commit: 69246bcb80a191e968a6ceed579a78f7f70a2aed
Author: Alexis Ballier <aballier <AT> gentoo <DOT> org>
AuthorDate: Sun Jul 24 14:01:26 2016 +0000
Commit: Alexis Ballier <aballier <AT> gentoo <DOT> org>
CommitDate: Tue Jul 26 09:18:30 2016 +0000
URL: https://gitweb.gentoo.org/repo/gentoo.git/commit/?id=69246bcb
dev-libs/sdformat: fix build with urdfdom-1 and add := dep on it
Package-Manager: portage-2.3.0
dev-libs/sdformat/files/urdfdom1.patch | 392 +++++++++++++++++++++
...ormat-4.1.1.ebuild => sdformat-4.1.1-r1.ebuild} | 3 +-
2 files changed, 394 insertions(+), 1 deletion(-)
diff --git a/dev-libs/sdformat/files/urdfdom1.patch
b/dev-libs/sdformat/files/urdfdom1.patch
new file mode 100644
index 0000000..d76376a
--- /dev/null
+++ b/dev-libs/sdformat/files/urdfdom1.patch
@@ -0,0 +1,392 @@
+Index: sdformat-4.1.1/src/parser_urdf.cc
+===================================================================
+--- sdformat-4.1.1.orig/src/parser_urdf.cc
++++ sdformat-4.1.1/src/parser_urdf.cc
+@@ -25,6 +25,7 @@
+ #include "urdf_model/model.h"
+ #include "urdf_model/link.h"
+ #include "urdf_parser/urdf_parser.h"
++#include <urdf_model/utils.h>
+
+ #include "sdf/SDFExtension.hh"
+ #include "sdf/parser_urdf.hh"
+@@ -32,10 +33,10 @@
+
+ using namespace sdf;
+
+-typedef boost::shared_ptr<urdf::Collision> UrdfCollisionPtr;
+-typedef boost::shared_ptr<urdf::Visual> UrdfVisualPtr;
+-typedef boost::shared_ptr<urdf::Link> UrdfLinkPtr;
+-typedef boost::shared_ptr<const urdf::Link> ConstUrdfLinkPtr;
++typedef std::shared_ptr<urdf::Collision> UrdfCollisionPtr;
++typedef std::shared_ptr<urdf::Visual> UrdfVisualPtr;
++typedef std::shared_ptr<urdf::Link> UrdfLinkPtr;
++typedef std::shared_ptr<const urdf::Link> ConstUrdfLinkPtr;
+ typedef std::shared_ptr<TiXmlElement> TiXmlElementPtr;
+ typedef std::shared_ptr<SDFExtension> SDFExtensionPtr;
+ typedef std::map<std::string, std::vector<SDFExtensionPtr> >
+@@ -78,7 +79,7 @@ void InsertSDFExtensionJoint(TiXmlElemen
+ /// reduced fixed joints: check if a fixed joint should be lumped
+ /// checking both the joint type and if disabledFixedJointLumping
+ /// option is set
+-bool FixedJointShouldBeReduced(boost::shared_ptr<urdf::Joint> _jnt);
++bool FixedJointShouldBeReduced(std::shared_ptr<urdf::Joint> _jnt);
+
+ /// reduced fixed joints: apply transform reduction for ray sensors
+ /// in extensions when doing fixed joint reduction
+@@ -217,9 +218,9 @@ std::string Values2str(unsigned int _cou
+
+
+ void CreateGeometry(TiXmlElement* _elem,
+- boost::shared_ptr<urdf::Geometry> _geometry);
++ std::shared_ptr<urdf::Geometry> _geometry);
+
+-std::string GetGeometryBoundingBox(boost::shared_ptr<urdf::Geometry>
_geometry,
++std::string GetGeometryBoundingBox(std::shared_ptr<urdf::Geometry> _geometry,
+ double *_sizeVals);
+
+ ignition::math::Pose3d inverseTransformToParentFrame(
+@@ -254,7 +255,7 @@ urdf::Vector3 ParseVector3(const std::st
+ std::vector<std::string> pieces;
+ std::vector<double> vals;
+
+- boost::split(pieces, _str, boost::is_any_of(" "));
++ urdf::split_string(pieces, _str, " ");
+ for (unsigned int i = 0; i < pieces.size(); ++i)
+ {
+ if (pieces[i] != "")
+@@ -262,7 +263,7 @@ urdf::Vector3 ParseVector3(const std::st
+ try
+ {
+ vals.push_back(_scale
+- * boost::lexical_cast<double>(pieces[i].c_str()));
++ * std::stod(pieces[i].c_str()));
+ }
+ catch(boost::bad_lexical_cast &)
+ {
+@@ -349,7 +350,7 @@ void ReduceCollisionToParent(UrdfLinkPtr
+ UrdfCollisionPtr _collision)
+ {
+ #ifndef URDF_GE_0P3
+- boost::shared_ptr<std::vector<UrdfCollisionPtr> > cols;
++ std::shared_ptr<std::vector<UrdfCollisionPtr> > cols;
+ cols = _parentLink->getCollisions(_name);
+
+ if (!cols)
+@@ -427,7 +428,7 @@ void ReduceVisualToParent(UrdfLinkPtr _p
+ UrdfVisualPtr _visual)
+ {
+ #ifndef URDF_GE_0P3
+- boost::shared_ptr<std::vector<UrdfVisualPtr> > viss;
++ std::shared_ptr<std::vector<UrdfVisualPtr> > viss;
+ viss = _parentLink->getVisuals(_name);
+
+ if (!viss)
+@@ -950,7 +951,7 @@ void ReduceVisualsToParent(UrdfLinkPtr _
+ // (original parent link name before lumping/reducing).
