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ompugao/openrave_ubuntu20.04_diff_2.patch

Created February 17, 2021 03:25
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openrave_ubuntu20.04_diff_2.patch
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openrave_ubuntu20.04_diff_2.patch
diff --git a/.gitignore b/.gitignore
index d6136dbab..956bb7caf 100644
--- a/.gitignore
+++ b/.gitignore
@@ -8,3 +8,4 @@ msvc_soqt/
src/models/
myrelpath.pyc
+build
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4b8575f52..e0863e228 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -630,7 +630,7 @@ if( OPT_COLLADA )
set(COLLADA_PATH ${CMAKE_CURRENT_SOURCE_DIR}/msvc_collada)
endif()
#find_package(COLLADA_DOM 2.4 COMPONENTS 1.5 1.4 PATHS ${COLLADA_PATH})
- find_package(COLLADA_DOM 2.3 COMPONENTS 1.5 PATHS ${COLLADA_PATH})
+ find_package(COLLADA_DOM 2.5 COMPONENTS 1.5 PATHS ${COLLADA_PATH})
if( COLLADA_DOM_FOUND )
if( COLLADA_DOM_VERSION VERSION_LESS "2.5.0" )
diff --git a/include/openrave/planner.h b/include/openrave/planner.h
index 023bb0844..d1e75688c 100644
--- a/include/openrave/planner.h
+++ b/include/openrave/planner.h
@@ -268,7 +268,8 @@ private:
inline int CheckPathAllConstraints(const std::vector<dReal>& q0, const std::vector<dReal>& q1, const std::vector<dReal>& dq0, const std::vector<dReal>& dq1, dReal elapsedtime, IntervalType interval, int options=0xffff, ConstraintFilterReturnPtr filterreturn=ConstraintFilterReturnPtr()) const
{
if( !_checkpathvelocityconstraintsfn ) {
- return true;
+ //return true;
+ return 0;
}
return _checkpathvelocityconstraintsfn(q0, q1, dq0, dq1, elapsedtime, interval, options, filterreturn);
}
diff --git a/plugins/bulletrave/CMakeLists.txt b/plugins/bulletrave/CMakeLists.txt
index 4d7a82300..34c5e3f5d 100644
--- a/plugins/bulletrave/CMakeLists.txt
+++ b/plugins/bulletrave/CMakeLists.txt
@@ -8,12 +8,12 @@ if( OPT_BULLET )
if( "${bullet_VERSION}" VERSION_GREATER "2.82" )
message(STATUS "unsupported bullet version ${bullet_VERSION}")
else()
- include_directories(${bullet_INCLUDE_DIRS})
+ include_directories(/usr/local/${bullet_INCLUDE_DIRS})
link_directories(${OPENRAVE_LINK_DIRS} ${bullet_LIBRARY_DIRS})
add_library(bulletrave SHARED bulletrave.cpp bulletcollision.h bulletphysics.h bulletspace.h plugindefs.h)
- #message(STATUS "Bullet found ${bullet_INCLUDE_DIRS}, libs: ${bullet_LIBRARIES}, cflags=${bullet_CFLAGS_OTHER}, lflags=${bullet_LDFLAGS_OTHER}, building bulletrave plugin")
+ message(STATUS "Bullet found ${bullet_INCLUDE_DIRS}, libs: ${bullet_LIBRARIES}, cflags=${bullet_CFLAGS_OTHER}, lflags=${bullet_LDFLAGS_OTHER}, building bulletrave plugin")
target_link_libraries(bulletrave libopenrave ${bullet_LIBRARIES})
target_link_libraries(bulletrave PRIVATE boost_assertion_failed)
diff --git a/plugins/bulletrave/bulletspace.h b/plugins/bulletrave/bulletspace.h
index e8aad1b51..0f208b84c 100644
--- a/plugins/bulletrave/bulletspace.h
+++ b/plugins/bulletrave/bulletspace.h
@@ -440,7 +440,7 @@ private:
void _Synchronize(KinBodyInfoPtr pinfo)
{
vector<Transform> vtrans;
- std::vector<int> dofbranches;
+ std::vector<dReal> dofbranches;
pinfo->pbody->GetLinkTransformations(vtrans,dofbranches);
pinfo->nLastStamp = pinfo->pbody->GetUpdateStamp();
BOOST_ASSERT( vtrans.size() == pinfo->vlinks.size() );
diff --git a/plugins/fclrave/fclcollision.h b/plugins/fclrave/fclcollision.h
index 6a8e36d28..31fc5dde4 100644
--- a/plugins/fclrave/fclcollision.h
+++ b/plugins/fclrave/fclcollision.h
@@ -130,6 +130,8 @@ public:
