diff --git a/drake/CMakeLists.txt b/drake/CMakeLists.txt index c4baa9aa1f0c..7a7442f1d014 100644 --- a/drake/CMakeLists.txt +++ b/drake/CMakeLists.txt @@ -186,7 +186,9 @@ if(Matlab_FOUND) add_subdirectory(thirdParty/bsd/GetFullPath) add_subdirectory(matlab) endif() -add_subdirectory(examples) + +add_subdirectory(examples/Atlas) +add_subdirectory(examples/kuka_iiwa_arm) option(ENABLE_DOCUMENTATION "Enable build target for Doxygen and Sphinx documentation." ON) diff --git a/drake/examples/Acrobot/CMakeLists.txt b/drake/examples/Acrobot/CMakeLists.txt deleted file mode 100644 index 7ba055f1f6c4..000000000000 --- a/drake/examples/Acrobot/CMakeLists.txt +++ /dev/null @@ -1,105 +0,0 @@ -add_library_with_exports(LIB_NAME drakeAcrobotPlant - SOURCE_FILES acrobot_plant.cc acrobot_swing_up.cc) -target_link_libraries(drakeAcrobotPlant - drakeLinearControl - drakeMultibodyParsers - drakeSensors - drakeSystemFramework - drakeTrajectoryOptimization - Eigen3::Eigen) -drake_install_libraries(drakeAcrobotPlant) -drake_install_headers(acrobot_plant.h acrobot_swing_up.h) -drake_install_pkg_config_file(drake-acrobot-plant - TARGET drakeAcrobotPlant - LIBS -ldrakeAcrobotPlant - REQUIRES - drake-trajectory-optimization - eigen3 - drake-linear-control - drake-multibody-parsers - drake-sensors - drake-system-framework) - -if(lcm_FOUND) - add_library_with_exports(LIB_NAME drakeAcrobotLcm SOURCE_FILES - acrobot_lcm.cc) - target_link_libraries(drakeAcrobotLcm - drakeLcmSystem) - drake_install_libraries(drakeAcrobotLcm) - drake_install_headers( - acrobot_lcm.h) - drake_install_pkg_config_file(drake-acrobot-lcm - TARGET drakeAcrobotLcm - LIBS -drakeAcrobotLcm - REQUIRES drake-lcm-system drake-lcmtypes-cpp) - - add_executable(acrobot_lcm_msg_generator acrobot_lcm_msg_generator.cpp) - target_link_libraries(acrobot_lcm_msg_generator - drakeLCMTypes - drakeLcm) - - add_executable(acrobot_plant_w_lcm acrobot_plant_w_lcm.cc) - target_link_libraries(acrobot_plant_w_lcm - drakeSystemAnalysis - drakeLcmSystem - drakeAcrobotLcm - drakeAcrobotPlant - drakeMultibodyParsers - drakeRigidBodyPlant - drakeSystemAnalysis - drakeLinearControl) - - add_executable(acrobot_spong_controller_w_lcm - acrobot_spong_controller_w_lcm.cc) - target_link_libraries(acrobot_spong_controller_w_lcm - drakeSystemAnalysis - drakeLcmSystem - drakeAcrobotLcm - drakeAcrobotPlant) - - add_executable(acrobot_run_passive acrobot_run_passive.cc) - target_link_libraries(acrobot_run_passive - drakeAcrobotPlant - drakeRigidBodyPlant - drakeSystemAnalysis) - drake_add_test(NAME acrobot_run_passive COMMAND acrobot_run_passive -realtime_factor 0.0) - - add_executable(acrobot_run_lqr acrobot_run_lqr.cc) - target_link_libraries(acrobot_run_lqr - drakeAcrobotPlant - drakeMultibodyParsers - drakeRigidBodyPlant - drakeSystemAnalysis) - drake_add_test(NAME acrobot_run_lqr COMMAND acrobot_run_lqr -realtime_factor 0.0) - - add_executable(acrobot_run_lqr_w_estimator acrobot_run_lqr_w_estimator.cc) - target_link_libraries(acrobot_run_lqr_w_estimator - drakeAcrobotPlant - drakeEstimators - drakeMultibodyParsers - drakeRigidBodyPlant - drakeSensors - drakeSystemAnalysis) - drake_add_test(NAME acrobot_run_lqr_w_estimator COMMAND acrobot_run_lqr_w_estimator -realtime_factor 0.0) - - add_executable(acrobot_run_swing_up acrobot_run_swing_up.cc) - target_link_libraries(acrobot_run_swing_up - drakeAcrobotPlant - drakeMultibodyParsers - drakeRigidBodyPlant - drakeSystemAnalysis - drakeLinearControl) - - add_executable(acrobot_run_swing_up_traj_optimization - acrobot_run_swing_up_traj_optimization.cc) - target_link_libraries(acrobot_run_swing_up_traj_optimization - drakeAcrobotPlant - drakeRigidBodyPlant - drakeSystemAnalysis) - -endif(lcm_FOUND) - -if(BUILD_TESTING) - add_subdirectory(test) -endif() - diff --git a/drake/examples/Acrobot/test/CMakeLists.txt b/drake/examples/Acrobot/test/CMakeLists.txt deleted file mode 100644 index 23fc050b472d..000000000000 --- a/drake/examples/Acrobot/test/CMakeLists.txt +++ /dev/null @@ -1,4 +0,0 @@ -if(lcm_FOUND) - drake_add_cc_test(acrobot_urdf_dynamics_test) - target_link_libraries(acrobot_urdf_dynamics_test drakeRigidBodyPlant drakeAcrobotPlant) -endif() diff --git a/drake/examples/Atlas/sdf/block_angle_steps_1/CMakeLists.txt b/drake/examples/Atlas/sdf/block_angle_steps_1/CMakeLists.txt deleted file mode 100644 index 8b76e9ddcddf..000000000000 --- a/drake/examples/Atlas/sdf/block_angle_steps_1/CMakeLists.txt +++ /dev/null @@ -1,6 +0,0 @@ -set(MODEL_NAME block_level_steps) -set(files - model.sdf - model.config) - -install(FILES ${files} DESTINATION ${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/gazebo_models/environments/${MODEL_NAME}/) diff --git a/drake/examples/Atlas/sdf/block_angle_steps_2/CMakeLists.txt b/drake/examples/Atlas/sdf/block_angle_steps_2/CMakeLists.txt deleted file