+ #ifndef URDF_GE_0P3
+ for (std::map<std::string,
+- boost::shared_ptr<std::vector<UrdfVisualPtr> > >::iterator
++ std::shared_ptr<std::vector<UrdfVisualPtr> > >::iterator
+ visualsIt = _link->visual_groups.begin();
+ visualsIt != _link->visual_groups.end(); ++visualsIt)
+ {
+@@ -1057,7 +1058,7 @@ void ReduceCollisionsToParent(UrdfLinkPt
+ // (original parent link name before lumping/reducing).
+ #ifndef URDF_GE_0P3
+ for (std::map<std::string,
+- boost::shared_ptr<std::vector<UrdfCollisionPtr> > >::iterator
++ std::shared_ptr<std::vector<UrdfCollisionPtr> > >::iterator
+ collisionsIt = _link->collision_groups.begin();
+ collisionsIt != _link->collision_groups.end(); ++collisionsIt)
+ {
+@@ -1160,7 +1161,7 @@ void ReduceJointsToParent(UrdfLinkPtr _l
+ // a parent link up stream that does not have a fixed parentJoint
+ for (unsigned int i = 0 ; i < _link->child_links.size() ; ++i)
+ {
+- boost::shared_ptr<urdf::Joint> parentJoint =
++ std::shared_ptr<urdf::Joint> parentJoint =
+ _link->child_links[i]->parent_joint;
+ if (!FixedJointShouldBeReduced(parentJoint))
+ {
+@@ -1431,31 +1432,31 @@ void URDF2SDF::ParseSDFExtension(TiXmlDo
+ else if (childElem->ValueStr() == "dampingFactor")
+ {
+ sdf->isDampingFactor = true;
+- sdf->dampingFactor = boost::lexical_cast<double>(
++ sdf->dampingFactor = std::stod(
+ GetKeyValueAsString(childElem).c_str());
+ }
+ else if (childElem->ValueStr() == "maxVel")
+ {
+ sdf->isMaxVel = true;
+- sdf->maxVel = boost::lexical_cast<double>(
++ sdf->maxVel = std::stod(
+ GetKeyValueAsString(childElem).c_str());
+ }
+ else if (childElem->ValueStr() == "minDepth")
+ {
+ sdf->isMinDepth = true;
+- sdf->minDepth = boost::lexical_cast<double>(
++ sdf->minDepth = std::stod(
+ GetKeyValueAsString(childElem).c_str());
+ }
+ else if (childElem->ValueStr() == "mu1")
+ {
+ sdf->isMu1 = true;
+- sdf->mu1 = boost::lexical_cast<double>(
++ sdf->mu1 = std::stod(
+ GetKeyValueAsString(childElem).c_str());
+ }
+ else if (childElem->ValueStr() == "mu2")
+ {
+ sdf->isMu2 = true;
+- sdf->mu2 = boost::lexical_cast<double>(
++ sdf->mu2 = std::stod(
+ GetKeyValueAsString(childElem).c_str());
+ }
+ else if (childElem->ValueStr() == "fdir1")
+@@ -1465,13 +1466,13 @@ void URDF2SDF::ParseSDFExtension(TiXmlDo
+ else if (childElem->ValueStr() == "kp")
+ {
+ sdf->isKp = true;
+- sdf->kp = boost::lexical_cast<double>(
++ sdf->kp = std::stod(
+ GetKeyValueAsString(childElem).c_str());
+ }
+ else if (childElem->ValueStr() == "kd")
+ {
+ sdf->isKd = true;
+- sdf->kd = boost::lexical_cast<double>(
++ sdf->kd = std::stod(
+ GetKeyValueAsString(childElem).c_str());
+ }
+ else if (childElem->ValueStr() == "selfCollide")
+@@ -1488,13 +1489,13 @@ void URDF2SDF::ParseSDFExtension(TiXmlDo
+ else if (childElem->ValueStr() == "maxContacts")
+ {
+ sdf->isMaxContacts = true;
+- sdf->maxContacts = boost::lexical_cast<int>(
++ sdf->maxContacts = std::stoi(
+ GetKeyValueAsString(childElem).c_str());
+ }
+ else if (childElem->ValueStr() == "laserRetro")
+ {
+ sdf->isLaserRetro = true;
