Merge branch 'master' into cleanup

Conflicts:
	Contents.m
	configure.m
	examples/Acrobot/runDircol.m
	runAllTests.m
	systems/@DynamicalSystem/runLCM.m
	systems/@PolynomialSystem/PolynomialSystem.m
	systems/@PolynomialTrajectorySystem/PolynomialTrajectorySystem.m
	systems/plants/Manipulator.m

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/branches/class-hierarchy-cleanup@3351 c9849af7-e679-4ec6-a44e-fc146a885bd3

Contents.m

@@ -1,5 +1,5 @@
 % Drake Toolbox 
-% Version 3.1.0 11-May-2012
+% Version 4.0.0 (2019b) 21-July-2012
 % 
 % MIT Robot Locomotion Group
 % Drake Main Directory

LICENSE.TXT

@@ -0,0 +1,30 @@
+All components of Drake are licensed under the BSD 3-Clause
+License.
+
+Copyright (c) 2012, Robot Locomotion Group @ CSAIL All rights
+reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are
+met:
+
+Redistributions of source code must retain the above copyright notice,
+this list of conditions and the following disclaimer.  Redistributions
+in binary form must reproduce the above copyright notice, this list of
+conditions and the following disclaimer in the documentation and/or
+other materials provided with the distribution.  Neither the name of
+the Massachusetts Institute of Technology nor the names of its
+contributors may be used to endorse or promote products derived from
+this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

configure.m

@@ -57,10 +57,10 @@
       end
     end
   end
-end
+end 
 
 
-% add drake directories to the matlab path 
+% add package directories to the matlab path 
 addpath([conf.root,'/systems']);
 addpath([conf.root,'/systems/plants']);
 addpath([conf.root,'/systems/controllers']);
@@ -108,6 +108,25 @@
 end
 
 conf.sedumi_enabled = logical(exist('sedumi'));
+if (conf.sedumi_enabled)
+    disp('You seem to have SeDuMi installed, so I am just going to check that it runs properly.');
+    disp('-------------------------------------------------------------------------------------');
+    sedumiA=[10,2,3,4;5,7,6,4];
+    sedumib=[4;6];
+    sedumic=[0;1;0;1];
+    sedumiT=sedumi(sedumiA,sedumib,sedumic);
+    if(~sedumiT)
+        disp('-------------------------------------------------------------------------------------');
+        error('SeDuMi seems to have encountered a problem. Please verify that your SeDuMi install is working.');
+        disp('-------------------------------------------------------------------------------------');
+    else 
+        disp('-------------------------------------------------------------------------------------');        
+        disp('SeDuMi seems to be working - that''s what all the output, above, is showing.');
+        disp('-------------------------------------------------------------------------------------');
+    end
+
+end
+
 if (~conf.sedumi_enabled)
   disp(' SeDuMi not found.  SeDuMi support will be disabled.  To re-enable, add SeDuMi to your matlab path and rerun configure.  SeDuMi can be downloaded for free from http://sedumi.ie.lehigh.edu/ ');
 end

deploy.sh

@@ -0,0 +1,77 @@
+#!/bin/bash
+
+## deploy.sh - a bash script that generates a 
+## deployable PUBLIC bundle of Drake.
+
+## DO NOT RUN THIS FROM THE TRUNK!!!!!
+## You will need to run this from a working copy
+## of the "drake" branch of robotlib.
+
+## You need to always make sure that the following
+## number actually matches the last version
+## before copy - svn log --verbose --stop-on-copy
+## will tell you what that is
+
+SVN_LAST_REV_BEFORE_COPY=2845
+SVN_SRC="https://svn.csail.mit.edu/locomotion/robotlib/trunk"
+
+## TODO: change this once script is working
+## this needs to be a working copy of the 
+## "drake" branch.
+
+SVN_WORKING_COPY=`pwd`
+
+## TODO: use credentials here. probably won't need this
+## if we run from Hudson, or manually.
+# SVN_USERNAME=""
+# SNV_PASSWORD=""
+
+## start by getting trunk merged over to us
+echo "Going to svn merge trunk over to us..."
+cd $SVN_WORKING_COPY
+svn merge -r $SVN_LAST_REV_BEFORE_COPY:HEAD $SVN_SRC 
+echo "Done."
+
+## Remove .svn directories.
+echo "Removing all SVN housekeeping files..."
+find . -depth -type d -name .svn -exec rm -rf {} \;
+echo "Done."
+
+# Remove dev directories
+echo "Removing all dev directories..."
+find . -depth -type d -name dev -exec rm -rf {} \;
+echo "Done."
+
+## Remove NORELEASE directories
+echo "Getting rid of NORELEASE directories..."
+for dir in `find . -type d -print`;
+do
+    if [ -e $dir/.NORELEASE ]
+	then
+	echo "Removing $dir"
+	rm -rf $dir
+    fi
+done
+echo "Done."
+
+## Remove NORELEASE files
+echo "Getting rid of NORELEASE files..."
+for file in `find . -type f` 
+do grep -q NORELEASE $file && rm $file
+done
+
+echo "Done."
+echo "Release stripping is complete."
+
+echo "Making a .tar.gz now..."
+cd ../
+tar cvf /tmp/drake.tar drake && gzip /tmp/drake.tar
+echo "Done."
+echo "The tar.gz is now at /tmp/drake.tar.gz."
+
+echo "Making a .zip file now..."
+zip -r /tmp/drake.zip drake
+echo "Done."
+echo "The zipfile is now at /tmp/drake.zip."
+
+echo "All packaging is complete. Enjoy!"

