkin/environment_cache.py + +# based on a snapshot of the environment before and after calling the setup script +# it emulates the modifications of the setup script without recurring computations + +# new environment variables + +# modified environment variables +export ARCHDIR="Linux64" +export CATKIN_TEST_RESULTS_DIR="/home/mech-user/git/2015-soft3/20151014/build/test_results" +export CMAKE_PREFIX_PATH="/home/mech-user/git/2015-soft3/20151014/devel:$CMAKE_PREFIX_PATH" +export CPATH="/home/mech-user/git/2015-soft3/20151014/devel/include:$CPATH" +export EUSDIR="/opt/ros/indigo/share/euslisp/jskeus/eus/" +export LD_LIBRARY_PATH="/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/lib:/home/mech-user/git/2015-soft3/20151014/devel/lib:/home/mech-user/git/2015-soft3/20151014/devel/lib/x86_64-linux-gnu:/home/mech-user/catkin_ws/ws_euslisp/devel/lib/x86_64-linux-gnu:/home/mech-user/catkin_ws/devel/lib/x86_64-linux-gnu:/opt/ros/indigo/lib/x86_64-linux-gnu:/home/mech-user/prog/jskeus/eus/Linux/bin:/opt/ros/indigo/share/euslisp/jskeus/eus//Linux/bin:/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/lib:/home/mech-user/catkin_ws/ws_euslisp/devel/lib:/home/mech-user/catkin_ws/devel/lib:/opt/ros/indigo/lib:/opt/ros/indigo/lib/python2.7/dist-packages:/opt/ros/indigo/lib/python2.7/dist-packages:/opt/ros/indigo/lib/python2.7/dist-packages" +export PATH="/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/bin:/home/mech-user/git/2015-soft3/20151014/devel/bin:/home/mech-user/catkin_ws/ws_euslisp/devel/bin:/home/mech-user/catkin_ws/devel/bin:/opt/ros/indigo/bin:/home/mech-user/prog/jskeus/eus/Linux/bin:/opt/ros/indigo/share/euslisp/jskeus/eus//Linux/bin:/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games" +export PKG_CONFIG_PATH="/home/mech-user/git/2015-soft3/20151014/devel/lib/pkgconfig:/home/mech-user/git/2015-soft3/20151014/devel/lib/x86_64-linux-gnu/pkgconfig:$PKG_CONFIG_PATH" +export PWD="/home/mech-user/git/2015-soft3/20151014/build" +export PYTHONPATH="/home/mech-user/git/2015-soft3/20151014/devel/lib/python2.7/dist-packages:$PYTHONPATH" +export ROSLISP_PACKAGE_DIRECTORIES="/home/mech-user/git/2015-soft3/20151014/devel/share/common-lisp:$ROSLISP_PACKAGE_DIRECTORIES" +export ROS_PACKAGE_PATH="/home/mech-user/git/2015-soft3/20151014/src:$ROS_PACKAGE_PATH" +export ROS_TEST_RESULTS_DIR="/home/mech-user/git/2015-soft3/20151014/build/test_results" \ No newline at end of file diff --git a/20151014/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp b/20151014/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp new file mode 100644 index 00000000..26882f02 --- /dev/null +++ b/20151014/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp @@ -0,0 +1,250 @@ +#!/usr/bin/env python + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +from __future__ import print_function +import os +import sys + +import distutils.core +try: + import setuptools +except ImportError: + pass + +from argparse import ArgumentParser + + +def _get_locations(pkgs, package_dir): + """ + based on setuptools logic and the package_dir dict, builds a dict + of location roots for each pkg in pkgs. + See http://docs.python.org/distutils/setupscript.html + + :returns: a dict {pkgname: root} for each pkgname in pkgs (and each of their parents) + """ + # package_dir contains a dict {package_name: relativepath} + # Example {'': 'src', 'foo': 'lib', 'bar': 'lib2'} + # + # '' means where to look for any package unless a parent package + # is listed so package bar.pot is expected at lib2/bar/pot, + # whereas package sup.dee is expected at src/sup/dee + # + # if package_dir does not state anything about a package, + # setuptool expects the package folder to be in the root of the + # project + locations = {} + allprefix = package_dir.get('', '') + for pkg in pkgs: + parent_location = None + splits = pkg.split('.') + # we iterate over compound name from parent to child + # so once we found parent, children just append to their parent + for key_len in range(len(splits)): + key = '.'.join(splits[:key_len + 1]) + if key not in locations: + if key in package_dir: + locations[key] = package_dir[key] + elif parent_location is not None: + locations[key] = parent_location + else: + locations[key] = allprefix + parent_location = locations[key] + return locations + + +def generate_cmake_file(package_name, version, scripts, package_dir, pkgs, modules): + """ + Generates lines to add to a cmake file which will set variables + + :param version: str, format 'int.int.int' + :param scripts: [list of str]: relative paths to scripts + :param package_dir: {modulename: path} + :pkgs: [list of str] python_packages declared in catkin package + :modules: [list of str] python modules + """ + prefix = '%s_SETUP_PY' % package_name + result = [] + result.append(r'set(%s_VERSION "%s")' % (prefix, version)) + result.append(r'set(%s_SCRIPTS "%s")' % (prefix, ';'.join(scripts))) + + # Remove packages with '.' separators. + # + # setuptools allows specifying submodules in other folders than + # their parent + # + # The symlink approach of catkin does not work with such submodules. + # In the common case, this does not matter as the submodule is + # within the containing module. We verify this assumption, and if + # it passes, we remove submodule packages. + locations = _get_locations(pkgs, package_dir) + for pkgname, location in locations.items(): + if not '.' in pkgname: + continue + splits = pkgname.split('.') + # hack: ignore write-combining setup.py files for msg and srv files + if splits[1] in ['msg', 'srv']: + continue + # check every child has the same root folder as its parent + parent_name = '.'.join(splits[:1]) + if location != locations[parent_name]: + raise RuntimeError( + "catkin_export_python does not support setup.py files that combine across multiple directories: %s in %s, %s in %s" % (pkgname, location, parent_name, locations[parent_name])) + + # If checks pass, remove all submodules + pkgs = [p for p in pkgs if '.' not in p] + + resolved_pkgs = [] + for pkg in pkgs: + resolved_pkgs += [os.path.join(locations[pkg], pkg)] + + result.append(r'set(%s_PACKAGES "%s")' % (prefix, ';'.join(pkgs))) + result.append(r'set(%s_PACKAGE_DIRS "%s")' % (prefix, ';'.join(resolved_pkgs).replace("\\", "/"))) + + # skip modules which collide with package names + filtered_modules = [] + for modname in modules: + splits = modname.split('.') + # check all parents too + equals_package = [('.'.join(splits[:-i]) in locations) for i in range(len(splits))] + if any(equals_package): + continue + filtered_modules.append(modname) + module_locations = _get_locations(filtered_modules, package_dir) + + result.append(r'set(%s_MODULES "%s")' % (prefix, ';'.join(['%s.py' % m.replace('.', '/') for m in filtered_modules]))) + result.append(r'set(%s_MODULE_DIRS "%s")' % (prefix, ';'.join([module_locations[m] for m in filtered_modules]).replace("\\", "/"))) + + return result + + +def _create_mock_setup_function(package_name, outfile): + """ + Creates a function to call instead of distutils.core.setup or + setuptools.setup, which just captures some args and writes them + into a file that can be used from cmake + + :param package_name: name of the package + :param outfile: filename that cmake will use afterwards + :returns: a function to replace disutils.core.setup and setuptools.setup + """ + + def setup(*args, **kwargs): + ''' + Checks kwargs and writes a scriptfile + ''' + if 'version' not in kwargs: + sys.stderr.write("\n*** Unable to find 'version' in setup.py of %s\n" % package_name) + raise RuntimeError("version not found in setup.py") + version = kwargs['version'] + package_dir = kwargs.get('package_dir', {}) + + pkgs = kwargs.get('packages', []) + scripts = kwargs.get('scripts', []) + modules = kwargs.get('py_modules', []) + + unsupported_args = [ + 'entry_points', + 'exclude_package_data', + 'ext_modules ', + 'ext_package', + 'include_package_data', + 'namespace_packages', + 'setup_requires', + 'use_2to3', + 'zip_safe'] + used_unsupported_args = [arg for arg in unsupported_args if arg in kwargs] + if used_unsupported_args: + sys.stderr.write("*** Arguments %s to setup() not supported in catkin devel space in setup.py of %s\n" % (used_unsupported_args, package_name)) + + result = generate_cmake_file(package_name=package_name, + version=version, + scripts=scripts, + package_dir=package_dir, + pkgs=pkgs, + modules=modules) + with open(outfile, 'w') as out: + out.write('\n'.join(result)) + + return setup + + +def main(): + """ + Script main, parses arguments and invokes Dummy.setup indirectly. + """ + parser = ArgumentParser(description='Utility to read setup.py values from cmake macros. Creates a file with CMake set commands setting variables.') + parser.add_argument('package_name', help='Name of catkin package') + parser.add_argument('setupfile_path', help='Full path to setup.py') + parser.add_argument('outfile', help='Where to write result to') + + args = parser.parse_args() + + # print("%s" % sys.argv) + # PACKAGE_NAME = sys.argv[1] + # OUTFILE = sys.argv[3] + # print("Interrogating setup.py for package %s into %s " % (PACKAGE_NAME, OUTFILE), + # file=sys.stderr) + + # print("executing %s" % args.setupfile_path) + + # be sure you're in the directory containing + # setup.py so the sys.path manipulation works, + # so the import of __version__ works + os.chdir(os.path.dirname(os.path.abspath(args.setupfile_path))) + + # patch setup() function of distutils and setuptools for the + # context of evaluating setup.py + try: + fake_setup = _create_mock_setup_function(package_name=args.package_name, + outfile=args.outfile) + + distutils_backup = distutils.core.setup + distutils.core.setup = fake_setup + try: + setuptools_backup = setuptools.setup + setuptools.setup = fake_setup + except NameError: + pass + + with open(args.setupfile_path, 'r') as fh: + exec(fh.read()) + finally: + distutils.core.setup = distutils_backup + try: + setuptools.setup = setuptools_backup + except NameError: + pass + +if __name__ == '__main__': + main() diff --git a/20151014/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp b/20151014/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp new file mode 100644 index 00000000..087d4d80 --- /dev/null +++ b/20151014/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp @@ -0,0 +1,56 @@ +# generated from catkin/cmake/em/order_packages.cmake.em +@{ +import os +try: + from catkin_pkg.cmake import get_metapackage_cmake_template_path +except ImportError as e: + raise RuntimeError('ImportError: "from catkin_pkg.cmake import get_metapackage_cmake_template_path" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e) +try: + from catkin_pkg.topological_order import topological_order +except ImportError as e: + raise RuntimeError('ImportError: "from catkin_pkg.topological_order import topological_order" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e) +try: + from catkin_pkg.package import InvalidPackage +except ImportError as e: + raise RuntimeError('ImportError: "from catkin_pkg.package import InvalidPackage" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e) +# vars defined in order_packages.context.py.in +try: + ordered_packages = topological_order(os.path.normpath(source_root_dir), whitelisted=whitelisted_packages, blacklisted=blacklisted_packages, underlay_workspaces=underlay_workspaces) +except InvalidPackage as e: + print('message(FATAL_ERROR "%s")' % ('%s' % e).replace('"', '\\"')) + ordered_packages = [] +fatal_error = False +}@ + +set(CATKIN_ORDERED_PACKAGES "") +set(CATKIN_ORDERED_PACKAGE_PATHS "") +set(CATKIN_ORDERED_PACKAGES_IS_META "") +set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "") +@[for path, package in ordered_packages]@ +@[if path is None]@ +message(FATAL_ERROR "Circular dependency in subset of packages:\n@package") +@{ +fatal_error = True +}@ +@[elif package.name != 'catkin']@ +list(APPEND CATKIN_ORDERED_PACKAGES "@(package.name)") +list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "@(path.replace('\\','/'))") +list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "@(str('metapackage' in [e.tagname for e in package.exports]))") +list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "@(str([e.content for e in package.exports if e.tagname == 'build_type'][0]) if 'build_type' in [e.tagname for e in package.exports] else 'catkin')") +@{ +deprecated = [e for e in package.exports if e.tagname == 'deprecated'] +}@ +@[if deprecated]@ +message("WARNING: Package '@(package.name)' is deprecated@(' (%s)' % deprecated[0].content if deprecated[0].content else '')") +@[end if]@ +@[end if]@ +@[end for]@ + +@[if not fatal_error]@ +@{ +message_generators = [package.name for (_, package) in ordered_packages if 'message_generator' in [e.tagname for e in package.exports]] +}@ +set(CATKIN_MESSAGE_GENERATORS @(' '.join(message_generators))) +@[end if]@ + +set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "@(get_metapackage_cmake_template_path().replace('\\','/'))") diff --git a/20151014/build/catkin_generated/stamps/Project/package.xml.stamp b/20151014/build/catkin_generated/stamps/Project/package.xml.stamp new file mode 100644 index 00000000..c0bf80b0 --- /dev/null +++ b/20151014/build/catkin_generated/stamps/Project/package.xml.stamp @@ -0,0 +1,37 @@ + + + catkin + 0.6.11 + Low-level build system macros and infrastructure for ROS. + Dirk Thomas + BSD + + http://www.ros.org/wiki/catkin + https://github.com/ros/catkin/issues + https://github.com/ros/catkin + + Troy Straszheim + Morten Kjaergaard + Brian Gerkey + Dirk Thomas + + cmake + cmake + + python-argparse + python-catkin-pkg + + python-empy + + gtest + python-empy + python-nose + + python-mock + python-nose + + + + + + diff --git a/20151014/build/catkin_make.cache b/20151014/build/catkin_make.cache new file mode 100644 index 00000000..182e7823 --- /dev/null +++ b/20151014/build/catkin_make.cache @@ -0,0 +1,2 @@ +enshu_20151014:workspace +-DCATKIN_DEVEL_PREFIX=/home/mech-user/git/2015-soft3/20151014/devel -DCMAKE_INSTALL_PREFIX=/home/mech-user/git/2015-soft3/20151014/install -G Unix Makefiles \ No newline at end of file diff --git a/20151014/build/cmake_install.cmake b/20151014/build/cmake_install.cmake new file mode 100644 index 00000000..b37b6e6c --- /dev/null +++ b/20151014/build/cmake_install.cmake @@ -0,0 +1,142 @@ +# Install script for directory: /home/mech-user/git/2015-soft3/20151014/src + +# Set the install prefix +IF(NOT DEFINED CMAKE_INSTALL_PREFIX) + SET(CMAKE_INSTALL_PREFIX "/home/mech-user/git/2015-soft3/20151014/install") +ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX) +STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + IF(BUILD_TYPE) + STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + ELSE(BUILD_TYPE) + SET(CMAKE_INSTALL_CONFIG_NAME "") + ENDIF(BUILD_TYPE) + MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + +# Set the component getting installed. +IF(NOT CMAKE_INSTALL_COMPONENT) + IF(COMPONENT) + MESSAGE(STATUS "Install component: \"${COMPONENT}\"") + SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + ELSE(COMPONENT) + SET(CMAKE_INSTALL_COMPONENT) + ENDIF(COMPONENT) +ENDIF(NOT CMAKE_INSTALL_COMPONENT) + +# Install shared libraries without execute permission? +IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + SET(CMAKE_INSTALL_SO_NO_EXE "1") +ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + + if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}") + file(MAKE_DIRECTORY "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}") + endif() + if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin") + file(WRITE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin" "") + endif() +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES + "/home/mech-user/git/2015-soft3/20151014/install/_setup_util.py") + IF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + ENDIF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + IF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION) + message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + ENDIF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION) +FILE(INSTALL DESTINATION "/home/mech-user/git/2015-soft3/20151014/install" TYPE PROGRAM FILES "/home/mech-user/git/2015-soft3/20151014/build/catkin_generated/installspace/_setup_util.py") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES + "/home/mech-user/git/2015-soft3/20151014/install/env.sh") + IF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + ENDIF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + IF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION) + message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + ENDIF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION) +FILE(INSTALL DESTINATION "/home/mech-user/git/2015-soft3/20151014/install" TYPE PROGRAM FILES "/home/mech-user/git/2015-soft3/20151014/build/catkin_generated/installspace/env.sh") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES + "/home/mech-user/git/2015-soft3/20151014/install/setup.bash") + IF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + ENDIF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + IF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION) + message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + ENDIF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION) +FILE(INSTALL DESTINATION "/home/mech-user/git/2015-soft3/20151014/install" TYPE FILE FILES "/home/mech-user/git/2015-soft3/20151014/build/catkin_generated/installspace/setup.bash") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES + "/home/mech-user/git/2015-soft3/20151014/install/setup.sh") + IF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + ENDIF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + IF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION) + message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + ENDIF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION) +FILE(INSTALL DESTINATION "/home/mech-user/git/2015-soft3/20151014/install" TYPE FILE FILES "/home/mech-user/git/2015-soft3/20151014/build/catkin_generated/installspace/setup.sh") +ENDIF(NOT 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$(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1 +.PHONY : depend + +# Convenience name for target. +enshu_20151014/CMakeFiles/_catkin_empty_exported_target.dir/rule: + cd /home/mech-user/git/2015-soft3/20151014/build && $(MAKE) -f CMakeFiles/Makefile2 enshu_20151014/CMakeFiles/_catkin_empty_exported_target.dir/rule +.PHONY : enshu_20151014/CMakeFiles/_catkin_empty_exported_target.dir/rule + +# Convenience name for target. +_catkin_empty_exported_target: enshu_20151014/CMakeFiles/_catkin_empty_exported_target.dir/rule +.PHONY : _catkin_empty_exported_target + +# fast build rule for target. +_catkin_empty_exported_target/fast: + cd /home/mech-user/git/2015-soft3/20151014/build && $(MAKE) -f enshu_20151014/CMakeFiles/_catkin_empty_exported_target.dir/build.make enshu_20151014/CMakeFiles/_catkin_empty_exported_target.dir/build +.PHONY : _catkin_empty_exported_target/fast + +# Help Target +help: + @echo "The following are some of the valid targets for this Makefile:" + @echo "... all (the default if no target is provided)" + @echo "... clean" + @echo "... depend" + @echo "... _catkin_empty_exported_target" + @echo "... edit_cache" + @echo "... install" + @echo "... install/local" + @echo "... install/strip" + @echo "... list_install_components" + @echo "... rebuild_cache" + @echo "... test" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + cd /home/mech-user/git/2015-soft3/20151014/build && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/20151014/build/enshu_20151014/catkin_generated/installspace/enshu_20151014.pc b/20151014/build/enshu_20151014/catkin_generated/installspace/enshu_20151014.pc new file mode 100644 index 00000000..e005d23f --- /dev/null +++ b/20151014/build/enshu_20151014/catkin_generated/installspace/enshu_20151014.pc @@ -0,0 +1,8 @@ +prefix=/home/mech-user/git/2015-soft3/20151014/install + +Name: enshu_20151014 +Description: Description of enshu_20151014 +Version: 0.0.0 +Cflags: +Libs: -L/home/mech-user/git/2015-soft3/20151014/install/lib +Requires: diff --git a/20151014/build/enshu_20151014/catkin_generated/installspace/enshu_20151014Config-version.cmake b/20151014/build/enshu_20151014/catkin_generated/installspace/enshu_20151014Config-version.cmake new file mode 100644 index 00000000..7fd9f993 --- /dev/null +++ b/20151014/build/enshu_20151014/catkin_generated/installspace/enshu_20151014Config-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.0.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/20151014/build/enshu_20151014/catkin_generated/installspace/enshu_20151014Config.cmake b/20151014/build/enshu_20151014/catkin_generated/installspace/enshu_20151014Config.cmake new file mode 100644 index 00000000..62c67245 --- /dev/null +++ b/20151014/build/enshu_20151014/catkin_generated/installspace/enshu_20151014Config.cmake @@ -0,0 +1,191 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^debug|optimized|general$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(enshu_20151014_CONFIG_INCLUDED) + return() +endif() +set(enshu_20151014_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("FALSE" STREQUAL "TRUE") + set(enshu_20151014_SOURCE_PREFIX /home/mech-user/git/2015-soft3/20151014/src/enshu_20151014) + set(enshu_20151014_DEVEL_PREFIX /home/mech-user/git/2015-soft3/20151014/devel) + set(enshu_20151014_INSTALL_PREFIX "") + set(enshu_20151014_PREFIX ${enshu_20151014_DEVEL_PREFIX}) +else() + set(enshu_20151014_SOURCE_PREFIX "") + set(enshu_20151014_DEVEL_PREFIX "") + set(enshu_20151014_INSTALL_PREFIX /home/mech-user/git/2015-soft3/20151014/install) + set(enshu_20151014_PREFIX ${enshu_20151014_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'enshu_20151014' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(enshu_20151014_FOUND_CATKIN_PROJECT TRUE) + +if(NOT "" STREQUAL "") + set(enshu_20151014_INCLUDE_DIRS "") + set(_include_dirs "") + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir}" STREQUAL "include") + get_filename_component(include "${enshu_20151014_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'enshu_20151014' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. Ask the maintainer 'k-okada ' to fix it.") + endif() + else() + message(FATAL_ERROR "Project 'enshu_20151014' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/home/mech-user/git/2015-soft3/20151014/install/${idir}'. Ask the maintainer 'k-okada ' to fix it.") + endif() + _list_append_unique(enshu_20151014_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^debug|optimized|general$") + list(APPEND enshu_20151014_LIBRARIES ${library}) + elseif(TARGET ${library}) + list(APPEND enshu_20151014_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND enshu_20151014_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /home/mech-user/git/2015-soft3/20151014/install/lib;/home/mech-user/catkin_ws/ws_euslisp/devel/lib;/home/mech-user/catkin_ws/devel/lib;/opt/ros/indigo/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(enshu_20151014_LIBRARY_DIRS ${lib_path}) + list(APPEND enshu_20151014_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'enshu_20151014'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND enshu_20151014_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(enshu_20151014_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${enshu_20151014_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 enshu_20151014_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${enshu_20151014_dep}_FOUND) + find_package(${enshu_20151014_dep} REQUIRED) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${enshu_20151014_dep} REQUIRED ${depend_list}) + endif() + _list_append_unique(enshu_20151014_INCLUDE_DIRS ${${enshu_20151014_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(enshu_20151014_LIBRARIES ${enshu_20151014_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${enshu_20151014_dep}_LIBRARIES}) + _list_append_deduplicate(enshu_20151014_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(enshu_20151014_LIBRARIES ${enshu_20151014_LIBRARIES}) + + _list_append_unique(enshu_20151014_LIBRARY_DIRS ${${enshu_20151014_dep}_LIBRARY_DIRS}) + list(APPEND enshu_20151014_EXPORTED_TARGETS ${${enshu_20151014_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${enshu_20151014_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/20151014/build/enshu_20151014/catkin_generated/ordered_paths.cmake b/20151014/build/enshu_20151014/catkin_generated/ordered_paths.cmake new file mode 100644 index 00000000..d6562d7c --- /dev/null +++ b/20151014/build/enshu_20151014/catkin_generated/ordered_paths.cmake @@ -0,0 +1 @@ +set(ORDERED_PATHS "/opt/ros/indigo/share/euslisp/jskeus/eus/include") \ No newline at end of file diff --git a/20151014/build/enshu_20151014/catkin_generated/package.cmake b/20151014/build/enshu_20151014/catkin_generated/package.cmake new file mode 100644 index 00000000..c7b9ac7d --- /dev/null +++ b/20151014/build/enshu_20151014/catkin_generated/package.cmake @@ -0,0 +1,7 @@ +set(_CATKIN_CURRENT_PACKAGE "enshu_20151014") +set(enshu_20151014_MAINTAINER "k-okada ") +set(enshu_20151014_DEPRECATED "") +set(enshu_20151014_VERSION "0.0.0") +set(enshu_20151014_BUILD_DEPENDS "euslisp") +set(enshu_20151014_RUN_DEPENDS "euslisp") +set(enshu_20151014_BUILDTOOL_DEPENDS "catkin") \ No newline at end of file diff --git a/20151014/build/enshu_20151014/catkin_generated/pkg.develspace.context.pc.py b/20151014/build/enshu_20151014/catkin_generated/pkg.develspace.context.pc.py new file mode 100644 index 00000000..6cf80261 --- /dev/null +++ b/20151014/build/enshu_20151014/catkin_generated/pkg.develspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] +PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "enshu_20151014" +PROJECT_SPACE_DIR = "/home/mech-user/git/2015-soft3/20151014/devel" +PROJECT_VERSION = "0.0.0" diff --git a/20151014/build/enshu_20151014/catkin_generated/pkg.installspace.context.pc.py b/20151014/build/enshu_20151014/catkin_generated/pkg.installspace.context.pc.py new file mode 100644 index 00000000..da6dfc05 --- /dev/null +++ b/20151014/build/enshu_20151014/catkin_generated/pkg.installspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] +PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "enshu_20151014" +PROJECT_SPACE_DIR = "/home/mech-user/git/2015-soft3/20151014/install" +PROJECT_VERSION = "0.0.0" diff --git a/20151014/build/enshu_20151014/catkin_generated/stamps/enshu_20151014/package.xml.stamp b/20151014/build/enshu_20151014/catkin_generated/stamps/enshu_20151014/package.xml.stamp new file mode 100644 index 00000000..3e67261f --- /dev/null +++ b/20151014/build/enshu_20151014/catkin_generated/stamps/enshu_20151014/package.xml.stamp @@ -0,0 +1,52 @@ + + + enshu_20151014 + 0.0.0 + The enshu_20151014 package + + + + + k-okada + + + + + + TODO + + + + + + 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workspace/CMakeFiles/rosgraph_msgs_generate_messages_py.dir/build +.PHONY : rosgraph_msgs_generate_messages_py/fast + +# Convenience name for target. +workspace/CMakeFiles/std_msgs_generate_messages_cpp.dir/rule: + cd /home/mech-user/git/2015-soft3/20151014/build && $(MAKE) -f CMakeFiles/Makefile2 workspace/CMakeFiles/std_msgs_generate_messages_cpp.dir/rule +.PHONY : workspace/CMakeFiles/std_msgs_generate_messages_cpp.dir/rule + +# Convenience name for target. +std_msgs_generate_messages_cpp: workspace/CMakeFiles/std_msgs_generate_messages_cpp.dir/rule +.PHONY : std_msgs_generate_messages_cpp + +# fast build rule for target. +std_msgs_generate_messages_cpp/fast: + cd /home/mech-user/git/2015-soft3/20151014/build && $(MAKE) -f workspace/CMakeFiles/std_msgs_generate_messages_cpp.dir/build.make workspace/CMakeFiles/std_msgs_generate_messages_cpp.dir/build +.PHONY : std_msgs_generate_messages_cpp/fast + +# Convenience name for target. 