+- sdf->laserRetro = boost::lexical_cast<double>(
++ sdf->laserRetro = std::stod(
+ GetKeyValueAsString(childElem).c_str());
+ }
+ else if (childElem->ValueStr() == "springReference")
+@@ -1510,37 +1511,37 @@ void URDF2SDF::ParseSDFExtension(TiXmlDo
+ else if (childElem->ValueStr() == "stopCfm")
+ {
+ sdf->isStopCfm = true;
+- sdf->stopCfm = boost::lexical_cast<double>(
++ sdf->stopCfm = std::stod(
+ GetKeyValueAsString(childElem).c_str());
+ }
+ else if (childElem->ValueStr() == "stopErp")
+ {
+ sdf->isStopErp = true;
+- sdf->stopErp = boost::lexical_cast<double>(
++ sdf->stopErp = std::stod(
+ GetKeyValueAsString(childElem).c_str());
+ }
+ else if (childElem->ValueStr() == "stopKp")
+ {
+ sdf->isStopKp = true;
+- sdf->stopKp = boost::lexical_cast<double>(
++ sdf->stopKp = std::stod(
+ GetKeyValueAsString(childElem).c_str());
+ }
+ else if (childElem->ValueStr() == "stopKd")
+ {
+ sdf->isStopKd = true;
+- sdf->stopKd = boost::lexical_cast<double>(
++ sdf->stopKd = std::stod(
+ GetKeyValueAsString(childElem).c_str());
+ }
+ else if (childElem->ValueStr() == "initialJointPosition")
+ {
+ sdf->isInitialJointPosition = true;
+- sdf->initialJointPosition = boost::lexical_cast<double>(
++ sdf->initialJointPosition = std::stod(
+ GetKeyValueAsString(childElem).c_str());
+ }
+ else if (childElem->ValueStr() == "fudgeFactor")
+ {
+ sdf->isFudgeFactor = true;
+- sdf->fudgeFactor = boost::lexical_cast<double>(
++ sdf->fudgeFactor = std::stod(
+ GetKeyValueAsString(childElem).c_str());
+ }
+ else if (childElem->ValueStr() == "provideFeedback")
+@@ -1917,7 +1918,7 @@ void InsertSDFExtensionCollision(TiXmlEl
+ if ((*ge)->isMaxContacts)
+ {
+ AddKeyValue(_elem, "max_contacts",
+- boost::lexical_cast<std::string>((*ge)->maxContacts));
++ std::to_string((*ge)->maxContacts));
+ }
+ }
+ }
+@@ -2339,7 +2340,7 @@ void InsertSDFExtensionRobot(TiXmlElemen
+
+
////////////////////////////////////////////////////////////////////////////////
+ void CreateGeometry(TiXmlElement* _elem,
+- boost::shared_ptr<urdf::Geometry> _geom)
++ std::shared_ptr<urdf::Geometry> _geom)
+ {
+ TiXmlElement *sdfGeometry = new TiXmlElement("geometry");
+
+@@ -2351,8 +2352,8 @@ void CreateGeometry(TiXmlElement* _elem,
+ case urdf::Geometry::BOX:
+ type = "box";
+ {
+- boost::shared_ptr<const urdf::Box> box;
+- box = boost::dynamic_pointer_cast< const urdf::Box >(_geom);
++ std::shared_ptr<const urdf::Box> box;
++ box = std::dynamic_pointer_cast< const urdf::Box >(_geom);
+ int sizeCount = 3;
+ double sizeVals[3];
+ sizeVals[0] = box->dim.x;
+@@ -2366,8 +2367,8 @@ void CreateGeometry(TiXmlElement* _elem,
+ case urdf::Geometry::CYLINDER:
+ type = "cylinder";
+ {
+- boost::shared_ptr<const urdf::Cylinder> cylinder;
+- cylinder = boost::dynamic_pointer_cast<const urdf::Cylinder >(_geom);
++ std::shared_ptr<const urdf::Cylinder> cylinder;
++ cylinder = std::dynamic_pointer_cast<const urdf::Cylinder >(_geom);
+ geometryType = new TiXmlElement(type);
+ AddKeyValue(geometryType, "length",
