From d37544afc9de463a98bd2dfda728fbe84a76c3ea Mon Sep 17 00:00:00 2001 From: Matthijs van der Burgh Date: Sun, 6 Jun 2021 10:53:02 +0200 Subject: [PATCH 1/3] [PyKDL] add myself as maintainer --- python_orocos_kdl/PyKDL/PyKDL.cpp | 1 + python_orocos_kdl/PyKDL/PyKDL.h | 1 + python_orocos_kdl/PyKDL/dynamics.cpp | 1 + python_orocos_kdl/PyKDL/frames.cpp | 1 + python_orocos_kdl/PyKDL/framevel.cpp | 1 + python_orocos_kdl/PyKDL/kinfam.cpp | 1 + python_orocos_kdl/doc/conf.py | 2 +- python_orocos_kdl/package.xml | 3 ++- python_orocos_kdl/tests/PyKDLtest.py | 1 + python_orocos_kdl/tests/dynamicstest.py | 3 ++- python_orocos_kdl/tests/framestest.py | 1 + python_orocos_kdl/tests/frameveltest.py | 1 + python_orocos_kdl/tests/jointtypetest.py | 1 + python_orocos_kdl/tests/kinfamtest.py | 9 +++++---- 14 files changed, 20 insertions(+), 7 deletions(-) diff --git a/python_orocos_kdl/PyKDL/PyKDL.cpp b/python_orocos_kdl/PyKDL/PyKDL.cpp index c923a5ba7..eb286272a 100644 --- a/python_orocos_kdl/PyKDL/PyKDL.cpp +++ b/python_orocos_kdl/PyKDL/PyKDL.cpp @@ -5,6 +5,7 @@ //Author: Zihan Chen //Author: Matthijs van der Burgh //Maintainer: Ruben Smits Ruben Smits +//Maintainer: Matthijs van der Burgh //URL: http://www.orocos.org/kdl // //This library is free software; you can redistribute it and/or diff --git a/python_orocos_kdl/PyKDL/PyKDL.h b/python_orocos_kdl/PyKDL/PyKDL.h index a7c422fb3..b72a81bd0 100644 --- a/python_orocos_kdl/PyKDL/PyKDL.h +++ b/python_orocos_kdl/PyKDL/PyKDL.h @@ -5,6 +5,7 @@ //Author: Zihan Chen //Author: Matthijs van der Burgh //Maintainer: Ruben Smits Ruben Smits +//Maintainer: Matthijs van der Burgh //URL: http://www.orocos.org/kdl // //This library is free software; you can redistribute it and/or diff --git a/python_orocos_kdl/PyKDL/dynamics.cpp b/python_orocos_kdl/PyKDL/dynamics.cpp index 620bacbaf..2098fbd53 100644 --- a/python_orocos_kdl/PyKDL/dynamics.cpp +++ b/python_orocos_kdl/PyKDL/dynamics.cpp @@ -5,6 +5,7 @@ //Author: Zihan Chen //Author: Matthijs van der Burgh //Maintainer: Ruben Smits Ruben Smits +//Maintainer: Matthijs van der Burgh //URL: http://www.orocos.org/kdl // //This library is free software; you can redistribute it and/or diff --git a/python_orocos_kdl/PyKDL/frames.cpp b/python_orocos_kdl/PyKDL/frames.cpp index cc5bc8349..a6852caa7 100644 --- a/python_orocos_kdl/PyKDL/frames.cpp +++ b/python_orocos_kdl/PyKDL/frames.cpp @@ -5,6 +5,7 @@ //Author: Zihan Chen //Author: Matthijs van der Burgh //Maintainer: Ruben Smits Ruben Smits +//Maintainer: Matthijs van der Burgh //URL: http://www.orocos.org/kdl // //This library is free software; you can redistribute it and/or diff --git a/python_orocos_kdl/PyKDL/framevel.cpp b/python_orocos_kdl/PyKDL/framevel.cpp index 91268237e..bf8609bd5 100644 --- a/python_orocos_kdl/PyKDL/framevel.cpp +++ b/python_orocos_kdl/PyKDL/framevel.cpp @@ -5,6 +5,7 @@ //Author: Zihan Chen //Author: Matthijs van der Burgh //Maintainer: Ruben Smits Ruben Smits +//Maintainer: Matthijs van der Burgh //URL: http://www.orocos.org/kdl // //This library is free software; you can redistribute it and/or diff --git a/python_orocos_kdl/PyKDL/kinfam.cpp b/python_orocos_kdl/PyKDL/kinfam.cpp index c5964a071..d489aabdb 100644 --- a/python_orocos_kdl/PyKDL/kinfam.cpp +++ b/python_orocos_kdl/PyKDL/kinfam.cpp @@ -5,6 +5,7 @@ //Author: Zihan Chen //Author: Matthijs van der Burgh //Maintainer: Ruben Smits Ruben Smits +//Maintainer: Matthijs van der Burgh //URL: http://www.orocos.org/kdl // //This library is free software; you can redistribute it and/or diff --git a/python_orocos_kdl/doc/conf.py