// TODO : Consider removing these which could be more harmful than anything else
RegisterCommand("SetBroadphaseAlgorithm", boost::bind(&FCLCollisionChecker::SetBroadphaseAlgorithmCommand, this, _1, _2), "sets the broadphase algorithm (Naive, SaP, SSaP, IntervalTree, DynamicAABBTree, DynamicAABBTree_Array)");
RegisterCommand("SetBVHRepresentation", boost::bind(&FCLCollisionChecker::_SetBVHRepresentation, this, _1, _2), "sets the Bouding Volume Hierarchy representation for meshes (AABB, OBB, OBBRSS, RSS, kIDS)");
+ RegisterCommand("ResetStatistics", boost::bind(&FCLCollisionChecker::_ResetStatistics, this, _1, _2), "");
+ RegisterCommand("DisplayStatistics", boost::bind(&FCLCollisionChecker::_DisplayStatistics, this, _1, _2), "");
RAVELOG_VERBOSE_FORMAT("FCLCollisionChecker %s created in env %d", _userdatakey%penv->GetId());
@@ -893,6 +895,19 @@ public:
private:
+ bool _ResetStatistics(ostream& sout, istream& sinput)
+ {
+ RESET_TIMINGS(_statistics);
+ return !!sinput;
+ }
+ bool _DisplayStatistics(ostream& sout, istream& sinput)
+ {
+ std::string fileprefix;
+ sinput >> fileprefix;
+ DISPLAY(_statistics, fileprefix);
+ return !!sinput;
+ }
+
inline boost::shared_ptr<FCLCollisionChecker> shared_checker() {
return boost::static_pointer_cast<FCLCollisionChecker>(shared_from_this());
}
diff --git a/plugins/fclrave/fclstatistics.h b/plugins/fclrave/fclstatistics.h
index a4c9f5cad..d7a178066 100644
--- a/plugins/fclrave/fclstatistics.h
+++ b/plugins/fclrave/fclstatistics.h
@@ -53,9 +53,9 @@ public:
RAVELOG_WARN_FORMAT("FCL STATISTICS;%s%s", label % ss.str());
}
- void Display() {
+ void Display(const std::string& fileprefix="") {
EnvironmentMutex::scoped_lock lock(log_out_mutex);
- std::fstream f("fclstatistics.log", std::fstream::out | std::fstream::app);
+ std::fstream f(fileprefix+"fclstatistics.log", std::fstream::out | std::fstream::app);
FOREACH(ittiming, timings) {
f << ittiming->first;
size_t maxTimingCount = 0;
@@ -87,6 +87,11 @@ public:
#endif
}
+ void Reset() {
+ currentTimings.clear();
+ timings.clear();
+ }
+
void AddTimepoint() {
currentTimings.push_back(std::chrono::high_resolution_clock::now());
}
@@ -122,7 +127,11 @@ typedef boost::shared_ptr<FCLStatistics> FCLStatisticsPtr;
#define ADD_TIMING(statistics) statistics->AddTimepoint()
-#define DISPLAY(statistics) statistics->DisplayAll()
+#define DISPLAY(statistics, fileprefix) statistics->Display(fileprefix)
+
+#define DISPLAY_ALL(statistics) statistics->DisplayAll()
+
+#define RESET_TIMINGS(statistics) statistics->Reset()
} // fclrave
@@ -136,7 +145,9 @@ class FCLStatistics {
#define SETUP_STATISTICS(statistics, userdatakey, id) do {} while(false)
#define START_TIMING(statistics, label) do {} while(false)
#define ADD_TIMING(statistics) do {} while(false)
-#define DISPLAY(statistics) do {} while(false)
+#define DISPLAY(statistics, fileprefix) do {} while(false)
+#define DISPLAY_ALL(statistics) do {} while(false)
+#define RESET_TIMINGS(statistics) do {} while(false)
}
#endif
diff --git a/plugins/rplanners/parabolicsmoother.cpp b/plugins/rplanners/parabolicsmoother.cpp
index 751c15209..48adeffc6 100644
--- a/plugins/rplanners/parabolicsmoother.cpp
+++ b/plugins/rplanners/parabolicsmoother.cpp
@@ -22,7 +22,8 @@
#include "ParabolicPathSmooth/DynamicPath.h"
#include "trajectoryretimer.h" // _(msgid)
-// #define SMOOTHER1_TIMING_DEBUG
+//#define OPENRAVE_TIMING_DEBUGGING
+#define SMOOTHER1_TIMING_DEBUG
// #define SMOOTHER1_PROGRESS_DEBUG
namespace rplanners {
@@ -509,6 +510,11 @@ public:
// no idea what a good mintimestep is... _parameters->_fStepLength*0.5?