+ Values2str(1, &cylinder->length));
+@@ -2378,8 +2379,8 @@ void CreateGeometry(TiXmlElement* _elem,
+ case urdf::Geometry::SPHERE:
+ type = "sphere";
+ {
+- boost::shared_ptr<const urdf::Sphere> sphere;
+- sphere = boost::dynamic_pointer_cast<const urdf::Sphere >(_geom);
++ std::shared_ptr<const urdf::Sphere> sphere;
++ sphere = std::dynamic_pointer_cast<const urdf::Sphere >(_geom);
+ geometryType = new TiXmlElement(type);
+ AddKeyValue(geometryType, "radius",
+ Values2str(1, &sphere->radius));
+@@ -2388,8 +2389,8 @@ void CreateGeometry(TiXmlElement* _elem,
+ case urdf::Geometry::MESH:
+ type = "mesh";
+ {
+- boost::shared_ptr<const urdf::Mesh> mesh;
+- mesh = boost::dynamic_pointer_cast<const urdf::Mesh >(_geom);
++ std::shared_ptr<const urdf::Mesh> mesh;
++ mesh = std::dynamic_pointer_cast<const urdf::Mesh >(_geom);
+ geometryType = new TiXmlElement(type);
+ AddKeyValue(geometryType, "scale", Vector32Str(mesh->scale));
+ // do something more to meshes
+@@ -2451,7 +2452,7 @@ void CreateGeometry(TiXmlElement* _elem,
+
+
////////////////////////////////////////////////////////////////////////////////
+ std::string GetGeometryBoundingBox(
+- boost::shared_ptr<urdf::Geometry> _geom, double *_sizeVals)
++ std::shared_ptr<urdf::Geometry> _geom, double *_sizeVals)
+ {
+ std::string type;
+
+@@ -2460,8 +2461,8 @@ std::string GetGeometryBoundingBox(
+ case urdf::Geometry::BOX:
+ type = "box";
+ {
+- boost::shared_ptr<const urdf::Box> box;
+- box = boost::dynamic_pointer_cast<const urdf::Box >(_geom);
++ std::shared_ptr<const urdf::Box> box;
++ box = std::dynamic_pointer_cast<const urdf::Box >(_geom);
+ _sizeVals[0] = box->dim.x;
+ _sizeVals[1] = box->dim.y;
+ _sizeVals[2] = box->dim.z;
+@@ -2470,8 +2471,8 @@ std::string GetGeometryBoundingBox(
+ case urdf::Geometry::CYLINDER:
+ type = "cylinder";
+ {
+- boost::shared_ptr<const urdf::Cylinder> cylinder;
+- cylinder = boost::dynamic_pointer_cast<const urdf::Cylinder >(_geom);
++ std::shared_ptr<const urdf::Cylinder> cylinder;
++ cylinder = std::dynamic_pointer_cast<const urdf::Cylinder >(_geom);
+ _sizeVals[0] = cylinder->radius * 2;
+ _sizeVals[1] = cylinder->radius * 2;
+ _sizeVals[2] = cylinder->length;
+@@ -2480,16 +2481,16 @@ std::string GetGeometryBoundingBox(
+ case urdf::Geometry::SPHERE:
+ type = "sphere";
+ {
+- boost::shared_ptr<const urdf::Sphere> sphere;
+- sphere = boost::dynamic_pointer_cast<const urdf::Sphere >(_geom);
++ std::shared_ptr<const urdf::Sphere> sphere;
++ sphere = std::dynamic_pointer_cast<const urdf::Sphere >(_geom);
+ _sizeVals[0] = _sizeVals[1] = _sizeVals[2] = sphere->radius * 2;
+ }
+ break;
+ case urdf::Geometry::MESH:
+ type = "trimesh";
+ {
+- boost::shared_ptr<const urdf::Mesh> mesh;
+- mesh = boost::dynamic_pointer_cast<const urdf::Mesh >(_geom);
++ std::shared_ptr<const urdf::Mesh> mesh;
++ mesh = std::dynamic_pointer_cast<const urdf::Mesh >(_geom);
+ _sizeVals[0] = mesh->scale.x;
+ _sizeVals[1] = mesh->scale.y;
+ _sizeVals[2] = mesh->scale.z;
