Merge remote-tracking branch 'origin/release-6.8'

# Conflicts:
#	CHANGELOG.md
#	CMakeLists.txt
#	package.xml

CHANGELOG.md

@@ -29,6 +29,29 @@
 
   * MSVC: 19.20
 
+### [DART 6.8.3 (2019-05-01)](https://github.com/dartsim/dart/milestone/55?closed=1)
+
+#### Changes
+
+* Parser
+
+  * Fixed VskParker returning incorrect resource retriever: [#1300](https://github.com/dartsim/dart/pull/1300)
+
+* Build
+
+  * Fixed building with pagmo's optional dependencies: [#1301](https://github.com/dartsim/dart/pull/1301)
+
+#### Compilers Tested
+
+* Linux
+
+  * GCC 64-bit: 5.4.0, 7.3.0, 8.2.0
+  * GCC 32-bit: 5.4.0
+
+* macOS
+
+  * AppleClang: 9.1.0, 10.0.0
+
 ### [DART 6.8.2 (2019-04-23)](https://github.com/dartsim/dart/milestone/54?closed=1)
 
 #### Changes

cmake/DARTFindIPOPT.cmake

@@ -8,10 +8,13 @@
 
 find_package(IPOPT 3.11.9 QUIET MODULE)
 
+# HAVE_CSTDDEF is necessary to workaround this bug:
+# https://bugs.debian.org/cgi-bin/bugreport.cgi?bug=684062
 if(IPOPT_FOUND AND NOT TARGET IPOPT::ipopt)
   add_library(IPOPT::ipopt INTERFACE IMPORTED)
   set_target_properties(IPOPT::ipopt PROPERTIES
     INTERFACE_INCLUDE_DIRECTORIES "${IPOPT_INCLUDE_DIRS}"
     INTERFACE_LINK_LIBRARIES "${IPOPT_LIBRARIES}"
+    INTERFACE_COMPILE_DEFINITIONS HAVE_CSTDDEF
   )
 endif()

cmake/DARTFindpagmo.cmake

@@ -7,3 +7,74 @@
 # This file is provided under the "BSD-style" License
 
 find_package(pagmo QUIET CONFIG)
+
+dart_find_package(NLOPT)
+dart_find_package(IPOPT)
+
+if(TARGET Pagmo::pagmo)
+
+  # Check for pagmo optional dependencies
+  include(CheckCXXSourceCompiles)
+  set(CMAKE_REQUIRED_DEFINITIONS "")
+  set(CMAKE_REQUIRED_LIBRARIES Pagmo::pagmo)
+  set(CMAKE_REQUIRED_FLAGS "-std=c++11 -w")
+
+  check_cxx_source_compiles(
+    "
+    #include <pagmo/config.hpp>
+    int main()
+    {
+    #if defined(PAGMO_WITH_NLOPT)
+      static_assert(true, \"Pagmo is build with NLOPT\");
+    #else
+      static_assert(false, \"Pagmo is NOT build with NLOPT\");
+    #endif
+      return 0;
+    }
+    "
+    PAGMO_BUILT_WITH_NLOPT
+  )
+
+  check_cxx_source_compiles(
+    "
+    #include <pagmo/config.hpp>
+    int main()
+    {
+    #if defined(PAGMO_WITH_IPOPT)
+      static_assert(true, \"Pagmo is build with IPOPT\");
+    #else
+      static_assert(false, \"Pagmo is NOT build with IPOPT\");
+    #endif
+      return 0;
+    }
+    "
+    PAGMO_BUILT_WITH_IPOPT
+  )
+
+  unset(CMAKE_REQUIRED_FLAGS)
+  unset(CMAKE_REQUIRED_LIBRARIES)
+  unset(CMAKE_REQUIRED_DEFINITIONS)
+
+  if(PAGMO_BUILT_WITH_NLOPT)
+    dart_find_package(NLOPT)
+    if(NOT TARGET NLOPT::nlopt)
+      message(STATUS
+        "The installed version of pagmo is built with nlopt, but nlopt is not "
+        "found. Please install nlopt to use dart-optimizer-pagmo."
+      )
+      set(pagmo_FOUND FALSE)
+    endif()
+  endif()
+
+  if(PAGMO_BUILT_WITH_IPOPT)
+    dart_find_package(IPOPT)
+    if(NOT TARGET IPOPT::ipopt)
+      message(STATUS
+        "The installed version of pagmo is built with ipopt, but ipopt is not "
+        "found. Please install ipopt to use dart-optimizer-pagmo."
+      )
+      set(pagmo_FOUND FALSE)
+    endif()
+  endif()
+
+endif()

dart/optimizer/ipopt/IpoptSolver.hpp

@@ -33,15 +33,8 @@
 #ifndef DART_OPTIMIZER_IPOPT_IPOPTSOLVER_HPP_
 #define DART_OPTIMIZER_IPOPT_IPOPTSOLVER_HPP_
 
-//------------------------------------------------------------------------------
-// Workaround for bug:
-// (see https://bugs.debian.org/cgi-bin/bugreport.cgi?bug=684062)
-// This is fixed at IpOpt 3.11.4-1
-#define HAVE_CSTDDEF
 #include <coin/IpTNLP.hpp>
 #include <coin/IpIpoptApplication.hpp>
-#undef HAVE_CSTDDEF
-//------------------------------------------------------------------------------
 