mode 100644 index 8b76e9ddcddf..000000000000 --- a/drake/examples/Atlas/sdf/block_angle_steps_2/CMakeLists.txt +++ /dev/null @@ -1,6 +0,0 @@ -set(MODEL_NAME block_level_steps) -set(files - model.sdf - model.config) - -install(FILES ${files} DESTINATION ${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/gazebo_models/environments/${MODEL_NAME}/) diff --git a/drake/examples/Atlas/sdf/block_level_steps_1/CMakeLists.txt b/drake/examples/Atlas/sdf/block_level_steps_1/CMakeLists.txt deleted file mode 100644 index 8b76e9ddcddf..000000000000 --- a/drake/examples/Atlas/sdf/block_level_steps_1/CMakeLists.txt +++ /dev/null @@ -1,6 +0,0 @@ -set(MODEL_NAME block_level_steps) -set(files - model.sdf - model.config) - -install(FILES ${files} DESTINATION ${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/gazebo_models/environments/${MODEL_NAME}/) diff --git a/drake/examples/Atlas/sdf/block_level_steps_2/CMakeLists.txt b/drake/examples/Atlas/sdf/block_level_steps_2/CMakeLists.txt deleted file mode 100644 index 8b76e9ddcddf..000000000000 --- a/drake/examples/Atlas/sdf/block_level_steps_2/CMakeLists.txt +++ /dev/null @@ -1,6 +0,0 @@ -set(MODEL_NAME block_level_steps) -set(files - model.sdf - model.config) - -install(FILES ${files} DESTINATION ${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/gazebo_models/environments/${MODEL_NAME}/) diff --git a/drake/examples/Atlas/urdf/materials/CMakeLists.txt b/drake/examples/Atlas/urdf/materials/CMakeLists.txt deleted file mode 100644 index 240c30121b43..000000000000 --- a/drake/examples/Atlas/urdf/materials/CMakeLists.txt +++ /dev/null @@ -1 +0,0 @@ -add_subdirectory(textures) diff --git a/drake/examples/Atlas/urdf/materials/textures/CMakeLists.txt b/drake/examples/Atlas/urdf/materials/textures/CMakeLists.txt deleted file mode 100644 index bb5a7393aea0..000000000000 --- a/drake/examples/Atlas/urdf/materials/textures/CMakeLists.txt +++ /dev/null @@ -1,9 +0,0 @@ -set(files - atlas_DRC_1.png - atlas_DRC_carbon_fiber.png - atlas_DRC_dark_1.png - drc_extremities_diffuse.jpg - drc_labels_1.jpg - drc_torso_head_diffuse.jpg) - -install(FILES ${files} DESTINATION ${GAZEBO_INSTALL_PATH}/atlas/materials/textures/) diff --git a/drake/examples/CMakeLists.txt b/drake/examples/CMakeLists.txt deleted file mode 100644 index 786d3286e4f4..000000000000 --- a/drake/examples/CMakeLists.txt +++ /dev/null @@ -1,30 +0,0 @@ -drake_install_headers( - examples_package_map.h) - -add_executable(simple_continuous_time_system simple_continuous_time_system.cc) -target_link_libraries(simple_continuous_time_system - drakeSystemAnalysis) -drake_add_test(NAME simple_continuous_time_system COMMAND simple_continuous_time_system) - -add_executable(simple_discrete_time_system simple_discrete_time_system.cc) -target_link_libraries(simple_discrete_time_system - drakeSystemAnalysis) -drake_add_test(NAME simple_discrete_time_system COMMAND simple_discrete_time_system) - -add_executable(simple_mixed_continuous_and_discrete_time_system simple_mixed_continuous_and_discrete_time_system.cc) -target_link_libraries(simple_mixed_continuous_and_discrete_time_system - drakeSystemAnalysis) -drake_add_test(NAME simple_mixed_continuous_and_discrete_time_system COMMAND simple_mixed_continuous_and_discrete_time_system) - - -# recurse into all example subdirectories -# Note: the GLOB workflow is typically not recommended due to the fact that -# CMake will not be able to detect changes, but we currently support users -# adding contributed examples by installing directly into -# examples/MY_EXAMPLE. See #1939. -file(GLOB children *) -foreach(child ${children}) - if(EXISTS ${child}/CMakeLists.txt) - add_subdirectory(${child}) - endif() -endforeach() diff --git a/drake/examples/Pendulum/CMakeLists.txt b/drake/examples/Pendulum/CMakeLists.txt deleted file mode 100644 index a5d9f1b845ba..000000000000 --- a/drake/examples/Pendulum/CMakeLists.txt +++ /dev/null @@ -1,62 +0,0 @@ -if(lcm_FOUND) - add_library_with_exports(LIB_NAME drakePendulumPlant - SOURCE_FILES pendulum_swing_up.cc pendulum_plant.cc) - target_link_libraries(drakePendulumPlant - drakeMultibodyParsers - drakeSystemFramework - drakeTrajectoryOptimization - Eigen3::Eigen) - drake_install_libraries(drakePendulumPlant) - drake_install_headers(pendulum_plant.h pendulum_swing_up.h) - drake_install_pkg_config_file(drake-pendulum-plant - TARGET drakePendulumPlant - LIBS -ldrakePendulumPlant - REQUIRES - drake-trajectory-optimization - eigen3) - - add_executable(pendulum_run_dynamics pendulum_run_dynamics.cc) - target_link_libraries(pendulum_run_dynamics - drakeMultibodyParsers - drakePendulumPlant - drakeRigidBodyPlant - drakeSystemAnalysis - drakeSystemPrimitives) - drake_add_test(NAME pendulum_run_dynamics - COMMAND pendulum_run_dynamics) - - add_executable(pendulum_run_energy_shaping