Merge branch 'master' into compiler_options

.github/workflows/main.yml

@@ -12,10 +12,15 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-20.04]
+        os: [ubuntu-20.04, ubuntu-22.04]
         orocos_build_type: [Debug, Release]
         compiler: [gcc, clang]
-        python_version: ['3.8']
+        python_version: ['3.8', '3.10']
+        exclude:
+          - os: ubuntu-20.04
+            python_version: '3.10'
+          - os: ubuntu-22.04
+            python_version: '3.8'
         include:
           - os: ubuntu-20.04
             orocos_build_type: Release
@@ -29,12 +34,16 @@ jobs:
             orocos_build_type: Release
             compiler: gcc
             python_version: '3.11'
+          - os: ubuntu-22.04
+            orocos_build_type: Release
+            compiler: gcc
+            python_version: '3.11'
     env:
       CC: ${{ matrix.compiler }}
       OROCOS_BUILD_TYPE: ${{ matrix.orocos_build_type }}
       ROS_PYTHON_VERSION: ${{ matrix.python_version }}
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: recursive
       - uses: actions/setup-python@v4
@@ -88,7 +97,7 @@ jobs:
             branch: release-1.5
     env: ${{ matrix.env }}
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: recursive
         if: ${{ (github.event_name == 'push' && endsWith(github.ref, matrix.branch)) || (github.event_name == 'pull_request' && endsWith(github.base_ref, matrix.branch)) }}

orocos_kdl/CMakeLists.txt

@@ -60,7 +60,7 @@ if(NOT EIGEN3_FOUND)
   include(${PROJ_SOURCE_DIR}/cmake/FindEigen3.cmake)
 endif()
 include_directories(SYSTEM ${EIGEN3_INCLUDE_DIR})
-SET(KDL_CFLAGS "${KDL_CFLAGS} -I${EIGEN3_INCLUDE_DIR}")
+SET(KDL_CFLAGS "${KDL_CFLAGS} -I\"${EIGEN3_INCLUDE_DIR}\"")
 
 # Check the platform STL containers capabilities
 include(cmake/CheckSTLContainers.cmake)

orocos_kdl/examples/chainiksolverpos_lma_demo.cpp

@@ -90,9 +90,9 @@ void test_inverseposkin(KDL::Chain& chain) {
     KDL::JntArray q_sol(n);
     for (int trial=0;trial<num_of_trials;++trial) {
         q.data.setRandom();
-        q.data *= PI;
+        q.data *= KDL::PI;
         q_init.data.setRandom();
-        q_init.data *= PI;
+        q_init.data *= KDL::PI;
         KDL::Frame pos_goal,pos_reached;
         fwdkin.JntToCart(q,pos_goal);
         //solver.compute_fwdpos(q.data);
@@ -177,7 +177,7 @@ int main(int argc,char* argv[]) {
               <<  " This routine can take more then 6 minutes to execute. It then gives statistics on execution times\n"
               <<  " and failures.\n"
               <<  " Typically when executed 1 000 000 times, you will still see some small amount of failures\n"
-              <<  " Typically these failures are in the neighbourhoud of singularities.  Most failures of type -2 still\n"
+              <<  " Typically these failures are in the neighbourhood of singularities.  Most failures of type -2 still\n"
               <<  " reach an accuracy better than 1E-4.\n"
               <<  " This is much better than ChainIkSolverPos_NR, which fails a few times per 100 trials.\n";
 

orocos_kdl/package.xml

@@ -26,6 +26,7 @@
 
   <export>
     <build_type>cmake</build_type>
+    <rosdoc config="rosdoc.yaml"/>
   </export>
 
 </package>

orocos_kdl/rosdoc.yaml

@@ -0,0 +1,5 @@
+- builder: doxygen
+  name: C++ API
+  file_patterns: '*.cpp *.cxx *.h *.hpp *.inl'
+  tab_size: 4
+  exclude_patterns: '*.svn* CMake*'

orocos_kdl/src/chainexternalwrenchestimator.hpp

@@ -69,7 +69,7 @@ namespace KDL {
 
         /**
          * Calculates robot's initial momentum in the joint space. 
-         * Bassically, sets the offset for future estimation (momentum calculation).
+         * Basically, sets the offset for future estimation (momentum calculation).
          * If this method is not called by the user, zero values will be taken for the initial momentum.
          */
         int setInitialMomentum(const JntArray &joint_position, const JntArray &joint_velocity);

orocos_kdl/src/chainhdsolver_vereshchagin.hpp

@@ -311,7 +311,7 @@ namespace KDL
  * simulate constraint forces in certain situations, however, there, final derivation of this principle in the software is different. However, in
  * the case of this more advanced forward dynamics computations, the user needs to be aware of prioritizations between input interfaces
  * (mentioned in "Prioritizations" section above) and internal policies on
- * handling singularities (mentioned in "Singularities and matrix inversions" section bellow).
+ * handling singularities (mentioned in "Singularities and matrix inversions" section below).
  *
  * ### Singularities and matrix inversions
  *

orocos_kdl/src/path_roundedcomposite.hpp

@@ -88,7 +88,7 @@ class Path_RoundedComposite : public Path
 		Path_RoundedComposite(double radius,double eqradius,RotationalInterpolation* orient, bool aggregate=true);
 