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workspace/CMakeFiles/std_msgs_generate_messages_py.dir/rule +.PHONY : workspace/CMakeFiles/std_msgs_generate_messages_py.dir/rule + +# Convenience name for target. +std_msgs_generate_messages_py: workspace/CMakeFiles/std_msgs_generate_messages_py.dir/rule +.PHONY : std_msgs_generate_messages_py + +# fast build rule for target. +std_msgs_generate_messages_py/fast: + cd /home/mech-user/git/2015-soft3/20151014/build && $(MAKE) -f workspace/CMakeFiles/std_msgs_generate_messages_py.dir/build.make workspace/CMakeFiles/std_msgs_generate_messages_py.dir/build +.PHONY : std_msgs_generate_messages_py/fast + +# Help Target +help: + @echo "The following are some of the valid targets for this Makefile:" + @echo "... all (the default if no target is provided)" + @echo "... clean" + @echo "... depend" + @echo "... actionlib_msgs_generate_messages_cpp" + @echo "... actionlib_msgs_generate_messages_lisp" + @echo "... actionlib_msgs_generate_messages_py" + @echo "... edit_cache" + @echo "... geometry_msgs_generate_messages_cpp" + @echo "... geometry_msgs_generate_messages_lisp" + @echo "... geometry_msgs_generate_messages_py" + @echo "... install" + @echo "... install/local" + @echo "... install/strip" + @echo "... kobuki_msgs_generate_messages_cpp" + @echo "... kobuki_msgs_generate_messages_lisp" + @echo "... kobuki_msgs_generate_messages_py" + @echo "... list_install_components" + @echo "... rebuild_cache" + @echo "... roscpp_generate_messages_cpp" + @echo "... roscpp_generate_messages_lisp" + @echo "... roscpp_generate_messages_py" + @echo "... rosgraph_msgs_generate_messages_cpp" + @echo "... rosgraph_msgs_generate_messages_lisp" + @echo "... rosgraph_msgs_generate_messages_py" + @echo "... std_msgs_generate_messages_cpp" + @echo "... std_msgs_generate_messages_lisp" + @echo "... std_msgs_generate_messages_py" + @echo "... test" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + cd /home/mech-user/git/2015-soft3/20151014/build && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/20151014/build/workspace/catkin_generated/installspace/workspace.pc b/20151014/build/workspace/catkin_generated/installspace/workspace.pc new file mode 100644 index 00000000..18464faf --- /dev/null +++ b/20151014/build/workspace/catkin_generated/installspace/workspace.pc @@ -0,0 +1,8 @@ +prefix=/home/mech-user/git/2015-soft3/20151014/install + +Name: workspace +Description: Description of workspace +Version: 0.0.0 +Cflags: +Libs: -L/home/mech-user/git/2015-soft3/20151014/install/lib +Requires: diff --git a/20151014/build/workspace/catkin_generated/installspace/workspaceConfig-version.cmake b/20151014/build/workspace/catkin_generated/installspace/workspaceConfig-version.cmake new file mode 100644 index 00000000..7fd9f993 --- /dev/null +++ b/20151014/build/workspace/catkin_generated/installspace/workspaceConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.0.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/20151014/build/workspace/catkin_generated/installspace/workspaceConfig.cmake b/20151014/build/workspace/catkin_generated/installspace/workspaceConfig.cmake new file mode 100644 index 00000000..b5d5c8c1 --- /dev/null +++ b/20151014/build/workspace/catkin_generated/installspace/workspaceConfig.cmake @@ -0,0 +1,191 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^debug|optimized|general$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(workspace_CONFIG_INCLUDED) + return() +endif() +set(workspace_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("FALSE" STREQUAL "TRUE") + set(workspace_SOURCE_PREFIX /home/mech-user/git/2015-soft3/20151014/src/workspace) + set(workspace_DEVEL_PREFIX /home/mech-user/git/2015-soft3/20151014/devel) + set(workspace_INSTALL_PREFIX "") + set(workspace_PREFIX ${workspace_DEVEL_PREFIX}) +else() + set(workspace_SOURCE_PREFIX "") + set(workspace_DEVEL_PREFIX "") + set(workspace_INSTALL_PREFIX /home/mech-user/git/2015-soft3/20151014/install) + set(workspace_PREFIX ${workspace_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'workspace' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(workspace_FOUND_CATKIN_PROJECT TRUE) + +if(NOT "" STREQUAL "") + set(workspace_INCLUDE_DIRS "") + set(_include_dirs "") + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir}" STREQUAL "include") + get_filename_component(include "${workspace_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'workspace' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. Ask the maintainer 'mech-user ' to fix it.") + endif() + else() + message(FATAL_ERROR "Project 'workspace' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/home/mech-user/git/2015-soft3/20151014/install/${idir}'. Ask the maintainer 'mech-user ' to fix it.") + endif() + _list_append_unique(workspace_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^debug|optimized|general$") + list(APPEND workspace_LIBRARIES ${library}) + elseif(TARGET ${library}) + list(APPEND workspace_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND workspace_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /home/mech-user/git/2015-soft3/20151014/install/lib;/home/mech-user/catkin_ws/ws_euslisp/devel/lib;/home/mech-user/catkin_ws/devel/lib;/opt/ros/indigo/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(workspace_LIBRARY_DIRS ${lib_path}) + list(APPEND workspace_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'workspace'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND workspace_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(workspace_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${workspace_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 workspace_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${workspace_dep}_FOUND) + find_package(${workspace_dep} REQUIRED) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${workspace_dep} REQUIRED ${depend_list}) + endif() + _list_append_unique(workspace_INCLUDE_DIRS ${${workspace_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(workspace_LIBRARIES ${workspace_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${workspace_dep}_LIBRARIES}) + _list_append_deduplicate(workspace_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(workspace_LIBRARIES ${workspace_LIBRARIES}) + + _list_append_unique(workspace_LIBRARY_DIRS ${${workspace_dep}_LIBRARY_DIRS}) + list(APPEND workspace_EXPORTED_TARGETS ${${workspace_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${workspace_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/20151014/build/workspace/catkin_generated/ordered_paths.cmake b/20151014/build/workspace/catkin_generated/ordered_paths.cmake new file mode 100644 index 00000000..22f3651e --- /dev/null +++ b/20151014/build/workspace/catkin_generated/ordered_paths.cmake @@ -0,0 +1 @@ +set(ORDERED_PATHS "/opt/ros/indigo/lib") \ No newline at end of file diff --git a/20151014/build/workspace/catkin_generated/package.cmake b/20151014/build/workspace/catkin_generated/package.cmake new file mode 100644 index 00000000..9aacf5a7 --- /dev/null +++ b/20151014/build/workspace/catkin_generated/package.cmake @@ -0,0 +1,7 @@ +set(_CATKIN_CURRENT_PACKAGE "workspace") +set(workspace_MAINTAINER "mech-user ") +set(workspace_DEPRECATED "") +set(workspace_VERSION "0.0.0") +set(workspace_BUILD_DEPENDS "geometry_msgs" "kobuki_msgs" "message_generation" "roscpp" "rospy" "std_msgs") +set(workspace_RUN_DEPENDS "geometry_msgs" "kobuki_msgs" "message_runtime" "roscpp" "rospy" "std_msgs") +set(workspace_BUILDTOOL_DEPENDS "catkin") \ No newline at end of file diff --git a/20151014/build/workspace/catkin_generated/pkg.develspace.context.pc.py b/20151014/build/workspace/catkin_generated/pkg.develspace.context.pc.py new file mode 100644 index 00000000..46f8d8ff --- /dev/null +++ b/20151014/build/workspace/catkin_generated/pkg.develspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] +PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "workspace" +PROJECT_SPACE_DIR = "/home/mech-user/git/2015-soft3/20151014/devel" +PROJECT_VERSION = "0.0.0" diff --git a/20151014/build/workspace/catkin_generated/pkg.installspace.context.pc.py b/20151014/build/workspace/catkin_generated/pkg.installspace.context.pc.py new file mode 100644 index 00000000..4434df42 --- /dev/null +++ b/20151014/build/workspace/catkin_generated/pkg.installspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] +PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "workspace" +PROJECT_SPACE_DIR = "/home/mech-user/git/2015-soft3/20151014/install" +PROJECT_VERSION = "0.0.0" diff --git a/20151014/build/workspace/catkin_generated/stamps/workspace/package.xml.stamp b/20151014/build/workspace/catkin_generated/stamps/workspace/package.xml.stamp new file mode 100644 index 00000000..0205f925 --- /dev/null +++ b/20151014/build/workspace/catkin_generated/stamps/workspace/package.xml.stamp @@ -0,0 +1,62 @@ + + + workspace + 0.0.0 + The workspace package + + + + + mech-user + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + geometry_msgs + kobuki_msgs + message_generation + roscpp + rospy + std_msgs + geometry_msgs + kobuki_msgs + message_runtime + roscpp + rospy + std_msgs + + + + + + + + \ No newline at end of file diff --git a/20151014/build/workspace/catkin_generated/stamps/workspace/pkg.pc.em.stamp b/20151014/build/workspace/catkin_generated/stamps/workspace/pkg.pc.em.stamp new file mode 100644 index 00000000..a4f72576 --- /dev/null +++ b/20151014/build/workspace/catkin_generated/stamps/workspace/pkg.pc.em.stamp @@ -0,0 +1,8 @@ +prefix=@PROJECT_SPACE_DIR + +Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME) +Description: Description of @PROJECT_NAME +Version: @PROJECT_VERSION +Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS])) +Libs: -L@PROJECT_SPACE_DIR/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX)) +Requires: @(PROJECT_CATKIN_DEPENDS) diff --git a/20151014/build/workspace/cmake_install.cmake b/20151014/build/workspace/cmake_install.cmake new file mode 100644 index 00000000..b48287bc --- /dev/null +++ b/20151014/build/workspace/cmake_install.cmake @@ -0,0 +1,49 @@ +# Install script for directory: /home/mech-user/git/2015-soft3/20151014/src/workspace + +# Set the install prefix +IF(NOT DEFINED CMAKE_INSTALL_PREFIX) + SET(CMAKE_INSTALL_PREFIX "/home/mech-user/git/2015-soft3/20151014/install") +ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX) +STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + IF(BUILD_TYPE) + STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + ELSE(BUILD_TYPE) + SET(CMAKE_INSTALL_CONFIG_NAME "") + ENDIF(BUILD_TYPE) + MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + +# Set the component getting installed. +IF(NOT CMAKE_INSTALL_COMPONENT) + IF(COMPONENT) + MESSAGE(STATUS "Install component: \"${COMPONENT}\"") + SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + ELSE(COMPONENT) + SET(CMAKE_INSTALL_COMPONENT) + ENDIF(COMPONENT) +ENDIF(NOT CMAKE_INSTALL_COMPONENT) + +# Install shared libraries without execute permission? +IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + SET(CMAKE_INSTALL_SO_NO_EXE "1") +ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" TYPE FILE FILES "/home/mech-user/git/2015-soft3/20151014/build/workspace/catkin_generated/installspace/workspace.pc") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/workspace/cmake" TYPE FILE FILES + "/home/mech-user/git/2015-soft3/20151014/build/workspace/catkin_generated/installspace/workspaceConfig.cmake" + "/home/mech-user/git/2015-soft3/20151014/build/workspace/catkin_generated/installspace/workspaceConfig-version.cmake" + ) +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/workspace" TYPE FILE FILES "/home/mech-user/git/2015-soft3/20151014/src/workspace/package.xml") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + diff --git a/20151014/devel/.catkin b/20151014/devel/.catkin new file mode 100644 index 00000000..2831420c --- /dev/null +++ b/20151014/devel/.catkin @@ -0,0 +1 @@ +/home/mech-user/git/2015-soft3/20151014/src \ No newline at end of file diff --git a/20151014/devel/.rosinstall b/20151014/devel/.rosinstall new file mode 100644 index 00000000..b77d845c --- /dev/null +++ b/20151014/devel/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/mech-user/git/2015-soft3/20151014/devel/setup.sh diff --git a/20151014/devel/_setup_util.py b/20151014/devel/_setup_util.py new file mode 100755 index 00000000..3d0b52fa --- /dev/null +++ b/20151014/devel/_setup_util.py @@ -0,0 +1,287 @@ +#!/usr/bin/python + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +'''This file generates shell code for the setup.SHELL scripts to set environment variables''' + +from __future__ import print_function +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'CPATH': 'include', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': 'bin', + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + ''' + Generate shell code to reset environment variables + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + ''' + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + value = _rollback_env_variable(unmodified_environ, key, subfolder) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolder): + ''' + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolder: str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + ''' + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + ''' + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + ''' + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + ''' + Generate shell code to prepend environment variables + for the all workspaces. + ''' + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted([key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH']): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + ''' + Return the prefix to prepend to the environment variable NAME, adding any path in NEW_PATHS_STR without creating duplicate or empty items. + ''' + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + ''' + Generate shell code with found environment hooks + for the all workspaces. + ''' + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + # environment at generation time + CMAKE_PREFIX_PATH = '/home/mech-user/catkin_ws/ws_euslisp/devel;/home/mech-user/catkin_ws/devel;/opt/ros/indigo'.split(';') + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potantial "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/20151014/devel/env.sh b/20151014/devel/env.sh new file mode 100755 index 00000000..8aa9d244 --- /dev/null +++ b/20151014/devel/env.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/20151014/devel/etc/catkin/profile.d/05.catkin-test-results.sh b/20151014/devel/etc/catkin/profile.d/05.catkin-test-results.sh new file mode 100644 index 00000000..20c0b806 --- /dev/null +++ b/20151014/devel/etc/catkin/profile.d/05.catkin-test-results.sh @@ -0,0 +1,4 @@ +# generated from catkin/cmake/env-hooks/05.catkin-test-results.sh.develspace.in + +export CATKIN_TEST_RESULTS_DIR="/home/mech-user/git/2015-soft3/20151014/build/test_results" +export ROS_TEST_RESULTS_DIR="$CATKIN_TEST_RESULTS_DIR" diff --git a/20151014/devel/etc/catkin/profile.d/05.catkin_make.bash b/20151014/devel/etc/catkin/profile.d/05.catkin_make.bash new file mode 100644 index 00000000..621d668a --- /dev/null +++ b/20151014/devel/etc/catkin/profile.d/05.catkin_make.bash @@ -0,0 +1,67 @@ +function _catkin_make() +{ + local cur prev + cur=${COMP_WORDS[COMP_CWORD]} + prev=${COMP_WORDS[COMP_CWORD-1]} + + # autocomplete path arguments for -C, --directory, --source, --build + case $prev in + -C|--directory|--source|--build) + _filedir -d + return 0 + ;; + esac + + if [[ "$cur" == -DCMAKE_BUILD_TYPE=* ]]; then + # autocomplete CMake argument CMAKE_BUILD_TYPE with its options + COMPREPLY=( $( compgen -P "-DCMAKE_BUILD_TYPE=" -W "None Debug Release RelWithDebInfo MinSizeRel" -- "${cur:19}" ) ) + elif [[ "$cur" == -DCATKIN_ENABLE_TESTING=* ]]; then + # autocomplete catkin argument CATKIN_ENABLE_TESTING with its options + COMPREPLY=( $( compgen -P "-DCATKIN_ENABLE_TESTING=" -W "0 1" -- "${cur:24}" ) ) + elif [[ "$cur" == -DCATKIN_DEVEL_PREFIX=* || "$cur" == -DCMAKE_INSTALL_PREFIX=* ]]; then + COMPREPLY=() + elif [[ "$cur" == -* ]]; then + local opts="$( _parse_help "$1" )" + [[ $opts ]] || opts="$( _parse_usage "$1" )" + if [[ "$cur" == -* ]]; then + # suggest some common CMake arguments + opts="$opts -DCATKIN_DEVEL_PREFIX= -DCATKIN_ENABLE_TESTING= -DCMAKE_INSTALL_PREFIX= -DCMAKE_BUILD_TYPE=" + fi + COMPREPLY=( $( compgen -W "$opts" -- "$cur" ) ) + [[ $COMPREPLY == *= ]] && compopt -o nospace + else + # check if custom workspace root has been specified on the command line + local workspace_dir="." + for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do + if [[ ${COMP_WORDS[i]} == -C || ${COMP_WORDS[i]} == --directory ]]; then + # eval to expand tilde + eval workspace_dir=${COMP_WORDS[i+1]} + fi + done + # check if custom build folder has been specified on the command line + local build_dir="build" + for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do + if [[ ${COMP_WORDS[i]} == --build ]]; then + # eval to expand tilde + eval build_dir=${COMP_WORDS[i+1]} + fi + done + + # determine location of Makefile + local makefile_dir + if [[ "$build_dir" = /* ]]; then + makefile_dir="$build_dir" + else + makefile_dir="$workspace_dir/$build_dir" + fi + COMPREPLY=() + if [ -f "$makefile_dir/Makefile" ]; then + cur=${COMP_WORDS[COMP_CWORD]} + COMPREPLY=( $( compgen -W "`make -C $makefile_dir -qp 2>/dev/null | awk -F':' '/^[a-zA-Z0-9][a-zA-Z0-9_\.]*:/ { print $1 }'`" -- $cur )) + elif [ -f "$makefile_dir/build.ninja" ]; then + cur=${COMP_WORDS[COMP_CWORD]} + COMPREPLY=( $( compgen -W "`ninja -C $makefile_dir -t targets 2>/dev/null | awk -F':' '/^[a-zA-Z0-9][a-zA-Z0-9_\.]*:/ { print $1 }'`" -- $cur )) + fi + fi +} && +complete -F _catkin_make catkin_make diff --git a/20151014/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash b/20151014/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash new file mode 100644 index 00000000..99e5d301 --- /dev/null +++ b/20151014/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash @@ -0,0 +1,65 @@ +function _catkin_make_isolated() +{ + local cur prev + cur=${COMP_WORDS[COMP_CWORD]} + prev=${COMP_WORDS[COMP_CWORD-1]} + + # autocomplete path arguments for -C, --directory, --source, --build, --devel, --install + case $prev in + -C|--directory|--source|--build|--devel|--install) + _filedir -d + return 0 + ;; + esac + + if [[ "$cur" == -DCMAKE_BUILD_TYPE=* ]]; then + # autocomplete CMake argument CMAKE_BUILD_TYPE with its options + COMPREPLY=( $( compgen -P "-DCMAKE_BUILD_TYPE=" -W "None Debug Release RelWithDebInfo MinSizeRel" -- "${cur:19}" ) ) + elif [[ "$cur" == -DCATKIN_ENABLE_TESTING=* ]]; then + # autocomplete catkin argument CATKIN_ENABLE_TESTING with its options + COMPREPLY=( $( compgen -P "-DCATKIN_ENABLE_TESTING=" -W "0 1" -- "${cur:24}" ) ) + elif [[ "$cur" == -* ]]; then + local opts="$( _parse_help "$1" )" + [[ $opts ]] || opts="$( _parse_usage "$1" )" + if [[ "$cur" == -* ]]; then + # suggest some common CMake arguments + opts="$opts -DCATKIN_ENABLE_TESTING= -DCMAKE_BUILD_TYPE=" + fi + COMPREPLY=( $( compgen -W "$opts" -- "$cur" ) ) + [[ $COMPREPLY == *= ]] && compopt -o nospace + else + # check if custom workspace root has been specified on the command line + local workspace_dir="." + for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do + if [[ ${COMP_WORDS[i]} == -C || ${COMP_WORDS[i]} == --directory ]]; then + # eval to expand tilde + eval workspace_dir=${COMP_WORDS[i+1]} + fi + done + # check if custom build folder has been specified on the command line + local build_dir="build_isolated" + for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do + if [[ ${COMP_WORDS[i]} == --build ]]; then + # eval to expand tilde + eval build_dir=${COMP_WORDS[i+1]} + fi + done + + # determine location of Makefile + local makefile_dir + if [[ "$build_dir" = /* ]]; then + makefile_dir="$build_dir" + else + makefile_dir="$workspace_dir/$build_dir" + fi + COMPREPLY=() + if [ -f "$makefile_dir/Makefile" ]; then + cur=${COMP_WORDS[COMP_CWORD]} + COMPREPLY=( $( compgen -W "`make -C $makefile_dir -qp 2>/dev/null | awk -F':' '/^[a-zA-Z0-9][a-zA-Z0-9_\.]*:/ { print $1 }'`" -- $cur )) + elif [ -f "$makefile_dir/build.ninja" ]; then + cur=${COMP_WORDS[COMP_CWORD]} + COMPREPLY=( $( compgen -W "`ninja -C $makefile_dir -t targets 2>/dev/null | awk -F':' '/^[a-zA-Z0-9][a-zA-Z0-9_\.]*:/ { print $1 }'`" -- $cur )) + fi + fi +} && +complete -F _catkin_make_isolated catkin_make_isolated diff --git a/20151014/devel/lib/pkgconfig/enshu_20151014.pc b/20151014/devel/lib/pkgconfig/enshu_20151014.pc new file mode 100644 index 00000000..6d082275 --- /dev/null +++ b/20151014/devel/lib/pkgconfig/enshu_20151014.pc @@ -0,0 +1,8 @@ +prefix=/home/mech-user/git/2015-soft3/20151014/devel + +Name: enshu_20151014 +Description: Description of enshu_20151014 +Version: 0.0.0 +Cflags: +Libs: -L/home/mech-user/git/2015-soft3/20151014/devel/lib +Requires: diff --git a/20151014/devel/lib/pkgconfig/workspace.pc b/20151014/devel/lib/pkgconfig/workspace.pc new file mode 100644 index 00000000..bb597c5e --- /dev/null +++ b/20151014/devel/lib/pkgconfig/workspace.pc @@ -0,0 +1,8 @@ +prefix=/home/mech-user/git/2015-soft3/20151014/devel + +Name: workspace +Description: Description of workspace +Version: 0.0.0 +Cflags: +Libs: -L/home/mech-user/git/2015-soft3/20151014/devel/lib +Requires: diff --git a/20151014/devel/setup.bash b/20151014/devel/setup.bash new file mode 100644 index 00000000..ff47af8f --- /dev/null +++ b/20151014/devel/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/20151014/devel/setup.sh b/20151014/devel/setup.sh new file mode 100644 index 00000000..39e4b342 --- /dev/null +++ b/20151014/devel/setup.sh @@ -0,0 +1,87 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/mech-user/git/2015-soft3/20151014/devel} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +export CPATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +_SETUP_TMP=`mktemp /tmp/setup.sh.XXXXXXXXXX` +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ > $_SETUP_TMP +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f $_SETUP_TMP + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. $_SETUP_TMP +rm -f $_SETUP_TMP +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/20151014/devel/setup.zsh b/20151014/devel/setup.zsh new file mode 100644 index 00000000..952f72a4 --- /dev/null +++ b/20151014/devel/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +source "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/20151014/devel/share/enshu_20151014/cmake/enshu_20151014Config-version.cmake b/20151014/devel/share/enshu_20151014/cmake/enshu_20151014Config-version.cmake new file mode 100644 index 00000000..7fd9f993 --- /dev/null +++ b/20151014/devel/share/enshu_20151014/cmake/enshu_20151014Config-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.0.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/20151014/devel/share/enshu_20151014/cmake/enshu_20151014Config.cmake b/20151014/devel/share/enshu_20151014/cmake/enshu_20151014Config.cmake new file mode 100644 index 00000000..59f006ac --- /dev/null +++ b/20151014/devel/share/enshu_20151014/cmake/enshu_20151014Config.cmake @@ -0,0 +1,191 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^debug|optimized|general$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(enshu_20151014_CONFIG_INCLUDED) + return() +endif() +set(enshu_20151014_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("TRUE" STREQUAL "TRUE") + set(enshu_20151014_SOURCE_PREFIX /home/mech-user/git/2015-soft3/20151014/src/enshu_20151014) + set(enshu_20151014_DEVEL_PREFIX /home/mech-user/git/2015-soft3/20151014/devel) + set(enshu_20151014_INSTALL_PREFIX "") + set(enshu_20151014_PREFIX ${enshu_20151014_DEVEL_PREFIX}) +else() + set(enshu_20151014_SOURCE_PREFIX "") + set(enshu_20151014_DEVEL_PREFIX "") + set(enshu_20151014_INSTALL_PREFIX /home/mech-user/git/2015-soft3/20151014/install) + set(enshu_20151014_PREFIX ${enshu_20151014_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'enshu_20151014' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(enshu_20151014_FOUND_CATKIN_PROJECT TRUE) + +if(NOT "" STREQUAL "") + set(enshu_20151014_INCLUDE_DIRS "") + set(_include_dirs "") + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir}" STREQUAL "include") + get_filename_component(include "${enshu_20151014_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'enshu_20151014' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. Ask the maintainer 'k-okada ' to fix it.") + endif() + else() + message(FATAL_ERROR "Project 'enshu_20151014' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/home/mech-user/git/2015-soft3/20151014/src/enshu_20151014/${idir}'. Ask the maintainer 'k-okada ' to fix it.") + endif() + _list_append_unique(enshu_20151014_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^debug|optimized|general$") + list(APPEND enshu_20151014_LIBRARIES ${library}) + elseif(TARGET ${library}) + list(APPEND enshu_20151014_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND enshu_20151014_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /home/mech-user/git/2015-soft3/20151014/devel/lib;/home/mech-user/catkin_ws/ws_euslisp/devel/lib;/home/mech-user/catkin_ws/devel/lib;/opt/ros/indigo/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(enshu_20151014_LIBRARY_DIRS ${lib_path}) + list(APPEND enshu_20151014_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'enshu_20151014'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND enshu_20151014_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(enshu_20151014_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${enshu_20151014_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 enshu_20151014_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${enshu_20151014_dep}_FOUND) + find_package(${enshu_20151014_dep} REQUIRED) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${enshu_20151014_dep} REQUIRED ${depend_list}) + endif() + _list_append_unique(enshu_20151014_INCLUDE_DIRS ${${enshu_20151014_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(enshu_20151014_LIBRARIES ${enshu_20151014_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${enshu_20151014_dep}_LIBRARIES}) + _list_append_deduplicate(enshu_20151014_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(enshu_20151014_LIBRARIES ${enshu_20151014_LIBRARIES}) + + _list_append_unique(enshu_20151014_LIBRARY_DIRS ${${enshu_20151014_dep}_LIBRARY_DIRS}) + list(APPEND enshu_20151014_EXPORTED_TARGETS ${${enshu_20151014_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${enshu_20151014_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/20151014/devel/share/workspace/cmake/workspaceConfig-version.cmake b/20151014/devel/share/workspace/cmake/workspaceConfig-version.cmake new file mode 100644 index 00000000..7fd9f993 --- /dev/null +++ b/20151014/devel/share/workspace/cmake/workspaceConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.0.