//numshortcuts = dynamicpath.Shortcut(parameters->_nMaxIterations,_feasibilitychecker,this, parameters->_fStepLength*0.99);
#ifdef SMOOTHER1_TIMING_DEBUG
+ //CollisionCheckerBasePtr pcollsionchecker = GetEnv()->GetCollisionChecker();
+ //if (!!pcollsionchecker && pcollsionchecker->SupportsCommand("ResetStatistics")) {
+ // std::string sout;
+ // pcollsionchecker->SendCommand(sout, "ResetStatistics");
+ //}
_tShortcutStart = utils::GetMicroTime();
#endif
if (!_usingNewHeuristics) {
@@ -519,6 +525,10 @@ public:
}
#ifdef SMOOTHER1_TIMING_DEBUG
_tShortcutEnd = utils::GetMicroTime();
+ //if (!!pcollsionchecker && pcollsionchecker->SupportsCommand("DisplayStatistics")) {
+ // std::string sout;
+ // pcollsionchecker->SendCommand(sout, "DisplayStatistics parabolicsmoother_shortcutting");
+ //}
#endif
if( numshortcuts < 0 ) {
return OPENRAVE_PLANNER_STATUS(str(boost::format("env=%d, Planning was interrupted")%GetEnv()->GetId()), PS_Interrupted);
@@ -529,10 +539,9 @@ public:
}
RAVELOG_DEBUG_FORMAT("env=%d, after shortcutting: duration %.15e -> %.15e, diff = %.15e", GetEnv()->GetId()%dummyDur1%dummyDur2%(dummyDur1 - dummyDur2));
-#ifdef OPENRAVE_TIMING_DEBUGGING
- RAVELOG_INFO_FORMAT("env=%d, calling checkmanipconstraints %d times, using %.15e sec. = %.15e sec./call", GetEnv()->GetId()%ncheckmanipconstraints%checkmaniptime%(ncheckmanipconstraints == 0 ? 0 : checkmaniptime/ncheckmanipconstraints));
-#endif
-
+// #ifdef OPENRAVE_TIMING_DEBUGGING
+// RAVELOG_INFO_FORMAT("env=%d, calling checkmanipconstraints %d times, using %.15e sec. = %.15e sec./call", GetEnv()->GetId()%ncheckmanipconstraints%checkmaniptime%(ncheckmanipconstraints == 0 ? 0 : checkmaniptime/ncheckmanipconstraints));
+// #endif
++_progress._iteration;
if( _CallCallbacks(_progress) == PA_Interrupt ) {
return OPENRAVE_PLANNER_STATUS(str(boost::format("env=%d, Planning was interrupted")%GetEnv()->GetId()), PS_Interrupted);
@@ -581,6 +590,7 @@ public:
temprampsnd[0] = rampnd;
// double-check the current ramps, ignore first and last ramps since they connect to the initial and goal positions, and those most likely they cannot be fixed .
