Merge branch 'master' into method-search-branch

Author: Affonso-Gui

.travis.sh

@@ -35,10 +35,13 @@ if [ "$TRAVIS_OS_NAME" == "linux" ]; then
 
 fi
 if [ "$TRAVIS_OS_NAME" == "osx" ]; then
-    rvm get head || true # hotfix until rvm stable release (refer: https://github.com/travis-ci/travis-ci/issues/6307)
     travis_time_start setup.install
-    brew tap homebrew/x11
-    brew install jpeg libpng mesalib-glw wget;
+    # skip if already installed
+    # https://discourse.brew.sh/t/skip-ignore-brew-install-if-package-is-already-installed/633/2
+    # brew install jpeg libpng mesalib-glw;
+    brew list jpeg &>/dev/null || brew install jpeg
+    brew list libpng &>/dev/null || brew install libpng
+    brew list mesalib-glw &>/dev/null || brew install mesalib-glw
     travis_time_end
 
 fi

.travis.yml

@@ -54,6 +54,9 @@ notifications:
   slack: jsk-robotics:Av7tc8wj3IWkLYvlTzHE7x2g
 before_install: # Use this to prepare the system to install prerequisites or dependencies
   - echo -e "Host github.com\n\tStrictHostKeyChecking no\n" >> ~/.ssh/config
+  # use stable rvm to avoid "shell_session_update: command not found" error on OSX.
+  # https://github.com/travis-ci/travis-ci/issues/6307
+  - if [[ "$TRAVIS_OS_NAME" == "osx" ]]; command curl -sSL https://rvm.io/mpapis.asc | gpg --import -; then rvm get stable; fi
   # Define some config vars
 install:
   - export CI_SOURCE_PATH=$(pwd)

README.md

@@ -1,20 +1,25 @@
-## [EusLisp](http://euslisp.sourceforge.net) [![Build Status](https://travis-ci.org/euslisp/EusLisp.png?branch=master)](https://travis-ci.org/euslisp/EusLisp)
+## [EusLisp] [![Build Status](https://travis-ci.org/euslisp/EusLisp.png?branch=master)](https://travis-ci.org/euslisp/EusLisp)
 
-EusLisp was originally developed by [Dr. Toshihiro Matusi at AIST](http://staff.aist.go.jp/t.matsui/ )
+EusLisp was originally developed by [Dr. Toshihiro Matsui at AIST](http://staff.aist.go.jp/t.matsui/ )
 
 This page and repository are maintained by [JSK](http://www.jsk.t.u-tokyo.ac.jp ) at The University of Tokyo.
 
 ### Introduction
 
 EusLisp is an integrated programming system for the research on intelligent robots based on Common Lisp and Object-Oriented programming. The principal subjects in the field of robotics research are sensory data processing, visual environment recognition, collision avoiding motion planning, and task planning. In either problem, three dimensional shape models of robots and environment play crucial roles. A motivation to the development of EusLisp was a demand for an extensible solid modeler that can easily be made use of from higher level symbolic processing system. Investigations into traditional solid modelers proved that the vital requirement for their implementation language was the list processing capability to represent and manage topology among model components. Numerical computation power was also important, but locality of geometric computation suggested the provision of vector/matrix functions as built-ins would greatly ease programming. (From [EusLisp Manual, Part I, EusLisp Basics, 1. Introduction](http://staff.aist.go.jp/t.matsui/eus/intro/eusintro.html ))
 
-### Easy Installation and Demo Program
+### How To Download and Compile
 
-Please check http://jskeus.sourceforge.net for easy installation and current demo programs. Most of programs in euslisp/eus/lib/ euslisp/eus/contrib/ directories are out-dated.
+### Installation
 
-### How To Download and Compile
+#### Binary Installation (Recommended)
+
+Please check http://github.com/euslisp/jskeus for easy binary installation and how to run current
+demo programs. Most of programs in EusLisp/lib/ EusLisp/contrib/ directories are outdated.
+
+#### Source Installation (Experts Only)
 
-Note: we strongly recommend you to check http://github.com/euslisp/jskeus for download and compile euslisp and irteus; humanoid model description and other useful function layer on euslisp . Following description is only for euslisp hard-core developers.
+Note: we strongly recommend you to check http://github.com/euslisp/jskeus for download and compile euslisp and irteus; humanoid model description and other useful function layer on euslisp. Following description is only for euslisp hard-core developers.
 