 #include <memory>
 

dart/optimizer/pagmo/CMakeLists.txt

@@ -1,5 +1,4 @@
 # Dependency checks
-dart_find_package(NLOPT)
 dart_find_package(pagmo)
 dart_check_optional_package(pagmo "dart-optimizer-pagmo" "pagmo" "2.8")
 if(pagmo_FOUND)
@@ -21,7 +20,7 @@ set(component_name optimizer-pagmo)
 
 # Add target
 dart_add_library(${target_name} ${hdrs} ${srcs})
-target_link_libraries(${target_name} PUBLIC dart Pagmo::pagmo NLOPT::nlopt)
+target_link_libraries(${target_name} PUBLIC dart Pagmo::pagmo)
 
 # Thread
 if(THREADS_HAVE_PTHREAD_ARG)

dart/optimizer/pagmo/PagmoMultiObjectiveSolver.cpp

@@ -86,6 +86,7 @@ PagmoMultiObjectiveSolver::~PagmoMultiObjectiveSolver()
 }
 
 //==============================================================================
+#ifdef PAGMO_WITH_NLOPT
 static pagmo::algorithm createNloptCobyla(
     const PagmoMultiObjectiveSolver::Properties& properties)
 {
@@ -95,6 +96,7 @@ static pagmo::algorithm createNloptCobyla(
 
   return alg;
 }
+#endif
 
 //==============================================================================
 static pagmo::algorithm createMoead(
@@ -120,10 +122,12 @@ static pagmo::algorithm createPagmoAlgorithm(
 {
   switch (properties.mAlgorithm)
   {
+#ifdef PAGMO_WITH_NLOPT
     case PagmoMultiObjectiveSolver::Algorithm::Local_nlopt_COBYLA:
     {
       return createNloptCobyla(properties);
     }
+#endif
     case PagmoMultiObjectiveSolver::Algorithm::Global_MOEAD:
     {
       return createMoead(properties);

dart/optimizer/pagmo/PagmoMultiObjectiveSolver.hpp

@@ -50,7 +50,9 @@ class PagmoMultiObjectiveSolver : public MultiObjectiveSolver
   /// Reference: https://esa.github.io/pagmo2/docs/algorithm_list.html
   enum class Algorithm
   {
+#ifdef PAGMO_WITH_NLOPT
     Local_nlopt_COBYLA,
+#endif
     Global_MOEAD,
     Global_NSGA2,
   };

dart/utils/VskParser.cpp

@@ -1028,7 +1028,7 @@ common::ResourceRetrieverPtr getRetriever(
     newRetriever->addSchemaRetriever(
           "dart", DartResourceRetriever::create());
 
-    return DartResourceRetriever::create();
+    return std::move(newRetriever);
   }
 }
 

unittests/unit/CMakeLists.txt

@@ -83,3 +83,4 @@ foreach(collision_engine
 endforeach()
 
 dart_format_add(test_Inertia.cpp)
+dart_format_add(test_VskParser.cpp)

unittests/unit/test_VskParser.cpp

@@ -34,11 +34,11 @@
 #include <gtest/gtest.h>
 #include "TestHelpers.hpp"
 
-#include "dart/dynamics/SoftBodyNode.hpp"
-#include "dart/dynamics/RevoluteJoint.hpp"
+#include "dart/config.hpp"
 #include "dart/dynamics/PlanarJoint.hpp"
+#include "dart/dynamics/RevoluteJoint.hpp"
 #include "dart/dynamics/Skeleton.hpp"
-#include "dart/simulation/World.hpp"
+#include "dart/dynamics/SoftBodyNode.hpp"
 #include "dart/simulation/World.hpp"
 #include "dart/utils/VskParser.hpp"
 
@@ -64,24 +64,32 @@ TEST(VskParser, EmptySkeleton)
   world->step();
 }
 
+//==============================================================================
+TEST(VskParser, LoadFromFileURI)
+{
+  const std::string prefix = "file://" DART_DATA_LOCAL_PATH "vsk/";
+
+  EXPECT_EQ(VskParser::readSkeleton(prefix + "test/empty.vsk"), nullptr);
+  EXPECT_NE(VskParser::readSkeleton(prefix + "Nick01.vsk"), nullptr);
+  EXPECT_NE(VskParser::readSkeleton(prefix + "Yuting.vsk"), nullptr);
+}
+
 //==============================================================================
 TEST(VskParser, SingleStepSimulations)
 {
   WorldPtr world = World::create();
-  EXPECT_NE(world , nullptr);
+  EXPECT_NE(world, nullptr);
 
-  SkeletonPtr nick
-      = VskParser::readSkeleton("dart://sample/vsk/Nick01.vsk");
-  EXPECT_NE(nick  , nullptr);
+  SkeletonPtr nick = VskParser::readSkeleton("dart://sample/vsk/Nick01.vsk");
+  EXPECT_NE(nick, nullptr);
   EXPECT_EQ(nick->getNumMarkers(), 53u);
 
   SkeletonPtr sehoon
       = VskParser::readSkeleton("dart://sample/vsk/SehoonVSK3.vsk");
   EXPECT_NE(sehoon, nullptr);
   EXPECT_EQ(nick->getNumMarkers(), 53u);
 
-  SkeletonPtr yuting
-      = VskParser::readSkeleton("dart://sample/vsk/Yuting.vsk");
+  SkeletonPtr yuting = VskParser::readSkeleton("dart://sample/vsk/Yuting.vsk");
   EXPECT_NE(yuting, nullptr);
   EXPECT_EQ(nick->getNumMarkers(), 53u);