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/20151014/devel/share/workspace/cmake/workspaceConfig.cmake b/20151014/devel/share/workspace/cmake/workspaceConfig.cmake new file mode 100644 index 00000000..341652d8 --- /dev/null +++ b/20151014/devel/share/workspace/cmake/workspaceConfig.cmake @@ -0,0 +1,191 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^debug|optimized|general$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(workspace_CONFIG_INCLUDED) + return() +endif() +set(workspace_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("TRUE" STREQUAL "TRUE") + set(workspace_SOURCE_PREFIX /home/mech-user/git/2015-soft3/20151014/src/workspace) + set(workspace_DEVEL_PREFIX /home/mech-user/git/2015-soft3/20151014/devel) + set(workspace_INSTALL_PREFIX "") + set(workspace_PREFIX ${workspace_DEVEL_PREFIX}) +else() + set(workspace_SOURCE_PREFIX "") + set(workspace_DEVEL_PREFIX "") + set(workspace_INSTALL_PREFIX /home/mech-user/git/2015-soft3/20151014/install) + set(workspace_PREFIX ${workspace_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'workspace' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(workspace_FOUND_CATKIN_PROJECT TRUE) + +if(NOT "" STREQUAL "") + set(workspace_INCLUDE_DIRS "") + set(_include_dirs "") + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir}" STREQUAL "include") + get_filename_component(include "${workspace_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'workspace' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. Ask the maintainer 'mech-user ' to fix it.") + endif() + else() + message(FATAL_ERROR "Project 'workspace' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/home/mech-user/git/2015-soft3/20151014/src/workspace/${idir}'. Ask the maintainer 'mech-user ' to fix it.") + endif() + _list_append_unique(workspace_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^debug|optimized|general$") + list(APPEND workspace_LIBRARIES ${library}) + elseif(TARGET ${library}) + list(APPEND workspace_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND workspace_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /home/mech-user/git/2015-soft3/20151014/devel/lib;/home/mech-user/catkin_ws/ws_euslisp/devel/lib;/home/mech-user/catkin_ws/devel/lib;/opt/ros/indigo/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(workspace_LIBRARY_DIRS ${lib_path}) + list(APPEND workspace_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'workspace'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND workspace_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(workspace_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${workspace_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 workspace_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${workspace_dep}_FOUND) + find_package(${workspace_dep} REQUIRED) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${workspace_dep} REQUIRED ${depend_list}) + endif() + _list_append_unique(workspace_INCLUDE_DIRS ${${workspace_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(workspace_LIBRARIES ${workspace_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${workspace_dep}_LIBRARIES}) + _list_append_deduplicate(workspace_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(workspace_LIBRARIES ${workspace_LIBRARIES}) + + _list_append_unique(workspace_LIBRARY_DIRS ${${workspace_dep}_LIBRARY_DIRS}) + list(APPEND workspace_EXPORTED_TARGETS ${${workspace_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${workspace_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/20151014/src/CMakeLists.txt b/20151014/src/CMakeLists.txt new file mode 120000 index 00000000..3703df4e --- /dev/null +++ b/20151014/src/CMakeLists.txt @@ -0,0 +1 @@ +/opt/ros/indigo/share/catkin/cmake/toplevel.cmake \ No newline at end of file diff --git a/20151014/src/enshu_20151014/euslisp/renshu-1.l b/20151014/src/enshu_20151014/euslisp/renshu-1.l index b1d9654f..25089047 100755 --- a/20151014/src/enshu_20151014/euslisp/renshu-1.l +++ b/20151014/src/enshu_20151014/euslisp/renshu-1.l @@ -6,11 +6,11 @@ ;; DO NOT EDIT BEFORE THIS LINE ;; 1 -(assert (eq (car (X (cdr '(a (b c) d)))) 'b) "mondai 1") +(assert (eq (car (cdr (cdr '(a (b c) d)))) 'b) "mondai 1") ;; 2 -(assert (eq (X 13 (/ 1 0)) 13) "mondai 2") +(assert (eq (quote 13 (/ 1 0)) 13) "mondai 2") ;; 3 -(assert (equal (X #'list 1 nil) '(1)) "mondai 3") +(assert (equal (apply #'list 1 nil) '(1)) "mondai 3") ;; ;; DO NOT EDIT AFTER THIS LINE diff --git a/20151014/src/enshu_20151014/euslisp/renshu-2.l b/20151014/src/enshu_20151014/euslisp/renshu-2.l index aa965dde..2c0f96ff 100755 --- a/20151014/src/enshu_20151014/euslisp/renshu-2.l +++ b/20151014/src/enshu_20151014/euslisp/renshu-2.l @@ -8,8 +8,16 @@ ;; 1 (defun dot-1 (n) + (do ((i n (- i 1))) + ((= i 0) (format t "~%")) + (format t ".")) t) (defun dot-2 (n) + (if (> n 0) + (progn + (format t ".") + (dot-2 (- n 1))) + (format t "~%")) t) ;; (assert (dot-1 3) "mondai 1") @@ -17,9 +25,15 @@ ;; 2 (defun hasa-1 (lst) - 0) + (setq count 0) + (dolist (x lst) + (if (eql x 'a) + (setq count (+ count 1)) nil)) + count) (defun hasa-2 (lst) - 0) + (if (atom lst) 0 + (+ (hasa-2 (cdr lst)) + (if (eql 'a (car lst)) 1 0)))) ;; (assert (eq (hasa-1 '(a b c d a)) 2) "mondai 2") (assert (eq (hasa-2 '(a b c d a)) 2) "mondai 2") diff --git a/20151014/src/enshu_20151014/euslisp/renshu-3.l b/20151014/src/enshu_20151014/euslisp/renshu-3.l index 602d3911..f01342b6 100755 --- a/20151014/src/enshu_20151014/euslisp/renshu-3.l +++ b/20151014/src/enshu_20151014/euslisp/renshu-3.l @@ -21,16 +21,18 @@ ;; (defun summit (lst) - (remove nil lst) + (setq lst + (remove nil lst)) (apply #'+ lst)) (assert (equal (summit '(1 2 nil 3 4 nil)) 10) "mondai 1") (defun summit (lst) - (let ((x (car lst))) - (if (null x) - (summit (cdr lst)) - (+ x (summit (cdr lst)))))) + (if (atom lst) 0 + (let ((x (car lst))) + (if (null x) + (summit (cdr lst)) + (+ x (summit (cdr lst))))))) (assert (equal (summit '(1 2 nil 3 4 nil)) 10) "mondai 1") diff --git a/20151014/src/enshu_20151014/src/body.l b/20151014/src/enshu_20151014/src/body.l new file mode 100644 index 00000000..7e559ed4 --- /dev/null +++ b/20151014/src/enshu_20151014/src/body.l @@ -0,0 +1,13 @@ +(print (list + (setq b1 (make-cube 100 100 30)) + (setq b2 (make-cube 30 40 100)) + (send b2 :rotate (deg2rad 30) :x) + (setq b3 (body+ b1 b2)) + (send b3 :set-color :red) + (make-irtviewer) + (objects (list b3)) + (setq b4 (body- b2 b1)) + (send b4 :set-color :green) + (objects (list b4)) +)) + diff --git a/20151014/src/enshu_20151014/src/common.l.txt b/20151014/src/enshu_20151014/src/common.l.txt new file mode 100644 index 00000000..4c2c2252 --- /dev/null +++ b/20151014/src/enshu_20151014/src/common.l.txt @@ -0,0 +1,1200 @@ +;;; common.l +;;; commonLisp features for eus +;;; +;;; Copyright(c)1988, Toshihiro MATSUI, Electrotechnical Laboratory +;;; 1986-Aug +;;; 1987-Feb +;;; 1988-Jun defclass, setf + +(in-package "LISP") + +(list "@(#)$Id: common.l,v 1.1.1.1 2003/11/20 07:46:30 eus Exp $") + +(export '(lisp-implementation-type lisp-implementation-version)) + +(export '(macroexpand prog1 loop unless until + pop push pushnew inc dec incf decf)) + +(export '(defvar defparameter defconstant deflocal + dotimes dolist + do-symbols do-external-symbols do-all-symbols + psetq do do* prog prog* + case classcase otherwise + string alias + caaar caadr cadar cdaar cdadr cddar cdddr + fourth fifth sixth seventh eighth + cadddr cddddr cadddr caaddr cdaddr caddddr + flatten list-insert list-delete adjoin union intersection + set-difference set-exclusive-or rotate-list last copy-tree + copy-list nreconc rassoc acons member assoc subsetp maplist mapcon)) + +(export '(find find-if find-if-not position position-if position-if-not + count count-if count-if-not member-if member-if-not + pairlis make-list make-sequence fill replace + transpose-list + remove remove-if remove-if-not delete delete-if delete-if-not + substitute substitute-if substitute-if-not + nsubstitute nsubstitute-if nsubstitute-if-not + unique remove-duplicates extream + send-super-lexpr send-lexpr send-super send-all resend + send-super* send* + instance instance* + make-instance defclassmethod delete-method + make-class defstruct defclass readtablep copy-readtable + set-syntax-from-char + collect-if collect-instances +)) + +(export '(keywordp constantp functionp vector-class-p + compiled-function-p input-stream-p output-stream-p io-stream-p + special-form-p macro-function)) + +(export '(zerop plusp minusp oddp evenp /= logandc1 logandc2 + ecase every some reduce merge-list merge expt signum + defsetf define-setf-method + setf multiple-value-bind multiple-value-setq pop push)) +(export '(get-internal-run-time list-length values + first second third bye)) + +(export '(rad2deg deg2rad )) + +;; version +(defun lisp-implementation-type () "EusLisp") +(defun lisp-implementation-version () + (format nil + "EusLisp ~A~A for ~A created on ~A(~A)" + (car lisp-implementation-version) + (cdddr lisp-implementation-version) + *OS-VERSION* + (cadr lisp-implementation-version) + (caddr lisp-implementation-version) + )) +(setq euserror nil) +;;; +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +;; basic macros +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +(eval-when (load eval) + +(defun macroexpand (form) + (let ((r (macroexpand2 form))) + (while (and (listp r) (macro-function (car r))) + (setq r (macroexpand2 r))) + r)) + +;(defmacro defun (fname &rest fdef) +; `(progn +; (setq (',fname . function) (cons 'lambda ',fdef)) +; (remprop ',fname 'builtin-function-entry) +; ',fname)) + +(defmacro prog1 (&rest args) + (let ((first (gensym "PROG1"))) + `(let ((,first ,(car args))) + (progn . ,(cdr args)) ,first))) + +(defmacro loop (&rest forms) + (let ((tag (gensym "LOOP"))) + `(block nil (tagbody ,tag ,@forms (go ,tag))))) +(defmacro unless (pred &rest form) + `(when (not ,pred) . ,form)) +(defmacro until (condition &rest forms) + `(while (not ,condition) ,@forms)) +(defmacro pop (s) `(prog1 (car ,s) (setf ,s (cdr ,s)))) +(defmacro push (item place) `(setf ,place (cons ,item ,place))) +(defmacro pushnew (item place &key test test-not key) + `(progn (if (not (member ,item ,place :test ,test :test-not ,test-not + :key ,key)) + (setf ,place (cons ,item ,place))) + nil)) +(defmacro inc (var &optional h) + (if h (setq h (list '+ var h)) (setq h (list '1+ var))) + (list 'setq var h)) +(defmacro dec (var &optional h) + (if h (setq h (list '- var h)) (setq h (list '1- var))) + (list 'setq var h)) +(defmacro incf (var &optional h) + (if h (setq h (list '+ var h)) (setq h (list '1+ var))) + (list 'setf var h)) +(defmacro decf (var &optional h) + (if h (setq h (list '- var h)) (setq h (list '1- var))) + (list 'setf var h)) + +(defmacro defvar (var &optional (init nil) (doc nil)) + (unless (symbolp var) (error 20)) + `(when (eql (send ',var :vtype) 1) + (send ',var :vtype 2) + (if (not (boundp ',var)) + (send ',var :global ,init ,doc )) + ',var)) + +(defmacro deflocal (var &optional (init nil) (doc nil)) + (unless (symbolp var) (error 20)) + `(progn + (send ',var :special ,init ,doc) + ',var)) + +(defmacro defparameter (var init &optional (doc nil)) + (unless (symbolp var) (error 20)) + `(send ',var :global ,init ,doc)) + +(defmacro defconstant (sym val &optional doc) + (unless (symbolp sym) (error 20)) + `(send ',sym :constant ,val ,doc) ) + + +(defmacro dotimes (vars &rest forms) + (let ((endvar (gensym "DOTIMES"))) + `(let ((,(car vars) 0) (,endvar ,(cadr vars))) + (declare (integer ,(car vars) ,endvar)) + (while (< ,(car vars) ,endvar) + ,@forms + (setq ,(car vars) (1+ ,(car vars)))) + ,(caddr vars)))) + +(defmacro dolist (vars &rest forms) + (let ((lists (gensym "DOLIST")) (decl (car forms))) + (if (and (consp decl) (eq (car decl) 'declare)) + (setq forms (cdr forms)) + (setq decl nil)) + `(let ((,(car vars) nil) (,lists ,(cadr vars))) + ,decl + (while ,lists + (setq ,(car vars) (pop ,lists)) + ,@forms) + ,(caddr vars)))) + +(defmacro do-symbols (vars &rest forms) + (let* ((symbols (gensym "DOSYM")) + (v (car vars)) + (pkg (if (cadr vars) (cadr vars) '*package*)) + (pkgv (gensym)) + (i (gensym)) + (size (gensym)) + (svec (gensym)) + ) + `(let* ((,v nil) + (,pkgv (find-package ,pkg)) + (,i 0) + (,svec (,pkgv . intsymvector)) + (,size (length ,svec))) + (while (< ,i ,size) + (setq ,v (elt ,svec ,i)) + (inc ,i) + (when (symbolp ,v) . ,forms)) + ,(caddr vars)))) + +(defmacro do-external-symbols (vars &rest forms) + (let* ((symbols (gensym "DOEXTSYM")) + (v (car vars)) + (pkg (if (cadr vars) (cadr vars) '*package*)) + (pkgv (gensym)) + (i (gensym)) + (size (gensym)) + (svec (gensym)) + ) + `(let* ((,v nil) + (,pkgv (find-package ,pkg)) + (,i 0) + (,svec (,pkgv . symvector)) + (,size (length ,svec))) + (while (< ,i ,size) + (setq ,v (elt ,svec ,i)) + (inc ,i) + (when (symbolp ,v) . ,forms)) + ,(caddr vars)))) + +(defmacro do-all-symbols (var &rest forms) + (let ((apackage (gensym "DOALLSYM"))) + `(dolist (,apackage (list-all-packages) ,(cadr var)) + (do-symbols (,(car var) ,apackage) . ,forms) ) + )) + +(defmacro psetq (&rest varvals) + (let* (vars vals gvars) + (while varvals + (push (pop varvals) vars) + (push (pop varvals) vals) + (push (gensym "PSETQ") gvars)) + (setq vars (nreverse vars) vals (nreverse vals) gvars (nreverse gvars)) + `(let* ,(mapcar #'list gvars vals) + (setq . ,(mapcan #'list vars gvars)) + nil))) + +(defmacro do (vars endtest &rest body) + (let ((decl (car body)) (tag (gensym "DO"))) + (if (and (consp decl) (eq (car decl) 'declare)) + (setq body (cdr body)) + (setq decl nil)) + `(block nil + (let + ,(mapcar + #'(lambda (v) (list (car v) (cadr v))) + vars) + ,decl + (tagbody + ,tag + (if ,(car endtest) (return (progn . ,(cdr endtest)))) + ,@body + (psetq . ,(mapcan #'(lambda (v) (if (cddr v) (list (car v) (caddr v)))) + vars)) + (go ,tag))) ))) + +(defmacro do* (vars endtest &rest body) + (let ((decl (car body)) (tag (gensym "DO*"))) + (if (and (consp decl) (eq (car decl) 'declare)) + (setq body (cdr body)) + (setq decl nil)) + `(block nil + (let* + ,(mapcar + #'(lambda (v) (list (car v) (cadr v))) + vars) + ,decl + (tagbody + ,tag + (if ,(car endtest) (return (progn . ,(cdr endtest)))) + ,@body + (setq . ,(mapcan #'(lambda (v) (if (cddr v) (list (car v) (caddr v)))) + vars)) + (go ,tag))) ))) + + +(defmacro prog (vars &rest body) + `(block nil + (let ,vars + (tagbody ,@body)))) +(defmacro prog* (vars &rest body) + `(block nil + (let* ,vars + (tagbody ,@body)))) + +) +;; +;; case +;; +(eval-when (load eval) +(defun casebody (body) (if (cdr body) (cons 'progn body) (car body))) + +(defun casehead (keyvar head) + (if (atom head) + (if (memq head '(t otherwise)) + t + (list 'eq keyvar (list 'quote head))) + (list 'memq keyvar (list 'quote head)) )) + +(defun case1 (keyvar clauses) + (if (atom clauses) + nil + (list 'if + (casehead keyvar (caar clauses)) + (casebody (cdar clauses)) + (case1 keyvar (cdr clauses)) nil))) + +(defmacro case (key &rest clauses) + (let ((keyvar (gensym "CASE")) (result nil)) + (list 'let (list (list keyvar key)) (case1 keyvar clauses)) + )) + +(defun classcasehead (keyvar head) + (if (memq head '(t otherwise)) + t + (if (atom head) + `(derivedp ,keyvar ,head) + `(or . ,(mapcar #'(lambda (x) `(derivedp ,keyvar ,x)) head))))) + +(defun classcase1 (keyvar clauses) + (if (atom clauses) + nil + (list 'if + (classcasehead keyvar (caar clauses)) + (casebody (cdar clauses)) + (classcase1 keyvar (cdr clauses)) nil))) + +(defmacro classcase (key &rest clauses) + (let ((kv (gensym "CCASE"))) + `(let ((,kv ,key)) ,(classcase1 kv clauses)))) +) + +;; string + +(defun string (x) + (if (stringp x) x + (if (symbolp x) (copy-seq (x . pname)) + (if (numberp x) (format nil "~d" x) + (error x))))) + +; +; more list functions +; +(eval-when (load eval) + (defun alias (new old) (setslot new symbol 'function + (symbol-function old))) + (alias 'list-length 'length) + (alias 'values 'list) + ) + +(eval-when (load eval) +(defun caaar (x) (car (caar x))) +(defun caadr (x) (car (cadr x))) +(defun cadar (x) (car (cdar x))) +(defun cdaar (x) (cdr (caar x))) +(defun cdadr (x) (cdr (cadr x))) +(defun cddar (x) (cdr (cdar x))) +(defun cdddr (x) (cdr (cddr x))) +(alias 'first 'car) +(alias 'second 'cadr) +(alias 'third 'caddr) +(defun fourth (x) (cadr (cddr x))) +(defun fifth (x) (caddr (cddr x))) +(defun sixth (x) (caddr (cdddr x))) +(defun seventh (x) (caddr (cddddr x))) +(defun eighth (x) (cadddr (cddddr x))) +#| +(defun cadddr (x) (car (cdddr x))) +|# +(defun cddddr (x) (cddr (cddr x))) +(defun cadddr (x) (cadr (cddr x))) +(defun caaddr (x) (caar (cddr x))) +(defun cdaddr (x) (cdar (cddr x))) +(defun caddddr (x) (cadr (cdddr x))) +(defun flatten (l &optional accumulator) + (cond + ((null l) accumulator) + ((atom l) (cons l accumulator)) + (t (flatten (car l) + (flatten (cdr l) accumulator)))) ) + +(defun list-insert (item pos list) + "insert item as the pos'th element in list. +if pos is bigger than the length of list, item is nconc'ed at the tail" + (cond ((null list) (list item)) + ((>= pos (length list)) (nconc list (list item))) + ((= pos 0) (cons item list)) + (t (let ((tail (cons item (nthcdr pos list)))) + (rplacd (nthcdr (1- pos) list) tail) + list)))) + +(defun list-delete (lst n) "(lst n) delete nth element of lst" + (if (= n 0) + (setq lst (cdr lst)) + (rplacd (nthcdr (1- n) lst) (nthcdr (1+ n) lst)) ) + lst) + +(defun adjoin (item list &key (test #'eq) (test-not) (key #'identity)) + (if (member item list :test test :test-not test-not :key key) + list + (cons item list))) + +(defun union (list1 list2 &key (test #'eq) (test-not) (key #'identity)) + (let (result) + (dolist (item list1) + (unless (member (funcall key item) result + :test test :test-not test-not :key key) + (setq result (cons item result)))) + (dolist (item list2) + (unless (member (funcall key item) result + :test test :test-not test-not :key key) + (setq result (cons item result)))) + (reverse result))) + +(defun intersection (list1 list2 &key (test #'eq) (test-not) (key #'identity)) + (let (r) + (dolist (item list1) + (if (member (funcall key item) list2 + :test test :test-not test-not :key key) + (setq r (cons item r)))) + r)) + +(defun set-difference (list1 list2 &key (test #'eq) (test-not) + (key #'identity)) + (let (result) + (dolist (l1 list1) + (unless (member (funcall key l1) list2 + :test test :test-not test-not :key key) + (push l1 result))) + (nreverse result))) + +(defun set-exclusive-or (list1 list2 &key (test #'eq) (test-not) + (key #'identity)) + (let (result1 result2) + (dolist (l1 list1) + (setq l1 (funcall key l1)) + (unless (member l1 list2 :test test :test-not test-not :key key) + (push l1 result1))) + (dolist (l2 list2) + (setq l2 (funcall key l2)) + (unless (member l2 list1 :test test :test-not test-not :key key) + (push l2 result2))) + (nconc result1 result2))) + +(defun rotate-list (l) (append (cdr l) (list (car l)))) +(defun last (x) + (while (consp (cdr x)) (setq x (cdr x))) + x) +(defun copy-tree (x) (subst t t x)) +(defun copy-list (x) (nreverse (reverse x))) +(defun nreconc (x y) (nconc (nreverse x) y)) +(defun rassoc (item alist) + (dolist (a alist) + (if (equal item (cdr a)) (return-from rassoc a)))) +(defun acons (key datum alist) (cons (cons key datum) alist)) +(defun member (item list &key key test test-not) + (supermember item list key test test-not)) +(defun assoc (item alist &key key test test-not) + (superassoc item alist key test test-not)) +(defun subsetp (sub super &key key test test-not) + (every #'(lambda (s) (member s super :key key :test test :test-not test-not)) + sub)) +(defun maplist (func arg &rest more-args &aux result) + (if more-args + (let (arglist margs) + (while arg + (setq arglist nil) + (push arg arglist) + (setq arg (cdr arg)) + (setq margs more-args) + (while margs + (push (car margs) arglist) + (setf (car margs) (cdar margs)) + (setq margs (cdr margs)) ) + (push (apply func (nreverse arglist)) result) )) + (while arg + (push (funcall func arg) result) + (setq arg (cdr arg)))) + (nreverse result)) + +(defun mapcon (func arg &rest more-args &aux result) + (if more-args + (let (arglist margs) + (while arg + (setq arglist nil) + (push arg arglist) + (setq arg (cdr arg)) + (setq margs more-args) + (while margs + (push (car margs) arglist) + (setf (car margs) (cdar margs)) + (setq margs (cdr margs)) ) + (setq result (nconc (apply func (nreverse arglist)) result) )) ) + (while arg + (setq result (nconc (funcall func arg) result)) + (setq arg (cdr arg)))) + (nreverse result)) + +(defun find (item seq &key (start 0) (end (length seq)) + (test #'eq) (test-not nil) (key #'identity)) + (system::raw-find item seq test test-not key nil nil start end)) +(defun find-if (pred seq &key (start 0) (end (length seq)) (key #'identity)) + (system::raw-find nil seq nil nil key pred nil start end)) +(defun find-if-not (pred seq &key (start 0) (end (length seq)) (key #'identity)) + (system::raw-find nil seq nil nil key nil pred start end)) + +(defun position (item seq &key (start 0) (end (length seq)) (count 1) + (test #'eq) (test-not nil) (key #'identity)) + (system::raw-position item seq test test-not key nil nil start end count)) +(defun position-if (pred seq &key (start 0) (end (length seq)) (count 1) (key #'identity)) + (system::raw-position nil seq nil nil key pred nil start end count)) +(defun position-if-not (pred seq &key (start 0) (end (length seq)) (count 1) (key #'identity)) + (system::raw-position nil seq nil nil key nil pred start end count)) + +(defun count (item seq &key (start 0) (end (length seq)) + (test #'eq) (test-not nil) (key #'identity)) + (system::raw-count item seq test test-not key nil nil start end)) +(defun count-if (pred seq &key (start 0) (end (length seq)) (key #'identity)) + (system::raw-count nil seq nil nil key pred nil start end)) +(defun count-if-not (pred seq &key (start 0) (end (length seq)) (key #'identity)) + (system::raw-count nil seq nil nil key nil pred start end)) +(defun member-if (test list &key (key #'identity)) + (while list + (if (funcall test (funcall key (car list))) + (return-from member-if list) + (setq list (cdr list))))) +(defun member-if-not (test list &key (key #'identity)) + (while list + (if (not (funcall test (funcall key (car list))) ) + (return-from member-if-not list) + (setq list (cdr list))))) +(defun collect-if (func seq &aux r) + (dolist (s seq) + (if (funcall func s) (push s r)) ) + (nreverse r) ) +(defun collect-instances (klass list) + (collect-if #'(lambda (i) (derivedp i klass)) (flatten list))) + +(defun pairlis (l1 l2 &optional alist) + (if l1 + (cons (cons (car l1) (car l2)) (pairlis (cdr l1) (cdr l2) alist)) + alist)) + +(defun transpose-list (dlist) + (let (r) + (dotimes (i (length (car dlist))) + (push (mapcar #'(lambda (x) (nth i x)) dlist) r)) + (nreverse r))) + +(defun make-list (leng &key initial-element) + (let (r) + (unless (integerp leng) (error "integer required for length of make-list")) + (dotimes (i leng r) + (push initial-element r)))) + +(defun make-sequence (type size &key initial-element) + (if (or (memq type '(cons list)) (eq type cons)) + (make-list size :initial-element initial-element) + (make-array size :element-type type :initial-element initial-element))) + +(defun fill (seq item &key (start 0) (end (length seq))) + (system::raw-fill seq item start end)) + +(defun replace (dest src &key (start1 0) (end1 (length dest)) + (start2 0) (end2 (length src))) + (let ((result dest) (count (min (- end1 start1) (- end2 start2)))) + (cond ((listp dest) + (setq dest (nthcdr start1 dest)) + (cond ((listp src) + (setq src (nthcdr start2 src)) + (dotimes (c count) + (setq (dest . car) (pop src)) + (pop dest))) + (t + (dotimes (c count) + (setq (dest . car) (aref src start2)) + (inc start2) (pop dest))))) + ((listp src) ; list --> vector + (setq src (nthcdr start2 src)) + (dotimes (c count) + (aset dest start1 (pop src)) + (inc start1))) + (t (system::vector-replace dest src start1 end1 start2 end2))) + result)) + +(defun remove (item seq &key (start 0) (end (length seq)) + (test #'eq) (test-not nil) + (count 1000000) (key #'identity)) + (system::universal-remove item seq test test-not key nil nil start end count)) +(defun remove-if (pred seq &key (start 0) (end (length seq)) + (count 1000000) (key #'identity)) + (system::universal-remove nil seq nil nil key pred nil start end count)) +(defun remove-if-not (pred seq &key (start 0) (end (length seq)) + (count 1000000) (key #'identity)) + (system::universal-remove nil seq nil nil key nil pred start end count)) + +(defun delete (item seq &key (start 0) (end (length seq)) + (test #'eq) (test-not nil) + (count 1000000) (key #'identity)) + (system::raw-delete item seq test test-not key nil nil start end count)) +(defun delete-if (pred seq &key (start 0) (end (length seq)) + (count 1000000) (key #'identity)) + (system::raw-delete nil seq nil nil key pred nil start end count)) +(defun delete-if-not (pred seq &key (start 0) (end (length seq)) + (count 1000000) (key #'identity)) + (system::raw-delete nil seq nil nil key nil pred start end count)) + +(defun substitute (newitem olditem seq &key (start 0) (end (length seq)) + (test #'eq) (test-not nil) + (count 1000000) (key #'identity)) + (system::raw-substitute newitem olditem seq test test-not key nil nil start end count)) +(defun substitute-if (newitem pred seq &key (start 0) (end (length seq)) + (count 1000000) (key #'identity)) + (system::raw-substitute newitem nil seq nil nil key pred nil start end count)) +(defun substitute-if-not (newitem pred