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Murilo M. Marinho
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[cpp-interface-coppeliasim-zmq] Added submodules, dependencies, and preliminary compilation directives without issues.
1 parent 9eee610 commit 72d7e53

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4 files changed

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-104
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4 files changed

+136
-104
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‎.gitmodules

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@@ -17,3 +17,9 @@
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path = tests
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url = https://github.com/dqrobotics/python-tests.git
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branch = master
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[submodule "interfaces/cpp-interface-coppeliasim-zmq"]
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path = interfaces/cpp-interface-coppeliasim-zmq
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url = https://github.com/dqrobotics/cpp-interface-coppeliasim-zmq.git
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[submodule "interfaces/cpp-interface-coppeliasim"]
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path = interfaces/cpp-interface-coppeliasim
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url = https://github.com/dqrobotics/cpp-interface-coppeliasim.git

‎CMakeLists.txt

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@@ -6,126 +6,150 @@ endif()
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project(dqroboticspython)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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#COPPELIASIM INTERFACE
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find_package(cppzmq REQUIRED)
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find_package(ZeroMQ REQUIRED)
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find_package(Boost REQUIRED)
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add_definitions(-DSIM_REMOTEAPICLIENT_OBJECTS)
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#VREP INTERFACE
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add_definitions(-DNON_MATLAB_PARSING)
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add_definitions(-DMAX_EXT_API_CONNECTIONS=255)
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add_definitions(-DDO_NOT_USE_SHARED_MEMORY)
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if(APPLE)
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message("Building not supported on this platform.")
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include_directories(
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message("Building not supported on this platform.")
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include_directories(
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/usr/local/include/
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/usr/local/include/eigen3
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/opt/homebrew/include
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/opt/homebrew/include/eigen3
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)
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)
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endif()
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if(WIN32)
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message("Building not supported on this platform.")
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ADD_DEFINITIONS(-D_USE_MATH_DEFINES)
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FIND_PACKAGE(Eigen3 CONFIG REQUIRED)
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INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIR})
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ADD_DEFINITIONS(-D_USE_MATH_DEFINES)
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FIND_PACKAGE(Eigen3 CONFIG REQUIRED)
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INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIR})
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endif()
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include_directories(
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/usr/include/eigen3/
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cpp/include/
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interfaces/cpp-interface-vrep/include/
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interfaces/cpp-interface-vrep/coppeliarobotics/include
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interfaces/cpp-interface-vrep/coppeliarobotics/remoteApi
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interfaces/cpp-interface-json11/include/
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interfaces/cpp-interface-json11/dropbox/json11/
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)
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add_subdirectory(pybind11)
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pybind11_add_module(_dqrobotics
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src/dqrobotics_module.cpp
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cpp/src/DQ.cpp
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src/DQ_py.cpp
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#Internal
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cpp/src/internal/_dq_linesegment.cpp
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#Utils
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cpp/src/utils/DQ_LinearAlgebra.cpp
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src/utils/DQ_LinearAlgebra_py.cpp
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cpp/src/utils/DQ_Geometry.cpp
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src/utils/DQ_Geometry_py.cpp
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cpp/src/utils/DQ_Math.cpp
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src/utils/DQ_Math_py.cpp
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#robot_modeling
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cpp/src/robot_modeling/DQ_CooperativeDualTaskSpace.cpp
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src/robot_modeling/DQ_CooperativeDualTaskSpace_py.cpp
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cpp/src/robot_modeling/DQ_Kinematics.cpp
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src/robot_modeling/DQ_Kinematics_py.cpp
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cpp/src/robot_modeling/DQ_SerialManipulator.cpp
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src/robot_modeling/DQ_SerialManipulator_py.cpp
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cpp/src/robot_modeling/DQ_SerialManipulatorDH.cpp
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src/robot_modeling/DQ_SerialManipulatorDH_py.cpp
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cpp/src/robot_modeling/DQ_SerialManipulatorMDH.cpp
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src/robot_modeling/DQ_SerialManipulatorMDH_py.cpp
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cpp/src/robot_modeling/DQ_SerialManipulatorDenso.cpp
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src/robot_modeling/DQ_SerialManipulatorDenso_py.cpp
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cpp/src/robot_modeling/DQ_MobileBase.cpp
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src/robot_modeling/DQ_MobileBase_py.cpp