+@@ -2513,7 +2514,7 @@ void PrintCollisionGroups(UrdfLinkPtr _l
+ << static_cast<int>(_link->collision_groups.size())
+ << "] collisions.\n";
+ for (std::map<std::string,
+- boost::shared_ptr<std::vector<UrdfCollisionPtr > > >::iterator
++ std::shared_ptr<std::vector<UrdfCollisionPtr > > >::iterator
+ colsIt = _link->collision_groups.begin();
+ colsIt != _link->collision_groups.end(); ++colsIt)
+ {
+@@ -2906,7 +2907,7 @@ void CreateCollisions(TiXmlElement* _ele
+ // lumped meshes (fixed joint reduction)
+ #ifndef URDF_GE_0P3
+ for (std::map<std::string,
+- boost::shared_ptr<std::vector<UrdfCollisionPtr> > >::const_iterator
++ std::shared_ptr<std::vector<UrdfCollisionPtr> > >::const_iterator
+ collisionsIt = _link->collision_groups.begin();
+ collisionsIt != _link->collision_groups.end(); ++collisionsIt)
+ {
+@@ -3028,7 +3029,7 @@ void CreateVisuals(TiXmlElement* _elem,
+ // lumped meshes (fixed joint reduction)
+ #ifndef URDF_GE_0P3
+ for (std::map<std::string,
+- boost::shared_ptr<std::vector<UrdfVisualPtr> > >::const_iterator
++ std::shared_ptr<std::vector<UrdfVisualPtr> > >::const_iterator
+ visualsIt = _link->visual_groups.begin();
+ visualsIt != _link->visual_groups.end(); ++visualsIt)
+ {
+@@ -3411,7 +3412,7 @@ TiXmlDocument URDF2SDF::InitModelString(
+ g_enforceLimits = _enforceLimits;
+
+ // Create a RobotModel from string
+- boost::shared_ptr<urdf::ModelInterface> robotModel =
++ std::shared_ptr<urdf::ModelInterface> robotModel =
+ urdf::parseURDF(_urdfStr.c_str());
+
+ // an xml object to hold the xml result
+@@ -3453,7 +3454,7 @@ TiXmlDocument URDF2SDF::InitModelString(
+ // fixed joint lumping only for selected joints
+ if (g_reduceFixedJoints)
+ ReduceFixedJoints(robot,
+- (boost::const_pointer_cast< urdf::Link >(rootLink)));
++ (std::const_pointer_cast< urdf::Link >(rootLink)));
+
+ if (rootLink->name == "world")
+ {
+@@ -3514,7 +3515,7 @@ TiXmlDocument URDF2SDF::InitModelFile(co
+ }
+
+
////////////////////////////////////////////////////////////////////////////////
+-bool FixedJointShouldBeReduced(boost::shared_ptr<urdf::Joint> _jnt)
++bool FixedJointShouldBeReduced(std::shared_ptr<urdf::Joint> _jnt)
+ {
+ // A joint should be lumped only if its type is fixed and
+ // the disabledFixedJointLumping joint option is not set
diff --git a/dev-libs/sdformat/sdformat-4.1.1.ebuild
b/dev-libs/sdformat/sdformat-4.1.1-r1.ebuild
similarity index 93%
rename from dev-libs/sdformat/sdformat-4.1.1.ebuild
rename to dev-libs/sdformat/sdformat-4.1.1-r1.ebuild
index 68deded..66bc9be 100644
--- a/dev-libs/sdformat/sdformat-4.1.1.ebuild
+++ b/dev-libs/sdformat/sdformat-4.1.1-r1.ebuild
@@ -17,7 +17,7 @@ KEYWORDS="~amd64"
IUSE=""
RDEPEND="
- dev-libs/urdfdom
+ >=dev-libs/urdfdom-1:=
dev-libs/tinyxml
dev-libs/boost:=
sci-libs/ignition-math:2=
@@ -27,6 +27,7 @@ DEPEND="${RDEPEND}
virtual/pkgconfig
"
CMAKE_BUILD_TYPE=RelWithDebInfo
+PATCHES=( "${FILESDIR}/urdfdom1.patch" )
src_configure() {
echo "set (CMAKE_C_FLAGS_ALL \"${CXXFLAGS} \${CMAKE_C_FLAGS_ALL}\")" >
"${S}/cmake/HostCFlags.cmake"