seq &key (start 0) (end (length seq)) + (count 1000000) (key #'identity)) + (system::raw-substitute newitem nil seq nil nil key nil pred start end count)) + +(defun nsubstitute (newitem olditem seq &key (start 0) (end (length seq)) + (test #'eq) (test-not nil) + (count 1000000) (key #'identity)) + (system::raw-nsubstitute newitem olditem seq test test-not key nil nil start end count)) +(defun nsubstitute-if (newitem pred seq &key (start 0) (end (length seq)) + (count 1000000) (key #'identity)) + (system::raw-nsubstitute newitem nil seq nil nil key pred nil start end count)) +(defun nsubstitute-if-not (newitem pred seq &key (start 0) (end (length seq)) + (count 1000000) (key #'identity)) + (system::raw-nsubstitute newitem nil seq nil nil key nil pred start end count)) + +(defun unique (l) + (cond + ((atom (cdr l)) l) + ((memq (car l) (cdr l)) (unique (cdr l))) + (t (cons (car l) (unique (cdr l)))))) + +(defun remove-duplicates (seq &key (test #'eq) (test-not) (key #'identity) + (start 0) (end 1000000)) + (system::raw-remove-duplicates seq test test-not key start end)) + +(defun extream (seq test &optional (key #'identity)) + (if (null seq) + nil + (let* ((ext (elt seq 0)) (p (funcall key ext)) x) + (if (consp seq) + (dolist (v (cdr seq)) + (when (funcall test (funcall key v) p) + (setq ext v + p (funcall key ext))) ) + (dotimes (i (length seq)) + (when (funcall test + (funcall key (setq x (aref seq i))) + p) + (setq ext x + p (funcall key ext)))) ) + ext)) ) +) ;eval-when + + +;;; +;;; equivalent pairs from WINSTON +;;; + +#| +(eval-when (load eval) +(defun coalesce (pairs) (coalesce-aux pairs nil)) +(defun coalesce-aux (pairs classes) + (cond ((null pairs) classes) + (t (coalesce-aux (cdr pairs) + (absorb (car pairs) classes))))) +(defun stick-in (new classes) + (cond ((member new (car classes)) classes) + (t (cons (cons new (car classes)) + (cdr classes))))) +(defun absorb (pair classes) + (cond ((null classes) (list pair)) + ((member (car pair) (car classes)) + (stick-in (cadr pair) classes)) + ((member (cadr pair) (car classes)) + (stick-in (car pair) classes)) + (t (cons (car classes) + (absorb pair (cdr classes)))))) +) ;eval-when ; end of more list functions +|# + + +;;; +;;; LEO functions +;;; +(eval-when (load eval) +(defmacro send-super-lexpr (selector &rest msgs) + (declare (type metaclass class)) + `(apply #'send-message self (class . super) ,selector . ,msgs) + ) +(defmacro send-super* (&rest msgs) + (declare (type metaclass class)) + `(apply #'send-message self (class . super) . ,msgs) + ) +(defmacro send-lexpr (target selector &rest msgs) + `(apply #'send ,target ,selector . ,msgs) + ) +(defmacro send* (&rest msgs) + `(apply #'send . ,msgs) + ) +(defmacro send-super (selector &rest msgs) + (declare (type metaclass class)) + `(send-message self (class . super) ,selector ,@msgs)) + +(defun send-all (receivers &rest mesg) + (mapcar #'(lambda (r) (apply 'send r mesg)) receivers)) + +(defun resend (obj mesg) + (eval (cons 'send (cons obj mesg)))) + +(defmacro instance (cls &rest message) + (if message + (let ((v (gensym "INST"))) + `(let ((,v (instantiate ,cls))) (send ,v ,@message) ,v)) + `(instantiate ,cls))) + +(defmacro instance* (cls &rest message) + (if message + (let ((v (gensym "INST"))) + `(let ((,v (instantiate ,cls))) (send* ,v ,@message) ,v)) + `(instantiate ,cls))) + +(defun make-instance (klass &rest args) + (let ((inst (instantiate klass))) + (while args + (setslot inst klass (string (pop args)) (pop args))) + inst)) + +(defmacro defclassmethod (classname &rest methods) + `(defmethod ,(metaclass-name (class (symbol-value classname))) + . ,methods)) +(defun delete-method (classobj methodname) + (setf (metaclass-methods classobj) + (delete methodname (metaclass-methods classobj) :key #'car)) + (system::method-cache t)) + +;;; +;;; defclass macro (T.Matsui 1988-Jun) +;;; + +(defun make-class (name &key + (super object) + (include object) + (printer nil) + (constructor nil) + (predicate nil) + (copier nil) + ((:metaclass metaklass) nil) + (element-type nil) + (size -1) + ((:slots varlist) nil) + (documentation nil)) + (if (symbolp super) (setq super (symbol-value super))) + (let ((classobj (if (boundp name) (symbol-value name))) + (variables) (types) (forwards) + (etype) (index 0) (accessor) (p)) + (cond ((null (classp classobj)) + (cond + (metaklass) + ((classp metaklass)) + (super (setq metaklass (class super))) + (t (setq metaklass (symbol-value 'metaclass)))) + (setq classobj (instantiate metaklass))) + (t (setq metaklass (class classobj)))) + (setq variables (nreverse (coerce (super . vars) cons)) + types (nreverse (coerce (super . types) cons)) + forwards (nreverse (coerce (super . forwards) cons))) + (dolist (v varlist) + (cond ((consp v) + (if (member (car v) variables) + (error "duplicated object variable name")) + (push (car v) variables) + (setq p (position :type v)) + (push (if p (elt v (1+ p)) t) types) + (setq p (position :forward v)) + (push (if p (elt v (1+ p)) nil) forwards)) + ((symbolp v) + (if (member v variables) + (error "duplicated object variable name")) + (push v variables) + (push t types) + (push nil forwards)) + (t (error "variable name expected for :slots")))) + (setq variables (coerce (nreverse variables) vector) + types (coerce (nreverse types) vector) + forwards (coerce (nreverse forwards) vector)) + (setq etype (cdr (assq element-type + '((:BIT . 1) (:CHAR . 2) (:BYTE . 3) + (:INTEGER . 4) (:FLOAT . 5) (:FOREIGN . 6))))) + (if (null etype) + (setq etype (if (subclassp metaklass vectorclass) + (vectorclass-element-type super) + 0))) + (setq (classobj . name) name + (classobj . vars) variables + (classobj . types) types + (classobj . forwards) forwards + (classobj . super) super) + (if (subclassp metaklass vectorclass) + (setq (classobj . element-type) etype + (classobj . size) size)) + (if (null (classobj . cix)) (enter-class classobj)) +;;;??? +;;; (proclaim (list 'special name)) +;; (set name classobj) +;; (send name :global classobj) + (putprop classobj documentation :class-documentation) +;; define slot access functions and setf methods for all variables + (setq variables (coerce variables cons)) + (dolist (v variables) + (setq accessor (intern (concatenate string + (string name) "-" (string v)))) + (setf (symbol-function accessor) + `(macro (obj) (list 'slot obj ',name ,index))) + (incf index)) + classobj )) + + +(defmacro defstruct (name &rest slots) + `(progn + (send ',name :global + (make-class ',name :slots ',slots)) + ',name)) + + +(defmacro defclass (name &key slots + (super 'object) + (size -1) + ((:metaclass metaklass) nil) + element-type + documentation + (doc documentation)) + `(progn + (send ',name :global + (make-class ',name + :super ,super + :slots ',slots + :metaclass ,metaklass + :element-type ,element-type + :size ,size + :documentation ,doc) ) + ',name)) + + +;;; +;;; READTABLES +;;; +(eval-when (load eval) +(defun readtablep (x) (derivedp x readtable)) +(defun copy-readtable (&optional (from *readtable*) (to nil)) + (when (null from) (setq from *default-readtable*)) + (when (null to) + (setq to (instantiate readtable)) + (setf (readtable-syntax to) (instantiate string 256) + (readtable-macro to) (instantiate vector 256) + (readtable-dispatch-macro to) (instantiate vector 256))) + (if (or (null (readtablep from)) (null (readtablep to))) + (error "readtable expected")) + (replace (readtable-syntax to) (readtable-syntax from)) + (replace (readtable-macro to) (readtable-macro from)) + (replace (readtable-dispatch-macro to) (readtable-dispatch-macro from)) + (setf (readtable-case to) (readtable-case from)) + to) + +(defun set-syntax-from-char + (to-char from-char &optional (to-readtable *readtable*) + (from-readtable *default-readtable*)) + (let (syn) + (setq syn (aref (readtable-syntax from-readtable) from-char)) + (aset (readtable-syntax to-readtable) to-char syn) + (if (or (eq syn 7) (eq syn 8)) + (aset (readtable-macro to-readtable) to-char + (aref (readtable-macro from-readtable) from-char))) + syn)) +) + + +;; +;; predicates +;; +(eval-when (load eval) +(defun keywordp (sym) + (declare (type symbol sym)) + (and (symbolp sym) (eq (sym . homepkg) *keyword-package*))) + +(defun constantp (obj) + (declare (type symbol obj)) + (if (symbolp obj) + (if (or (keywordp obj) (eq (obj . vtype) 0)) t nil) + (if (listp obj) + (if (eq (car obj) 'quote) t nil) + (if (atom obj) t nil)))) + +(defun functionp (obj) + (cond ((numberp obj) nil) + ((listp obj) + (if (or (memq (car obj) '(lambda lambda-closure))) t nil)) + ((derivedp obj compiled-code) + (eq (compiled-code-type obj) 0)) + ((and (symbolp obj) (fboundp obj)) + (functionp (symbol-function obj))) + (t nil))) + +(defun vector-class-p (p) (derivedp p vectorclass)) +(defun compiled-function-p (x) (derivedp x compiled-code)) +(defun input-stream-p (obj) + (declare (stream obj)) + (or (and (derivedp obj stream) (eq (obj . direction) :input)) + (derivedp obj io-stream))) +(defun output-stream-p (obj) + (declare (stream obj)) + (or (and (derivedp obj stream) (eq (obj . direction) :output)) + (derivedp obj io-stream))) +(defun io-stream-p (obj) (derivedp obj io-stream)) + +(defun special-form-p (s) + (and (symbolp s) + (fboundp s) + (setq s (symbol-function s)) + (compiled-function-p s) + (eq (s . type) 2))) + +(defun macro-function (s) + (and (symbolp s) + (fboundp s) + (setq s (symbol-function s)) + (if (and (compiled-function-p s) + (eq (s . type) 1)) + s + (if (and (listp s) (eq (car s) 'macro)) s nil) + ))) + +(defun zerop (n) (= n 0)) +(defun plusp (n) (> n 0)) +(defun minusp (n) (< n 0)) +(defun oddp (n) (logbitp 0 n)) +(defun evenp (n) (not (logbitp 0 n))) +(defun logandc1 (x y) (logand (lognot x) y)) +(defun logandc2 (x y) (logand x (lognot y))) +(defmacro ecase (&rest x) (cons 'case x)) + +(defun every (pred arg &rest more-args) + (cond ((and (null more-args) (listp arg)) + (while arg (unless (funcall pred (pop arg)) (return-from every nil)))) + (t + (setq arg (cons arg more-args)) + (dotimes (i (length (car arg))) + (unless (apply pred (mapcar #'(lambda (x) (elt x i)) arg)) + (return-from every nil))))) + t) + +(defun some (pred arg &rest more-args &aux result) + (setq arg (cons arg more-args)) + (dotimes (i (length (car arg))) + (if (setq result (apply pred (mapcar #'(lambda (x) (elt x i)) arg))) + (return-from some result))) + nil) +) + +(eval-when (load eval) +(defun reduce (func seq &key (start 0) (end (length seq)) + from-end initial-value) + (let ((length (- end start))) + (when from-end (setq seq (reverse seq))) + (cond + ((and (= length 1) (null initial-value)) (elt seq start)) + ((= length 0) + (if initial-value initial-value (funcall func))) + (t + (unless initial-value + (setq initial-value + (funcall func (elt seq start) (elt seq (inc start)))) + (dec length 2) (inc start)) + (dotimes (i length) + (setq initial-value + (funcall func initial-value (elt seq (+ start i))))) + initial-value)))) + +(defun merge-list (list1 list2 pred key &aux result p1 e1 e2 pp1 pp2) + (while (and list2 (not (funcall pred (funcall key (car list1)) + (funcall key (car list2))))) + (push (pop list2) result)) + (setq result (nreverse result)) + (setq p1 list1) + (while (and list2 (cdr p1)) + (setq e2 (funcall key (car list2))) + (while (and p1 (funcall pred (funcall key (cadr p1)) e2)) (pop p1)) + (when p1 + (setf pp1 (cdr p1) + pp2 (cdr list2) + (cdr p1) list2 + (cdr list2) pp1 + p1 list2 + list2 pp2)) ) + (nconc result list1 list2)) + +(defun merge (result-class seq1 seq2 pred &key (key #'identity)) + (if (and (eq result-class cons) (listp seq1) (listp seq2)) + (merge-list seq1 seq2 pred key) + (let* ((l1 (length seq1)) (l2 (length seq2)) (l (+ l1 l2)) + (result (make-sequence result-class l)) + (i1 0) (i2 0) (j 0) (e1) (e2) (e)) + (while (< j l) + (cond ((>= i1 l1) (setq e (elt seq2 i2)) (inc i2)) + ((>= i2 l2) (setq e (elt seq1 i1)) (inc i1)) + (t (setq e1 (elt seq1 i1) + e2 (elt seq2 i2)) + (if (funcall pred (funcall key e1) (funcall key e2)) + (progn (inc i1) (setq e e1)) + (progn (inc i2) (setq e e2))))) + (setf (elt result j) e) + (inc j)) + result))) +) + + +;; +;; arithmetics aux +;; + +(defun expt (a x) + (cond ((and (integerp x) (>= x 0)) + (if (zerop x) + 1 + (let ((b a) (y 1) (ix (1- x))) + (declare (integer y ix)) + (while (> ix 0) + (cond ((> ix y) + (setq b (* b b) + ix (- ix y) + y (ash y 1))) + (t (setq b (* b a) ix (1- ix))))) + b))) + (t (exp (* x (log a)))))) +(defun signum (x) (if (zerop x) x (/ x (abs x)))) +(defun rad2deg (rad) (/ (* 360.0 rad) 2pi)) +(defun deg2rad (deg) (/ (* 2pi deg) 360.0)) +) + +;;;; (C) Copyright Taiichi Yuasa and Masami Hagiya, 1984. All rights reserved. +;;;; +;;;; setf routines +;;;; Modified by T.Matsui to be run on euslisp +;;;; 1988-Jun-27 + +;;; DEFSETF macro. +(defmacro defsetf (access-fn &rest rest) + (cond ((and (car rest) (or (symbolp (car rest)) (functionp (car rest)))) + `(progn (putprop ',access-fn ',(car rest) 'setf-update-fn) + (remprop ',access-fn 'setf-lambda) + (remprop ',access-fn 'setf-method) + (putprop ',access-fn + ,(when (not (endp (cdr rest))) + (unless (stringp (cadr rest)) + (error "A doc-string expected.")) + (unless (endp (cddr rest)) + (error "Extra arguments.")) + (cadr rest)) + 'setf-documentation) + ',access-fn)) + (t + (unless (= (list-length (cadr rest)) 1) + (error "(store-variable) expected.")) + `(progn (putprop ',access-fn ',rest 'setf-lambda) + (remprop ',access-fn 'setf-update-fn) + (remprop ',access-fn 'setf-method) +; (putprop ',access-fn +; ,(find-documentation (cddr rest)) +; 'setf-documentation) + ',access-fn)))) + + +;;; DEFINE-SETF-METHOD macro. +(defmacro define-setf-method (access-fn &rest rest) + `(progn (putprop ',access-fn #'(lambda ,@rest) 'setf-method) + (remprop ',access-fn 'setf-lambda) + (remprop ',access-fn 'setf-update-fn) +; (putprop ',access-fn +; ,(find-documentation (cdr rest)) +; 'setf-documentation) + ',access-fn)) + +;;; The expansion function for SETF. +(defun setf-expand-1 (place newvalue) + (let (g) + (setq place (macroexpand place)) + (cond ((and (consp place) (eq (car place) 'the)) + (setf-expand-1 (caddr place) `(the ,(cadr place) ,newvalue))) + ((symbolp place) `(setq ,place ,newvalue)) + ((and (symbolp (car place)) (setq g (get (car place) 'setf-update-fn))) + `(,g ,@(cdr place) ,newvalue)) + ((and (symbolp (car place)) + (setq g (get (car place) 'structure-access)) + (get (car place) 'setf-lambda) + (not (eq (car g) 'list)) + (not (eq (car g) 'vector))) + `(system::structure-set ,(cadr place) ',(car g) ,(cdr g) ,newvalue)) + ((macro-function (car place)) + (setf-expand-1 (macroexpand place) newvalue)) + ((setq g (get (car place) 'setf-lambda)) + (apply (append '(lambda) (list (append (cadr g) (car g))) (cddr g)) + newvalue (cdr place))) +; ((get (car place) 'setf-method) +; (apply (get (car form) 'setf-method) (cdr place))) + (t (error "SETF?"))))) + +(defun setf-expand (l) + (cond ((endp l) nil) + ((endp (cdr l)) (error "~S is an illegal SETF form." l)) + (t + (cons (setf-expand-1 (car l) (cadr l)) + (setf-expand (cddr l)))))) + + +;;; SETF macro. +(defmacro setf (&rest rest) + (cond ((endp rest) nil) + ((endp (cdr rest)) (error "~S is an illegal SETF form." rest)) + ((endp (cddr rest)) (setf-expand-1 (car rest) (cadr rest))) + (t (cons 'progn (setf-expand rest))))) + +;(defmacro incf (form &optional (d 1)) +; `(setf ,form (+ ,form ,d))) +;(defmacro decf (form &optional (d 1)) +; `(setf ,form (- ,form ,d))) + +;;; +;;; MULTI-VALUE simulation macros +;;; +(defmacro multiple-value-bind (vlist init &rest forms) + (let* ((inits (gensym "MULT")) (vilist) (count 0)) + (dolist (v vlist) + (push (list v `(elt ,inits ,count)) vilist) + (inc count)) + `(let* ((,inits ,init) . ,vilist) . ,forms))) + +(defmacro multiple-value-setq (vlist form) + (let ((i 0) (tempvar (gensym "MULT")) setq-forms) + (dolist (v vlist) + (push (list + (second + (assoc i + '((0 first) (1 second) (2 third) + (3 fourth)(4 fifth) (5 sixth) (6 seventh)))) + tempvar) + setq-forms) + (push v setq-forms) + (incf i)) + `(let ((,tempvar ,form)) + (setq . ,setq-forms)))) + +(alias 'values 'list) + +#| +(defun quick-sort (sequence start end predicate key &aux (j 0) (k 0) exch) + (declare (fixnum start end j k)) + (when (<= end (the fixnum (1+ start))) + (return-from quick-sort sequence)) + (setq j start) + (setq k (1- end)) + (do ((d (aref sequence start))) + ((> j k)) + (do () + ((or (> j k) + (funcall predicate + (funcall key (aref sequence k)) + (funcall key d)))) + (decf k)) + (when (< k start) + (quick-sort sequence (1+ start) end predicate key) + (return-from quick-sort sequence)) + (do () + ((or (> j k) + (not (funcall predicate + (funcall key (aref sequence j)) + (funcall key d))))) + (incf j)) + (when (> j k) (return)) + (setf exch (aref sequence k) + (aref sequence k) (aref sequence j) + (aref sequence j) exch) + (incf j) + (decf k)) + (quick-sort sequence start j predicate key) + (quick-sort sequence j end predicate key) + sequence) + +(defun qsort (seq test &optional (key #'identity) &aux (vec nil) (s nil)) + (cond ((null seq) nil) + ((listp seq) + (setq vec (coerce seq vector)) + (quick-sort vec 0 (length seq) test key) + (setq s seq) + (dotimes (i (length vec)) + (rplaca s (aref vec i)) + (setq s (cdr s))) + seq) + ((vectorp seq) + (quick-sort seq 0 (length seq) test key) + seq) )) +|# + +#| +(eval-when (load eval) + (defmacro pop (s) `(prog1 (car ,s) (setf ,s (cdr ,s)))) + (defmacro push (item place) `(setf ,place (cons ,item ,place))) + ) +|# + + diff --git a/20151014/src/enshu_20151014/src/coordinates.l b/20151014/src/enshu_20151014/src/coordinates.l new file mode 100644 index 00000000..e097932b --- /dev/null +++ b/20151014/src/enshu_20151014/src/coordinates.l @@ -0,0 +1,17 @@ +(print (list + (setq c1 (instance cascaded-coords :init)) + (send c1 :locate #f(1 2 3)) + (send c1 :worldpos) + (send c1 :worldrot) + + (setq c2 (instance cascaded-coords :init)) + (send c2 :assoc c1) + (send c2 :rotate (deg2rad 45) :z) + + (send c1 :worldpos) + (send c1 :worldrot) + + (send c2 :worldpos) + (send c2 :worldrot) +)) + diff --git a/20151014/src/enshu_20151014/src/factoral.l b/20151014/src/enshu_20151014/src/factoral.l new file mode 100644 index 00000000..c0d35a8c --- /dev/null +++ b/20151014/src/enshu_20151014/src/factoral.l @@ -0,0 +1,4 @@ +(defun factoral (n) + (do ((j n (- j 1)) + (f 1 (* j f))) + ((= j 0) f))) diff --git a/20151014/src/enshu_20151014/src/format-read.l b/20151014/src/enshu_20151014/src/format-read.l new file mode 100644 index 00000000..2db78927 --- /dev/null +++ b/20151014/src/enshu_20151014/src/format-read.l @@ -0,0 +1,8 @@ +(format t "~A plus ~A equals ~A.~%" 2 3 (+ 2 3)) + +(defun ask (string) + (format t "~A" string) + (finish-output) + (read)) + +(ask "How old are you ? ") diff --git a/20151014/src/enshu_20151014/src/homework1.l b/20151014/src/enshu_20151014/src/homework1.l new file mode 100644 index 00000000..bd796827 --- /dev/null +++ b/20151014/src/enshu_20151014/src/homework1.l @@ -0,0 +1,4 @@ +(defun periods_iter (n) + (do ((i n (- i 1))) + ((= i 0) (format t "~%")) + (format t "."))) diff --git a/20151014/src/enshu_20151014/src/homework2.l b/20151014/src/enshu_20151014/src/homework2.l new file mode 100644 index 00000000..c75f6036 --- /dev/null +++ b/20151014/src/enshu_20151014/src/homework2.l @@ -0,0 +1,6 @@ +(defun periods_rec (n) + (if (> n 0) + (progn + (format t ".") + (periods_rec (- n 1))) + (format t "~%"))) diff --git a/20151014/src/enshu_20151014/src/homework3.l b/20151014/src/enshu_20151014/src/homework3.l new file mode 100644 index 00000000..5091a0e7 --- /dev/null +++ b/20151014/src/enshu_20151014/src/homework3.l @@ -0,0 +1,6 @@ +(defun count_a_iter (lst) + (setq count 0) + (dolist (x lst) + (if (eql x 'a) (setq count (+ count 1)) nil)) + count) + diff --git a/20151014/src/enshu_20151014/src/homework4.l b/20151014/src/enshu_20151014/src/homework4.l new file mode 100644 index 00000000..ba531bc5 --- /dev/null +++ b/20151014/src/enshu_20151014/src/homework4.l @@ -0,0 +1,4 @@ +(defun count_a_rec (lst) + (if (atom lst) 0 + (+ (count_a_rec (cdr lst)) + (if (eql 'a (car lst)) 1 0)))) diff --git a/20151014/src/enshu_20151014/src/homework5.l b/20151014/src/enshu_20151014/src/homework5.l new file mode 100644 index 00000000..2c18115a --- /dev/null +++ b/20151014/src/enshu_20151014/src/homework5.l @@ -0,0 +1,6 @@ +; (defun summit (lst) +; (remove nil lst) +; (apply #'+ lst)) +(defun summit (lst) + (setq lst (remove nil lst)) + (apply #'+ lst)) diff --git a/20151014/src/enshu_20151014/src/homework6.l b/20151014/src/enshu_20151014/src/homework6.l new file mode 100644 index 00000000..3af51c03 --- /dev/null +++ b/20151014/src/enshu_20151014/src/homework6.l @@ -0,0 +1,11 @@ +;(defun summit (lst) +; (let ((x (car lst))) +; (if (null x) +; (summit (cdr lst)) +; (+ x (summit (cdr lst)))))) +(defun summit (lst) + (if (atom lst) 0 + (let ((x (car lst))) + (if (null x) + (summit (cdr lst)) + (+ x (summit (cdr lst))))))) diff --git a/20151014/src/enshu_20151014/src/my-pop.l b/20151014/src/enshu_20151014/src/my-pop.l new file mode 100644 index 00000000..d68587f5 --- /dev/null +++ b/20151014/src/enshu_20151014/src/my-pop.l @@ -0,0 +1,9 @@ +;; my-pop.l +(defmacro my-pop (a) + `(let ((x (car ,a))) + (setf ,a (cdr ,a)) x)) + +(setq a (list 1 2 3)) +(print a) +(my-pop a) +(print a) diff --git a/20151014/src/enshu_20151014/src/my-popback.l b/20151014/src/enshu_20151014/src/my-popback.l new file mode 100644 index 00000000..66a1fbfd --- /dev/null +++ b/20151014/src/enshu_20151014/src/my-popback.l @@ -0,0 +1,9 @@ +;; my-popback.l +(defmacro my-popback (a) `(let ((x ,a)) + (while (consp (cddr x)) (setq x (cdr x))) + (prog1 (cadr x) (setf (cdr x) nil)))) + +(setq a (list 0 1 2 3)) +(print a) +(my-popback a) +(print a) diff --git a/20151014/src/enshu_20151014/src/my-push.l b/20151014/src/enshu_20151014/src/my-push.l new file mode 100644 index 00000000..8c80351a --- /dev/null +++ b/20151014/src/enshu_20151014/src/my-push.l @@ -0,0 +1,9 @@ +;; my-push.l +(defmacro my-push (x a) + `(setf ,a (cons ,x ,a))) + +(setq a (list 1 2 3)) +(print a) +(my-push 0 a) +(print a) +(macroexpand `(my-push 0 a)) diff --git a/20151014/src/enshu_20151014/src/oop_sample.l b/20151014/src/enshu_20151014/src/oop_sample.l new file mode 100644 index 00000000..e8171803 --- /dev/null +++ b/20151014/src/enshu_20151014/src/oop_sample.l @@ -0,0 +1,65 @@ +(defclass lab + :super propertied-object + :slots (members)) +(defmethod lab + (:add-member (m) (push m members)) + (:print-info + () + (send-all members :print-info))) + +(defclass labmember + :super propertied-object + :slots (name)) +(defmethod labmember + (:init + (&optional n) + (send self :set-name n) + self) + (:set-name (n) (setq name n)) + (:get-name () name)) + +(defclass student + :super labmember + :slots (grade)) +(defmethod student + (:init + (&rest args) + (send-super* :init args) + (setq grade 0) + self) + (:set-grade (g) (setq grade g)) + (:get-grade () grade) + (:print-info + () + (format t "Student name=~A, grade=~A~%" name grade)) +) + +(defclass professor + :super labmember + :slots (room)) +(defmethod professor + (:init + (&rest args) + (send-super* :init args) + (setq room 0) + self) + (:set-room (r) (setq room r)) + (:get-room () room) + (:print-info + () + (format t "Professor name =~A, room=~A~%" + name room)) + ) + +(setq p1 (instance professor :init)) +(send p1 :set-name "yamada") +(send p1 :set-room 123) + +(setq s1 (instance student :init)) +(send s1 :set-name "suzuki") +(send s1 :set-grade 4) + +(setq l (instantiate lab)) +(send l :add-member p1) +(send l :add-member s1) +(send l :print-info) diff --git a/20151014/src/enshu_20151014/src/our-member.l b/20151014/src/enshu_20151014/src/our-member.l new file mode 100644 index 00000000..6029bda5 --- /dev/null +++ b/20151014/src/enshu_20151014/src/our-member.l @@ -0,0 +1,6 @@ +(defun our-member (obj lst) + (if (null lst) + nil + (if (eql (car lst) obj) + lst + (our-member obj (cdr lst))))) diff --git a/20151014/src/enshu_20151014/src/quick-sort.l b/20151014/src/enshu_20151014/src/quick-sort.l new file mode 100644 index 00000000..32c8c003 --- /dev/null +++ b/20151014/src/enshu_20151014/src/quick-sort.l @@ -0,0 +1,8 @@ +;; quick-sort.l +(defun quick-sort (l) + (if (null l) nil + (labels ((bigger-el (x) (>= x (car l)))) ; t if x > first + (let ((smaller (remove-if #'bigger-el (cdr l))) ; all < first + (bigger (remove-if-not #'bigger-el (cdr l)))) ; all > first + (append (quick-sort smaller) (list (car l)) + (quick-sort bigger)))))) diff --git a/20151014/src/enshu_20151014/src/quick-sort2.l b/20151014/src/enshu_20151014/src/quick-sort2.l new file mode 100644 index 00000000..4cb23b63 --- /dev/null +++ b/20151014/src/enshu_20151014/src/quick-sort2.l @@ -0,0 +1,8 @@ +;; quick-sort2.l +(defun quick-sort2 (l &optional (comp #'>=)) + (if (null l) nil + (labels ((bigger-el (x) (funcall comp x (car l)))) + (let ((smaller (remove-if #'bigger-el (cdr l))) + (bigger (remove-if-not #'bigger-el (cdr l)))) + (append (quick-sort2 smaller comp) (list (car l)) + (quick-sort2 bigger comp)))))) diff --git a/20151014/src/enshu_20151014/src/selection-sort.l b/20151014/src/enshu_20151014/src/selection-sort.l new file mode 100644 index 00000000..78da2034 --- /dev/null +++ b/20151014/src/enshu_20151014/src/selection-sort.l @@ -0,0 +1,9 @@ +;; selection-sort.l +(defun selection-sort (l) + (labels ((min-list (l) + (let ((best (car l))) + (dolist (el l best) + (if (<= el best) (setf best el)))))) + (do* ((so-far nil (push (min-list lis) so-far)) + (lis l (remove (min-list lis) lis :count 1))) + ((null lis) (reverse so-far))))) diff --git a/20151014/src/enshu_20151014/src/socket_client.l b/20151014/src/enshu_20151014/src/socket_client.l new file mode 100644 index 00000000..20c6fed6 --- /dev/null +++ b/20151014/src/enshu_20151014/src/socket_client.l @@ -0,0 +1,5 @@ +(setq s (connect-server "www.jsk.t.u-tokyo.ac.jp" 80)) +(format s "GET / HTTP1.1~%") +(format s "~%") +(read-line s nil) +(while (setq l (read-line s nil)) (print l)) diff --git a/20151014/src/enshu_20151014/src/socket_server.l b/20151014/src/enshu_20151014/src/socket_server.l new file mode 100644 index 00000000..ae3b56a6 --- /dev/null +++ b/20151014/src/enshu_20151014/src/socket_server.l @@ -0,0 +1 @@ +(open-server 1234 #'(lambda (s) (print (eval (read s)) s))) diff --git a/20151014/src/enshu_20151014/src/test0.l b/20151014/src/enshu_20151014/src/test0.l new file mode 100644 index 00000000..6250f858 --- /dev/null +++ b/20151014/src/enshu_20151014/src/test0.l @@ -0,0 +1,10 @@ +;; test0.l +(defun test (i j) + (* i j)) + +(setq i 3) +(setq j 2) +(setq k (test i j)) +(if (> k 5) + (print ">5") + (print "<=5")) diff --git a/20151014/src/enshu_20151014/src/thread.l b/20151014/src/enshu_20151014/src/thread.l new file mode 100644 index 00000000..c9c57bb5 --- /dev/null +++ b/20151014/src/enshu_20151014/src/thread.l @@ -0,0 +1,13 @@ +(sys::make-thread 4) +(setq g 0) +(defun test(l) + (while (>= g 0) + (format t "l = ~A, g = ~A~%" l g) (unix:sleep 1))) + +(sys::thread-no-wait #'test 0) +(unix:sleep 10) +(setq g 1) +(unix:sleep 10) +(sys::thread-no-wait #'test 1) +(unix:sleep 10) +(setq g -1) diff --git a/20151014/src/workspace/CMakeLists.txt b/20151014/src/workspace/CMakeLists.txt new file mode 100644 index 00000000..2d144afc --- /dev/null +++ b/20151014/src/workspace/CMakeLists.txt @@ -0,0 +1,167 @@ +cmake_minimum_required(VERSION 2.8.3) +project(workspace) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + geometry_msgs + kobuki_msgs + message_generation + message_runtime + roscpp + rospy + std_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependencies might have been +## pulled in transitively but can be declared for certainty nonetheless: +## * add a build_depend tag for "message_generation" +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# geometry_msgs# kobuki_msgs# std_msgs +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if you package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES workspace +# CATKIN_DEPENDS geometry_msgs kobuki_msgs message_generation message_runtime roscpp rospy std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +# include_directories(include) +include_directories( + ${catkin_INCLUDE_DIRS} +) + +## Declare a cpp library +# add_library(workspace +# src/${PROJECT_NAME}/workspace.cpp +# ) + +## Declare a cpp executable +# add_executable(workspace_node src/workspace_node.cpp) + +## Add cmake target dependencies of the executable/library +## as an example, message headers may need to be generated before nodes +# add_dependencies(workspace_node workspace_generate_messages_cpp) + +## Specify libraries to link a library or executable target against +# target_link_libraries(workspace_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS workspace workspace_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_workspace.