quieting warnings

CMakeLists.txt

@@ -84,7 +84,7 @@ if (LCM_FOUND)
 
 endif()
 
-add_jar(drake ${drake_jar_javafiles})
+add_jar(drake SOURCES ${drake_jar_javafiles})
 install_jar(drake share/java)
 pods_install_pkg_config_file(drake-java
     CLASSPATH drake

examples/PR2/pr2.urdf

@@ -1378,12 +1378,6 @@
     <material value="Gazebo/White"/>
     <turnGravityOff value="true"/>
   </gazebo>
-  <gazebo reference="double_stereo_double_stereo_link">
-    <material value="PR2/Blue"/>
-  </gazebo>
-  <gazebo reference="sensor_mount_sensor_link">
-    <material value="PR2/Blue"/>
-  </gazebo>
   <joint name="laser_tilt_mount_joint" type="revolute">
     <axis xyz="0 1 0"/>
     <limit effort="0.65" lower="-0.7854" upper="1.48353" velocity="10.0"/>

systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m

@@ -539,9 +539,10 @@
 %      end
     end
 
-    function body_ind = findLinkInd(model,linkname,robot,throw_error)
+    function body_ind = findLinkInd(model,linkname,robot,error_level)
       % @param robot can be the robot number or the name of a robot
       % robot=0 means look at all robots
+      % @param error_level >0 for throw error, 0 for throw warning, <0 for do nothing. @default throw error 
       % @ingroup Kinematic Tree
       if nargin<3 || isempty(robot), robot=0; end
       linkname = lower(linkname);
@@ -569,11 +570,13 @@
         end
       end
       if (length(ind)~=1)
-        if (nargin<4 || throw_error)
+        if (nargin<4 || error_level>0)
           error(['couldn''t find unique link ' ,linkname]);
         else 
-          warning(['couldn''t find unique link ' ,linkname]);
           body_ind=0;
+          if (error_level==0)
+            warning(['couldn''t find unique link ' ,linkname]);
+          end
         end
       else
         body_ind = ind;

systems/plants/@RigidBodyManipulator/addRobotFromURDF.m

@@ -166,7 +166,7 @@
 function model = parseGazebo(model,robotnum,node,options)
 ref = char(node.getAttribute('reference'));
 if ~isempty(ref)
-  body_ind = findLinkInd(model,ref,robotnum,false);
+  body_ind = findLinkInd(model,ref,robotnum,-1);
   if body_ind>0
     grav = node.getElementsByTagName('turnGravityOff').item(0);
     if ~isempty(grav)

systems/plants/constraint/test/RelativeGazeTargetConstraintTest.m

@@ -1,6 +1,10 @@
 function RelativeGazeTargetConstraintTest()
 % Andres would update the RelativeGazeTargetConstraint
-  r = RigidBodyManipulator(strcat(getDrakePath(),'/examples/PR2/pr2.urdf'));
+  w = warning('off','Drake:RigidBody:SimplifiedCollisionGeometry');
+  warning('off','Drake:RigidBodyManipulator:UnsupportedVelocityLimits');
+  warning('off','Drake:RigidBodyManipulator:BodyHasZeroInertia');
+  r = RigidBodyManipulator(fullfile(getDrakePath(),'examples','PR2','pr2.urdf'));
+  warning(w);
   q_nom = zeros(r.getNumDOF(),1);
   constraintTester('RelativeGazeTargetConstraintTest', r, @makeCon, @(r) q_nom, @(r) q_nom, [],[],[],[],false);
 end

systems/plants/constraint/test/WorldPositionInFrameConstraintTest.m

@@ -1,5 +1,9 @@
 function WorldPositionInFrameConstraintTest(varargin)
-  r = RigidBodyManipulator(strcat(getDrakePath(),'/examples/PR2/pr2.urdf'));
+  w = warning('off','Drake:RigidBody:SimplifiedCollisionGeometry');
+  warning('off','Drake:RigidBodyManipulator:UnsupportedVelocityLimits');
+  warning('off','Drake:RigidBodyManipulator:BodyHasZeroInertia');
+  r = RigidBodyManipulator(fullfile(getDrakePath(),'examples','PR2','pr2.urdf'));
+  warning(w);
   q_nom = zeros(r.getNumDOF(),1);
   constraintTester('WorldPositionInFrameConstraintTest', r, @makeCon, @(r) q_nom, @(r) q_nom, 10, varargin{:});
 end

systems/plants/test/testApproximateIK.m

@@ -2,7 +2,11 @@ function testApproximateIK()
 options.floating = true;
 options.dt = 0.001;
 urdf = fullfile(getDrakePath,'examples','Atlas','urdf','atlas_minimal_contact.urdf');
+w = warning('off','Drake:RigidBodyManipulator:UnsupportedVelocityLimits');
+warning('off','Drake:RigidBodyManipulator:UnsupportedContactPoints');
+warning('off','Drake:RigidBodyManipulator:UnsupportedJointLimits');
 r = RigidBodyManipulator(urdf,options);
+warning(w);
 v = r.constructVisualizer();
 nq = r.getNumDOF();
 cost = Point(r.getStateFrame,1);

systems/visualizers/NullVisualizer.m

@@ -10,6 +10,15 @@
     function status = draw(obj,t,x,flag)
       status = 0;
     end
+
+    function drawWrapper(obj,t,y)
+      % intentionally blank
+    end
+
+    function playback(obj,xtraj,options)
+      % intentionally blank
+    end
+
   end
 end
 

systems/visualizers/Visualizer.m

@@ -40,7 +40,7 @@
       end
     end
 
-    function drawWrapper(obj,t,y);
+    function drawWrapper(obj,t,y)
       sfigure(obj.fignum);
       clf; hold on;
       draw(obj,t,y);

util/checkDependency.m

@@ -105,6 +105,7 @@
       end
 
     case 'vrml'
+      unsupported = false;
       if(exist('vrinstall','file'))
         conf.vrml_enabled = logical(vrinstall('-check','-viewer'));% && usejava('awt');  % usejava('awt') return 0 if running with no display
         if ismac
@@ -113,13 +114,17 @@
             % per my support ticket to matlab, who sent a perfunctory response
             % pointing to this: http://www.mathworks.com/support/sysreq/release2012a/macintosh.html
             conf.vrml_enabled = false;
+            disp(' ');
+            disp(' Found Simulink 3D Animation Toolbox, but is not supported in this version of MATLAB.  See http://www.mathworks.com/support/sysreq/release2012a/macintosh.html ');
+            disp(' ');
+            unsupported = true;
           end
         end
       else
         conf.vrml_enabled=false;
       end
 
-      if (~conf.vrml_enabled)
+      if (~conf.vrml_enabled && ~unsupported)
         disp(' ');
         disp(' Simulink 3D Animation Toolbox not found.  Have you run ''vrinstall -install viewer''?');
         disp(' ');