pendulum_run_energy_shaping.cc) - target_link_libraries(pendulum_run_energy_shaping - drakeMultibodyParsers - drakePendulumPlant - drakeRigidBodyPlant - drakeSystemAnalysis) - drake_add_test(NAME pendulum_run_energy_shaping - COMMAND pendulum_run_energy_shaping) - - add_executable(pendulum_run_lqr pendulum_run_lqr.cc) - target_link_libraries(pendulum_run_lqr - drakeMultibodyParsers - drakePendulumPlant - drakeRigidBodyPlant - drakeSystemAnalysis - drakeLinearControl) - drake_add_test(NAME pendulum_run_lqr - COMMAND pendulum_run_lqr) - - add_executable(pendulum_run_swing_up pendulum_run_swing_up.cc) - target_link_libraries(pendulum_run_swing_up - drakePendulumPlant - drakeRigidBodyPlant - drakeSystemControllers - drakeSystemAnalysis) - - if(ipopt_FOUND OR NLopt_FOUND OR snopt_FOUND) - drake_add_test(NAME pendulum_run_swing_up - COMMAND pendulum_run_swing_up --target_realtime_rate 0.0) - endif() -endif() - -if(BUILD_TESTING) - add_subdirectory(test) -endif() diff --git a/drake/examples/Pendulum/test/CMakeLists.txt b/drake/examples/Pendulum/test/CMakeLists.txt deleted file mode 100644 index 7c94cd54bf90..000000000000 --- a/drake/examples/Pendulum/test/CMakeLists.txt +++ /dev/null @@ -1,19 +0,0 @@ -if(lcm_FOUND) - drake_add_cc_test(pendulum_urdf_dynamics_test) - target_link_libraries(pendulum_urdf_dynamics_test - drakePendulumPlant - drakeRigidBodyPlant) - - drake_add_cc_test(pendulum_dynamic_constraint_test) - target_link_libraries(pendulum_dynamic_constraint_test - drakePendulumPlant drakeTrajectoryOptimization) - - drake_add_cc_test(pendulum_plant_test) - target_link_libraries(pendulum_plant_test drakePendulumPlant) - - if(ipopt_FOUND OR NLopt_FOUND OR snopt_FOUND) - drake_add_cc_test(pendulum_trajectory_optimization_test) - target_link_libraries(pendulum_trajectory_optimization_test - drakePendulumPlant drakeTrajectoryOptimization) - endif() -endif() diff --git a/drake/examples/Quadrotor/CMakeLists.txt b/drake/examples/Quadrotor/CMakeLists.txt deleted file mode 100644 index 070a5dce5026..000000000000 --- a/drake/examples/Quadrotor/CMakeLists.txt +++ /dev/null @@ -1,47 +0,0 @@ -# Currently has alignment problems on 32 bit Windows apparently -# due to a bug in Eigen; see issue #2106 and PR #2107. - -if(lcm_FOUND) - add_library_with_exports(LIB_NAME drakeQuadrotorCommon SOURCE_FILES - quadrotor_plant.cc) - target_link_libraries(drakeQuadrotorCommon - drakeLcmSystem - drakeLinearControl - drakeRBM) - drake_install_libraries(drakeQuadrotorCommon) - drake_install_headers( - quadrotor_plant.h) - drake_install_pkg_config_file(drake-quadrotor-common - TARGET drakeQuadrotorCommon - LIBS -ldrakeQuadrotorCommon - REQUIRES drake-lcm-system - drake-linear-controller - drake-lcmtypes-cpp - drake-rbm) - - add_executable(run_quadrotor_dynamics run_quadrotor_dynamics.cc) - target_link_libraries(run_quadrotor_dynamics - drakeLcmSystem - drakeMultibodyParsers - drakeRigidBodyPlant - drakeSystemAnalysis - drakeSystemPrimitives - gflags) - drake_add_test(NAME run_quadrotor_dynamics COMMAND run_quadrotor_dynamics --duration=1.0 SIZE medium) - - add_executable(run_quadrotor_lqr run_quadrotor_lqr.cc) - target_link_libraries(run_quadrotor_lqr - drakeLcmSystem - drakeMultibodyParsers - drakeQuadrotorCommon - drakeRigidBodyPlant - drakeSystemAnalysis - drakeSystemPrimitives - gflags) - drake_add_test(NAME run_quadrotor_lqr - COMMAND run_quadrotor_lqr -simulation_trials 2 -simulation_real_time_rate 0.0) -endif() - -if(BUILD_TESTING) - add_subdirectory(test) -endif() diff --git a/drake/examples/Quadrotor/test/CMakeLists.txt b/drake/examples/Quadrotor/test/CMakeLists.txt deleted file mode 100644 index e350124b26ed..000000000000 --- a/drake/examples/Quadrotor/test/CMakeLists.txt +++ /dev/null @@ -1,9 +0,0 @@ -if(lcm_FOUND) - drake_add_cc_test(quadrotor_dynamics_test) - target_link_libraries(quadrotor_dynamics_test - drakeMultibodyParsers - drakeQuadrotorCommon - drakeRigidBodyPlant - drakeSystemAnalysis - drakeSystemPrimitives) -endif() diff --git a/drake/examples/Valkyrie/CMakeLists.txt b/drake/examples/Valkyrie/CMakeLists.txt deleted file mode 100644 index 0b98512fe234..000000000000 --- a/drake/examples/Valkyrie/CMakeLists.txt +++ /dev/null @@ -1,71 +0,0 @@ -add_library_with_exports(LIB_NAME drakeValkyrieConstants SOURCE_FILES - valkyrie_constants.cc) -target_link_libraries(drakeValkyrieConstants drakeCommon) -drake_install_libraries(drakeValkyrieConstants) -drake_install_headers(valkyrie_constants.h) - -if (lcm_FOUND) - add_library_with_exports(LIB_NAME drakeRobotCommandToDesiredEffortConverter SOURCE_FILES - robot_command_to_desired_effort_converter.cc) - target_link_libraries(drakeRobotCommandToDesiredEffortConverter - drakeLcmSystem) - drake_install_libraries(drakeRobotCommandToDesiredEffortConverter) - drake_install_headers(robot_command_to_desired_effort_converter.h) - - add_library_with_exports(LIB_NAME