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/20151014/src/workspace/package.xml b/20151014/src/workspace/package.xml new file mode 100644 index 00000000..0205f925 --- /dev/null +++ b/20151014/src/workspace/package.xml @@ -0,0 +1,62 @@ + + + workspace + 0.0.0 + The workspace package + + + + + mech-user + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + geometry_msgs + kobuki_msgs + message_generation + roscpp + rospy + std_msgs + geometry_msgs + kobuki_msgs + message_runtime + roscpp + rospy + std_msgs + + + + + + + + \ No newline at end of file diff --git a/20151021/.catkin_workspace b/20151021/.catkin_workspace new file mode 100644 index 00000000..52fd97e7 --- /dev/null +++ b/20151021/.catkin_workspace @@ -0,0 +1 @@ +# This file currently only serves to mark the location of a catkin workspace for tool integration diff --git a/20151021/build/.built_by b/20151021/build/.built_by new file mode 100644 index 00000000..2e212dd3 --- /dev/null +++ b/20151021/build/.built_by @@ -0,0 +1 @@ +catkin_make \ No newline at end of file diff --git a/20151021/build/CATKIN_IGNORE b/20151021/build/CATKIN_IGNORE 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defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +/* Analog VisualDSP++ >= 4.5.6 */ +#elif defined(__VISUALDSPVERSION__) +# define COMPILER_ID "ADSP" + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) + +/* Analog VisualDSP++ < 4.5.6 */ +#elif defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" + +/* IAR Systems compiler for embedded systems. + http://www.iar.com */ +#elif defined(__IAR_SYSTEMS_ICC__ ) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" + +#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION) +# define COMPILER_ID "MIPSpro" +# if defined(_SGI_COMPILER_VERSION) + /* _SGI_COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION % 10) +# else + /* _COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION % 10) +# endif + +/* This compiler is either not known or is too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__sgi) +# define COMPILER_ID "MIPSpro" + +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" + +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__sgi) || defined(__sgi__) || defined(_SGI) +# define PLATFORM_ID "IRIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#else /* unknown platform */ +# define PLATFORM_ID "" + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM) +# define ARCHITECTURE_ID "ARM" + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID "" +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. 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valid targets for this Makefile:" + @echo "... all (the default if no target is provided)" + @echo "... clean" + @echo "... depend" + @echo "... clean_test_results" + @echo "... clean_test_results_Project" + @echo "... download_extra_data" + @echo "... doxygen" + @echo "... edit_cache" + @echo "... install" + @echo "... install/local" + @echo "... install/strip" + @echo "... list_install_components" + @echo "... rebuild_cache" + @echo "... run_tests" + @echo "... test" + @echo "... tests" + @echo "... gtest" + @echo "... gtest_main" + @echo "... _catkin_empty_exported_target" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/20151021/build/catkin/catkin_generated/version/package.cmake b/20151021/build/catkin/catkin_generated/version/package.cmake new file mode 100644 index 00000000..5c0c84c1 --- /dev/null +++ b/20151021/build/catkin/catkin_generated/version/package.cmake @@ -0,0 +1,9 @@ +set(_CATKIN_CURRENT_PACKAGE "catkin") +set(catkin_VERSION "0.6.16") +set(catkin_BUILD_DEPENDS_python-catkin-pkg_VERSION_GT "0.2.9") +set(catkin_BUILD_DEPENDS "python-empy" "python-argparse" "python-catkin-pkg") +set(catkin_DEPRECATED "") +set(catkin_RUN_DEPENDS "python-argparse" "python-catkin-pkg" "gtest" "python-empy" "python-nose") +set(catkin_MAINTAINER "Dirk Thomas ") +set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GT "0.2.9") +set(catkin_BUILDTOOL_DEPENDS "cmake") \ No newline at end of file diff --git a/20151021/build/catkin_generated/env_cached.sh b/20151021/build/catkin_generated/env_cached.sh new file mode 100755 index 00000000..d6be91db --- /dev/null +++ b/20151021/build/catkin_generated/env_cached.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup_cached.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup_cached.sh" +exec "$@" diff --git a/20151021/build/catkin_generated/generate_cached_setup.py b/20151021/build/catkin_generated/generate_cached_setup.py new file mode 100644 index 00000000..a979b52c --- /dev/null +++ b/20151021/build/catkin_generated/generate_cached_setup.py @@ -0,0 +1,30 @@ +# -*- coding: utf-8 -*- +from __future__ import print_function +import argparse +import os +import stat +import sys + +# find the import for catkin's python package - either from source space or from an installed underlay +if os.path.exists(os.path.join('/opt/ros/indigo/share/catkin/cmake', 'catkinConfig.cmake.in')): + sys.path.insert(0, os.path.join('/opt/ros/indigo/share/catkin/cmake', '..', 'python')) +try: + from catkin.environment_cache import generate_environment_script +except ImportError: + # search for catkin package in all workspaces and prepend to path + for workspace in "/opt/ros/indigo".split(';'): + python_path = os.path.join(workspace, 'lib/python2.7/dist-packages') + if os.path.isdir(os.path.join(python_path, 'catkin')): + sys.path.insert(0, python_path) + break + from catkin.environment_cache import generate_environment_script + +code = generate_environment_script('/home/shuta/git/2015-soft3/2015-soft3/20151021/devel/env.sh') + +output_filename = '/home/shuta/git/2015-soft3/2015-soft3/20151021/build/catkin_generated/setup_cached.sh' +with open(output_filename, 'w') as f: + #print('Generate script for cached setup "%s"' % output_filename) + f.write('\n'.join(code)) + +mode = os.stat(output_filename).st_mode +os.chmod(output_filename, mode | stat.S_IXUSR) diff --git a/20151021/build/catkin_generated/installspace/.rosinstall b/20151021/build/catkin_generated/installspace/.rosinstall new file mode 100644 index 00000000..160a5286 --- /dev/null +++ b/20151021/build/catkin_generated/installspace/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/shuta/git/2015-soft3/2015-soft3/20151021/install/setup.sh diff --git a/20151021/build/catkin_generated/installspace/_setup_util.py b/20151021/build/catkin_generated/installspace/_setup_util.py new file mode 100755 index 00000000..dce614e2 --- /dev/null +++ b/20151021/build/catkin_generated/installspace/_setup_util.py @@ -0,0 +1,288 @@ +#!/usr/bin/python +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +'''This file generates shell code for the setup.SHELL scripts to set environment variables''' + +from __future__ import print_function +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'CPATH': 'include', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': 'bin', + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + ''' + Generate shell code to reset environment variables + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + ''' + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + value = _rollback_env_variable(unmodified_environ, key, subfolder) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolder): + ''' + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolder: str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + ''' + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + ''' + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + ''' + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + ''' + Generate shell code to prepend environment variables + for the all workspaces. + ''' + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted([key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH']): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + ''' + Return the prefix to prepend to the environment variable NAME, adding any path in NEW_PATHS_STR without creating duplicate or empty items. + ''' + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + ''' + Generate shell code with found environment hooks + for the all workspaces. + ''' + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + # environment at generation time + CMAKE_PREFIX_PATH = '/opt/ros/indigo'.split(';') + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potantial "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/20151021/build/catkin_generated/installspace/env.sh b/20151021/build/catkin_generated/installspace/env.sh new file mode 100755 index 00000000..8aa9d244 --- /dev/null +++ b/20151021/build/catkin_generated/installspace/env.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/20151021/build/catkin_generated/installspace/setup.bash b/20151021/build/catkin_generated/installspace/setup.bash new file mode 100644 index 00000000..ff47af8f --- /dev/null +++ b/20151021/build/catkin_generated/installspace/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/20151021/build/catkin_generated/installspace/setup.sh b/20151021/build/catkin_generated/installspace/setup.sh new file mode 100644 index 00000000..bb54a255 --- /dev/null +++ b/20151021/build/catkin_generated/installspace/setup.sh @@ -0,0 +1,94 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/shuta/git/2015-soft3/2015-soft3/20151021/install} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +export CPATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if [ -d "${TMPDIR}" ]; then + _TMPDIR="${TMPDIR}" +else + _TMPDIR=/tmp +fi +_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` +unset _TMPDIR +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ >> "$_SETUP_TMP" +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f "$_SETUP_TMP" + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/20151021/build/catkin_generated/installspace/setup.zsh b/20151021/build/catkin_generated/installspace/setup.zsh new file mode 100644 index 00000000..9f780b74 --- /dev/null +++ b/20151021/build/catkin_generated/installspace/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/20151021/build/catkin_generated/order_packages.cmake b/20151021/build/catkin_generated/order_packages.cmake new file mode 100644 index 00000000..0f9d4a42 --- /dev/null +++ b/20151021/build/catkin_generated/order_packages.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/em/order_packages.cmake.em + +set(CATKIN_ORDERED_PACKAGES "") +set(CATKIN_ORDERED_PACKAGE_PATHS "") +set(CATKIN_ORDERED_PACKAGES_IS_META "") +set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "") +list(APPEND CATKIN_ORDERED_PACKAGES "enshu_20151021") +list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "enshu_20151021") +list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False") +list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin") + +set(CATKIN_MESSAGE_GENERATORS ) + +set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "/usr/lib/python2.7/dist-packages/catkin_pkg/templates/metapackage.cmake.in") diff --git a/20151021/build/catkin_generated/order_packages.py b/20151021/build/catkin_generated/order_packages.py new file mode 100644 index 00000000..6b6245de --- /dev/null +++ b/20151021/build/catkin_generated/order_packages.py @@ -0,0 +1,5 @@ +# generated from catkin/cmake/template/order_packages.context.py.in +source_root_dir = "/home/shuta/git/2015-soft3/2015-soft3/20151021/src" +whitelisted_packages = "".split(';') if "" != "" else [] +blacklisted_packages = "".split(';') if "" != "" else [] +underlay_workspaces = "/opt/ros/indigo".split(';') if "/opt/ros/indigo" != "" else [] diff --git a/20151021/build/catkin_generated/setup_cached.sh b/20151021/build/catkin_generated/setup_cached.sh new file mode 100755 index 00000000..ac447ecf --- /dev/null +++ b/20151021/build/catkin_generated/setup_cached.sh @@ -0,0 +1,18 @@ +#!/usr/bin/env sh +# generated from catkin/python/catkin/environment_cache.py + +# based on a snapshot of the environment before and after calling the setup script +# it emulates the modifications of the setup script without recurring computations + +# new environment variables + +# modified environment variables +export CMAKE_PREFIX_PATH="/home/shuta/git/2015-soft3/2015-soft3/20151021/devel:$CMAKE_PREFIX_PATH" +export CPATH="/home/shuta/git/2015-soft3/2015-soft3/20151021/devel/include:$CPATH" +export LD_LIBRARY_PATH="/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/lib:/home/shuta/git/2015-soft3/2015-soft3/20151021/devel/lib:/home/shuta/git/2015-soft3/2015-soft3/20151021/devel/lib/x86_64-linux-gnu:/opt/ros/indigo/lib/x86_64-linux-gnu:/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/lib:/opt/ros/indigo/lib" +export PATH="/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/bin:/home/shuta/git/2015-soft3/2015-soft3/20151021/devel/bin:/opt/ros/indigo/bin:/opt/ros/indigo/share/euslisp/jskeus/eus//Linux64/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games" +export PKG_CONFIG_PATH="/home/shuta/git/2015-soft3/2015-soft3/20151021/devel/lib/pkgconfig:/home/shuta/git/2015-soft3/2015-soft3/20151021/devel/lib/x86_64-linux-gnu/pkgconfig:/opt/ros/indigo/lib/x86_64-linux-gnu/pkgconfig:/opt/ros/indigo/lib/pkgconfig" +export PWD="/home/shuta/git/2015-soft3/2015-soft3/20151021/build" +export PYTHONPATH="/home/shuta/git/2015-soft3/2015-soft3/20151021/devel/lib/python2.7/dist-packages:$PYTHONPATH" +export ROSLISP_PACKAGE_DIRECTORIES="/home/shuta/git/2015-soft3/2015-soft3/20151021/devel/share/common-lisp" +export ROS_PACKAGE_PATH="/home/shuta/git/2015-soft3/2015-soft3/20151021/src:$ROS_PACKAGE_PATH" \ No newline at end of file diff --git a/20151021/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp b/20151021/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp new file mode 100644 index 00000000..41e93b16 --- /dev/null +++ b/20151021/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp @@ -0,0 +1,253 @@ +#!/usr/bin/env python + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +from __future__ import print_function +import os +import sys + +import distutils.core +try: + import setuptools +except ImportError: + pass + +from argparse import ArgumentParser + + +def _get_locations(pkgs, package_dir): + """ + based on setuptools logic and the package_dir dict, builds a dict + of location roots for each pkg in pkgs. + See http://docs.python.org/distutils/setupscript.html + + :returns: a dict {pkgname: root} for each pkgname in pkgs (and each of their parents) + """ + # package_dir contains a dict {package_name: relativepath} + # Example {'': 'src', 'foo': 'lib', 'bar': 'lib2'} + # + # '' means where to look for any package unless a parent package + # is listed so package bar.pot is expected at lib2/bar/pot, + # whereas package sup.dee is expected at src/sup/dee + # + # if package_dir does not state anything about a package, + # setuptool expects the package folder to be in the root of the + # project + locations = {} + allprefix = package_dir.get('', '') + for pkg in pkgs: + parent_location = None + splits = pkg.split('.') + # we iterate over compound name from parent to child + # so once we found parent, children just append to their parent + for key_len in range(len(splits)): + key = '.'.join(splits[:key_len + 1]) + if key not in locations: + if key in package_dir: + locations[key] = package_dir[key] + elif parent_location is not None: + locations[key] = os.path.join(parent_location, splits[key_len]) + else: + locations[key] = os.path.join(allprefix, key) + parent_location = locations[key] + return locations + + +def generate_cmake_file(package_name, version, scripts, package_dir, pkgs, modules): + """ + Generates lines to add to a cmake file which will set variables + + :param version: str, format 'int.int.int' + :param scripts: [list of str]: relative paths to scripts + :param package_dir: {modulename: path} + :pkgs: [list of str] python_packages declared in catkin package + :modules: [list of str] python modules + """ + prefix = '%s_SETUP_PY' % package_name + result = [] + result.append(r'set(%s_VERSION "%s")' % (prefix, version)) + result.append(r'set(%s_SCRIPTS "%s")' % (prefix, ';'.join(scripts))) + + # Remove packages with '.' separators. + # + # setuptools allows specifying submodules in other folders than + # their parent + # + # The symlink approach of catkin does not work with such submodules. + # In the common case, this does not matter as the submodule is + # within the containing module. We verify this assumption, and if + # it passes, we remove submodule packages. + locations = _get_locations(pkgs, package_dir) + for pkgname, location in locations.items(): + if not '.' in pkgname: + continue + splits = pkgname.split('.') + # hack: ignore write-combining setup.py files for msg and srv files + if splits[1] in ['msg', 'srv']: + continue + # check every child has the same root folder as its parent + root_name = splits[0] + root_location = location + for _ in range(len(splits) - 1): + root_location = os.path.dirname(root_location) + if root_location != locations[root_name]: + raise RuntimeError( + "catkin_export_python does not support setup.py files that combine across multiple directories: %s in %s, %s in %s" % (pkgname, location, root_name, locations[root_name])) + + # If checks pass, remove all submodules + pkgs = [p for p in pkgs if '.' not in p] + + resolved_pkgs = [] + for pkg in pkgs: + resolved_pkgs += [locations[pkg]] + + result.append(r'set(%s_PACKAGES "%s")' % (prefix, ';'.join(pkgs))) + result.append(r'set(%s_PACKAGE_DIRS "%s")' % (prefix, ';'.join(resolved_pkgs).replace("\\", "/"))) + + # skip modules which collide with package names + filtered_modules = [] + for modname in modules: + splits = modname.split('.') + # check all parents too + equals_package = [('.'.join(splits[:-i]) in locations) for i in range(len(splits))] + if any(equals_package): + continue + filtered_modules.append(modname) + module_locations = _get_locations(filtered_modules, package_dir) + + result.append(r'set(%s_MODULES "%s")' % (prefix, ';'.join(['%s.py' % m.replace('.', '/') for m in filtered_modules]))) + result.append(r'set(%s_MODULE_DIRS "%s")' % (prefix, ';'.join([module_locations[m] for m in filtered_modules]).replace("\\", "/"))) + + return result + + +def _create_mock_setup_function(package_name, outfile): + """ + Creates a function to call instead of distutils.core.setup or + setuptools.setup, which just captures some args and writes them + into a file that can be used from cmake + + :param package_name: name of the package + :param outfile: filename that cmake will use afterwards + :returns: a function to replace disutils.core.setup and setuptools.setup + """ + + def setup(*args, **kwargs): + ''' + Checks kwargs and writes a scriptfile + ''' + if 'version' not in kwargs: + sys.stderr.write("\n*** Unable to find 'version' in setup.py of %s\n" % package_name) + raise RuntimeError("version not found in setup.py") + version = kwargs['version'] + package_dir = kwargs.get('package_dir', {}) + + pkgs = kwargs.get('packages', []) + scripts = kwargs.get('scripts', []) + modules = kwargs.get('py_modules', []) + + unsupported_args = [ + 'entry_points', + 'exclude_package_data', + 'ext_modules ', + 'ext_package', + 'include_package_data', + 'namespace_packages', + 'setup_requires', + 'use_2to3', + 'zip_safe'] + used_unsupported_args = [arg for arg in unsupported_args if arg in kwargs] + if used_unsupported_args: + sys.stderr.write("*** Arguments %s to setup() not supported in catkin devel space in setup.py of %s\n" % (used_unsupported_args, package_name)) + + result = generate_cmake_file(package_name=package_name, + version=version, + scripts=scripts, + package_dir=package_dir, + pkgs=pkgs, + modules=modules) + with open(outfile, 'w') as out: + out.write('\n'.join(result)) + + return setup + + +def main(): + """ + Script main, parses arguments and invokes Dummy.setup indirectly. + """ + parser = ArgumentParser(description='Utility to read setup.py values from cmake macros. Creates a file with CMake set commands setting variables.') + parser.add_argument('package_name', help='Name of catkin package') + parser.add_argument('setupfile_path', help='Full path to setup.py') + parser.add_argument('outfile', help='Where to write result to') + + args = parser.parse_args() + + # print("%s" % sys.argv) + # PACKAGE_NAME = sys.argv[1] + # OUTFILE = sys.argv[3] + # print("Interrogating setup.py for package %s into %s " % (PACKAGE_NAME, OUTFILE), + # file=sys.stderr) + + # print("executing %s" % args.setupfile_path) + + # be sure you're in the directory containing + # setup.py so the sys.path manipulation works, + # so the import of __version__ works + os.chdir(os.path.dirname(os.path.abspath(args.setupfile_path))) + + # patch setup() function of distutils and setuptools for the + # context of evaluating setup.py + try: + fake_setup = _create_mock_setup_function(package_name=args.package_name, + outfile=args.outfile) + + distutils_backup = distutils.core.setup + distutils.core.setup = fake_setup + try: + setuptools_backup = setuptools.setup + setuptools.setup = fake_setup + except NameError: + pass + + with open(args.setupfile_path, 'r') as fh: + exec(fh.read()) + finally: + distutils.core.setup = distutils_backup + try: + setuptools.setup = setuptools_backup + except NameError: + pass + +if __name__ == '__main__': + main() diff --git a/20151021/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp b/20151021/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp new file mode 100644 index 00000000..087d4d80 --- /dev/null +++ b/20151021/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp @@ -0,0 +1,56 @@ +# generated from catkin/cmake/em/order_packages.cmake.em +@{ +import os +try: + from catkin_pkg.cmake import get_metapackage_cmake_template_path +except ImportError as e: + raise RuntimeError('ImportError: "from catkin_pkg.cmake import get_metapackage_cmake_template_path" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e) +try: + from catkin_pkg.topological_order import topological_order +except ImportError as e: + raise RuntimeError('ImportError: "from catkin_pkg.topological_order import topological_order" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e) +try: + from catkin_pkg.package import InvalidPackage +except ImportError as e: + raise RuntimeError('ImportError: "from catkin_pkg.package import InvalidPackage" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e) +# vars defined in order_packages.context.py.in +try: + ordered_packages = topological_order(os.path.normpath(source_root_dir), whitelisted=whitelisted_packages, blacklisted=blacklisted_packages, underlay_workspaces=underlay_workspaces) +except InvalidPackage as e: + print('message(FATAL_ERROR "%s")' % ('%s' % e).replace('"', '\\"')) + ordered_packages = [] +fatal_error = False +}@ + +set(CATKIN_ORDERED_PACKAGES "") +set(CATKIN_ORDERED_PACKAGE_PATHS "") +set(CATKIN_ORDERED_PACKAGES_IS_META "") +set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "") +@[for path, package in ordered_packages]@ +@[if path is None]@ +message(FATAL_ERROR "Circular dependency in subset of packages:\n@package") +@{ +fatal_error = True +}@ +@[elif package.name != 'catkin']@ +list(APPEND CATKIN_ORDERED_PACKAGES "@(package.name)") +list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "@(path.replace('\\','/'))") +list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "@(str('metapackage' in [e.tagname for e in package.exports]))") +list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "@(str([e.content for e in package.exports if e.tagname == 'build_type'][0]) if 'build_type' in [e.tagname for e in package.exports] else 'catkin')") +@{ +deprecated = [e for e in package.exports if e.tagname == 'deprecated'] +}@ +@[if deprecated]@ +message("WARNING: Package '@(package.name)' is deprecated@(' (%s)' % deprecated[0].content if deprecated[0].content else '')") +@[end if]@ +@[end if]@ +@[end for]@ + +@[if not fatal_error]@ +@{ +message_generators = [package.name for (_, package) in ordered_packages if 'message_generator' in [e.tagname for e in package.exports]] +}@ +set(CATKIN_MESSAGE_GENERATORS @(' '.join(message_generators))) +@[end if]@ + +set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "@(get_metapackage_cmake_template_path().replace('\\','/'))") diff --git a/20151021/build/catkin_generated/stamps/Project/package.xml.stamp b/20151021/build/catkin_generated/stamps/Project/package.xml.stamp new file mode 100644 index 00000000..08b98205 --- /dev/null +++ b/20151021/build/catkin_generated/stamps/Project/package.xml.stamp @@ -0,0 +1,37 @@ + + + catkin + 0.6.16 + Low-level build system macros and infrastructure for ROS. + Dirk Thomas + BSD + + http://www.ros.org/wiki/catkin + https://github.com/ros/catkin/issues + https://github.com/ros/catkin + + Troy Straszheim + Morten Kjaergaard + Brian