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cpp/src/robot_modeling/DQ_HolonomicBase.cpp
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src/robot_modeling/DQ_HolonomicBase_py.cpp
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cpp/src/robot_modeling/DQ_DifferentialDriveRobot.cpp
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src/robot_modeling/DQ_DifferentialDriveRobot_py.cpp
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cpp/src/robot_modeling/DQ_WholeBody.cpp
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src/robot_modeling/DQ_WholeBody_py.cpp
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cpp/src/robot_modeling/DQ_SerialWholeBody.cpp
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src/robot_modeling/DQ_SerialWholeBody_py.cpp
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#robot_control
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cpp/src/robot_control/DQ_KinematicController.cpp
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src/robot_control/DQ_KinematicController_py.cpp
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cpp/src/robot_control/DQ_PseudoinverseController.cpp
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src/robot_control/DQ_PseudoinverseController_py.cpp
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cpp/src/robot_control/DQ_NumericalFilteredPseudoInverseController.cpp
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src/robot_control/DQ_NumericalFilteredPseudoInverseController_py.cpp
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cpp/src/robot_control/DQ_KinematicConstrainedController.cpp
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src/robot_control/DQ_KinematicConstrainedController_py.cpp
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cpp/src/robot_control/DQ_QuadraticProgrammingController.cpp
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src/robot_control/DQ_QuadraticProgrammingController_py.cpp
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cpp/src/robot_control/DQ_ClassicQPController.cpp
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src/robot_control/DQ_ClassicQPController_py.cpp
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#solvers
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#DQ_QuadraticProgrammingSolver.h
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src/solvers/DQ_QuadraticProgrammingSolver_py.cpp
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#robots
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cpp/src/robots/Ax18ManipulatorRobot.cpp
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cpp/src/robots/BarrettWamArmRobot.cpp
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cpp/src/robots/ComauSmartSixRobot.cpp
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cpp/src/robots/KukaLw4Robot.cpp
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cpp/src/robots/KukaYoubotRobot.cpp
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cpp/src/robots/FrankaEmikaPandaRobot.cpp
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#interfaces/vrep
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interfaces/cpp-interface-vrep/src/dqrobotics/interfaces/vrep/DQ_VrepInterface.cpp
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interfaces/cpp-interface-vrep/src/dqrobotics/interfaces/vrep/DQ_VrepInterfaceMapElement.cpp
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interfaces/cpp-interface-vrep/coppeliarobotics/remoteApi/extApi.c
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interfaces/cpp-interface-vrep/coppeliarobotics/remoteApi/extApiPlatform.h
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interfaces/cpp-interface-vrep/coppeliarobotics/remoteApi/extApiPlatform.c
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src/interfaces/vrep/DQ_VrepInterface_py.cpp
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interfaces/cpp-interface-vrep/src/dqrobotics/interfaces/vrep/DQ_VrepRobot.cpp
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interfaces/cpp-interface-vrep/src/dqrobotics/interfaces/vrep/DQ_SerialVrepRobot.cpp
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interfaces/cpp-interface-vrep/src/dqrobotics/interfaces/vrep/robots/LBR4pVrepRobot.cpp
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interfaces/cpp-interface-vrep/src/dqrobotics/interfaces/vrep/robots/YouBotVrepRobot.cpp
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interfaces/cpp-interface-vrep/src/dqrobotics/interfaces/vrep/robots/FrankaEmikaPandaVrepRobot.cpp
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src/interfaces/vrep/DQ_VrepRobot_py.cpp
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src/interfaces/vrep/DQ_SerialVrepRobot_py.cpp
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#interfaces/json11
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interfaces/cpp-interface-json11/src/dqrobotics/interfaces/json11/DQ_JsonReader.cpp
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src/interfaces/json11/DQ_JsonReader_py.cpp
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interfaces/cpp-interface-json11/dropbox/json11/json11.cpp
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)
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include_directories(
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/usr/include/eigen3/
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cpp/include/
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interfaces/cpp-interface-vrep/include/
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interfaces/cpp-interface-vrep/coppeliarobotics/include/
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interfaces/cpp-interface-vrep/coppeliarobotics/remoteApi/
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interfaces/cpp-interface-json11/include/
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interfaces/cpp-interface-json11/dropbox/json11/
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interfaces/cpp-interface-coppeliasim/include/
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interfaces/cpp-interface-coppeliasim-zmq/include/
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interfaces/cpp-interface-coppeliasim-zmq/submodules/zmqRemoteApi/clients/cpp/
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interfaces/cpp-interface-coppeliasim-zmq/submodules/jsoncons/include/
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)
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add_subdirectory(pybind11)
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pybind11_add_module(_dqrobotics
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src/dqrobotics_module.cpp
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cpp/src/DQ.cpp
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src/DQ_py.cpp
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#Internal
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cpp/src/internal/_dq_linesegment.cpp
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#Utils
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cpp/src/utils/DQ_LinearAlgebra.cpp
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src/utils/DQ_LinearAlgebra_py.cpp
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cpp/src/utils/DQ_Geometry.cpp
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src/utils/DQ_Geometry_py.cpp
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cpp/src/utils/DQ_Math.cpp
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src/utils/DQ_Math_py.cpp