if(!rampnd.constraintchecked ) {
+ RAVELOG_WARN_FORMAT("double check ramp[%d/%d]!!!!", irampindex%dynamicpath.ramps.size());
//(irampindex > 0 && irampindex+1 < dynamicpath.ramps.size())
rampndtrimmed = rampnd;
bool bTrimmed = false;
@@ -769,6 +779,8 @@ public:
if( _CallCallbacks(_progress) == PA_Interrupt ) {
return OPENRAVE_PLANNER_STATUS(str(boost::format("env=%d, Planning was interrupted")%GetEnv()->GetId()), PS_Interrupted);
}
+ } else {
+ //RAVELOG_DEBUG_FORMAT("no double check of ramp[%d/%d]", irampindex%dynamicpath.ramps.size());
}
FOREACH(itrampnd2, temprampsnd) {
@@ -1409,6 +1421,12 @@ protected:
dReal cutoffRatio = 0;//1e-3;
#ifdef OPENRAVE_TIMING_DEBUGGING
uint32_t tshortcutstart = utils::GetMicroTime();
+ dReal interpolationtime = 0.0;
+ uint64_t ninterpolations = 0;
+ dReal checktime = 0.0;
+ uint64_t nchecks = 0;
+ uint64_t nslowdownloops = 0;
+ dReal slowdownlooptime = 0.0;
#endif
int iters=0;
for(iters=0; iters<numIters; iters++) {
@@ -1502,17 +1520,17 @@ protected:
dReal fcurmult = fstarttimemult;
#ifdef OPENRAVE_TIMING_DEBUGGING
- tloopstart = utils::GetMicroTime();
+ uint64_t tloopstart = utils::GetMicroTime();
#endif
size_t islowdowntry = 0;
bool bShortcutTimeExceeded = false;
for(islowdowntry = 0; islowdowntry < 4; ++islowdowntry ) {
#ifdef OPENRAVE_TIMING_DEBUGGING
- tinterpstart = utils::GetMicroTime();
+ uint64_t tinterpstart = utils::GetMicroTime();
#endif
bool res=ParabolicRamp::SolveMinTime(x0, dx0, x1, dx1, accellimits, vellimits, _parameters->_vConfigLowerLimit, _parameters->_vConfigUpperLimit, intermediate, _parameters->_multidofinterp);
#ifdef OPENRAVE_TIMING_DEBUGGING
- tinterpend = utils::GetMicroTime();
+ uint64_t tinterpend = utils::GetMicroTime();
interpolationtime += 0.000001f*(float)(tinterpend - tinterpstart);
ninterpolations += 1;
#endif
@@ -1565,11 +1583,11 @@ protected:
iIterProgress += 0x10;
#ifdef OPENRAVE_TIMING_DEBUGGING
- tcheckstart = utils::GetMicroTime();
+ uint64_t tcheckstart = utils::GetMicroTime();
#endif
retcheck = _feasibilitychecker.Check2(intermediate.ramps[iramp], 0xffff|CFO_FromTrajectorySmoother, outramps);
#ifdef OPENRAVE_TIMING_DEBUGGING
- tcheckend = utils::GetMicroTime();
+ uint64_t tcheckend = utils::GetMicroTime();
checktime += 0.000001f*(float)(tcheckend - tcheckstart);
nchecks += 1;
#endif
@@ -1749,7 +1767,7 @@ protected:
}
#ifdef OPENRAVE_TIMING_DEBUGGING
nslowdownloops += (islowdowntry + 1);
- tloopend = utils::GetMicroTime();
+ uint64_t tloopend = utils::GetMicroTime();
slowdownlooptime += 0.000001f*(float)(tloopend - tloopstart);
#endif
if (bShortcutTimeExceeded) {
@@ -2001,6 +2019,12 @@ protected:
dReal currentBestScore = 1.0;
#ifdef OPENRAVE_TIMING_DEBUGGING
uint32_t tshortcutstart = utils::GetMicroTime();
+ dReal interpolationtime = 0.0;
+ uint64_t ninterpolations = 0;
+ dReal checktime = 0.0;
+ uint64_t nchecks = 0;
+ uint64_t nslowdownloops = 0;
+ dReal slowdownlooptime = 0.0;
#endif
int iters = 0;
// For special shortcut
diff --git a/python/bindings/CMakeLists.txt b/python/bindings/CMakeLists.txt