Gerkey + Dirk Thomas + + cmake + cmake + + python-argparse + python-catkin-pkg + + python-empy + + gtest + python-empy + python-nose + + python-mock + python-nose + + + + + + diff --git a/20151021/build/catkin_make.cache b/20151021/build/catkin_make.cache new file mode 100644 index 00000000..7853965a --- /dev/null +++ b/20151021/build/catkin_make.cache @@ -0,0 +1,2 @@ +enshu_20151021 +-DCATKIN_DEVEL_PREFIX=/home/shuta/git/2015-soft3/2015-soft3/20151021/devel -DCMAKE_INSTALL_PREFIX=/home/shuta/git/2015-soft3/2015-soft3/20151021/install -G Unix Makefiles \ No newline at end of file diff --git a/20151021/build/cmake_install.cmake b/20151021/build/cmake_install.cmake new file mode 100644 index 00000000..16cc5cbc --- /dev/null +++ b/20151021/build/cmake_install.cmake @@ -0,0 +1,133 @@ +# Install script for directory: /home/shuta/git/2015-soft3/2015-soft3/20151021/src + +# Set the install prefix +IF(NOT DEFINED CMAKE_INSTALL_PREFIX) + SET(CMAKE_INSTALL_PREFIX "/home/shuta/git/2015-soft3/2015-soft3/20151021/install") +ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX) +STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + IF(BUILD_TYPE) + STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + ELSE(BUILD_TYPE) + SET(CMAKE_INSTALL_CONFIG_NAME "") + ENDIF(BUILD_TYPE) + MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + +# Set the component getting installed. +IF(NOT CMAKE_INSTALL_COMPONENT) + IF(COMPONENT) + MESSAGE(STATUS "Install component: \"${COMPONENT}\"") + SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + ELSE(COMPONENT) + SET(CMAKE_INSTALL_COMPONENT) + ENDIF(COMPONENT) +ENDIF(NOT CMAKE_INSTALL_COMPONENT) + +# Install shared libraries without execute permission? +IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + SET(CMAKE_INSTALL_SO_NO_EXE "1") +ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + + if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}") + file(MAKE_DIRECTORY "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}") + endif() + if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin") + file(WRITE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin" "") + endif() +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES + "/home/shuta/git/2015-soft3/2015-soft3/20151021/install/_setup_util.py") + IF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + ENDIF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + IF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION) + message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + ENDIF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION) +FILE(INSTALL DESTINATION "/home/shuta/git/2015-soft3/2015-soft3/20151021/install" TYPE PROGRAM FILES "/home/shuta/git/2015-soft3/2015-soft3/20151021/build/catkin_generated/installspace/_setup_util.py") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES + "/home/shuta/git/2015-soft3/2015-soft3/20151021/install/env.sh") + IF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + ENDIF (CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + IF (CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION) + message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + ENDIF 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directory: /home/shuta/git/2015-soft3/2015-soft3/20151021/build/enshu_20151021 +# +# This file includes the relevant testing commands required for +# testing this directory and lists subdirectories to be tested as well. diff --git a/20151021/build/enshu_20151021/Makefile b/20151021/build/enshu_20151021/Makefile new file mode 100644 index 00000000..423e4adc --- /dev/null +++ b/20151021/build/enshu_20151021/Makefile @@ -0,0 +1,193 @@ +# CMAKE generated file: DO NOT EDIT! +# Generated by "Unix Makefiles" Generator, CMake Version 2.8 + +# Default target executed when no arguments are given to make. +default_target: all +.PHONY : default_target + +#============================================================================= +# Special targets provided by cmake. + +# Disable implicit rules so canonical targets will work. +.SUFFIXES: + +# Remove some rules from gmake that .SUFFIXES does not remove. +SUFFIXES = + +.SUFFIXES: .hpux_make_needs_suffix_list + +# Suppress display of executed commands. +$(VERBOSE).SILENT: + +# A target that is always out of date. +cmake_force: +.PHONY : cmake_force + +#============================================================================= +# Set environment variables for the build. + +# The shell in which to execute make rules. +SHELL = /bin/sh + +# The CMake executable. +CMAKE_COMMAND = /usr/bin/cmake + +# The command to remove a file. +RM = /usr/bin/cmake -E remove -f + +# Escaping for special characters. +EQUALS = = + +# The top-level source directory on which CMake was run. +CMAKE_SOURCE_DIR = /home/shuta/git/2015-soft3/2015-soft3/20151021/src + +# The top-level build directory on which CMake was run. +CMAKE_BINARY_DIR = /home/shuta/git/2015-soft3/2015-soft3/20151021/build + +#============================================================================= +# Targets provided globally by CMake. + +# Special rule for the target edit_cache +edit_cache: + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running interactive CMake command-line interface..." + /usr/bin/cmake -i . +.PHONY : edit_cache + +# Special rule for the target edit_cache +edit_cache/fast: edit_cache +.PHONY : edit_cache/fast + +# Special rule for the target install +install: preinstall + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..." + /usr/bin/cmake -P cmake_install.cmake +.PHONY : install + +# Special rule for the target install +install/fast: preinstall/fast + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..." + /usr/bin/cmake -P cmake_install.cmake +.PHONY : install/fast + +# Special rule for the target install/local +install/local: preinstall + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..." + /usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake +.PHONY : install/local + +# Special rule for the target install/local +install/local/fast: install/local +.PHONY : install/local/fast + +# Special rule for the target install/strip +install/strip: preinstall + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..." + /usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake +.PHONY : install/strip + +# Special rule for the target install/strip +install/strip/fast: install/strip +.PHONY : install/strip/fast + +# Special rule for the target list_install_components +list_install_components: + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Available install components are: \"Unspecified\"" +.PHONY : list_install_components + +# Special rule for the target list_install_components +list_install_components/fast: list_install_components +.PHONY : list_install_components/fast + +# Special rule for the target rebuild_cache +rebuild_cache: + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake to regenerate build system..." + /usr/bin/cmake -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) +.PHONY : rebuild_cache + +# Special rule for the target rebuild_cache +rebuild_cache/fast: rebuild_cache +.PHONY : rebuild_cache/fast + +# Special rule for the target test +test: + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running tests..." + /usr/bin/ctest --force-new-ctest-process $(ARGS) +.PHONY : test + +# Special rule for the target test +test/fast: test +.PHONY : test/fast + +# The main all target +all: cmake_check_build_system + cd /home/shuta/git/2015-soft3/2015-soft3/20151021/build && $(CMAKE_COMMAND) -E cmake_progress_start /home/shuta/git/2015-soft3/2015-soft3/20151021/build/CMakeFiles /home/shuta/git/2015-soft3/2015-soft3/20151021/build/enshu_20151021/CMakeFiles/progress.marks + cd /home/shuta/git/2015-soft3/2015-soft3/20151021/build && $(MAKE) -f CMakeFiles/Makefile2 enshu_20151021/all + $(CMAKE_COMMAND) -E cmake_progress_start /home/shuta/git/2015-soft3/2015-soft3/20151021/build/CMakeFiles 0 +.PHONY : all + +# The main clean target +clean: + cd /home/shuta/git/2015-soft3/2015-soft3/20151021/build && $(MAKE) -f CMakeFiles/Makefile2 enshu_20151021/clean +.PHONY : clean + +# The main clean target +clean/fast: clean +.PHONY : clean/fast + +# Prepare targets for installation. +preinstall: all + cd /home/shuta/git/2015-soft3/2015-soft3/20151021/build && $(MAKE) -f CMakeFiles/Makefile2 enshu_20151021/preinstall +.PHONY : preinstall + +# Prepare targets for installation. +preinstall/fast: + cd /home/shuta/git/2015-soft3/2015-soft3/20151021/build && $(MAKE) -f CMakeFiles/Makefile2 enshu_20151021/preinstall +.PHONY : preinstall/fast + +# clear depends +depend: + cd /home/shuta/git/2015-soft3/2015-soft3/20151021/build && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1 +.PHONY : depend + +# Convenience name for target. +enshu_20151021/CMakeFiles/_catkin_empty_exported_target.dir/rule: + cd /home/shuta/git/2015-soft3/2015-soft3/20151021/build && $(MAKE) -f CMakeFiles/Makefile2 enshu_20151021/CMakeFiles/_catkin_empty_exported_target.dir/rule +.PHONY : enshu_20151021/CMakeFiles/_catkin_empty_exported_target.dir/rule + +# Convenience name for target. +_catkin_empty_exported_target: enshu_20151021/CMakeFiles/_catkin_empty_exported_target.dir/rule +.PHONY : _catkin_empty_exported_target + +# fast build rule for target. +_catkin_empty_exported_target/fast: + cd /home/shuta/git/2015-soft3/2015-soft3/20151021/build && $(MAKE) -f enshu_20151021/CMakeFiles/_catkin_empty_exported_target.dir/build.make enshu_20151021/CMakeFiles/_catkin_empty_exported_target.dir/build +.PHONY : _catkin_empty_exported_target/fast + +# Help Target +help: + @echo "The following are some of the valid targets for this Makefile:" + @echo "... all (the default if no target is provided)" + @echo "... clean" + @echo "... depend" + @echo "... _catkin_empty_exported_target" + @echo "... edit_cache" + @echo "... install" + @echo "... install/local" + @echo "... install/strip" + @echo "... list_install_components" + @echo "... rebuild_cache" + @echo "... test" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + cd /home/shuta/git/2015-soft3/2015-soft3/20151021/build && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/20151021/build/enshu_20151021/catkin_generated/installspace/enshu_20151021.pc b/20151021/build/enshu_20151021/catkin_generated/installspace/enshu_20151021.pc new file mode 100644 index 00000000..6c585e5b --- /dev/null +++ b/20151021/build/enshu_20151021/catkin_generated/installspace/enshu_20151021.pc @@ -0,0 +1,8 @@ +prefix=/home/shuta/git/2015-soft3/2015-soft3/20151021/install + +Name: enshu_20151021 +Description: Description of enshu_20151021 +Version: 0.0.0 +Cflags: +Libs: -L/home/shuta/git/2015-soft3/2015-soft3/20151021/install/lib +Requires: diff --git a/20151021/build/enshu_20151021/catkin_generated/installspace/enshu_20151021Config-version.cmake b/20151021/build/enshu_20151021/catkin_generated/installspace/enshu_20151021Config-version.cmake new file mode 100644 index 00000000..7fd9f993 --- /dev/null +++ b/20151021/build/enshu_20151021/catkin_generated/installspace/enshu_20151021Config-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.0.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/20151021/build/enshu_20151021/catkin_generated/installspace/enshu_20151021Config.cmake b/20151021/build/enshu_20151021/catkin_generated/installspace/enshu_20151021Config.cmake new file mode 100644 index 00000000..a481a560 --- /dev/null +++ b/20151021/build/enshu_20151021/catkin_generated/installspace/enshu_20151021Config.cmake @@ -0,0 +1,191 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(enshu_20151021_CONFIG_INCLUDED) + return() +endif() +set(enshu_20151021_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("FALSE" STREQUAL "TRUE") + set(enshu_20151021_SOURCE_PREFIX /home/shuta/git/2015-soft3/2015-soft3/20151021/src/enshu_20151021) + set(enshu_20151021_DEVEL_PREFIX /home/shuta/git/2015-soft3/2015-soft3/20151021/devel) + set(enshu_20151021_INSTALL_PREFIX "") + set(enshu_20151021_PREFIX ${enshu_20151021_DEVEL_PREFIX}) +else() + set(enshu_20151021_SOURCE_PREFIX "") + set(enshu_20151021_DEVEL_PREFIX "") + set(enshu_20151021_INSTALL_PREFIX /home/shuta/git/2015-soft3/2015-soft3/20151021/install) + set(enshu_20151021_PREFIX ${enshu_20151021_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'enshu_20151021' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(enshu_20151021_FOUND_CATKIN_PROJECT TRUE) + +if(NOT " " STREQUAL " ") + set(enshu_20151021_INCLUDE_DIRS "") + set(_include_dirs "") + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${enshu_20151021_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'enshu_20151021' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. Ask the maintainer 'k-okada ' to fix it.") + endif() + else() + message(FATAL_ERROR "Project 'enshu_20151021' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/home/shuta/git/2015-soft3/2015-soft3/20151021/install/${idir}'. Ask the maintainer 'k-okada ' to fix it.") + endif() + _list_append_unique(enshu_20151021_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND enshu_20151021_LIBRARIES ${library}) + elseif(TARGET ${library}) + list(APPEND enshu_20151021_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND enshu_20151021_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /home/shuta/git/2015-soft3/2015-soft3/20151021/install/lib;/opt/ros/indigo/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(enshu_20151021_LIBRARY_DIRS ${lib_path}) + list(APPEND enshu_20151021_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'enshu_20151021'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND enshu_20151021_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(enshu_20151021_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${enshu_20151021_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 enshu_20151021_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${enshu_20151021_dep}_FOUND) + find_package(${enshu_20151021_dep} REQUIRED) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${enshu_20151021_dep} REQUIRED ${depend_list}) + endif() + _list_append_unique(enshu_20151021_INCLUDE_DIRS ${${enshu_20151021_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(enshu_20151021_LIBRARIES ${enshu_20151021_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${enshu_20151021_dep}_LIBRARIES}) + _list_append_deduplicate(enshu_20151021_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(enshu_20151021_LIBRARIES ${enshu_20151021_LIBRARIES}) + + _list_append_unique(enshu_20151021_LIBRARY_DIRS ${${enshu_20151021_dep}_LIBRARY_DIRS}) + list(APPEND enshu_20151021_EXPORTED_TARGETS ${${enshu_20151021_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${enshu_20151021_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/20151021/build/enshu_20151021/catkin_generated/ordered_paths.cmake b/20151021/build/enshu_20151021/catkin_generated/ordered_paths.cmake new file mode 100644 index 00000000..d6562d7c --- /dev/null +++ b/20151021/build/enshu_20151021/catkin_generated/ordered_paths.cmake @@ -0,0 +1 @@ +set(ORDERED_PATHS "/opt/ros/indigo/share/euslisp/jskeus/eus/include") \ No newline at end of file diff --git a/20151021/build/enshu_20151021/catkin_generated/package.cmake b/20151021/build/enshu_20151021/catkin_generated/package.cmake new file mode 100644 index 00000000..0e6c24d3 --- /dev/null +++ b/20151021/build/enshu_20151021/catkin_generated/package.cmake @@ -0,0 +1,7 @@ +set(_CATKIN_CURRENT_PACKAGE "enshu_20151021") +set(enshu_20151021_MAINTAINER "k-okada ") +set(enshu_20151021_DEPRECATED "") +set(enshu_20151021_VERSION "0.0.0") +set(enshu_20151021_BUILD_DEPENDS "euslisp") +set(enshu_20151021_RUN_DEPENDS "euslisp") +set(enshu_20151021_BUILDTOOL_DEPENDS "catkin") \ No newline at end of file diff --git a/20151021/build/enshu_20151021/catkin_generated/pkg.develspace.context.pc.py b/20151021/build/enshu_20151021/catkin_generated/pkg.develspace.context.pc.py new file mode 100644 index 00000000..a2e81981 --- /dev/null +++ b/20151021/build/enshu_20151021/catkin_generated/pkg.develspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] +PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "enshu_20151021" +PROJECT_SPACE_DIR = "/home/shuta/git/2015-soft3/2015-soft3/20151021/devel" +PROJECT_VERSION = "0.0.0" diff --git a/20151021/build/enshu_20151021/catkin_generated/pkg.installspace.context.pc.py b/20151021/build/enshu_20151021/catkin_generated/pkg.installspace.context.pc.py new file mode 100644 index 00000000..23555770 --- /dev/null +++ b/20151021/build/enshu_20151021/catkin_generated/pkg.installspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] +PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "enshu_20151021" +PROJECT_SPACE_DIR = "/home/shuta/git/2015-soft3/2015-soft3/20151021/install" +PROJECT_VERSION = "0.0.0" diff --git a/20151021/build/enshu_20151021/catkin_generated/stamps/enshu_20151021/package.xml.stamp b/20151021/build/enshu_20151021/catkin_generated/stamps/enshu_20151021/package.xml.stamp new file mode 100644 index 00000000..5954b4ce --- /dev/null +++ b/20151021/build/enshu_20151021/catkin_generated/stamps/enshu_20151021/package.xml.stamp @@ -0,0 +1,52 @@ + + + enshu_20151021 + 0.0.0 + The enshu_20151021 package + + + + + k-okada + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + euslisp + euslisp + + + + + + + + diff --git a/20151021/build/enshu_20151021/catkin_generated/stamps/enshu_20151021/pkg.pc.em.stamp b/20151021/build/enshu_20151021/catkin_generated/stamps/enshu_20151021/pkg.pc.em.stamp new file mode 100644 index 00000000..a4f72576 --- /dev/null +++ b/20151021/build/enshu_20151021/catkin_generated/stamps/enshu_20151021/pkg.pc.em.stamp @@ -0,0 +1,8 @@ +prefix=@PROJECT_SPACE_DIR + +Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME) +Description: Description of @PROJECT_NAME +Version: @PROJECT_VERSION +Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS])) +Libs: -L@PROJECT_SPACE_DIR/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX)) +Requires: @(PROJECT_CATKIN_DEPENDS) diff --git a/20151021/build/enshu_20151021/cmake_install.cmake b/20151021/build/enshu_20151021/cmake_install.cmake new file mode 100644 index 00000000..d5ab8a6f --- /dev/null +++ b/20151021/build/enshu_20151021/cmake_install.cmake @@ -0,0 +1,49 @@ +# Install script for directory: /home/shuta/git/2015-soft3/2015-soft3/20151021/src/enshu_20151021 + +# Set the install prefix +IF(NOT DEFINED CMAKE_INSTALL_PREFIX) + SET(CMAKE_INSTALL_PREFIX "/home/shuta/git/2015-soft3/2015-soft3/20151021/install") +ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX) +STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + IF(BUILD_TYPE) + STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + ELSE(BUILD_TYPE) + SET(CMAKE_INSTALL_CONFIG_NAME "") + ENDIF(BUILD_TYPE) + MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + +# Set the component getting installed. +IF(NOT CMAKE_INSTALL_COMPONENT) + IF(COMPONENT) + MESSAGE(STATUS "Install component: \"${COMPONENT}\"") + 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"... src/gtest_main.s" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + cd /home/shuta/git/2015-soft3/2015-soft3/20151021/build && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/20151021/build/gtest/cmake_install.cmake b/20151021/build/gtest/cmake_install.cmake new file mode 100644 index 00000000..3d9ff1a6 --- /dev/null +++ b/20151021/build/gtest/cmake_install.cmake @@ -0,0 +1,34 @@ +# Install script for directory: /usr/src/gtest + +# Set the install prefix +IF(NOT DEFINED CMAKE_INSTALL_PREFIX) + SET(CMAKE_INSTALL_PREFIX "/home/shuta/git/2015-soft3/2015-soft3/20151021/install") +ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX) +STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + IF(BUILD_TYPE) + STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + ELSE(BUILD_TYPE) + SET(CMAKE_INSTALL_CONFIG_NAME "") + ENDIF(BUILD_TYPE) + MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + +# Set the component getting installed. +IF(NOT CMAKE_INSTALL_COMPONENT) + IF(COMPONENT) + MESSAGE(STATUS "Install component: \"${COMPONENT}\"") + SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + ELSE(COMPONENT) + SET(CMAKE_INSTALL_COMPONENT) + ENDIF(COMPONENT) +ENDIF(NOT CMAKE_INSTALL_COMPONENT) + +# Install shared libraries without execute permission? +IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + SET(CMAKE_INSTALL_SO_NO_EXE "1") +ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + diff --git a/20151021/devel/.built_by b/20151021/devel/.built_by new file mode 100644 index 00000000..2e212dd3 --- /dev/null +++ b/20151021/devel/.built_by @@ -0,0 +1 @@ +catkin_make \ No newline at end of file diff --git a/20151021/devel/.catkin b/20151021/devel/.catkin new file mode 100644 index 00000000..f9c3f655 --- /dev/null +++ b/20151021/devel/.catkin @@ -0,0 +1 @@ +/home/shuta/git/2015-soft3/2015-soft3/20151021/src \ No newline at end of file diff --git a/20151021/devel/.rosinstall b/20151021/devel/.rosinstall new file mode 100644 index 00000000..8d9c2780 --- /dev/null +++ b/20151021/devel/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/shuta/git/2015-soft3/2015-soft3/20151021/devel/setup.sh diff --git a/20151021/devel/_setup_util.py b/20151021/devel/_setup_util.py new file mode 100755 index 00000000..dce614e2 --- /dev/null +++ b/20151021/devel/_setup_util.py @@ -0,0 +1,288 @@ +#!/usr/bin/python +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +'''This file generates shell code for the setup.SHELL scripts to set environment variables''' + +from __future__ import print_function +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'CPATH': 'include', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': 'bin', + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + ''' + Generate shell code to reset environment variables + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + ''' + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + value = _rollback_env_variable(unmodified_environ, key, subfolder) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolder): + ''' + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolder: str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + ''' + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + ''' + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + ''' + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + ''' + Generate shell code to prepend environment variables + for the all workspaces. + ''' + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted([key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH']): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + ''' + Return the prefix to prepend to the environment variable NAME, adding any path in NEW_PATHS_STR without creating duplicate or empty items. + ''' + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + ''' + Generate shell code with found environment hooks + for the all workspaces. + ''' + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + # environment at generation time + CMAKE_PREFIX_PATH = '/opt/ros/indigo'.split(';') + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potantial "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/20151021/devel/env.sh b/20151021/devel/env.sh new file mode 100755 index 00000000..8aa9d244 --- /dev/null +++ b/20151021/devel/env.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/20151021/devel/lib/pkgconfig/enshu_20151021.pc b/20151021/devel/lib/pkgconfig/enshu_20151021.pc new file mode 100644 index 00000000..ada48407 --- /dev/null +++ b/20151021/devel/lib/pkgconfig/enshu_20151021.pc @@ -0,0 +1,8 @@ +prefix=/home/shuta/git/2015-soft3/2015-soft3/20151021/devel + +Name: enshu_20151021 +Description: Description of enshu_20151021 +Version: 0.0.0 +Cflags: +Libs: -L/home/shuta/git/2015-soft3/2015-soft3/20151021/devel/lib +Requires: diff --git a/20151021/devel/setup.bash b/20151021/devel/setup.bash new file mode 100644 index 00000000..ff47af8f --- /dev/null +++ b/20151021/devel/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/20151021/devel/setup.sh b/20151021/devel/setup.sh new file mode 100644 index 00000000..48a3517b --- /dev/null +++ b/20151021/devel/setup.sh @@ -0,0 +1,94 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/shuta/git/2015-soft3/2015-soft3/20151021/devel} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +export CPATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if [ -d "${TMPDIR}" ]; then + _TMPDIR="${TMPDIR}" +else + _TMPDIR=/tmp +fi +_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` +unset _TMPDIR +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ >> "$_SETUP_TMP" +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f "$_SETUP_TMP" + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/20151021/devel/setup.zsh b/20151021/devel/setup.zsh new file mode 100644 index 00000000..9f780b74 --- /dev/null +++ b/20151021/devel/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/20151021/devel/share/enshu_20151021/cmake/enshu_20151021Config-version.cmake b/20151021/devel/share/enshu_20151021/cmake/enshu_20151021Config-version.cmake new file mode 100644 index 00000000..7fd9f993 --- /dev/null +++ b/20151021/devel/share/enshu_20151021/cmake/enshu_20151021Config-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.0.