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#robot_modeling
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cpp/src/robot_modeling/DQ_CooperativeDualTaskSpace.cpp
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src/robot_modeling/DQ_CooperativeDualTaskSpace_py.cpp
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cpp/src/robot_modeling/DQ_Kinematics.cpp
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src/robot_modeling/DQ_Kinematics_py.cpp
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cpp/src/robot_modeling/DQ_SerialManipulator.cpp
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src/robot_modeling/DQ_SerialManipulator_py.cpp
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cpp/src/robot_modeling/DQ_SerialManipulatorDH.cpp
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src/robot_modeling/DQ_SerialManipulatorDH_py.cpp
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cpp/src/robot_modeling/DQ_SerialManipulatorMDH.cpp
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src/robot_modeling/DQ_SerialManipulatorMDH_py.cpp
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cpp/src/robot_modeling/DQ_SerialManipulatorDenso.cpp
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src/robot_modeling/DQ_SerialManipulatorDenso_py.cpp
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cpp/src/robot_modeling/DQ_MobileBase.cpp
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src/robot_modeling/DQ_MobileBase_py.cpp
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cpp/src/robot_modeling/DQ_HolonomicBase.cpp
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src/robot_modeling/DQ_HolonomicBase_py.cpp
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cpp/src/robot_modeling/DQ_DifferentialDriveRobot.cpp
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src/robot_modeling/DQ_DifferentialDriveRobot_py.cpp
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cpp/src/robot_modeling/DQ_WholeBody.cpp
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src/robot_modeling/DQ_WholeBody_py.cpp
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cpp/src/robot_modeling/DQ_SerialWholeBody.cpp
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src/robot_modeling/DQ_SerialWholeBody_py.cpp
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#robot_control
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cpp/src/robot_control/DQ_KinematicController.cpp
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src/robot_control/DQ_KinematicController_py.cpp
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cpp/src/robot_control/DQ_PseudoinverseController.cpp
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src/robot_control/DQ_PseudoinverseController_py.cpp
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cpp/src/robot_control/DQ_NumericalFilteredPseudoInverseController.cpp
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src/robot_control/DQ_NumericalFilteredPseudoInverseController_py.cpp
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cpp/src/robot_control/DQ_KinematicConstrainedController.cpp
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src/robot_control/DQ_KinematicConstrainedController_py.cpp
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cpp/src/robot_control/DQ_QuadraticProgrammingController.cpp
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src/robot_control/DQ_QuadraticProgrammingController_py.cpp
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cpp/src/robot_control/DQ_ClassicQPController.cpp
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src/robot_control/DQ_ClassicQPController_py.cpp
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#solvers
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#DQ_QuadraticProgrammingSolver.h
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src/solvers/DQ_QuadraticProgrammingSolver_py.cpp
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#robots
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cpp/src/robots/Ax18ManipulatorRobot.cpp
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cpp/src/robots/BarrettWamArmRobot.cpp
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cpp/src/robots/ComauSmartSixRobot.cpp
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cpp/src/robots/KukaLw4Robot.cpp
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cpp/src/robots/KukaYoubotRobot.cpp
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cpp/src/robots/FrankaEmikaPandaRobot.cpp
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#interfaces/vrep
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interfaces/cpp-interface-vrep/src/dqrobotics/interfaces/vrep/DQ_VrepInterface.cpp
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interfaces/cpp-interface-vrep/src/dqrobotics/interfaces/vrep/DQ_VrepInterfaceMapElement.cpp
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interfaces/cpp-interface-vrep/coppeliarobotics/remoteApi/extApi.c
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interfaces/cpp-interface-vrep/coppeliarobotics/remoteApi/extApiPlatform.h
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interfaces/cpp-interface-vrep/coppeliarobotics/remoteApi/extApiPlatform.c
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src/interfaces/vrep/DQ_VrepInterface_py.cpp
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interfaces/cpp-interface-vrep/src/dqrobotics/interfaces/vrep/DQ_VrepRobot.cpp
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interfaces/cpp-interface-vrep/src/dqrobotics/interfaces/vrep/DQ_SerialVrepRobot.cpp
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interfaces/cpp-interface-vrep/src/dqrobotics/interfaces/vrep/robots/LBR4pVrepRobot.cpp
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interfaces/cpp-interface-vrep/src/dqrobotics/interfaces/vrep/robots/YouBotVrepRobot.cpp
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interfaces/cpp-interface-vrep/src/dqrobotics/interfaces/vrep/robots/FrankaEmikaPandaVrepRobot.cpp
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src/interfaces/vrep/DQ_VrepRobot_py.cpp
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src/interfaces/vrep/DQ_SerialVrepRobot_py.cpp
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#interfaces/json11
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interfaces/cpp-interface-json11/src/dqrobotics/interfaces/json11/DQ_JsonReader.cpp
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src/interfaces/json11/DQ_JsonReader_py.cpp
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interfaces/cpp-interface-json11/dropbox/json11/json11.cpp
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#interfaces/copppeliasim-zmq
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interfaces/cpp-interface-coppeliasim-zmq/submodules/zmqRemoteApi/clients/cpp/RemoteAPIClient.cpp
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interfaces/cpp-interface-coppeliasim-zmq/src/dqrobotics/interfaces/coppeliasim/internal/_zmq_wrapper.cpp
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interfaces/cpp-interface-coppeliasim-zmq/src/dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimInterfaceZMQ.cpp
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interfaces/cpp-interface-coppeliasim-zmq/src/dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimInterfaceZMQExperimental.cpp
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)
131155

‎interfaces/cpp-interface-coppeliasim

‎interfaces/cpp-interface-coppeliasim-zmq

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