index b579654f7..f1005692a 100644
--- a/python/bindings/CMakeLists.txt
+++ b/python/bindings/CMakeLists.txt
@@ -84,9 +84,9 @@ if(USE_PYBIND11_PYTHON_BINDINGS)
add_library(pyANN_int SHARED pyann.cpp bindings.cpp)
include_directories(${ANN_INCLUDE_DIR})
# stdc++ has to be included before opengl libraries due to some ATI bug (http://wiki.fifengine.de/ Segfault_in_cxa_allocate_exception#Workaround)
- target_link_libraries(pyANN_int PUBLIC ${OPENRAVEPY_LINKED_LIBRARIES} ANN PRIVATE boost_assertion_failed)
+ target_link_libraries(pyANN_int PUBLIC ${OPENRAVEPY_LINKED_LIBRARIES} libopenrave libopenrave-core ANN PRIVATE boost_assertion_failed)
set_target_properties(pyANN_int PROPERTIES PREFIX "" COMPILE_FLAGS "${ANN_CFLAGS} ${OPENRAVEPY_COMPILE_FLAGS}")
- add_dependencies(pyANN_int ANN)
+ add_dependencies(pyANN_int ANN libopenrave libopenrave-core)
if( WIN32 )
set_target_properties(pyANN_int PROPERTIES SUFFIX ".pyd")
if( MSVC )
@@ -104,9 +104,9 @@ if(USE_PYBIND11_PYTHON_BINDINGS)
if( CONVEXDECOMPOSITION_FOUND )
add_library(convexdecompositionpy SHARED convexdecompositionpy.cpp bindings.cpp)
include_directories(${CONVEXDECOMPOSITION_INCLUDE_DIR})
- target_link_libraries(convexdecompositionpy PUBLIC ${OPENRAVEPY_LINKED_LIBRARIES} convexdecomposition PRIVATE boost_assertion_failed)
+ target_link_libraries(convexdecompositionpy PUBLIC ${OPENRAVEPY_LINKED_LIBRARIES} convexdecomposition libopenrave libopenrave-core PRIVATE boost_assertion_failed)
set_target_properties(convexdecompositionpy PROPERTIES PREFIX "" COMPILE_FLAGS "${CONVEXDECOMPOSITION_CFLAGS} ${OPENRAVEPY_COMPILE_FLAGS}" )
- add_dependencies(convexdecompositionpy convexdecomposition)
+ add_dependencies(convexdecompositionpy convexdecomposition libopenrave libopenrave-core)
if( WIN32 )
set_target_properties(convexdecompositionpy PROPERTIES SUFFIX ".pyd")
if( MSVC )
@@ -154,7 +154,7 @@ elseif( Boost_PYTHON_FOUND AND Boost_THREAD_FOUND )
include_directories(${CMAKE_CURRENT_BINARY_DIR}/include ${CMAKE_CURRENT_SOURCE_DIR}/include ${PYTHON_INCLUDE_DIRS} ${OPENRAVE_INCLUDE_LOCAL_DIRS} ${OPENRAVE_CORE_INCLUDE_LOCAL_DIRS})
# libraries to link
- set(OPENRAVEPY_LINKED_LIBRARIES "${STDC_LIBRARY} ${PYTHON_LIBRARIES} ${Boost_PYTHON_LIBRARY} ${Boost_THREAD_LIBRARY}")
+ set(OPENRAVEPY_LINKED_LIBRARIES "${STDC_LIBRARY} ${PYTHON_LIBRARIES} ${Boost_PYTHON_LIBRARY} ${Boost_THREAD_LIBRARY} ${Boost_SYSTEM_LIBRARY}")
if( CLOCK_GETTIME_FOUND )
set(OPENRAVEPY_LINKED_LIBRARIES ${OPENRAVEPY_LINKED_LIBRARIES} rt)
endif()
@@ -191,9 +191,9 @@ elseif( Boost_PYTHON_FOUND AND Boost_THREAD_FOUND )
if( ANN_FOUND )
add_library(pyANN_int SHARED pyann.cpp bindings.cpp)
include_directories(${ANN_INCLUDE_DIR})
- target_link_libraries(pyANN_int PUBLIC ${OPENRAVEPY_LINKED_LIBRARIES} libopenrave ANN PRIVATE boost_assertion_failed)
+ target_link_libraries(pyANN_int PUBLIC ${OPENRAVEPY_LINKED_LIBRARIES} libopenrave libopenrave-core ANN PRIVATE boost_assertion_failed)
set_target_properties(pyANN_int PROPERTIES PREFIX "" COMPILE_FLAGS "${ANN_CFLAGS}" )