 		/**
-		 * Adds a point to this rounded composite, between to adjecent points
+		 * Adds a point to this rounded composite, between two adjacent points
 		 * a Path_Line will be created, between two lines there will be
 		 * rounding with the given radius with a Path_Circle
 		 *

orocos_kdl/src/utilities/ldl_solver_eigen.hpp

@@ -37,7 +37,7 @@ namespace KDL
      *
      * The algorithm factor A into the product of three matrices LDL^T, where L
      * is a lower triangular matrix and D is a diagonal matrix.  This allows q
-     * to be computed without explicity inverting A.  Note that the LDL decomposition
+     * to be computed without explicitly inverting A.  Note that the LDL decomposition
      * is a variant of the classical Cholesky Decomposition that does not require
      * the computation of square roots.
      * Input parameters:

orocos_kdl/tests/solvertest.cpp

@@ -922,12 +922,12 @@ void SolverTest::VereshchaginTest()
     Twist unit_force_x_a(
         Vector(0.0, 0.0, 0.0),
         Vector(0.0, 0.0, 0.0));
-    alpha_unit_force.setColumn(3, unit_force_x_a); // constraint diabled... In this direction, end-effector's motion is left to emerge naturally
+    alpha_unit_force.setColumn(3, unit_force_x_a); // constraint disabled... In this direction, end-effector's motion is left to emerge naturally
 
     Twist unit_force_y_a(
         Vector(0.0, 0.0, 0.0),
         Vector(0.0, 0.0, 0.0));
-    alpha_unit_force.setColumn(4, unit_force_y_a); // constraint diabled... In this direction, end-effector's motion is left to emerge naturally
+    alpha_unit_force.setColumn(4, unit_force_y_a); // constraint disabled... In this direction, end-effector's motion is left to emerge naturally
 
     Twist unit_force_z_a(
         Vector(0.0, 0.0, 0.0),
@@ -1515,8 +1515,8 @@ void SolverTest::FdAndVereshchaginSolversConsistencyTest()
 
     // #########################################################################################
     // Vereshchagin Hybrid Dynamics solver
-    // When the Cartesian Acceleration Constraints are deactivated, the computations perfomed 
-    // in the Vereshchagin solver are completely the same as the computations perfomed in 
+    // When the Cartesian Acceleration Constraints are deactivated, the computations performed 
+    // in the Vereshchagin solver are completely the same as the computations performed in 
     // the well-known FD Articulated Body Algorithm (ABA) developed by Featherstone 
 
     // Constraint Unit forces at the end-effector. Set to zero to deactivate all constraints
@@ -1533,7 +1533,7 @@ void SolverTest::FdAndVereshchaginSolversConsistencyTest()
     Vector linearAcc(0.0, 0.0, 9.81); Vector angularAcc(0.0, 0.0, 0.0);
     Twist root_Acc(linearAcc, angularAcc);
 
-    // Torques felt in robot's joints due to constrait forces acting on the end-effector
+    // Torques felt in robot's joints due to constraint forces acting on the end-effector
     JntArray constraint_tau(nj); // In this test, all elements of this array should result to zero
     JntArray q_dd_Ver(nj); // Resultant joint accelerations
 
@@ -1574,7 +1574,7 @@ void SolverTest::ExternalWrenchEstimatorTest()
     /**
      * This EPS has a slightly different purpose than the EPSes of the other solver-tests. While other EPSes are taking care of the differences that
      * originate from e.g. floating-number imprecisions, different compilers (or same compiler but different flags) used between different machines (OS), etc. 
-     * The EPS specified bellow is there to cover those imperfections as well but, it's also there to
+     * The EPS specified below is there to cover those imperfections as well but, it's also there to
      * take into account the noise in estimated signals (the differences between estimated and ground-truth wrenches), caused by other computations in this test
      * (ones coming from the implemented controller and the dynamics simulator) not just those coming from the estimator itself.
      */
@@ -1637,7 +1637,7 @@ void SolverTest::ExternalWrenchEstimatorTest()
     std::vector<KDL::JntArray> jnt_pos;
     std::vector<KDL::Wrench> wrench_reference;
 
-    // Intialize random generator
+    // Initialize random generator
     std::random_device rd;  //Will be used to obtain a seed for the random number engine
     std::mt19937 gen(rd()); //Standard mersenne_twister_engine seeded with rd()
     std::uniform_real_distribution<> dis_force(-15.0, 15.0);