Commit b80d34af authored by Nicolas Docquier's avatar Nicolas Docquier
Browse files

Merge branch 'release_1.11.0' into 'master'

Release 1.11.0

See merge request robotran/mbsysc!218
parents d0d1491c 56651817
......@@ -449,8 +449,25 @@ Python_interface_realtimeOFF:
# Other Example models: ----
# --------------------------------------------------------------------------
# ---- PendulumSpring123: example project for customzied loading with specified symb and user libs ----
PendulumSpring123_mbsysC:
script:
- mkdir MBsysC/build
- cd MBsysC/build
- cmake -DFLAG_REAL_TIME=OFF ..
- make
- cd ../..
- mkdir ExampleProjects/PendulumSpring123/resultsR/PendulumSpring1
- mkdir ExampleProjects/PendulumSpring123/workR/build
- cd ExampleProjects/PendulumSpring123/workR/build
- cmake -DFLAG_SEPARATE_BUILD=ON ..
- make
- ./exe_PendulumSpring123
after_script:
- rm -r ExampleProjects/PendulumSpring123/workR/build # need to manually clean folder for gitlab-ci with submodule
# ---- Coman robot: example project as a submodule ----
coman_mbysC:
coman_mbsysC:
before_script:
- git submodule sync --recursive
- git submodule update --init --recursive
......@@ -464,7 +481,7 @@ coman_mbysC:
- rm -r ExampleProjects/coman_robot/workR/build # need to manually clean folder for gitlab-ci with submodule
only:
- dev
# --------------------------------------------------------------------------
# Generating Doxygen documentation (directly available on Gitlab pages) ----
# --------------------------------------------------------------------------
......
## Changes for next release
## Robotran v1.11.0
* Windows 32 bit is no longer supported. An error message is shown when the user try to execute cmake with 32 bit and the process stops.
* __Change to existing function(s):__
* `set_output_value` : `val_index` now start at 1 to be coherent with all user indexing.
* Add new time integrators for the DIRDYN module. Available integrators are now: RK4, Dopri5, Rosenbrock, EulerEx, Eulaire, EulerIm, Bader, WMethods + possibility to implement custom integrator still available.
* Improvement of integrators:
* possibility to freeze JAcobian matrix for implicit integrators
* option to specify whether the model must be re-computed between 2 consecutive time-steps
* Remove dependency on lapacke by calling directly lapack function
* Redefinition of `set_output_value` to save custom quantities in a vector: indices in the saved vector start at 1 and not at 0 (see doc for details)
* Other small corrections and changes
## Robotran v1.10.0
* Change the call structure for integrators in dirdyn module. The integrators are now chosen thanks to a key-word and their calls are formated :
-> 3 functions specifics for each integrator (init, loop and finish integrator) are implemented
-> these functions are automatically called thanks to 3 pointors of functions
......
......@@ -91,7 +91,7 @@ endif()
# MBSysC libraries
if ( FLAG_SEPARATE_BUILD ) # find MBSysC dynamic libraries
find_package( LibRobotranC 1.10.0 REQUIRED )
find_package( LibRobotranC 1.11.0 REQUIRED )
add_definitions(${LIB_MBSYSC_DEFINITIONS})
target_link_libraries(Project_symbolic ${LIB_MBSYSC_MODULES})
endif()
......
......@@ -136,7 +136,7 @@ endif()
# MBSysC libraries
if ( FLAG_SEPARATE_BUILD ) # find MBSysC dynamic libraries
find_package( LibRobotranC 1.10.0 REQUIRED )
find_package( LibRobotranC 1.11.0 REQUIRED )
add_definitions(${LIB_MBSYSC_DEFINITIONS})
endif()
......
......@@ -52,7 +52,8 @@ if (WIN32)
if( CMAKE_SIZEOF_VOID_P EQUAL 8 ) # 64bit Windows
SET(WIN_LIB_DIRECTORY win64_include_lib)
else( ) # 32bit Windows
SET(WIN_LIB_DIRECTORY win32_include_lib)
# 32 is no longer supported, an error message is printed and the process stops.
message( FATAL_ERROR "\n !!! MbsysC is no longer supported in Windows 32 bit. Please use 64 bit or contact the development team for further informations." )
endif( )
## ---- WINDOWS DLL FILES ---- ##
......@@ -81,6 +82,8 @@ option (FLAG_SEPARATE_SYMBOLIC "Link to symbolic files already compiled (if FLAG
# Link to user function files already compiled
option (FLAG_SEPARATE_USER_FCT "Link to user fonction files already compiled (if FLAG_SEPARATE_BUILD is ON)" OFF)
# Set to ON to include the real-time libraries
option (FLAG_REAL_TIME "Real time" OFF)
# * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
# Additional CMakelists.txt
......@@ -95,9 +98,6 @@ add_subdirectory ( ${CMAKE_AUX}/listing/ ${CMAKE_AUX_BIN}/listing/ )
add_subdirectory ( ${CMAKE_AUX}/libraries/ ${CMAKE_AUX_BIN}/libraries/ )
add_subdirectory ( ${CMAKE_AUX}/make_opt/ ${CMAKE_AUX_BIN}/make_opt/ )
# uncomment to include the real-time libraries by default
option (FLAG_REAL_TIME "Real time" OFF)
# CMake functions
release_debug()
make_options()
......@@ -171,7 +171,7 @@ flags_clean()
if ( FLAG_SEPARATE_BUILD ) # find MBSysC dynamic libraries
find_path(LibRobotranC_DIR LibRobotranCConfig.cmake "${ROBOTRAN_SOURCE_DIR}/build")
find_package( LibRobotranC 1.10.0 REQUIRED )
find_package( LibRobotranC 1.11.0 REQUIRED )
target_link_libraries( ${Executable} ${LIB_MBSYSC_MODULES} ${LIB_MBSYSC_LOAD} ${LIB_MBSYSC_UTILITIES} )
add_definitions(${LIB_MBSYSC_DEFINITIONS})
......
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f 23//1 27//1 19//1
f 19//1 27//1 31//1
f 11//1 15//1 43//1
f 43//1 15//1 19//1
f 43//1 19//1 39//1
f 39//1 19//1 31//1
f 39//1 31//1 35//1
f 117//1 113//1 109//1
f 125//1 121//1 117//1
f 115//1 119//1 147//1
f 111//1 115//1 107//1
f 107//1 115//1 147//1
f 107//1 147//1 149//1
f 149//1 147//1 151//1