- add_dependencies(pyANN_int ANN)
+ add_dependencies(pyANN_int ANN libopenrave libopenrave-core)
if( WIN32 )
set_target_properties(pyANN_int PROPERTIES SUFFIX ".pyd")
if( MSVC )
@@ -210,9 +210,9 @@ elseif( Boost_PYTHON_FOUND AND Boost_THREAD_FOUND )
if( CONVEXDECOMPOSITION_FOUND )
add_library(convexdecompositionpy SHARED convexdecompositionpy.cpp bindings.cpp)
include_directories(${CONVEXDECOMPOSITION_INCLUDE_DIR})
- target_link_libraries(convexdecompositionpy PUBLIC ${OPENRAVEPY_LINKED_LIBRARIES} libopenrave convexdecomposition PRIVATE boost_assertion_failed)
+ target_link_libraries(convexdecompositionpy PUBLIC ${OPENRAVEPY_LINKED_LIBRARIES} libopenrave libopenrave-core convexdecomposition PRIVATE boost_assertion_failed)
set_target_properties(convexdecompositionpy PROPERTIES PREFIX "" COMPILE_FLAGS "${CONVEXDECOMPOSITION_CFLAGS}" )
- add_dependencies(convexdecompositionpy convexdecomposition)
+ add_dependencies(convexdecompositionpy convexdecomposition libopenrave libopenrave-core)
if( WIN32 )
set_target_properties(convexdecompositionpy PROPERTIES SUFFIX ".pyd")
if( MSVC )
diff --git a/src/collada_robots b/src/collada_robots
--- a/src/collada_robots
+++ b/src/collada_robots
@@ -1 +1 @@
-Subproject commit 98c0760b8cdff9c4cd754752184421f21ff19946
+Subproject commit 98c0760b8cdff9c4cd754752184421f21ff19946-dirty
diff --git a/src/libopenrave/planningutils.cpp b/src/libopenrave/planningutils.cpp
index a4f98952a..1512ba9dd 100644
--- a/src/libopenrave/planningutils.cpp
+++ b/src/libopenrave/planningutils.cpp
@@ -2027,8 +2027,8 @@ void GetDHParameters(std::vector<DHParameter>& vparameters, KinBodyConstPtr pbod
Vector vlocalx(-vlocalaxis.y,vlocalaxis.x,0);
dReal fsinalpha = RaveSqrt(vlocalx.lengthsqr3());
itdh->alpha = RaveAtan2(fsinalpha, vlocalaxis.z);
- if( itdh->alpha < 10*g_fEpsilon ) {
- // axes are parallel
+ if( itdh->alpha < 10*g_fEpsilon || (RaveFabs(itdh->alpha) - PI) < 10*g_fEpsilon) {
+ // axes are parallel, or in a flipped manner
if( vlocalanchor.lengthsqr2() > 10*g_fEpsilon*g_fEpsilon ) {
vlocalx.x = vlocalanchor.x;
vlocalx.y = vlocalanchor.y;
@@ -2187,7 +2187,7 @@ int DynamicsCollisionConstraint::_CheckState(const std::vector<dReal>& vdofveloc
return CFO_CheckUserConstraints;
}
}
- if( options & CFO_CheckTimeBasedConstraints ) {
+ if( (options & CFO_CheckTimeBasedConstraints) ) {
// check dynamics
FOREACHC(itbody, _listCheckBodies) {
KinBodyPtr pbody = *itbody;
@@ -2925,7 +2925,7 @@ int DynamicsCollisionConstraint::Check(const std::vector<dReal>& q0, const std::
bComputeNewStep = false;
}
prevtimestep = timestep; // have to always update since it serves as the basis for the next timestep chosen
- }
+ } // end of while
if( RaveFabs(fStep-fLargestStep) > RaveFabs(fLargestStepDelta) ) {
RAVELOG_WARN_FORMAT("fStep (%.15e) did not reach fLargestStep (%.15e). %.15e > %.15e", fStep%fLargestStep%RaveFabs(fStep-fLargestStep)%fLargestStepDelta);
if( !!filterreturn ) {
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