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/20151021/devel/share/enshu_20151021/cmake/enshu_20151021Config.cmake b/20151021/devel/share/enshu_20151021/cmake/enshu_20151021Config.cmake new file mode 100644 index 00000000..2ab12d7f --- /dev/null +++ b/20151021/devel/share/enshu_20151021/cmake/enshu_20151021Config.cmake @@ -0,0 +1,191 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(enshu_20151021_CONFIG_INCLUDED) + return() +endif() +set(enshu_20151021_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("TRUE" STREQUAL "TRUE") + set(enshu_20151021_SOURCE_PREFIX /home/shuta/git/2015-soft3/2015-soft3/20151021/src/enshu_20151021) + set(enshu_20151021_DEVEL_PREFIX /home/shuta/git/2015-soft3/2015-soft3/20151021/devel) + set(enshu_20151021_INSTALL_PREFIX "") + set(enshu_20151021_PREFIX ${enshu_20151021_DEVEL_PREFIX}) +else() + set(enshu_20151021_SOURCE_PREFIX "") + set(enshu_20151021_DEVEL_PREFIX "") + set(enshu_20151021_INSTALL_PREFIX /home/shuta/git/2015-soft3/2015-soft3/20151021/install) + set(enshu_20151021_PREFIX ${enshu_20151021_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'enshu_20151021' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(enshu_20151021_FOUND_CATKIN_PROJECT TRUE) + +if(NOT " " STREQUAL " ") + set(enshu_20151021_INCLUDE_DIRS "") + set(_include_dirs "") + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${enshu_20151021_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'enshu_20151021' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. Ask the maintainer 'k-okada ' to fix it.") + endif() + else() + message(FATAL_ERROR "Project 'enshu_20151021' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/home/shuta/git/2015-soft3/2015-soft3/20151021/src/enshu_20151021/${idir}'. Ask the maintainer 'k-okada ' to fix it.") + endif() + _list_append_unique(enshu_20151021_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND enshu_20151021_LIBRARIES ${library}) + elseif(TARGET ${library}) + list(APPEND enshu_20151021_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND enshu_20151021_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /home/shuta/git/2015-soft3/2015-soft3/20151021/devel/lib;/opt/ros/indigo/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(enshu_20151021_LIBRARY_DIRS ${lib_path}) + list(APPEND enshu_20151021_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'enshu_20151021'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND enshu_20151021_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(enshu_20151021_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${enshu_20151021_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 enshu_20151021_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${enshu_20151021_dep}_FOUND) + find_package(${enshu_20151021_dep} REQUIRED) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${enshu_20151021_dep} REQUIRED ${depend_list}) + endif() + _list_append_unique(enshu_20151021_INCLUDE_DIRS ${${enshu_20151021_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(enshu_20151021_LIBRARIES ${enshu_20151021_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${enshu_20151021_dep}_LIBRARIES}) + _list_append_deduplicate(enshu_20151021_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(enshu_20151021_LIBRARIES ${enshu_20151021_LIBRARIES}) + + _list_append_unique(enshu_20151021_LIBRARY_DIRS ${${enshu_20151021_dep}_LIBRARY_DIRS}) + list(APPEND enshu_20151021_EXPORTED_TARGETS ${${enshu_20151021_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${enshu_20151021_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/20151021/src/CMakeLists.txt b/20151021/src/CMakeLists.txt new file mode 120000 index 00000000..3703df4e --- /dev/null +++ b/20151021/src/CMakeLists.txt @@ -0,0 +1 @@ +/opt/ros/indigo/share/catkin/cmake/toplevel.cmake \ No newline at end of file diff --git a/20151021/src/enshu_20151021/euslisp/renshu-1.l b/20151021/src/enshu_20151021/euslisp/renshu-1.l index fba162da..306cc117 100755 --- a/20151021/src/enshu_20151021/euslisp/renshu-1.l +++ b/20151021/src/enshu_20151021/euslisp/renshu-1.l @@ -7,6 +7,39 @@ ;; 1) ;; 太陽，地球，月のモデルをつくり，太陽の周りを地球が，地球の周りを月が回っているアニメーションを作成せよ +(setq moon (make-sphere 1)) +(send moon :name "moon") +(send moon :set-color :yellow) +(send moon :locate #f(0 10 0)) +(setq earth (make-sphere 4)) +(send earth :name "earth") +(send earth :set-color :blue) +(send earth :assoc moon) +(send earth :locate #f(100 0 0)) +(setq sun (make-sphere 20)) +(send sun :name "sun") +(send sun :set-color :red) +(send sun :assoc earth) + +(setq base (make-cylinder 120 1)) +(send base :set-color :black) +(send base :locate #f(0 0 -100)) +(send base :assoc sun) + +(setq all (instance bodyset-link :init (make-cascoords) :bodies (list base sun earth moon))) + +(objects (list all)) +(setq time 0) +(do-until-key + ;; animation + (setq time (+ time 0.001)) + (send moon :locate (v- (scale 10 (float-vector (sin (reduce #'* `(2 ,pi 365 ,time))) (cos (reduce #'* `(2 ,pi 365 ,time))) 0)) (send moon :pos))) + (send earth :locate (v- (scale 100 (float-vector (sin (reduce #'* `(2 ,pi 1 ,time))) (cos (reduce #'* `(2 ,pi 1 ,time))) 0)) (send earth :pos))) + + ;; + (send *irtviewer* :draw-objects) + (x::window-main-one) + ) ;; DO NOT EDIT AFTER THIS LINE (send *unit-test* :print-result) diff --git a/20151021/src/enshu_20151021/euslisp/renshu-1sub.l b/20151021/src/enshu_20151021/euslisp/renshu-1sub.l new file mode 100644 index 00000000..26c4e41a --- /dev/null +++ b/20151021/src/enshu_20151021/euslisp/renshu-1sub.l @@ -0,0 +1,38 @@ +#!/usr/bin/env irteusgl + +;(load "lib/llib/unittest.l") +;(init-unit-test) +;(send *unit-test* :clear-result) +;; DO NOT EDIT BEFORE THIS LINE + +;; 1) +;; 太陽，地球，月のモデルをつくり，太陽の周りを地球が，地球の周りを月が回っているアニメーションを作成せよ +(setq moon (make-sphere 1)) +(send moon :name "moon") +(send moon :set-color :yellow) +(send moon :locate #f(0 10 0)) +(setq earth (make-sphere 4)) +(send earth :name "earth")) +(send earth :set-color :blue) +(send earth :assoc moon) +(send earth :locate #f(100 0 0)) +(setq sun (make-sphere 20)) +(send sun :name "sun") +(send sun :set-color :red) +(send sun :assoc earth) + +;(setq base (make-cylinder 120 1)) +;(send base :set-color :black) +;(send base :locate #f(0 0 50)) +;(send base :assoc sun) + +(objects (list sun earth moon)) + + +;; DO NOT EDIT AFTER THIS LINE +;(send *unit-test* :print-result) +;(exit 1) + + + + diff --git a/20151021/src/enshu_20151021/euslisp/renshu-1sub.l~ b/20151021/src/enshu_20151021/euslisp/renshu-1sub.l~ new file mode 100644 index 00000000..ab0db19d --- /dev/null +++ b/20151021/src/enshu_20151021/euslisp/renshu-1sub.l~ @@ -0,0 +1,38 @@ +#!/usr/bin/env irteusgl + +(load "lib/llib/unittest.l") +(init-unit-test) +(send *unit-test* :clear-result) +;; DO NOT EDIT BEFORE THIS LINE + +;; 1) +;; 太陽，地球，月のモデルをつくり，太陽の周りを地球が，地球の周りを月が回っているアニメーションを作成せよ +(setq moon (make-sphere 1)) +(send moon :name "moon") +(send moon :set-color :yellow) +(send moon :locate #f(0 10 0)) +(setq earth (make-sphere 4)) +(send earth :name "earth")) +(send earth :set-color :blue) +(send earth :assoc moon) +(send earth :locate #f(100 0 0)) +(setq sun (make-sphere 20)) +(send sun :name "sun") +(send sun :set-color :red) +(send sun :assoc earth) + +;(setq base (make-cylinder 120 1)) +;(send base :set-color :black) +;(send base :locate #f(0 0 50)) +;(send base :assoc sun) + +(objects (list sun earth moon)) + + +;; DO NOT EDIT AFTER THIS LINE +(send *unit-test* :print-result) +(exit 1) + + + + diff --git a/20151021/src/enshu_20151021/euslisp/renshu-2.l b/20151021/src/enshu_20151021/euslisp/renshu-2.l index 77a52c3b..a29fa994 100755 --- a/20151021/src/enshu_20151021/euslisp/renshu-2.l +++ b/20151021/src/enshu_20151021/euslisp/renshu-2.l @@ -7,6 +7,55 @@ ;; 2) ;; サーボモジュールを参考に直動ジョイント(linear-joint)を使ったアクチュエータを作ってみよ． +(defclass linear-module + :super cascaded-link + :slots (g1 p1 j1)) + +(defmethod linear-module + (:init () + (let () + (send-super :init) + (setq g1 (instance bodyset-link :init (make-cascoords) :bodies + (list + (let (b1 b2) + (setq b1 (make-cylinder 40 120)) + (setq b2 (make-cylinder 34 120)) + (send b2 :locate #f(0 0 10)) + (setq b1 (body- b1 b2)) + (send b1 :set-color :gray20) + b1)))) + (setq p1 (instance bodyset-link :init (make-cascoords) :bodies + (list + (let ((b1 (make-cylinder 34 110)) + (b2 (make-cube 80 80 90))) + (send b2 :locate #f(0 0 155)) + (setq b1 (body+ b1 b2)) + (send b1 :set-color :gray80) + (send b1 :locate #f(0 0 10)) + b1)))) + (setq j1 (instance linear-joint :init :parent-link g1 :child-link p1 :axis :z)) + (send j1 :max-angle 100) + (send j1 :min-angle 0) + + (setq links (list g1 p1)) + (setq joint-list (list j1)) + (send self :assoc g1) + (send g1 :assoc p1) + (send self :init-ending) + self)) + (:j1 (&rest args) (forward-message-to j1 args)) + ) + +(setq *model* (instance linear-module :init)) + +(objects (list *model*)) +(setq time 0) +(do-until-key + (setq time (+ time 0.001)) + (send *model* :j1 :joint-angle (+ 50 (* 50 (sin (reduce #'* `(2 ,pi 2 ,time)))))) + (send *irtviewer* :draw-objects) + (x::window-main-one) +) ;; DO NOT EDIT AFTER THIS LINE (send *unit-test* :print-result) diff --git a/20151021/src/enshu_20151021/euslisp/renshu-3.l b/20151021/src/enshu_20151021/euslisp/renshu-3.l index 45064247..974a4ce4 100755 --- a/20151021/src/enshu_20151021/euslisp/renshu-3.l +++ b/20151021/src/enshu_20151021/euslisp/renshu-3.l @@ -7,6 +7,99 @@ ;; 3) ;; ascaded-linkを使ったモデルを作成せよ．ロボットに限らず可動構造を持つものであれば（例えば家具等）何でもよい． +(defun make-drawer (x y z &key (pos #f(0 0 0))) + (let ((b1 (make-cube x y z)) + (b2 (make-cube (- x 4) (- y 4) z :pos #f(0 0 4)))) + (setq b1 (body- b1 b2)) + (send b1 :locate pos) + (send b1 :set-color :gray20) + b1)) + +(defclass chest + :super cascaded-link + :slots (frame d1 d2 d3 d4 d5 d6 j1 j2 j3 j4 j5 j6) + ) +(defmethod chest + (:init () + (let (b f) + (send-super :init) + (setq f (make-cube 180 90 230 :pos #f(0 0 115))) + (send f :set-color :gray80) + ;; + (setq d1 (instance bodyset-link :init (make-cascoords) :bodies (list (make-drawer 70 80 40 :pos #f(-45 5 190))))) + (setq b (make-cube 70 80 40 :pos #f(-45 5 190))) + (setq f (body- f b)) + ;; + (setq d2 (instance bodyset-link :init (make-cascoords) :bodies (list (make-drawer 70 80 40 :pos #f(45 5 190))))) + (setq b (make-cube 70 80 40 :pos #f(45 5 190))) + (setq f (body- f b)) + ;; + (setq d3 (instance bodyset-link :init (make-cascoords) :bodies (list (make-drawer 70 80 40 :pos #f(-45 5 140))))) + (setq b (make-cube 70 80 40 :pos #f(-45 5 140))) + (setq f (body- f b)) + ;; + (setq d4 (instance bodyset-link :init (make-cascoords) :bodies (list (make-drawer 70 80 40 :pos #f(45 5 140))))) + (setq b (make-cube 70 80 40 :pos #f(45 5 140))) + (setq f (body- f b)) + ;; + (setq d5 (instance bodyset-link :init (make-cascoords) :bodies (list (make-drawer 160 80 40 :pos #f(0 5 90))))) + (setq b (make-cube 160 80 40 :pos #f(0 5 90))) + (setq f (body- f b)) + ;; + (setq d6 (instance bodyset-link :init (make-cascoords) :bodies (list (make-drawer 160 80 40 :pos #f(0 5 40))))) + (setq b (make-cube 160 80 40 :pos #f(0 5 40))) + (setq f (body- f b)) + ;; + (setq frame (instance bodyset-link :init (make-cascoords) :bodies (list f))) + (setq j1 (instance linear-joint :init :parent-link frame :child-link d1 :axis :y)) + (setq j2 (instance linear-joint :init :parent-link frame :child-link d2 :axis :y)) + (setq j3 (instance linear-joint :init :parent-link frame :child-link d3 :axis :y)) + (setq j4 (instance linear-joint :init :parent-link frame :child-link d4 :axis :y)) + (setq j5 (instance linear-joint :init :parent-link frame :child-link d5 :axis :y)) + (setq j6 (instance linear-joint :init :parent-link frame :child-link d6 :axis :y)) + (send j1 :min-angle 0) + (send j2 :min-angle 0) + (send j3 :min-angle 0) + (send j4 :min-angle 0) + (send j5 :min-angle 0) + (send j6 :min-angle 0) + + (send self :assoc frame) + (send frame :assoc d1) + (send frame :assoc d2) + (send frame :assoc d3) + (send frame :assoc d4) + (send frame :assoc d5) + (send frame :assoc d6) + (setq links (list frame d1 d2 d3 d4 d5 d6)) + (setq joint-list (list j1 j2 j3 j4 j5 j6)) + (send self :init-ending) + self + )) + (:j1 (&rest args) (forward-message-to j1 args)) + (:j2 (&rest args) (forward-message-to j2 args)) + (:j3 (&rest args) (forward-message-to j3 args)) + (:j4 (&rest args) (forward-message-to j4 args)) + (:j5 (&rest args) (forward-message-to j5 args)) + (:j6 (&rest args) (forward-message-to j6 args)) + ) + +(setq *model* (instance chest :init)) + +(objects (list *model*)) +(setq time 0) +(do-until-key + (setq time (+ time 0.001)) + (send *model* :j1 :joint-angle (+ 35 (* 35 (sin (+ (reduce #'* `(2 ,pi 2 ,time)) (* pi (/ 0 6.0))))))) + (send *model* :j2 :joint-angle (+ 35 (* 35 (sin (+ (reduce #'* `(2 ,pi 2 ,time)) (* pi (/ 1 6.0))))))) + (send *model* :j3 :joint-angle (+ 35 (* 35 (sin (+ (reduce #'* `(2 ,pi 2 ,time)) (* pi (/ 2 6.0))))))) + (send *model* :j4 :joint-angle (+ 35 (* 35 (sin (+ (reduce #'* `(2 ,pi 2 ,time)) (* pi (/ 3 6.0))))))) + (send *model* :j5 :joint-angle (+ 35 (* 35 (sin (+ (reduce #'* `(2 ,pi 2 ,time)) (* pi (/ 4 6.0))))))) + (send *model* :j6 :joint-angle (+ 35 (* 35 (sin (+ (reduce #'* `(2 ,pi 2 ,time)) (* pi (/ 5 6.0))))))) + + (send *irtviewer* :draw-objects) + (x::window-main-one) + ) ;; DO NOT EDIT AFTER THIS LINE (send *unit-test* :print-result) diff --git a/20151021/src/enshu_20151021/euslisp/renshu-4.l b/20151021/src/enshu_20151021/euslisp/renshu-4.l index 88ce7813..65dafb79 100755 --- a/20151021/src/enshu_20151021/euslisp/renshu-4.l +++ b/20151021/src/enshu_20151021/euslisp/renshu-4.l @@ -7,6 +7,221 @@ ;; 4) ;; cascaded-linkを使ったモデルを用いてアニメーションさせてみよ．その際必ず２つ以上の物体を画面に配置し，assoc/dissocが行われること． +(load "irteus/demo/sample-arm-model.l") +(load "irteus/pqp.l") + +(defun make-drawer (x y z &key (pos #f(0 0 0))) + (let ((b1 (make-cube x y z)) + (b2 (make-cube (- x 10) (- y 10) z :pos #f(0 0 10)))) + (setq b1 (body- b1 b2)) + (send b1 :locate pos) + (send b1 :set-color :gray20) + b1)) + +(defclass chest + :super cascaded-link + :slots (frame d1 d2 d3 d4 d5 d6 j1 j2 j3 j4 j5 j6) + ) +(defmethod chest + (:init () + (let (b f) + (send-super :init) + (setq f (make-cube 1800 900 2300 :pos #f(0 0 1150))) + (send f :set-color :gray80) + ;; + (setq d1 (instance bodyset-link :init (make-cascoords) :bodies (list (make-drawer 700 800 400)))) + (send d1 :locate #f(-450 50 1900)) + (setq b (make-cube 700 900 400 :pos #f(-450 100 1900))) + (setq f (body- f b)) + ;; + (setq d2 (instance bodyset-link :init (make-cascoords) :bodies (list (make-drawer 700 800 400)))) + (send d2 :locate #f(450 50 1900)) + (setq b (make-cube 700 900 400 :pos #f(450 100 1900))) + (setq f (body- f b)) + ;; + (setq d3 (instance bodyset-link :init (make-cascoords) :bodies (list (make-drawer 700 800 400)))) + (send d3 :locate #f(-450 50 1400)) + (setq b (make-cube 700 900 400 :pos #f(-450 100 1400))) + (setq f (body- f b)) + ;; + (setq d4 (instance bodyset-link :init (make-cascoords) :bodies (list (make-drawer 700 800 400)))) + (send d4 :locate #f(450 50 1400)) + (setq b (make-cube 700 900 400 :pos #f(450 100 1400))) + (setq f (body- f b)) + ;; + (setq d5 (instance bodyset-link :init (make-cascoords) :bodies (list (make-drawer 1600 800 400)))) + (send d5 :locate #f(0 50 900)) + (setq b (make-cube 1600 900 400 :pos #f(0 100 900))) + (setq f (body- f b)) + ;; + (setq d6 (instance bodyset-link :init (make-cascoords) :bodies (list (make-drawer 1600 800 400)))) + (send d6 :locate #f(0 50 400)) + (setq b (make-cube 1600 900 400 :pos #f(0 100 400))) + (setq f (body- f b)) + ;; + (setq frame (instance bodyset-link :init (make-cascoords) :bodies (list f))) + (setq j1 (instance linear-joint :init :parent-link frame :child-link d1 :axis :y)) + (setq j2 (instance linear-joint :init :parent-link frame :child-link d2 :axis :y)) + (setq j3 (instance linear-joint :init :parent-link frame :child-link d3 :axis :y)) + (setq j4 (instance linear-joint :init :parent-link frame :child-link d4 :axis :y)) + (setq j5 (instance linear-joint :init :parent-link frame :child-link d5 :axis :y)) + (setq j6 (instance linear-joint :init :parent-link frame :child-link d6 :axis :y)) + (send j1 :min-angle 0) + (send j1 :max-angle 780) + (send j2 :min-angle 0) + (send j2 :max-angle 780) + (send j3 :min-angle 0) + (send j3 :max-angle 780) + (send j4 :min-angle 0) + (send j4 :max-angle 780) + (send j5 :min-angle 0) + (send j5 :max-angle 780) + (send j6 :min-angle 0) + (send j6 :max-angle 780) + + (send self :assoc frame) + (send frame :assoc d1) + (send frame :assoc d2) + (send frame :assoc d3) + (send frame :assoc d4) + (send frame :assoc d5) + (send frame :assoc d6) + (setq links (list frame d1 d2 d3 d4 d5 d6)) + (setq joint-list (list j1 j2 j3 j4 j5 j6)) + (send self :init-ending) + self + )) + (:j1 (&rest args) (forward-message-to j1 args)) + (:j2 (&rest args) (forward-message-to j2 args)) + (:j3 (&rest args) (forward-message-to j3 args)) + (:j4 (&rest args) (forward-message-to j4 args)) + (:j5 (&rest args) (forward-message-to j5 args)) + (:j6 (&rest args) (forward-message-to j6 args)) + ) + +(defclass chest-arm-model + :super cascaded-link + :slots (c1 a1) + ) + +(defmethod chest-arm-model + (:init () + (send-super :init) + (setq c1 (instance chest :init)) + (setq a1 (instance sarmclass :init)) + (send a1 :rotate #d90 :z) + (send a1 :locate #f(410 0 2300)) + (send a1 :reset-pose) + (send self :assoc c1) + (send c1 :assoc a1) + (setq links (list c1 a1)) + (send self :init-ending)) + (:c1 (&rest args) (forward-message-to c1 args)) + (:a1 (&rest args) (forward-message-to a1 args)) + ) + + +;; +(setq *model* (instance chest-arm-model :init)) +(send *model* :c1 :j1 :joint-angle 700) +(setq *target* (instance bodyset-link :init (make-cascoords) :bodies (list (make-sphere 30)))) +(send *target* :locate #f(500 420 2330)) + +(objects (list *model* *target*)) +(print "Push Enter") +(do-until-key + (send *irtviewer* :draw-objects) + (x::window-main-one) +) +;;reach +(let (begin next) + (setq begin (send *model* :a1 :end-coords :worldpos)) + (dotimes (i 100) + (setq next (make-coords :pos (v+ (scale (/ i 100.0) (send *target* :pos)) + (scale (/ (- 100 i) 100.0) begin)))) + (send *model* :a1 :inverse-kinematics next + :link-list (send *model* :a1 :link-list (send *model* :a1 :end-coords :parent)) + :move-target (send *model* :a1 :end-coords) + :translation-axis t + :rotation-axis nil + :revert-if-fail nil) + (if (pqp-collision-check-objects (list (send *model* :a1 :joint-fr :child-link) (send *model* :a1 :joint-fl :child-link)) (list *target*)) + (progn + (print "Hit!") + (dotimes (j 100) + (send *model* :a1 :joint-fl :joint-angle (* 0.42 j)) + (send *model* :a1 :joint-fr :joint-angle (* 0.42 j)) + (send *irtviewer* :draw-objects) + (unix::usleep (* 1000 10))))) + (unix::usleep (* 1000 10)) + (send *irtviewer* :draw-objects) + (x::window-main-one) + )) +;;grasp +(let ((a 42)) + (while (> 0 a) + (if (pqp-collision-check-objects + (list (send *model* :a1 :joint-fr :child-link) + (send *model* :a1 :joint-fl :child-link)) + (list *target*)) + (return)) + (decf a 0.1) + (send *irtviewer* :draw-objects) + (unix::usleep (* 1000 10)) + (send *model* :a1 :move-fingers a) + (x::window-main-one))) +(send *model* :a1 :end-coords :assoc *target*) +;;move +(let (begin next end) + (setq begin (send *model* :a1 :end-coords :worldpos)) + (setq end (v+ (send ((send *model* :c1) . d1) :worldpos) #f(0 200 430))) + + (dotimes (i 100) + (setq next (make-coords :pos (v+ (scale (/ i 100.0) end) + (scale (/ (- 100 i) 100.0) begin)))) + (send *model* :a1 :inverse-kinematics next + :link-list (send *model* :a1 :link-list (send *model* :a1 :end-coords :parent)) + :move-target (send *model* :a1 :end-coords) + :translation-axis t + :rotation-axis nil + :revert-if-fail nil) + (unix::usleep (* 1000 10)) + (send *irtviewer* :draw-objects) + (x::window-main-one) + )) +;;release +(send *model* :a1 :end-coords :dissoc *target*) +(let ((begin (send *model* :a1 :angle-vector)) + next + (end #f(0 0 90 0 90 0 0 0))) + (dotimes (i 100) + (setq next (v+ (scale (/ i 100.0) end) + (scale (/ (- 100 i) 100.0) begin))) + (send *model* :a1 :move-fingers (* 0.42 i)) + (send *model* :a1 :angle-vector next) + (if (pqp-collision-check-objects + (list ((send *model* :c1) . d1)) + (list *target*)) + (send *target* :spacial-velocity #f(0 0 0)) + (send *target* :spacial-velocity (v+ (send *target* :spacial-velocity) (transform (sr-inverse (send *target* :rot)) (scale 0.01 #f(0 0 -9800)))))) + (send *target* :locate (scale 0.01 (send *target* :spacial-velocity))) + (send *irtviewer* :draw-objects) + (x::window-main-one) + (unix::usleep (* 1000 10)))) +(send ((send *model* :c1) . d1) :assoc *target*) + +(unix::sleep 1) +;;close +(setq time 0) +(do-until-key + (setq time (+ time 0.001)) + (setq theta (reduce #'* `(2 ,pi 2 ,time))) + (if (<= theta pi) + (send *model* :c1 :j1 :joint-angle (+ 350 (* 350 (cos theta))))) + + (send *irtviewer* :draw-objects) + (x::window-main-one) + ) ;; DO NOT EDIT AFTER THIS LINE (send *unit-test* :print-result) diff --git a/20151021/src/enshu_20151021/euslisp/renshu-5.l b/20151021/src/enshu_20151021/euslisp/renshu-5.l index f56c3c37..830705b0 100755 --- a/20151021/src/enshu_20151021/euslisp/renshu-5.l +++ b/20151021/src/enshu_20151021/euslisp/renshu-5.l @@ -5,9 +5,171 @@ (send *unit-test* :clear-result) ;; DO NOT EDIT BEFORE THIS LINE + ;; 5) ;; 6自由度以上のアームを作りrotation-axis（や冗長自由度）を利用したサンプルプログラムを書いてみよ． +(defun make-hinji () + (let ((b1 (make-cube 26 20 54)) + (b2 (make-cube 22 16 58))) + (send b2 :locate #f(-4 0 0)) + (setq b2 (body- b2 b1)) + (send b2 :set-color :red) + b2)) + +(defun make-servo () + (let ((b1 (make-cube 35 20 46)) + (b2 (make-cylinder 3 60))) + (send b1 :locate #f(9.5 0 0)) + (send b2 :locate #f(0 0 -30)) + (setq b1 (body+ b1 b2)) + (send b1 :set-color :blue) + b1)) + +(defun make-piston () + (let ((b1 (make-cube 20 46 70)) + (b2 (make-cylinder 3 85))) + (setq b1 (body+ b1 b2)) + (send b1 :set-color :green) + b1)) + +(defun make-pcylinder () + (let ((b1 (make-cube 20 46 70)) + (b2 (make-cylinder 3 60))) + (send b2 :locate #f(0 0 -35)) + (setq b1 (body- b1 b2)) + (send b1 :set-color :yellow) + b1)) + +(defclass 6dof-sample-arm + :super cascaded-link + :slots (base l1 l2 l3 l4 l5 l6 j1 j2 j3 j4 j5 j6 end-coords)) + +(defmethod 6dof-sample-arm + (:init () + (send-super :init) + (let (h s) + (setq h (make-hinji)) + (send h :locate #f(42 0 0)) + (setq s (make-servo)) + (send s :assoc h) + (setq l6 (instance bodyset-link :init (make-cascoords) :bodies (list s h))) + (setq end-coords (make-cascoords :pos #f(49 0 0))) + (send l6 :assoc end-coords) + (send l6 :locate #f(42 0 0)) + (setq h (make-hinji)) + (send h :locate #f(42 0 0)) + (send h :assoc l6) + (send h :rotate #d90 :x) + (setq s (make-servo)) + (send s :assoc h) + (setq l5 (instance bodyset-link :init (make-cascoords) :bodies (list s h))) + (send l5 :assoc l6) + (setq h (make-hinji)) + (send h :assoc l5) + (send h :locate #f(0 0 15)) + (send h :rotate #d270 :y) + (setq l4 (instance bodyset-link :init (make-cascoords) :bodies (list h))) + (send l4 :assoc l5) + (send l4 :rotate #d90 :y) + (send l4 :locate #f(0 0 27)) + (setq s (make-servo)) + (setq l3 (instance bodyset-link :init (make-cascoords) :bodies (list s))) + (send l3 :assoc l4) + (setq h (make-hinji)) + (send h :assoc l3) + (send h :rotate #d90 :x) + (send h :locate #f(42 0 0)) + (setq s (make-servo)) + (send s :assoc h) + (setq l2 (instance bodyset-link :init (make-cascoords) :bodies (list s h))) + (send l2 :assoc l3) + (setq h (make-hinji)) + (send h :assoc l2) + (send h :locate #f(0 0 15)) + (send h :rotate #d180 :z) + (send h :rotate #d270 :y) + (setq l1 (instance bodyset-link :init (make-cascoords) :bodies (list h))) + (send l1 :assoc l2) + (send l1 :locate #f(0 0 5)) + + (setq base (instance bodyset-link :init (make-cascoords) :bodies (list (make-cube 300 300 10)))) + (setq j1 (instance rotational-joint :init :parent-link base :child-link l1 :axis :z)) + (setq j2 (instance rotational-joint :init :parent-link l1 :child-link l2 :axis :z)) + (setq j3 (instance rotational-joint :init :parent-link l2 :child-link l3 :axis :z)) + (setq j4 (instance rotational-joint :init :parent-link l3 :child-link l4 :axis :z)) + (setq j5 (instance rotational-joint :init :parent-link l4 :child-link l5 :axis :z)) + (setq j6 (instance rotational-joint :init :parent-link l5 :child-link l6 :axis :z)) + (setq links (list base l1 l2 l3 l4 l5 l6)) + (setq joint-list (list j1 j2 j3 j4 j5 j6)) + (send self :init-ending) + (send self :reset-pose)) + ) + + (:j1 (&rest args) (forward-message-to j1 args)) + (:j2 (&rest args) (forward-message-to j2 args)) + (:j3 (&rest args) (forward-message-to j3 args)) + (:j4 (&rest args) (forward-message-to j4 args)) + (:j5 (&rest args) (forward-message-to j5 args)) + (:j6 (&rest args) (forward-message-to j6 args)) + (:l1 (&rest args) (forward-message-to l1 args)) + (:l2 (&rest args) (forward-message-to l2 args)) + (:l3 (&rest args) (forward-message-to l3 args)) + (:l4 (&rest args) (forward-message-to l4 args)) + (:l5 (&rest args) (forward-message-to l5 args)) + (:l6 (&rest args) (forward-message-to l6 args)) + (:end-coords (&rest args) (forward-message-to end-coords args)) + (:reset-pose () + (send self :angle-vector #f(0 0 0 0 90 0))) + ) + +(setq *model* (instance 6dof-sample-arm :init)) +(setq *target* (make-cascoords :pos #f(91 0 104))) +(print (send *model* :end-coords :worldpos)) +(objects (list *model* (send *model* :end-coords) *target*)) +(send *target* :locate #f(-20 20 -30)) +(send *target* :rotate #d30 :y) +(do-until-key + (send *model* :inverse-kinematics *target* + :link-list (send *model* :link-list (send *model* :end-coords :parent)) + :move-target (send *model* :end-coords) + :translation-axis t + :rotation-axis nil + :revert-if-fail nil) + (send *irtviewer* :draw-objects) + (x::window-main-one) + (unix::sleep 1) + (send *model* :reset-pose) + (send *irtviewer* :draw-objects) + (x::window-main-one) + (unix::sleep 1) + (send *model* :inverse-kinematics *target* + :link-list (send *model* :link-list (send *model* :end-coords :parent)) + :move-target (send *model* :end-coords) + :translation-axis t + :rotation-axis t + :revert-if-fail nil) + (send *irtviewer* :draw-objects) + (x::window-main-one) + (unix::sleep 1) + (send *model* :reset-pose) + (send *irtviewer* :draw-objects) + (x::window-main-one) + (unix::sleep 1) + (send *model* :inverse-kinematics *target* + :link-list (send *model* :link-list (send *model* :end-coords :parent)) + :move-target (send *model* :end-coords) + :translation-axis nil + :rotation-axis t + :revert-if-fail nil) + (send *irtviewer* :draw-objects) + (x::window-main-one) + (unix::sleep 1) + (send *model* :reset-pose) + (send *irtviewer* :draw-objects) + (x::window-main-one) + (unix::sleep 1)) + ;; DO NOT EDIT AFTER THIS LINE (send *unit-test* :print-result) (exit 1) diff --git a/20151021/src/note_20151021/3dof-robot.l b/20151021/src/note_20151021/3dof-robot.l new file mode 100644 index 00000000..c37d4db4 --- /dev/null +++ b/20151021/src/note_20151021/3dof-robot.l @@ -0,0 +1,52 @@ +;; 3軸関節ロボット +(defclass 3dof-robot + :super cascaded-link + :slots (end-coords l1 l2 l3 l4 j1 j2 j3)) + +(defmethod 3dof-robot + (:init () + (let (b) + (send-super :init) + + (setq b (make-cube 10 10 20)) + (send b :locate #f(0 0 10)) + (send b :set-color :red) + (setq l4 (instance bodyset-link :init (make-cascoords) :bodies (list b) :name 'l4)) + (setq end-coords (make-cascoords :pos #f(0 0 20))) + (send l4 :assoc end-coords) + (send l4 :locate #f(0 0 100)) + ;; + (setq b (make-cube 10 10 100)) + (send b :locate #f(0 0 50)) + (send b :set-color :green) + (setq l3 (instance bodyset-link :init (make-cascoords) :bodies (list b) :name 'l3)) + (send l3 :assoc l4) + (send l3 :locate #f(0 0 100)) + ;; + (setq b (make-cube 10 10 100)) + (send b :locate #f(0 0 50)) + (send b :set-color :blue) + (setq l2 (instance bodyset-link :init (make-cascoords) :bodies (list b) :name 'l2)) + (send l2 :assoc l3) + (send l2 :locate #f(0 0 20)) + ;; + (setq b (body+ (make-cube 10 10 20 :pos #f(0 0 10)) (make-cube 300 300 2))) + (send b :set-color :white) + (setq l1 (instance bodyset-link :init (make-cascoords) :bodies (list b) :name 'l1)) + (send l1 :assoc l2) + ;; + (setq j1 (instance rotational-joint :init :name 'j1 + :parent-link l1 :child-link l2 :axis :y :min -100 :max 100) + j2 (instance rotational-joint :init :name 'j2 + :parent-link