 
 ```

lisp/c/arith.c

@@ -989,7 +989,7 @@ register pointer argv[];
   ckarg(1);
   a=argv[0];
   if (a==makeint(MINNEGFIXNUM)) return(makebig1(-MINNEGFIXNUM));
-  if (isint(a)) return(makeint(abs(intval(a))));
+  if (isint(a)) return(makeint(labs(intval(a))));
   else if (isflt(a)) return(makeflt(fabs(fltval(a))));
   else if (pisbignum(a)) {
     if (big_sign(a)<0) {

lisp/c/eval.c

@@ -319,7 +319,7 @@ struct bindframe *env,*bf;
       inits[nokeys]=initform;
       nokeys++;
       if (nokeys>=KEYWORDPARAMETERLIMIT) {
-	error(E_USER, "Too many keyword parameters >32"); 
+	error(E_USER, "Too many keyword parameters >%d",KEYWORDPARAMETERLIMIT);
 	}
       }	
   n=0;

lisp/comp/comp.l

@@ -407,8 +407,8 @@
 			(send trans :nullx) 'symbol)
 	    ((eq) (check-arg 2 argcount 'eq) (send trans :eqx) 'symbol)
 	    ((memq) (check-arg 2 argcount 'memq) (send trans :memqx) t)
-	    ((1+) (check-arg 1 argcount '1+) (send trans :1+) 'integer)
-	    ((1-) (check-arg 1 argcount '1-) (send trans :1-) 'integer)
+	    ((1+) (check-arg 1 argcount '1+) (if (integerp (car args)) (progn (send trans :1+) 'integer) (progn (send trans :call sym argcount) 'float)))
+	    ((1-) (check-arg 1 argcount '1-) (if (integerp (car args)) (progn (send trans :1-) 'integer) (progn (send trans :call sym argcount) 'float)))
 	    ((car first) (check-arg 1 argcount sym) (send trans :car) t)
 	    ((cdr rest) (check-arg 1 argcount sym) (send trans :cdr) t)
 	    ((cadr second) (check-arg 1 argcount sym) (send trans :cadr) t)
@@ -1004,8 +1004,8 @@
 	(nreverse key-vars)
 	(nreverse key-inits)
 	;(format t ";key-names length=~d ~s~%" (length key-names)  key-names)
-	(if (>= (length key-names) 32)
-	    (send self :error "Too many keyword parameters>32 ~s" key-names))
+	(if (>= (length key-names) 128) ;; KEYWORDPARAMETERLIMIT
+	    (send self :error "Too many keyword parameters>128 ~s" key-names))
         ) )
 ;; declaration
      (while (and forms (consp (car forms)) (eq (caar forms) 'declare))
@@ -1223,6 +1223,8 @@
    (setq *optimize* optimize
 	 *safety* safety
 	 *verbose* verbose)
+   (unless (send (pathname file) :directory)
+     (setq file (namestring (merge-pathnames "./" file))))
    (when o
 	   (setq o (pathname o))
 	   (setq o (merge-pathnames o file))

lisp/geo/geopack.l

@@ -1164,11 +1164,15 @@ Normal must be given if the sign of the angle is needed."
  (:distance (point)
     (let (foot (sign (signum (send self :plane-distance point))))
        (setq foot (send self :foot point))
-       (* sign 
-	  (if (memq (send self :insidep foot) '(:inside :parallel))
-	      (distance foot point)
+       (if (= sign 0.0)	;; on the same plane
+	   (if (memq (send self :insidep foot) '(:inside :parallel))
+	       0.0
+	       (apply #'min (send-all (send self :all-edges) :distance point)))
+         (* sign
+            (if (memq (send self :insidep foot) '(:inside :parallel))
+                (distance foot point)
 	      (apply #'min (send-all (send self :all-edges)
-				     :distance point))))) )
+				     :distance point))))) ))
  (:area ()
     (- (send-super :area) (apply #'+ (send-all holes :area))))
 #|