systems/@DrakeSystem/DrakeSystem.m

@@ -2,7 +2,7 @@
 % A DynamicalSystem with the functionality (dynamics, update, outputs, 
 % etc) implemented in matlab, so that it is amenable to, for instance, symbolic
 % manipulations.  These functions are wrapped as an S-Function in
-% RLCSFunction.cpp.
+% DCSFunction.cpp.
 
   % constructor
   methods
@@ -136,6 +136,13 @@
       obj.direct_feedthrough_flag = tf;
     end
     function mdl = getModel(obj)
+         % First, make sure we have a compiled DCSFunction
+        if(exist('DCSFunction') ~=3)
+            errorMsg={'Sorry, you have not run ''make'' yet in the drake root,'
+                'which means you do not have the compiled MEX files needed to run this program.'
+                'Running configure and make in the drake root directory will fix this.'};
+            error(sprintf('%s\n',errorMsg{:}))
+        end
       % make a simulink model from this block
       mdl = [class(obj),'_',obj.uid];  % use the class name + uid as the model name
       close_system(mdl,0);  % close it if there is an instance already open
@@ -171,16 +178,17 @@
       end
     end
 
-    function x = resolveConstraints(obj,x0,v)
+    function [x,success] = resolveConstraints(obj,x0,v)
       % attempts to find a x which satisfies the constraints,
       % using x0 as the initial guess.
       %
       % @param x0 initial guess for state satisfying constraints
       % @param v (optional) a visualizer that should be called while the
       % solver is doing it's thing
 
-      if (obj.num_con < 1)
+      if (obj.num_xcon < 1)
         x=x0;
+        success=true;
         return;
       end
 
@@ -189,12 +197,16 @@
         v.draw(0,x);
       end
 
-      if (nargin>1 && ~isempty(v))  % useful for debugging (only but only works for URDF manipulators)
+      if (nargin>2 && ~isempty(v))  % useful for debugging (only but only works for URDF manipulators)
         options=optimset('Display','iter','Algorithm','levenberg-marquardt','OutputFcn',@drawme,'TolX',1e-9);
       else
         options=optimset('Display','off','Algorithm','levenberg-marquardt');
       end
-      x = fsolve(@(x)stateConstraints(obj,x),x0,options);      
+      [x,~,exitflag] = fsolve(@(x)stateConstraints(obj,x),x0,options);      
+      success=(exitflag==1);
+      if (nargout<2 && ~success)
+        error('failed to resolve constraints');
+      end
     end
   end  
 

systems/@DynamicalSystem/simulate.m

@@ -10,6 +10,10 @@
 %            For variable step solver only
 % @option OutputTimes to generate output in the time sequence options.OutputTimes
 
+if(exist('DCSFunction') ~=3)
+    error('Sorry, it looks like yo have not run make yet. Please run configure and make, then rerun drake.')
+end
+
 typecheck(tspan,'double');
 if (length(tspan)<2) error('length(tspan) must be > 1'); end
 if (nargin<4) options=struct([]); end

util/TaylorVar.m

@@ -44,7 +44,7 @@
       d = reshape(obj.f,obj.dim);
       for o=1:length(obj.df)
         if (any(obj.df{o}(:)))
-          warning('converting taylorvar to double even though it has non-zero gradients.  gradient information will be lost!'); 
+          warning('Drake:TaylorVar:DoubleConversion','converting taylorvar to double even though it has non-zero gradients.  gradient information will be lost!'); 
         end
       end
     end