b/python_orocos_kdl/doc/conf.py index 3c89943ee..a7a4e1fa3 100644 --- a/python_orocos_kdl/doc/conf.py +++ b/python_orocos_kdl/doc/conf.py @@ -211,5 +211,5 @@ # (source start file, name, description, authors, manual section). man_pages = [ ('index', 'orocoskdlpythonbindings', u'Orocos KDL python bindings Documentation', - [u'Ruben Smits'], 1) + [u'Ruben Smits', u"Matthijs van der Burgh"], 1) ] diff --git a/python_orocos_kdl/package.xml b/python_orocos_kdl/package.xml index bb86bf35c..e22e901e3 100644 --- a/python_orocos_kdl/package.xml +++ b/python_orocos_kdl/package.xml @@ -10,13 +10,14 @@ Library (KDL), distributed by the Orocos Project. Ruben Smits + Matthijs van der Burgh http://wiki.ros.org/python_orocos_kdl LGPL catkin orocos_kdl - + python python3 diff --git a/python_orocos_kdl/tests/PyKDLtest.py b/python_orocos_kdl/tests/PyKDLtest.py index 449e7375c..2a1d0e2bb 100644 --- a/python_orocos_kdl/tests/PyKDLtest.py +++ b/python_orocos_kdl/tests/PyKDLtest.py @@ -4,6 +4,7 @@ # Version: 1.0 # Author: Ruben Smits # Maintainer: Ruben Smits +# Maintainer: Matthijs van der Burgh # URL: http://www.orocos.org/kdl # This library is free software; you can redistribute it and/or diff --git a/python_orocos_kdl/tests/dynamicstest.py b/python_orocos_kdl/tests/dynamicstest.py index ab8b9a888..5d0169c33 100644 --- a/python_orocos_kdl/tests/dynamicstest.py +++ b/python_orocos_kdl/tests/dynamicstest.py @@ -1,8 +1,9 @@ -# Copyright (C) 2007 Ruben Smits +# Copyright (C) 2020 Matthijs van der Burgh # Version: 1.0 # Author: Matthijs van der Burgh # Maintainer: Ruben Smits +# Maintainer: Matthijs van der Burgh # URL: http://www.orocos.org/kdl # This library is free software; you can redistribute it and/or diff --git a/python_orocos_kdl/tests/framestest.py b/python_orocos_kdl/tests/framestest.py index 2a2b66e20..eeed05315 100644 --- a/python_orocos_kdl/tests/framestest.py +++ b/python_orocos_kdl/tests/framestest.py @@ -4,6 +4,7 @@ # Author: Ruben Smits # Author: Matthijs van der Burgh # Maintainer: Ruben Smits +# Maintainer: Matthijs van der Burgh # URL: http://www.orocos.org/kdl # This library is free software; you can redistribute it and/or diff --git a/python_orocos_kdl/tests/frameveltest.py b/python_orocos_kdl/tests/frameveltest.py index 80f2ad052..614501a22 100644 --- a/python_orocos_kdl/tests/frameveltest.py +++ b/python_orocos_kdl/tests/frameveltest.py @@ -4,6 +4,7 @@ # Author: Ruben Smits # Author: Matthijs van der Burgh # Maintainer: Ruben Smits +# Maintainer: Matthijs van der Burgh # URL: http://www.orocos.org/kdl # This library is free software; you can redistribute it and/or diff --git a/python_orocos_kdl/tests/jointtypetest.py b/python_orocos_kdl/tests/jointtypetest.py index 162d24b4f..dfe1e240f 100644 --- a/python_orocos_kdl/tests/jointtypetest.py +++ b/python_orocos_kdl/tests/jointtypetest.py @@ -3,6 +3,7 @@ # Version: 1.0 # Author: Matthijs van der Burgh # Maintainer: Ruben Smits +# Maintainer: Matthijs van der Burgh # URL: http://www.orocos.org/kdl # This library is free software; you can redistribute it and/or diff --git a/python_orocos_kdl/tests/kinfamtest.py b/python_orocos_kdl/tests/kinfamtest.py index 378a2c414..5fb4fe9b3 100644 --- a/python_orocos_kdl/tests/kinfamtest.py +++ b/python_orocos_kdl/tests/kinfamtest.py @@ -4,6 +4,7 @@ # Author: Ruben Smits # Author: Matthijs van der Burgh # Maintainer: Ruben Smits +# Maintainer: Matthijs van der Burgh # URL: http://www.orocos.org/kdl # This library is free software; you can redistribute it and/or @@ -268,7 +269,7 @@ def compare_Jdot_Diff_vs_Solver(self, dt, representation): q_dqdt = JntArray(q) for i in range(q.rows()): q_dqdt[i] += dt * qdot[i] - + F_bs_ee_q = Frame.Identity() F_bs_ee_q_dqdt = Frame.Identity() @@ -284,13 +285,13 @@ def compare_Jdot_Diff_vs_Solver(self, dt, representation): changeJacRepresentation(jac_q, F_bs_ee_q, representation) changeJacRepresentation(jac_q_dqdt, F_bs_ee_q_dqdt, representation) - + Jdot_diff(jac_q, jac_q_dqdt, dt, jdot_by_diff) jdot_by_solver = Jacobian(NrOfJoints) self.jacdotsolver.setRepresentation(representation) self.jacdotsolver.JntToJacDot(JntArrayVel(q_dqdt, qdot), jdot_by_solver) - + jdot_qdot_by_solver = Twist() MultiplyJacobian(jdot_by_solver, qdot, jdot_qdot_by_solver) @@ -320,7 +321,7 @@ def testJacDot(self): "err: {}".format(jdot_qdot_solver, jdot_qdot_diff, representation, dt, eps_diff_vs_solver, err)) dt *= 10 - + class KinfamTestTree(unittest.TestCase): From 6fd635a9deab72465b420f090cbd82e95a1559f8 Mon Sep 17 00:00:00 2001 From: Matthijs van der Burgh Date: Sun, 6 Jun 2021 10:56:58 +0200 Subject: [PATCH 2/3] Bump versions to 1.5.0 --- orocos_kdl/CMakeLists.txt | 2 +- orocos_kdl/package.xml | 2 +- python_orocos_kdl/CMakeLists.txt | 2 +- python_orocos_kdl/package.xml | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/orocos_kdl/CMakeLists.txt b/orocos_kdl/CMakeLists.txt index 4bc100f79..3a1e4229e 100644 --- a/orocos_kdl/CMakeLists.txt +++ b/orocos_kdl/CMakeLists.txt @@ -16,7 +16,7 @@ ENDIF() PROJECT(orocos_kdl) -SET( KDL_VERSION 1.4.1) +SET( KDL_VERSION 1.5.0) STRING( REGEX MATCHALL "[0-9]+" KDL_VERSIONS ${KDL_VERSION} ) LIST( GET KDL_VERSIONS 0 KDL_VERSION_MAJOR) LIST( GET KDL_VERSIONS 1 KDL_VERSION_MINOR) diff --git a/orocos_kdl/package.xml b/orocos_kdl/package.xml index a4ad34ad5..28f670402 100644 --- a/orocos_kdl/package.xml +++ b/orocos_kdl/package.xml @@ -4,7 +4,7 @@ schematypens="http://www.w3.org/2001/XMLSchema"?> orocos_kdl - 1.4.1 + 1.5.0 This package contains a recent version of the Kinematics and Dynamics Library (KDL), distributed by the Orocos Project. diff --git a/python_orocos_kdl/CMakeLists.txt b/python_orocos_kdl/CMakeLists.txt index e1ce5632c..655c316b7 100644 --- a/python_orocos_kdl/CMakeLists.txt +++ b/python_orocos_kdl/CMakeLists.txt @@ -3,7 +3,7 @@ if(POLICY CMP0048) cmake_policy(SET CMP0048 NEW) endif() -project(python_orocos_kdl VERSION 1.4.1) +project(python_orocos_kdl VERSION 1.5.0) # find a matching version of orocos_kdl find_package(orocos_kdl ${PROJECT_VERSION} EXACT REQUIRED) diff --git a/python_orocos_kdl/package.xml b/python_orocos_kdl/package.xml index e22e901e3..b5c0bab4b 100644 --- a/python_orocos_kdl/package.xml +++ b/python_orocos_kdl/package.xml @@ -4,7 +4,7 @@ schematypens="http://www.w3.org/2001/XMLSchema"?> python_orocos_kdl - 1.4.1 + 1.5.0 This package contains the python bindings PyKDL for the Kinematics and Dynamics Library (KDL), distributed by the Orocos Project. From 8e6bca0ec4e77f195b2e948fe60e4bc1ec0b2bf4 Mon Sep 17 00:00:00 2001 From: Matthijs van der Burgh Date: Sun, 6 Jun 2021 11:01:29 +0200 Subject: [PATCH 3/3] (actions) setup abi check for future 1.5 releases --- .github/workflows/main.yml | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml index 096cb4397..daff7319f 100644 --- a/.github/workflows/main.yml +++ b/.github/workflows/main.yml @@ -86,6 +86,12 @@ jobs: ABICHECK_URL: github:orocos/orocos_kinematics_dynamics#release-1.4 ABICHECK_MERGE: false branch: release-1.4 + - env: + ROS_DISTRO: noetic + ROS_REPO: ros + ABICHECK_URL: github:orocos/orocos_kinematics_dynamics#release-1.5 + ABICHECK_MERGE: false + branch: release-1.5 env: ${{ matrix.env }} steps: - uses: actions/checkout@v1