drakeActuatorEffortToRigidBodyPlantInputConverter SOURCE_FILES - actuator_effort_to_rigid_body_plant_input_converter.cc) - target_link_libraries(drakeActuatorEffortToRigidBodyPlantInputConverter - drakeLcmSystem) - drake_install_libraries(drakeActuatorEffortToRigidBodyPlantInputConverter) - drake_install_headers(actuator_effort_to_rigid_body_plant_input_converter.h) - - add_library_with_exports(LIB_NAME drakeRobotStateEncoder SOURCE_FILES - robot_state_encoder.cc) - target_link_libraries(drakeRobotStateEncoder - drakeGeometryUtil - drakeLcmSystem - drakeLCMUtil - drakeRigidBodyPlant - drakeSide - drakeRobotStateLcmTranslator - ) - drake_install_libraries(drakeRobotStateEncoder) - drake_install_headers(robot_state_encoder.h) - - add_library_with_exports(LIB_NAME drakeRobotStateDecoder SOURCE_FILES - robot_state_decoder.cc) - target_link_libraries(drakeRobotStateDecoder - drakeLcmSystem - drakeLCMUtil - drakeRigidBodyPlant - drakeRobotStateLcmTranslator - ) - drake_install_libraries(drakeRobotStateDecoder) - drake_install_headers(robot_state_decoder.h) - - add_executable(valkyrie_simulation valkyrie_simulation.cc) - target_link_libraries(valkyrie_simulation - drakeLcmSystem - drakeMultibodyParsers - drakeRigidBodyPlant - drakeRobotStateEncoder - drakeSystemAnalysis - drakeSystemFramework - drakeSystemPrimitives - drakeActuatorEffortToRigidBodyPlantInputConverter - drakeRobotCommandToDesiredEffortConverter - drakeValkyrieConstants) - - add_executable(valkyrie_pd_ff_controller valkyrie_pd_ff_controller.cc) - target_link_libraries(valkyrie_pd_ff_controller - drakeLcmSystem - drakeMultibodyParsers - drakeRigidBodyPlant - drakeRobotStateDecoder - drakeSystemFramework - drakeValkyrieConstants) -endif() - -if(BUILD_TESTING) - add_subdirectory(test) -endif() diff --git a/drake/examples/Valkyrie/test/CMakeLists.txt b/drake/examples/Valkyrie/test/CMakeLists.txt deleted file mode 100644 index 115aac51fd69..000000000000 --- a/drake/examples/Valkyrie/test/CMakeLists.txt +++ /dev/null @@ -1,39 +0,0 @@ -if(lcm_FOUND) - drake_add_cc_test(robot_state_encoder_decoder_test) - add_definitions(-g) - target_link_libraries(robot_state_encoder_decoder_test - drakeMultibodyParsers - drakeRobotStateDecoder - drakeRobotStateEncoder - drakeSystemPrimitives) - - drake_add_cc_test(robot_command_to_desired_effort_converter_test) - target_link_libraries(robot_command_to_desired_effort_converter_test - drakeMultibodyParsers - drakeRBM - drakeSystemPrimitives - drakeRobotCommandToDesiredEffortConverter) - - drake_add_cc_test(NAME valkyrie_ik_test - WORKING_DIRECTORY "${PROJECT_SOURCE_DIR}") - target_link_libraries(valkyrie_ik_test - drakeCommon - drakeIK - drakeLcm - drakeMultibodyParsers - drakeRBM - drakeRigidBodyPlant) - - drake_add_cc_test(valkyrie_simulation_test) - target_link_libraries(valkyrie_simulation_test - drakeLcmSystem - drakeMultibodyParsers - drakeRigidBodyPlant - drakeRobotStateEncoder - drakeSystemAnalysis - drakeSystemFramework - drakeSystemPrimitives - drakeActuatorEffortToRigidBodyPlantInputConverter - drakeRobotCommandToDesiredEffortConverter - drakeValkyrieConstants) -endif() diff --git a/drake/examples/ZMP/CMakeLists.txt b/drake/examples/ZMP/CMakeLists.txt deleted file mode 100644 index 9955ff74e714..000000000000 --- a/drake/examples/ZMP/CMakeLists.txt +++ /dev/null @@ -1,19 +0,0 @@ -add_library_with_exports(LIB_NAME drakeZMPTestUtil SOURCE_FILES zmp_test_util.cc) -target_link_libraries(drakeZMPTestUtil drakeZMPPlanner) -drake_install_libraries(drakeZMPTestUtil) -drake_install_headers(zmp_test_util.h) -drake_install_pkg_config_file(drake-zmp-test_util - TARGET drakeZMPTestUtil - LIBS -ldrakeZMPTestUtil) - -if(BUILD_TESTING) - add_subdirectory(test) -endif() - -if (lcm_FOUND) - add_executable(zmp_example - zmp_example.cc) - target_link_libraries(zmp_example - drakeZMPTestUtil - drakeLcm) -endif() diff --git a/drake/examples/ZMP/test/CMakeLists.txt b/drake/examples/ZMP/test/CMakeLists.txt deleted file mode 100644 index e75513792ca6..000000000000 --- a/drake/examples/ZMP/test/CMakeLists.txt +++ /dev/null @@ -1,4 +0,0 @@ -if (lcm_FOUND) - drake_add_cc_test(zmp_planner_test) - target_link_libraries(zmp_planner_test drakeZMPTestUtil) -endif() diff --git a/drake/examples/bead_on_a_wire/CMakeLists.txt b/drake/examples/bead_on_a_wire/CMakeLists.txt deleted file mode 100644 index 24b7abf68a79..000000000000 --- a/drake/examples/bead_on_a_wire/CMakeLists.txt +++ /dev/null @@ -1,23 +0,0 @@ -if(BUILD_TESTING) - add_subdirectory(test) -endif() - -add_library_with_exports(LIB_NAME drakeBeadOnAWire SOURCE_FILES - bead_on_a_wire.cc - ) -target_link_libraries(drakeBeadOnAWire - drakeCommon - drakeSystemFramework - ) -drake_install_libraries(drakeBeadOnAWire) -drake_install_headers( - bead_on_a_wire-inl.h - bead_on_a_wire.h - ) -drake_install_pkg_config_file(drake-bead_on_a_wire - TARGET drakeBeadOnAWire - LIBS -ldrakeBeadOnAWire - REQUIRES - drake-common - drake-system-framework) - diff --git a/drake/examples/bead_on_a_wire/test/CMakeLists.txt b/drake/examples/bead_on_a_wire/test/CMakeLists.txt deleted file mode 100644 index 8af143be2c0c..000000000000 --- a/drake/examples/bead_on_a_wire/test/CMakeLists.txt +++ /dev/null @@ -1,3 +0,0 @@ -drake_add_cc_test(bead_on_a_wire_test) -target_link_libraries(bead_on_a_wire_test drakeBeadOnAWire) - diff --git a/drake/examples/bouncing_ball/CMakeLists.txt b/drake/examples/bouncing_ball/CMakeLists.txt deleted file mode 100644 index 184e61953821..000000000000 --- a/drake/examples/bouncing_ball/CMakeLists.txt +++ /dev/null @@ -1,25 +0,0 @@ -if(BUILD_TESTING) - add_subdirectory(test) -endif() - -add_library_with_exports(LIB_NAME drakeBouncingBall SOURCE_FILES - ball.cc - bouncing_ball.cc - ) -target_link_libraries(drakeBouncingBall - drakeCommon - drakeSystemFramework - ) -drake_install_libraries(drakeBouncingBall) -drake_install_headers( - bouncing_ball-inl.h - bouncing_ball.h - ball-inl.h - ball.h - ) -drake_install_pkg_config_file(drake-bouncing-ball - TARGET drakeBouncingBall - LIBS -ldrakeBouncingBall - REQUIRES - drake-common - drake-system-framework) diff --git a/drake/examples/bouncing_ball/test/CMakeLists.txt b/drake/examples/bouncing_ball/test/CMakeLists.txt deleted file mode 100644 index 4aefa4e92e1e..000000000000 --- a/drake/examples/bouncing_ball/test/CMakeLists.txt +++ /dev/null @@ -1,6 +0,0 @@ -drake_add_cc_test(ball_test) -target_link_libraries(ball_test drakeBouncingBall ) - -drake_add_cc_test(bouncing_ball_test) -target_link_libraries(bouncing_ball_test drakeBouncingBall - drakeSystemAnalysis drakeSystemFramework drakeCommon) diff --git a/drake/examples/contact_model/CMakeLists.txt b/drake/examples/contact_model/CMakeLists.txt deleted file mode 100644 index 358106a33046..000000000000 --- a/drake/examples/contact_model/CMakeLists.txt +++ /dev/null @@ -1,33 +0,0 @@ -if (lcm_FOUND AND Bullet_FOUND) - add_executable(sliding_bricks sliding_bricks.cc) - target_link_libraries(sliding_bricks - drakeLcmSystem - drakeMultibodyParsers - drakeRigidBodyPlant - drakeSystemAnalysis - drakeSystemFramework - ) - # A test to guarantee the example doesn't fall out of sync with Drake. - drake_add_test(NAME sliding_bricks COMMAND sliding_bricks --sim_duration 0.01 --playback=false) - - add_executable(rigid_gripper rigid_gripper.cc) - target_link_libraries(rigid_gripper - drakeCommon - drakeLcmSystem - drakeMultibodyParsers - drakeRBM - drakeRigidBodyPlant - drakeSystemAnalysis - ) - drake_add_test(NAME rigid_gripper COMMAND rigid_gripper --sim_duration 0.01 --playback=false) - - add_executable(bowling_ball bowling_ball.cc) - target_link_libraries(bowling_ball - drakeLcmSystem - drakeMultibodyParsers - drakeRigidBodyPlant - drakeSystemAnalysis - drakeSystemFramework - ) - drake_add_test(NAME bowling_ball COMMAND bowling_ball --sim_duration=0.01 --playback=false) -endif() diff --git a/drake/examples/examples_package_map.h b/drake/examples/examples_package_map.h deleted file mode 100644 index 01249b234816..000000000000 --- a/drake/examples/examples_package_map.h +++ /dev/null @@ -1,28 +0,0 @@ -#pragma once - -#include "drake/common/drake_path.h" -#include "drake/multibody/parsers/package_map.h" - -namespace drake { -namespace examples { - -/** - * Adds example packages to @p package_map. This map can be used by the URDF - * and SDF parsers to find ROS package resources referenced by URDF and SDF - * files. Currently, the following packages are added: - * - * - Atlas - * - IRB140 - * - Valkyrie - * - * @param[out] package_map A pointer to the PackageMap to which the exmamples - * should be added. This must not be nullptr. - */ -inline void AddExamplePackages(parsers::PackageMap* package_map) { - package_map->Add("Atlas", GetDrakePath() + "/examples/Atlas/"); - package_map->Add("IRB140", GetDrakePath() + "/examples/IRB140/"); - package_map->Add("Valkyrie", GetDrakePath() + "/examples/Valkyrie"); -} - -} // namespace examples -} // namespace drake diff --git a/drake/examples/kuka_iiwa_arm/CMakeLists.txt b/drake/examples/kuka_iiwa_arm/CMakeLists.txt index dd14c402a679..1e547be67517 100644 --- a/drake/examples/kuka_iiwa_arm/CMakeLists.txt +++ b/drake/examples/kuka_iiwa_arm/CMakeLists.txt @@ -1,19 +1,4 @@ if(lcm_FOUND) - add_library_with_exports(LIB_NAME drakeSimDiagramBuilder SOURCE_FILES - sim_diagram_builder.cc) - target_link_libraries(drakeSimDiagramBuilder - drakeRigidBodyPlant - drakeSystemAnalysis - drakeSystemControllers - drakeLcmSystem) - drake_install_libraries(drakeSimDiagramBuilder) - drake_install_headers( - sim_diagram_builder.h) - drake_install_pkg_config_file(drake-sim-diagram-builder - TARGET drakeSimDiagramBuilder - LIBS -ldrakeSimDiagramBuilder - REQUIRES drake-lcm-system drake-lcmtypes-cpp drake-rbm eigen3) - # Defines a shared library for use by KUKA iiwa demos based on System 2.0. add_library_with_exports(LIB_NAME drakeKukaIiwaArmCommon SOURCE_FILES iiwa_common.cc iiwa_lcm.cc robot_plan_interpolator.cc) @@ -31,80 +16,8 @@ if(lcm_FOUND) TARGET drakeKukaIiwaArmCommon LIBS -ldrakeKukaIiwaArmCommon REQUIRES drake-lcm-system drake-lcmtypes-cpp drake-rbm eigen3) - - add_executable(kuka_plan_runner kuka_plan_runner.cc) - target_link_libraries(kuka_plan_runner - drakeKukaIiwaArmCommon - drakeLCMTypes - drakeTrajectories - drakeMultibodyParsers - drakeRBM - robotlocomotion-lcmtypes-cpp - lcm) - - add_executable(iiwa_controller iiwa_controller.cc) - target_link_libraries(iiwa_controller - drakeKukaIiwaArmCommon - drakeLCMTypes - drakeTrajectories - drakeMultibodyParsers - drakeLcmDrivenLoop - drakeLcmSystem - drakeRBM - drakeSystemAnalysis - drakeSystemPrimitives - robotlocomotion-lcmtypes-cpp) - - add_executable(kuka_simulation kuka_simulation.cc) - target_link_libraries(kuka_simulation - drakeSimDiagramBuilder - drakeKukaIiwaArmCommon - drakeLcmSystem - drakeMultibodyParsers - drakeRigidBodyPlant - drakeSystemAnalysis - drakeSystemControllers) - drake_add_test( - NAME kuka_simulation COMMAND kuka_simulation --simulation_sec 0.1) - - add_executable(iiwa_wsg_simulation iiwa_wsg_simulation.cc) - target_link_libraries(iiwa_wsg_simulation - drakeSimDiagramBuilder - drakeKukaIiwaArmCommon - drakeKukaIiwaWorld - drakeLcmSystem - drakeLCMUtil - drakeRigidBodyPlant - drakeSchunkWsg - drakeSystemAnalysis - drakeSystemControllers - robotlocomotion-lcmtypes-cpp) - drake_add_test( - NAME iiwa_wsg_simulation COMMAND iiwa_wsg_simulation --simulation_sec 0.01) - - add_library_with_exports(LIB_NAME oracularStateEstimator SOURCE_FILES - oracular_state_estimator.cc) - target_link_libraries(oracularStateEstimator - drakeLcmSystem - drakeLCMUtil - drakeRBM - drakeRobotStateLcmTranslator - Eigen3::Eigen) - drake_install_libraries(oracularStateEstimator) - drake_install_headers( - oracular_state_estimator.h) - drake_install_pkg_config_file(oracular-state-estimator - TARGET oracularStateEstimator - LIBS -loracularStateEstimator - REQUIRES drake-lcm-system drake-lcm-util drake-lcmtypes-cpp drake-rbm drake-robot-state-lcm-translator eigen3) - endif() -add_subdirectory(controlled_kuka) -add_subdirectory(dev) -add_subdirectory(iiwa_world) -add_subdirectory(pick_and_place) - if(BUILD_TESTING) add_subdirectory(test) endif() diff --git a/drake/examples/kuka_iiwa_arm/controlled_kuka/CMakeLists.txt b/drake/examples/kuka_iiwa_arm/controlled_kuka/CMakeLists.txt deleted file mode 100644 index bc5ee7583ada..000000000000 --- a/drake/examples/kuka_iiwa_arm/controlled_kuka/CMakeLists.txt +++ /dev/null @@ -1,24 +0,0 @@ -if(lcm_FOUND) - add_executable(controlled_kuka_demo - controlled_kuka_demo.cc) - target_link_libraries(controlled_kuka_demo - drakeKukaIiwaArmCommon - drakeLcmSystem - drakeMultibodyParsers - drakeRigidBodyPlant - drakeSimDiagramBuilder - drakeSystemAnalysis - drakeSystemControllers - drakeTrajectories - gflags) - - # NLopt isn't sufficient to run the kuka_demo, as it is unable to - # find a solution. See - # https://github.com/RobotLocomotion/drake/issues/3710 - # Ipopt is currently being investigated for issues as well. See - # https://github.com/RobotLocomotion/drake/issues/3128 - if(snopt_FOUND) - drake_add_test(NAME controlled_kuka_demo - COMMAND controlled_kuka_demo) - endif() -endif() diff --git a/drake/examples/kuka_iiwa_arm/dev/CMakeLists.txt b/drake/examples/kuka_iiwa_arm/dev/CMakeLists.txt deleted file mode 100644 index ba8564eab1c7..000000000000 --- a/drake/examples/kuka_iiwa_arm/dev/CMakeLists.txt +++ /dev/null @@ -1,2 +0,0 @@ -add_subdirectory(pick_and_place) -add_subdirectory(tools) diff --git a/drake/examples/kuka_iiwa_arm/dev/monolithic_pick_and_place/CMakeLists.txt b/drake/examples/kuka_iiwa_arm/dev/monolithic_pick_and_place/CMakeLists.txt deleted file mode 100644 index e69de29bb2d1..000000000000 diff --git a/drake/examples/kuka_iiwa_arm/dev/pick_and_place/CMakeLists.txt b/drake/examples/kuka_iiwa_arm/dev/pick_and_place/CMakeLists.txt deleted file mode 100644 index 0433801e7708..000000000000 --- a/drake/examples/kuka_iiwa_arm/dev/pick_and_place/CMakeLists.txt +++ /dev/null @@ -1,13 +0,0 @@ -if(lcm_FOUND) - add_executable(pick_and_place_demo - pick_and_place_demo.cc - ) - target_link_libraries(pick_and_place_demo - drakeKukaIiwaArmCommon - drakeManipulationPlanner - drakeLCMTypes - drakeLCMUtil - drakeRigidBodyPlant - pickAndPlaceCommon - robotlocomotion-lcmtypes-cpp) -endif() diff --git a/drake/examples/kuka_iiwa_arm/dev/tools/CMakeLists.txt b/drake/examples/kuka_iiwa_arm/dev/tools/CMakeLists.txt deleted file mode 100644 index 3d332f3597d4..000000000000 --- a/drake/examples/kuka_iiwa_arm/dev/tools/CMakeLists.txt +++ /dev/null @@ -1,30 +0,0 @@ -if(lcm_FOUND) - - add_library_with_exports(LIB_NAME drakeSimpleTreeVisualizer SOURCE_FILES - simple_tree_visualizer.cc) - target_link_libraries(drakeSimpleTreeVisualizer - drakeLcmSystem - drakeLCMUtil - drakeMultibodyParsers - drakeRigidBodyPlant - drakeSystemFramework) - drake_install_libraries(drakeSimpleTreeVisualizer) - drake_install_headers(simple_tree_visualizer.h) - drake_install_pkg_config_file(drake-simple-tree-visualizer - TARGET drakeSimpleTreeVisualizer - LIBS - -ldrakeSimpleTreeVisualizer - REQUIRES - drake-lcm-system2 - drake-multibody-parsers - drake-rigid-body-plant - drake-system-framework) - - add_executable(simple_tree_visualizer_demo simple_tree_visualizer_demo.cc) - target_link_libraries(simple_tree_visualizer_demo - drakeSimpleTreeVisualizer) - drake_add_test( - NAME simple_tree_visualizer_demo COMMAND simple_tree_visualizer_demo - --num_configurations 1) - -endif() diff --git a/drake/examples/kuka_iiwa_arm/iiwa_world/CMakeLists.txt b/drake/examples/kuka_iiwa_arm/iiwa_world/CMakeLists.txt deleted file mode 100644 index 798f4ec0c405..000000000000 --- a/drake/examples/kuka_iiwa_arm/iiwa_world/CMakeLists.txt +++ /dev/null @@ -1,52 +0,0 @@ -if(lcm_FOUND) - # Defines a shared library for use by KUKA iiwa world demos based on - # System 2.0. - add_library_with_exports(LIB_NAME drakeKukaIiwaWorld SOURCE_FILES - world_sim_tree_builder.cc - iiwa_wsg_diagram_factory.cc) - target_link_libraries(drakeKukaIiwaWorld - drakeKukaIiwaArmCommon - drakeLcmSystem - drakeLCMUtil - drakeMultibodyParsers - drakeRigidBodyPlant - drakeSimDiagramBuilder - drakeSystemAnalysis - drakeSystemFramework - drakeSystemPrimitives - drakeSystemControllers - oracularStateEstimator - gflags - spruce) - drake_install_libraries(drakeKukaIiwaWorld) - drake_install_headers( - world_sim_tree_builder.h - iiwa_wsg_diagram_factory.h) - drake_install_pkg_config_file(drake-kuka-iiwa-world - TARGET drakeKukaIiwaWorld - LIBS - -ldrakeKukaIiwaWorld - -lgflags - REQUIRES - drake-kuka-iiwa-arm-common - drake-lcm-system2 - drake-multibody-parsers - drake-rigid-body-plant - drake-sim-diagram-builder - drake-system-analysis - drake-system-framework - drake-system-primitives - oracular-state-estimator - spruce) - - add_executable(multi_arm_with_gripper_demo multi_arm_with_gripper_demo.cc) - target_link_libraries(multi_arm_with_gripper_demo - drakeKukaIiwaArmCommon - drakeKukaIiwaWorld - drakeSimDiagramBuilder - drakeLcmSystem - drakeMultibodyParsers - drakeRigidBodyPlant - drakeSystemAnalysis - drakeSystemControllers) -endif() diff --git a/drake/examples/kuka_iiwa_arm/pick_and_place/CMakeLists.txt b/drake/examples/kuka_iiwa_arm/pick_and_place/CMakeLists.txt deleted file mode 100644 index bfa7cdd28471..000000000000 --- a/drake/examples/kuka_iiwa_arm/pick_and_place/CMakeLists.txt +++ /dev/null @@ -1,31 +0,0 @@ -if(lcm_FOUND) - add_library_with_exports(LIB_NAME pickAndPlaceCommon SOURCE_FILES - action.cc - pick_and_place_state_machine.cc - world_state.cc) - target_link_libraries(pickAndPlaceCommon - drakeCommon - drakeKukaIiwaArmCommon - drakeLCMTypes - drakeLCMUtil - drakeManipulationPlanner - drakeMultibodyParsers - drakeRBM - drakeTrajectories - robotlocomotion-lcmtypes-cpp) - drake_install_libraries(pickAndPlaceCommon) - drake_install_headers( - action.h - pick_and_place_state_machine.h - world_state.h) - drake_install_pkg_config_file(pick-and-place-common - TARGET pickAndPlaceCommon - LIBS -lpickAndPlaceCommon - REQUIRES drake-common - drake-lcmtypes-cpp drake-lcm-utils drake-rbm - robotlocomotion-lcmtypes-cpp) -endif() - -if(BUILD_TESTING) - add_subdirectory(test) -endif() diff --git a/drake/examples/kuka_iiwa_arm/pick_and_place/test/CMakeLists.txt b/drake/examples/kuka_iiwa_arm/pick_and_place/test/CMakeLists.txt deleted file mode 100644 index b8bfcba48316..000000000000 --- a/drake/examples/kuka_iiwa_arm/pick_and_place/test/CMakeLists.txt +++ /dev/null @@ -1,11 +0,0 @@ -if(lcm_FOUND) - drake_add_cc_test(pick_and_place_state_machine_test) - target_link_libraries(pick_and_place_state_machine_test - drakeLCMTypes - pickAndPlaceCommon) - - drake_add_cc_test(world_state_test) - target_link_libraries(world_state_test - drakeLCMTypes - pickAndPlaceCommon) -endif() diff --git a/drake/examples/kuka_iiwa_arm/test/CMakeLists.txt b/drake/examples/kuka_iiwa_arm/test/CMakeLists.txt index 019988e39fa8..79cc729d8ae9 100644 --- a/drake/examples/kuka_iiwa_arm/test/CMakeLists.txt +++ b/drake/examples/kuka_iiwa_arm/test/CMakeLists.txt @@ -7,15 +7,4 @@ if(lcm_FOUND) drake_add_cc_test(robot_plan_interpolator_test) target_link_libraries(robot_plan_interpolator_test drakeKukaIiwaArmCommon) - - drake_add_cc_test(sim_diagram_builder_test) - target_link_libraries(sim_diagram_builder_test - drakeKukaIiwaArmCommon - drakeKukaIiwaWorld - drakeSimDiagramBuilder - drakeLcmSystem - drakeMultibodyParsers - drakeRigidBodyPlant - drakeSystemAnalysis - drakeSystemControllers) endif() diff --git a/drake/examples/particles/CMakeLists.txt b/drake/examples/particles/CMakeLists.txt deleted file mode 100644 index d3553019ec83..000000000000 --- a/drake/examples/particles/CMakeLists.txt +++ /dev/null @@ -1,42 +0,0 @@ -add_library_with_exports(LIB_NAME drakeParticles SOURCE_FILES - particle.cc - utilities.cc - ) -target_link_libraries(drakeParticles - drakeCommon - drakeSystemPrimitives - drakeSystemFramework - ) -drake_install_libraries( - drakeParticles - ) -drake_install_headers( - particle.h - utilities.h - ) -drake_install_pkg_config_file(drake-particles - TARGET drakeParticles - LIBS -ldrakeParticles - REQUIRES - drake-common - drake-system-framework - ) - -if(lcm_FOUND) - add_executable(uniformly_accelerated_particle_demo uniformly_accelerated_particle.cc) - target_link_libraries(uniformly_accelerated_particle_demo - drakeParticles - drakeRBM - drakeLcmSystem - drakeRigidBodyPlant - drakeSystemAnalysis - drakeSystemPrimitives - drakeMultibodyParsers - drakeRendering - ) - drake_install_executables(TARGETS uniformly_accelerated_particle_demo) -endif() - -if(BUILD_TESTING) - add_subdirectory(test) -endif() diff --git a/drake/examples/particles/test/CMakeLists.txt b/drake/examples/particles/test/CMakeLists.txt deleted file mode 100644 index 7bab9fa483c7..000000000000 --- a/drake/examples/particles/test/CMakeLists.txt +++ /dev/null @@ -1,5 +0,0 @@ -drake_add_cc_test(particle_test) -target_link_libraries(particle_test drakeParticles) - -drake_add_cc_test(utilities_test) -target_link_libraries(utilities_test drakeParticles) diff --git a/drake/examples/rod2d/CMakeLists.txt b/drake/examples/rod2d/CMakeLists.txt deleted file mode 100644 index d47c88910229..000000000000 --- a/drake/examples/rod2d/CMakeLists.txt +++ /dev/null @@ -1,25 +0,0 @@ -if(BUILD_TESTING) - add_subdirectory(test) -endif() - -add_library_with_exports(LIB_NAME drakeRod2D SOURCE_FILES - rod2d.cc - ) -target_link_libraries(drakeRod2D - drakeCommon - drakeRendering - drakeSystemFramework - drakeOptimization - ) -drake_install_libraries(drakeRod2D) -drake_install_headers( - rod2d-inl.h - rod2d.h - ) -drake_install_pkg_config_file(drake-rod2d - TARGET drakeRod2D - LIBS -ldrakeRod2D - REQUIRES - drake-common - drake-system-framework) - diff --git a/drake/examples/rod2d/test/CMakeLists.txt b/drake/examples/rod2d/test/CMakeLists.txt deleted file mode 100644 index e5ba602d26f5..000000000000 --- a/drake/examples/rod2d/test/CMakeLists.txt +++ /dev/null @@ -1,3 +0,0 @@ -drake_add_cc_test(rod2d_test) -target_link_libraries(rod2d_test drakeRod2D drakeSystemAnalysis) - diff --git a/drake/examples/schunk_wsg/CMakeLists.txt b/drake/examples/schunk_wsg/CMakeLists.txt deleted file mode 100644 index e16d369383ee..000000000000 --- a/drake/examples/schunk_wsg/CMakeLists.txt +++ /dev/null @@ -1,31 +0,0 @@ -add_library_with_exports(LIB_NAME drakeSimulatedSchunkWsg SOURCE_FILES - simulated_schunk_wsg_system.cc) -target_link_libraries(drakeSimulatedSchunkWsg - drakeMultibodyParsers - drakeRigidBodyPlant) -drake_install_libraries(drakeSimulatedSchunkWsg) -drake_install_headers( - simulated_schunk_wsg_system.h) -drake_install_pkg_config_file(drake-simulated-schunk-wsg - TARGET drakeSimulatedSchunkWsg - LIBS -ldrakeSimulatedSchunkWsg - REQUIRES - drake-multibody-parsers - drake-rigid-body-plant) - -if(lcm_FOUND) - add_executable(schunk_wsg_simulation schunk_wsg_simulation.cc) - target_link_libraries(schunk_wsg_simulation - drakeLcmSystem - drakeRigidBodyPlant - drakeSchunkWsg - drakeSimulatedSchunkWsg - drakeSystemAnalysis - drakeSystemControllers) - drake_add_test( - NAME schunk_wsg_simulation COMMAND schunk_wsg_simulation --simulation_sec 0.1) -endif() - -if(BUILD_TESTING) - add_subdirectory(test) -endif() diff --git a/drake/examples/schunk_wsg/test/CMakeLists.txt b/drake/examples/schunk_wsg/test/CMakeLists.txt deleted file mode 100644 index 2ea75cb28948..000000000000 --- a/drake/examples/schunk_wsg/test/CMakeLists.txt +++ /dev/null @@ -1,20 +0,0 @@ -if(lcm_FOUND) - drake_add_cc_test(NAME simulated_schunk_wsg_system_test SIZE medium) - target_link_libraries(simulated_schunk_wsg_system_test - drakeSimulatedSchunkWsg drakeSystemAnalysis drakeSystemPrimitives) - - # With the new contact model (and current configuration values), this test - # takes about 2.5 minutes to run in release mode. It should *not* - # be run in debug mode (> 90 minutes). - drake_add_cc_test(NAME schunk_wsg_lift_test SIZE large - CONFIGURATIONS Release) - target_link_libraries(schunk_wsg_lift_test - drakeCommon - drakeLcmSystem - drakeMultibodyParsers - drakeRBM - drakeRigidBodyPlant - drakeSystemAnalysis - drakeSystemControllers - drakeSystemPrimitives) -endif()