l2 :child-link l3 :axis :y :min -100 :max 100) + j3 (instance rotational-joint :init :name 'j3 + :parent-link l3 :child-link l4 :axis :y :min -100 :max 100)) + ;; + (setq links (list l1 l2 l3 l4)) + (setq joint-list (list j1 j2 j3)) + ;; + (send self :init-ending) + self)) + (:end-coords (&rest args) (forward-message-to end-coords args)) +) + diff --git a/20151021/src/note_20151021/cube1.l b/20151021/src/note_20151021/cube1.l new file mode 100644 index 00000000..f2c7ffbd --- /dev/null +++ b/20151021/src/note_20151021/cube1.l @@ -0,0 +1,19 @@ +(setq c1 (make-cube 100 100 100)) +(send c1 :locate #f(0 0 50)) +(send c1 :rotate (deg2rad 30) :x) +(send c1 :set-color :yellow) +(objects (list c1)) + +(setq c2 (make-cylinder 50 100)) +(send c2 :move-to + (make-coords + :pos #f(20 30 40) + :rpy (float-vector 0 0 (deg2rad 90))) + :world) +(send c2 :set-color :green) +(objects (list c1 c2)) + +(setq c3 (body+ c1 c2)) +(setq c4 (body- c1 c2)) +(setq c5 (body* c1 c2)) + diff --git a/20151021/src/note_20151021/cube2.l b/20151021/src/note_20151021/cube2.l new file mode 100644 index 00000000..f6728d61 --- /dev/null +++ b/20151021/src/note_20151021/cube2.l @@ -0,0 +1,9 @@ +(setq c1 (make-cube 100 100 100)) +(send c1 :set-color :red) +(setq c2 (make-cylinder 30 100)) +(send c2 :set-color :green) +(send c1 :assoc c2) +(setq b1 (instance bodyset :init + (make-cascoords) + :bodies (list c1 c2))) +(objects (list b1)) diff --git a/20151021/src/note_20151021/cube3.l b/20151021/src/note_20151021/cube3.l new file mode 100644 index 00000000..a50b61c4 --- /dev/null +++ b/20151021/src/note_20151021/cube3.l @@ -0,0 +1,13 @@ +;;親子関係を利用したサンプルプログラム +(setq c1 (make-cube 100 100 100)) +(setq c2 (make-cube 50 50 50)) +(send c1 :set-color :red) +(send c2 :set-color :green) +(send c2 :locate #f(300 0 0)) +(send c1 :assoc c2) +(objects (list c1 c2)) +(do-until-key + (send c1 :rotate (deg2rad 5) :z) + (send *irtviewer* :draw-objects) + (x::window-main-one) ;; process window event + ) diff --git a/20151021/src/note_20151021/hinji-servo-robot.l b/20151021/src/note_20151021/hinji-servo-robot.l new file mode 100644 index 00000000..ea5a6b97 --- /dev/null +++ b/20151021/src/note_20151021/hinji-servo-robot.l @@ -0,0 +1,38 @@ +(load "make-servo.l") +(load "make-hinji.l") + +(defclass hinji-servo-robot + :super cascaded-link) + +(defmethod hinji-servo-robot + (:init + () + (let (h1 s1 h2 s2 l1 l2 l3) + (send-super :init) + (setq h1 (make-hinji)) + (setq s1 (make-servo)) + (setq h2 (make-hinji)) + (setq s2 (make-servo)) + (send h2 :locate #f(42 0 0)) + (send s1 :assoc h2) + + (setq l1 (instance bodyset-link :init (make-cascoords) :bodies (list h1))) + (setq l2 (instance bodyset-link :init (make-cascoords) :bodies (list s1 h2))) + (setq l3 (instance bodyset-link :init (make-cascoords) :bodies (list s2))) + (send l3 :locate #f(42 0 0)) + + (send self :assoc l1) + (send l1 :assoc l2) + (send l2 :assoc l3) + + (setq joint-list + (list + (instance rotational-joint + :init :parent-link l1 :child-link l2 + :axis :z) + (instance rotational-joint + :init :parent-link l2 :child-link l3 + :axis :z))) + (setq links (list l1 l2 l3)) + (send self :init-ending) + ))) diff --git a/20151021/src/note_20151021/inverse-kinematics1.l b/20151021/src/note_20151021/inverse-kinematics1.l new file mode 100644 index 00000000..23472a30 --- /dev/null +++ b/20151021/src/note_20151021/inverse-kinematics1.l @@ -0,0 +1,19 @@ +;; 逆運動学による動作生成 +(load "3dof-robot.l") + +(setq r (instance 3dof-robot :init)) +(send r :angle-vector #f(30 30 30)) +;;(print (send r :link-list (send r :end-coords :parent))) +(objects (list r (send r :end-coords))) + +(dotimes (i 100) + (setq j (send r :calc-jacobian-from-link-list (send r :link-list (send r :end-coords :parent)) + :move-target (send r :end-coords) + :rotation-axis t + :translation-axis t)) + (setq j# (sr-inverse j)) + (setq da (transform j# #f(1 0 0 0 0 0))) + (send r :angle-vector (v+ (send r :angle-vector) da)) + ;;(format t "[~5A] ~A~%" i (send r :angle-vector)) + (send *irtviewer* :draw-objects) +) diff --git a/20151021/src/note_20151021/inverse-kinematics2.l b/20151021/src/note_20151021/inverse-kinematics2.l new file mode 100644 index 00000000..8a6869d0 --- /dev/null +++ b/20151021/src/note_20151021/inverse-kinematics2.l @@ -0,0 +1,25 @@ +;; 逆運動学による動作生成 +(load "3dof-robot.l") + +(setq r (instance 3dof-robot :init)) +(send r :angle-vector #f(30 30 30)) +;;(print (send r :link-list (send r :end-coords :parent))) +(objects (list r (send r :end-coords))) + +(setq translation-axis t) +(setq rotation-axis nil) + +(dotimes (i 2000) + (setq j (send r :calc-jacobian-from-link-list (send r :link-list (send r :end-coords :parent)) + :move-target (send r :end-coords) + :rotation-axis rotation-axis + :translation-axis translation-axis)) + (setq j# (sr-inverse j)) + (setq c (make-cascoords :pos (float-vector (* 100 (sin (/ i 500.0))) 0 200))) + (setq dif-pos (send (send r :end-coords) :difference-position c)) + (setq da (transform j# dif-pos)) + (send r :angle-vector (v+ (send r :angle-vector) da)) + ;;(format t "[~5A] ~A~%" i (send r :angle-vector)) + (send *irtviewer* :draw-objects :flush nil) + (send c :draw-on :flush t) +) diff --git a/20151021/src/note_20151021/inverse-kinematics3.l b/20151021/src/note_20151021/inverse-kinematics3.l new file mode 100644 index 00000000..8bf0aa82 --- /dev/null +++ b/20151021/src/note_20151021/inverse-kinematics3.l @@ -0,0 +1,11 @@ +(load "3dof-robot.l") +(setq r (instance 3dof-robot :init)) +(objects (list r (send r :end-coords))) + +(setq c (make-cascoords :pos #f(150 0 0) :rpy (float-vector 0 pi 0))) +(send r :inverse-kinematics c + :link-list (send r :link-list (send r :end-coords :parent)) + :move-target (send r :end-coords) + :transloation-axis t + :rotation-axis t + :debug-view t) diff --git a/20151021/src/note_20151021/make-hinji.l b/20151021/src/note_20151021/make-hinji.l new file mode 100644 index 00000000..451bcbf0 --- /dev/null +++ b/20151021/src/note_20151021/make-hinji.l @@ -0,0 +1,7 @@ +(defun make-hinji nil + (let ((b2 (make-cube 22 16 58)) + (b1 (make-cube 26 20 54))) + (send b2 :locate #f(-4 0 0)) + (setq b2 (body- b2 b1)) + (send b2 :set-color :gray80) + b2)) diff --git a/20151021/src/note_20151021/make-servo.l b/20151021/src/note_20151021/make-servo.l new file mode 100644 index 00000000..6f4a81f4 --- /dev/null +++ b/20151021/src/note_20151021/make-servo.l @@ -0,0 +1,9 @@ +(defun make-servo nil + (let (b1 b2) + (setq b1 (make-cube 35 20 46)) + (send b1 :locate #f(9.5 0 0)) + (setq b2 (make-cylinder 3 60)) + (send b2 :locate #f(0 0 -30)) + (setq b1 (body+ b1 b2)) + (send b1 :set-color :gray20) + b1)) diff --git a/20151021/src/note_20151021/my-bodyset-link.l b/20151021/src/note_20151021/my-bodyset-link.l new file mode 100644 index 00000000..459d9ec6 --- /dev/null +++ b/20151021/src/note_20151021/my-bodyset-link.l @@ -0,0 +1,10 @@ +;; bodyset-linkとjointを用いた多リンク系ロボットモデリング +(defclass my-bodyset-link + :super bodyset + :slots (joint parent-link child-links analysis-level default-coords + weight acentroid inertia-tensor + angular-velocity angular-acceleration + spacial-velocity spacial-acceleration + momentum-velocity angular-momentum-velocity + momentum angular-momentum + force moment ext-force ext-moment)) diff --git a/20151021/src/note_20151021/my-cascaded-link.l b/20151021/src/note_20151021/my-cascaded-link.l new file mode 100644 index 00000000..c1a5ccf5 --- /dev/null +++ b/20151021/src/note_20151021/my-cascaded-link.l @@ -0,0 +1,17 @@ +(defclass my-cascaded-link + :super cascaded-coords + :slots (links joint-list bodies collision-avoidance-links)) + +(defmethod my-cascaded-link + (:init (&rest args &key name &allow-other-keys) + (send-super-lexpr :init args) + self) + (:init-ending + () + (setq bodies (flatten (send-all links :bodies))) + (dolist (j joint-list) + (send (send j :child-link) :add-joint j) + (send (send j :child-link) :add-parent-link (send j :parent-link)) + (send (send j :parent-link) :add-child-links (send j :child-link))) + (send self :update-descendants)) +) diff --git a/20151021/src/note_20151021/my-joint.l b/20151021/src/note_20151021/my-joint.l new file mode 100644 index 00000000..4e38ead8 --- /dev/null +++ b/20151021/src/note_20151021/my-joint.l @@ -0,0 +1,27 @@ +(defclass my-joint + :super propertied-object + :slots (parent-link child-link joint-angle min-angle max-angle + defalut-coords)) +(defmethod my-joint + (:init (&key name + ((:child-link clink)) ((:parent-link plink)) + (min -90) (max 90) &allow-other-keys) + (send self :name name) + (setq parent-link plink child-link clink + min-angle min max-angle max) + self)) + +(defclass my-rotational-joint + :super joint + :slots (axis)) +(defmethod my-rotational-joint + (:init (&rest args &key ((:axis ax) :z) &allow-other-keys) + (setq axis ax joint-angle 0.0) + (send-super* :init args) + self) + (:joint-angle + (&optional v) + (when v + (setq relang (- v joint-angle) joint-angle v) + (send child-link :rotate (deg2rad relang) axis)) + joint-angle)) diff --git a/20151021/src/note_20151021/sample-robot1.l b/20151021/src/note_20151021/sample-robot1.l new file mode 100644 index 00000000..35ee6199 --- /dev/null +++ b/20151021/src/note_20151021/sample-robot1.l @@ -0,0 +1,5 @@ +(load "models/room73b2-scene.l") +(load "models/h7-robot.l") +(setq *room* (room73b2)) +(setq *robot* (h7)) +(objects (list *robot* *room*)) diff --git a/20151021/src/note_20151021/sample-robot1.l~ b/20151021/src/note_20151021/sample-robot1.l~ new file mode 100644 index 00000000..35ee6199 --- /dev/null +++ b/20151021/src/note_20151021/sample-robot1.l~ @@ -0,0 +1,5 @@ +(load "models/room73b2-scene.l") +(load "models/h7-robot.l") +(setq *room* (room73b2)) +(setq *robot* (h7)) +(objects (list *robot* *room*)) diff --git a/20151021/src/note_20151021/sample-robot2.l b/20151021/src/note_20151021/sample-robot2.l new file mode 100644 index 00000000..6ed90305 --- /dev/null +++ b/20151021/src/note_20151021/sample-robot2.l @@ -0,0 +1,62 @@ +(if (not (boundp '*irtviewer*)) (make-irtviewer)) + +(load "demo/sample-arm-model.l") +(load "irteus/pqp.l") + +(defmethod sarmclass + (:solve-ik (target &key debug-view) + (send self :inverse-kinematics target + :link-list (send *sarm* :link-list (send *sarm* :end-coords :parent)) + :move-target (send *sarm* :end-coords) + :translation-axis t + :rotation-axis t + :debug-view debug-view + ) + ) +) + +(setq *sarm* (instance sarmclass :init)) +(send *sarm* :reset-pose) +;(send *sarm* :make-pqpmodel) +;(send (send *sarm* :joint-fl :child-link) :make-pqpmodel) +;(send (send *sarm* :joint-fr :child-link) :make-pqpmodel) +(setq *target* (instance bodyset-link :init (make-cascoords) :bodies (list (make-sphere 30)))) +(send *target* :locate #f(350 200 400)) +;(send *target* :make-pqpmodel) +;(send *target* :make-pqpmodel) +(objects (list *sarm* *target*)) + +(send *sarm* :solve-ik *target*) +(setq a (send *sarm* :open-hand)) +(do-until-key) +(while (> a 0) + (if (pqp-collision-check-objects + (list (send *sarm* :joint-fr :child-link) + (send *sarm* :joint-fl :child-link)) + (list *target*)) + (return)) + (decf a 0.1) + (send *irtviewer* :draw-objects) + (send *sarm* :move-fingers a)) +(send *sarm* :end-coords :assoc *target*) +(do-until-key) +(dotimes (i 100) + (send *sarm* :joint0 :joint-angle 1 :relative t) + (send *irtviewer* :draw-objects)) +(send *sarm* :end-coords :dissoc *target*) +(dotimes (i 100) + (send *sarm* :joint0 :joint-angle -1 :relative t) + (send *irtviewer* :draw-objects)) +(setq time 0) +(do-until-key + (setq time (+ time 0.1)) + (send *target* :locate (scale 0.1 (send *target* :spacial-velocity))) + (print (send *target* :pos)) + (send *target* :spacial-velocity (v+ (send *target* :spacial-velocity) (scale 0.1 #f(0 0 -9.8)))) +(if (> time 10) (progn + (send *target* :locate #f(0 0 1000)) + (setq time 0))) + (send *irtviewer* :draw-objects) + (x::window-main-one) + (unix::usleep 100) +) diff --git a/20151021/src/note_20151021/sample-robot2.l~ b/20151021/src/note_20151021/sample-robot2.l~ new file mode 100644 index 00000000..d32729c9 --- /dev/null +++ b/20151021/src/note_20151021/sample-robot2.l~ @@ -0,0 +1,7 @@ +(if (not (boundp '*irtviewer*)) (make-irtviewer)) + +(load "demo/sample-arm-model.l") +(setq *sarm* (instance sarmclass :init)) +(send *sarm* :reset-pose) +(setq *target* (make-coords :pos #f(350 200 400))) +(objects (list *sarm* *target*)) diff --git a/20151021/src/note_20151021/sample1-1.l b/20151021/src/note_20151021/sample1-1.l new file mode 100644 index 00000000..caa37277 --- /dev/null +++ b/20151021/src/note_20151021/sample1-1.l @@ -0,0 +1,9 @@ +;; call after sample1.l +(objects (list r)) +(print (send r :joint-list)) +(print t) +(print (send r :links)) +(print t) +(print (send r :angle-vector)) +(print t) +(print (send r :angle-vector (float-vector 30))) diff --git a/20151021/src/note_20151021/sample1.l b/20151021/src/note_20151021/sample1.l new file mode 100644 index 00000000..a06232d0 --- /dev/null +++ b/20151021/src/note_20151021/sample1.l @@ -0,0 +1,29 @@ +(defun make-servo nil + (let (b1 b2) + (setq b1 (make-cube 35 20 46)) + (send b1 :locate #f(9.5 0 0)) + (setq b2 (make-cylinder 3 60)) + (send b2 :locate #f(0 0 -30)) + (setq b1 (body+ b1 b2)) + (send b1 :set-color :gray20) + b1)) + +(defun make-hinji nil + (let ((b2 (make-cube 22 16 58)) + (b1 (make-cube 26 20 54))) + (send b2 :locate #f(-4 0 0)) + (setq b2 (body- b2 b1)) + (send b2 :set-color :gray80) + b2)) + +(setq h1 (instance bodyset-link :init (make-cascoords) :bodies (list (make-hinji)))) +(setq s1 (instance bodyset-link :init (make-cascoords) :bodies (list (make-servo)))) +(setq j1 (instance rotational-joint :init :parent-link h1 :child-link s1 :axis :z)) +;; instance cascaded coords +(setq r (instance cascaded-link :init)) +(send r :assoc h1) +(send h1 :assoc s1) +(setq (r . links) (list h1 s1)) +(setq (r . joint-list) (list j1)) +(send r :init-ending) + diff --git a/20151021/src/note_20151021/sample10.l b/20151021/src/note_20151021/sample10.l new file mode 100644 index 00000000..2a8421d6 --- /dev/null +++ b/20151021/src/note_20151021/sample10.l @@ -0,0 +1,32 @@ +(if (not (boundp '*irtviewer*)) (make-irtviewer)) + +(load "demo/sample-arm-model.l") +(setq *sarm* (instance sarmclass :init)) +(send *sarm* :reset-pose) +(setq *target* (make-coords :pos #f(350 200 400))) +(objects (list *sarm* *target*)) + +(do-until-key + ;; step 3 + (setq c (send *sarm* :end-coords)) + (send c :draw-on :flush t) + ;; step 4 + (setq dp (scale 0.001 (v- (send *target* :worldpos) (send c :worldpos))) ;; mm->m + dw (matrix-log (m* (transpose (send c :worldrot)) (send *target* :worldrot)))) + (format t "dp = ~7,3f, dw = ~7,3f ~7.3f ~7.3f~%" + (elt dp 0) (elt dp 1) (elt dp 2) + (elt dw 0) (elt dw 1) (elt dw 2)) + ;; step 5 + (when (< (+ (norm dp) (norm dw)) 0.01) (return)) + ;; step 6 + (setq l1 (send *sarm* :link-list (send *sarm* :end-coords :parent))) + (setq j (send *sarm* :calc-jacobian-from-link-list + l1 :move-target (send *sarm* :end-coords) + :translation-axis t :rotation-axis t)) + (setq q (scale 1.0 (transform (pseudo-inverse j) (concatenate float-vector dp dw)))) + ;; step 7 + (dotimes (i (length l1)) + (send (send (elt l1 i) :joint) :joint-angle (elt q i) :relative t)) + ;; draw + (send *irtviewer* :draw-objects) + (x::window-main-one)) diff --git a/20151021/src/note_20151021/sample2-1.l b/20151021/src/note_20151021/sample2-1.l new file mode 100644 index 00000000..b61029ed --- /dev/null +++ b/20151021/src/note_20151021/sample2-1.l @@ -0,0 +1,5 @@ +;; call after sample2.l +(objects (list r)) +(dotimes (i 300) + (send r :angle-vector (float-vector (* 90 (sin (/ i 100.0))))) + (send *irtviewer* :draw-objects)) diff --git a/20151021/src/note_20151021/sample2-2.l b/20151021/src/note_20151021/sample2-2.l new file mode 100644 index 00000000..b63fe25c --- /dev/null +++ b/20151021/src/note_20151021/sample2-2.l @@ -0,0 +1,9 @@ +;; call after sample2.l +(objects (list r)) + +(setq i 0) +(do-until-key + (print (setq ang (float-vector (* 90 (sin (/ i 100.0)))))) + (send r :angle-vector ang) + (send *irtviewer* :draw-objects) + (incf i)) diff --git a/20151021/src/note_20151021/sample2.l b/20151021/src/note_20151021/sample2.l new file mode 100644 index 00000000..6424242e --- /dev/null +++ b/20151021/src/note_20151021/sample2.l @@ -0,0 +1,49 @@ +;; cascaded-linkを用いた多リンク系ロボットモデリング +;; make-servo +(defun make-servo nil + (let (b1 b2) + (setq b1 (make-cube 35 20 46)) + (send b1 :locate #f(9.5 0 0)) + (setq b2 (make-cylinder 3 60)) + (send b2 :locate #f(0 0 -30)) + (setq b1 (body+ b1 b2)) + (send b1 :set-color :gray20) + b1)) + +;; make-hinji +(defun make-hinji nil + (let ((b2 (make-cube 22 16 58)) + (b1 (make-cube 26 20 54))) + (send b2 :locate #f(-4 0 0)) + (setq b2 (body- b2 b1)) + (send b2 :set-color :gray80) + b2)) + +;; servo module model +(defclass servo-model + :super cascaded-link + :slots (h1 s1 j1)) + +(defmethod servo-model + (:init () + (let () + (send-super :init) + (setq h1 (instance bodyset-link :init (make-cascoords) :bodies (list (make-hinji)))) + (setq s1 (instance bodyset-link :init (make-cascoords) :bodies (list (make-servo)))) + (setq j1 (instance rotational-joint :init :parent-link h1 :child-link s1 :axis :z)) + + ;; instance cascaded coords + (setq links (list h1 s1)) + (setq joint-list (list j1)) + ;; + (send self :assoc h1) + (send h1 :assoc s1) + ;; + (send self :init-ending) + self)) + ;; + ;; (send r :j1 :joint-angle 30) + (:j1 (&rest args) (forward-message-to j1 args)) + ) + +(setq r (instance servo-model :init)) diff --git a/20151021/src/note_20151021/sample3.l b/20151021/src/note_20151021/sample3.l new file mode 100644 index 00000000..105c86ea --- /dev/null +++ b/20151021/src/note_20151021/sample3.l @@ -0,0 +1,45 @@ +(load "make-servo.l") +(load "make-hinji.l") + +(defclass hinji-servo-robot + :super cascaded-link) + +(defmethod hinji-servo-robot + (:init + () + (let (h1 s1 h2 s2 l1 l2 l3) + (send-super :init) + (setq h1 (make-hinji)) + (setq s1 (make-servo)) + (setq h2 (make-hinji)) + (setq s2 (make-servo)) + (send h2 :locate #f(42 0 0)) + (send s1 :assoc h2) + (setq l1 (instance bodyset-link :init (make-cascoords) :bodies (list h1))) + (setq l2 (instance bodyset-link :init (make-cascoords) :bodies (list s1 h2))) + (setq l3 (instance bodyset-link :init (make-cascoords) :bodies (list s2))) + (send l3 :locate #f(42 0 0)) + + (send self :assoc l1) + (send l1 :assoc l2) + (send l2 :assoc l3) + + (setq joint-list + (list + (instance rotational-joint + :init :parent-link l1 :child-link l2 + :axis :z) + (instance rotational-joint + :init :parent-link l2 :child-link l3 + :axis :z))) + (setq links (list l1 l2 l3)) + (send self :init-ending) + ))) + +(setq r (instance hinji-servo-robot :init)) +(objects (list r)) + +(dotimes (i 10000) + (send r :angle-vector (float-vector (* 90 (sin (/ i 500.0))) + (* 90 (sin (/ i 1000.0))))) + (send *irtviewer* :draw-objects)) diff --git a/20151021/src/note_20151021/sample4.l b/20151021/src/note_20151021/sample4.l new file mode 100644 index 00000000..2c73ee33 --- /dev/null +++ b/20151021/src/note_20151021/sample4.l @@ -0,0 +1,10 @@ +(load "3dof-robot.l") + +(setq r (instance 3dof-robot :init)) +(objects (list r)) +(send r :angle-vector #f(30 30 30)) +(send *irtviewer* :draw-objects) + +(send (send r :end-coords) :draw-on :flush t) + +(objects (list r (send r :end-coords))) diff --git a/20151021/src/note_20151021/sample5.l b/20151021/src/note_20151021/sample5.l new file mode 100644 index 00000000..23472a30 --- /dev/null +++ b/20151021/src/note_20151021/sample5.l @@ -0,0 +1,19 @@ +;; 逆運動学による動作生成 +(load "3dof-robot.l") + +(setq r (instance 3dof-robot :init)) +(send r :angle-vector #f(30 30 30)) +;;(print (send r :link-list (send r :end-coords :parent))) +(objects (list r (send r :end-coords))) + +(dotimes (i 100) + (setq j (send r :calc-jacobian-from-link-list (send r :link-list (send r :end-coords :parent)) + :move-target (send r :end-coords) + :rotation-axis t + :translation-axis t)) + (setq j# (sr-inverse j)) + (setq da (transform j# #f(1 0 0 0 0 0))) + (send r :angle-vector (v+ (send r :angle-vector) da)) + ;;(format t "[~5A] ~A~%" i (send r :angle-vector)) + (send *irtviewer* :draw-objects) +) diff --git a/20151021/src/note_20151021/sample5.l~ b/20151021/src/note_20151021/sample5.l~ new file mode 100644 index 00000000..d0ecd08d --- /dev/null +++ b/20151021/src/note_20151021/sample5.l~ @@ -0,0 +1,19 @@ +;; 逆運動学による動作生成 +(load "3dof-robot.l") + +(setq r (instance 3dof-robot :init)) +(send r :angle-vector #f(30 -60 90)) +;;(print (send r :link-list (send r :end-coords :parent))) +(objects (list r (send r :end-coords))) + +(dotimes (i 1000) + (setq j (send r :calc-jacobian-from-link-list (send r :link-list (send r :end-coords :parent)) + :move-target (send r :end-coords) + :rotation-axis t + :translation-axis t)) + (setq j# (sr-inverse j)) + (setq da (transform j# #f(1 0 0 0 0 0))) + (send r :angle-vector (v+ (send r :angle-vector) da)) + ;;(format t "[~5A] ~A~%" i (send r :angle-vector)) + (send *irtviewer* :draw-objects) +) diff --git a/20151021/src/note_20151021/sample6.l b/20151021/src/note_20151021/sample6.l new file mode 100644 index 00000000..8a6869d0 --- /dev/null +++ b/20151021/src/note_20151021/sample6.l @@ -0,0 +1,25 @@ +;; 逆運動学による動作生成 +(load "3dof-robot.l") + +(setq r (instance 3dof-robot :init)) +(send r :angle-vector #f(30 30 30)) +;;(print (send r :link-list (send r :end-coords :parent))) +(objects (list r (send r :end-coords))) + +(setq translation-axis t) +(setq rotation-axis nil) + +(dotimes (i 2000) + (setq j (send r :calc-jacobian-from-link-list (send r :link-list (send r :end-coords :parent)) + :move-target (send r :end-coords) + :rotation-axis rotation-axis + :translation-axis translation-axis)) + (setq j# (sr-inverse j)) + (setq c (make-cascoords :pos (float-vector (* 100 (sin (/ i 500.0))) 0 200))) + (setq dif-pos (send (send r :end-coords) :difference-position c)) + (setq da (transform j# dif-pos)) + (send r :angle-vector (v+ (send r :angle-vector) da)) + ;;(format t "[~5A] ~A~%" i (send r :angle-vector)) + (send *irtviewer* :draw-objects :flush nil) + (send c :draw-on :flush t) +) diff --git a/20151021/src/note_20151021/sample6.l~ b/20151021/src/note_20151021/sample6.l~ new file mode 100644 index 00000000..d0ecd08d --- /dev/null +++ b/20151021/src/note_20151021/sample6.l~ @@ -0,0 +1,19 @@ +;; 逆運動学による動作生成 +(load "3dof-robot.l") + +(setq r (instance 3dof-robot :init)) +(send r :angle-vector #f(30 -60 90)) +;;(print (send r :link-list (send r :end-coords :parent))) +(objects (list r (send r :end-coords))) + +(dotimes (i 1000) + (setq j (send r :calc-jacobian-from-link-list (send r :link-list (send r :end-coords :parent)) + :move-target (send r :end-coords) + :rotation-axis t + :translation-axis t)) + (setq j# (sr-inverse j)) + (setq da (transform j# #f(1 0 0 0 0 0))) + (send r :angle-vector (v+ (send r :angle-vector) da)) + ;;(format t "[~5A] ~A~%" i (send r :angle-vector)) + (send *irtviewer* :draw-objects) +) diff --git a/20151021/src/note_20151021/sample7.l b/20151021/src/note_20151021/sample7.l new file mode 100644 index 00000000..8bf0aa82 --- /dev/null +++ b/20151021/src/note_20151021/sample7.l @@ -0,0 +1,11 @@ +(load "3dof-robot.l") +(setq r (instance 3dof-robot :init)) +(objects (list r (send r :end-coords))) + +(setq c (make-cascoords :pos #f(150 0 0) :rpy (float-vector 0 pi 0))) +(send r :inverse-kinematics c + :link-list (send r :link-list (send r :end-coords :parent)) + :move-target (send r :end-coords) + :transloation-axis t + :rotation-axis t + :debug-view t) diff --git a/20151021/src/note_20151021/sample7.l~ b/20151021/src/note_20151021/sample7.l~ new file mode 100644 index 00000000..2f0ec7d3 --- /dev/null +++ b/20151021/src/note_20151021/sample7.l~ @@ -0,0 +1,7 @@ +(setq c (make-cascoords :pos #f(150 0 0) :rpy (float-vector 0 pi 0))) +(send r :inverse-kinematics c + :link-list (send r :link-list (send r :end-coords :parent)) + :move-target (send r :end-coords) + :transloation-axis t + :rotation-axis t + :debug-view t) diff --git a/20151021/src/note_20151021/sample8.l b/20151021/src/note_20151021/sample8.l new file mode 100644 index 00000000..78492561 --- /dev/null +++ b/20151021/src/note_20151021/sample8.l @@ -0,0 +1,18 @@ +;; 逆運動学が失敗するサンプル +(load "3dof-robot.l") +(setq r (instance 3dof-robot :init)) +(objects (list r (send r :end-coords))) + +(dotimes (i 400) + (setq c (make-cascoords + :pos (float-vector (+ 150 (* 50 (sin (/ i 100.0)))) 0 0) + :rpy (float-vector 0 pi 0))) + (send r :inverse-kinematics c + :link-list (send r :link-list (send r :end-coords :parent)) + :move-target (send r :end-coords) + :transloation-axis t + :rotation-axis t) + (x::window-main-one) + (send *irtviewer* :draw-objects :flush nil) + (send c :draw-on :flush t) +) diff --git a/20151021/src/note_20151021/sample8.l~ b/20151021/src/note_20151021/sample8.l~ new file mode 100644 index 00000000..8bf0aa82 --- /dev/null +++ b/20151021/src/note_20151021/sample8.l~ @@ -0,0 +1,11 @@ +(load "3dof-robot.l") +(setq r (instance 3dof-robot :init)) +(objects (list r (send r :end-coords))) + +(setq c (make-cascoords :pos #f(150 0 0) :rpy (float-vector 0 pi 0))) +(send r :inverse-kinematics c + :link-list (send r :link-list (send r :end-coords :parent)) + :move-target (send r :end-coords) + :transloation-axis t + :rotation-axis t + :debug-view t) diff --git a/20151021/src/note_20151021/sample9.l b/20151021/src/note_20151021/sample9.l new file mode 100644 index 00000000..a895d8ff --- /dev/null +++ b/20151021/src/note_20151021/sample9.l @@ -0,0 +1,19 @@ +;; 逆運動学が失敗するサンプル +(load "3dof-robot.l") +(setq r (instance 3dof-robot :init)) +(objects (list r (send r :end-coords))) + +(dotimes (i 400) + (setq c (make-cascoords + :pos (float-vector (+ 150 (* 50 (sin (/ i 100.0)))) 0 0) + :rpy (float-vector 0 pi 0))) + (send r :inverse-kinematics c + :link-list (send r :link-list (send r :end-coords :parent)) + :move-target (send r :end-coords) + :transloation-axis t + :rotation-axis nil + :revert-if-fail nil) + (x::window-main-one) + (send *irtviewer* :draw-objects :flush nil) + (send c :draw-on :flush t) +) diff --git a/20151021/src/note_20151021/sample9.l~ b/20151021/src/note_20151021/sample9.l~ new file mode 100644 index 00000000..78492561 --- /dev/null +++ b/20151021/src/note_20151021/sample9.l~ @@ -0,0 +1,18 @@ +;; 逆運動学が失敗するサンプル +(load "3dof-robot.l") +(setq r (instance 3dof-robot :init)) +(objects (list r (send r :end-coords))) + +(dotimes (i 400) + (setq c (make-cascoords + :pos (float-vector (+ 150 (* 50 (sin (/ i 100.0)))) 0 0) + :rpy (float-vector 0 pi 0))) + (send r :inverse-kinematics c + :link-list (send r :link-list (send r :end-coords :parent)) + :move-target (send r :end-coords) + :transloation-axis t + :rotation-axis t) + (x::window-main-one) + (send *irtviewer* :draw-objects :flush nil) + (send c :draw-on :flush t) +)