Merge pull request #1843 from RussTedrake/bot_core

update from @jhoare and @billhoffman to fix windows builds
RobotLocomotion · Mar 11, 2016 · 2387950 · 2387950
2 parents 08a9e06 + a0b11fc
commit 2387950
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Showing 4 changed files with 16 additions and 16 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -98,8 +98,8 @@ set(avl_IS_PUBLIC TRUE)
 set(bertini_GIT_REPOSITORY [email protected]:RobotLocomotion/bertini.git)
 set(bertini_GIT_TAG 3ae3e3ad3534acb4b6f7a4c3c22728b493beaa80)
 set(bertini_IS_PUBLIC FALSE)
-set(bullet_GIT_REPOSITORY https://github.com/billhoffman/bullet-pod.git)
-set(bullet_GIT_TAG 914fae2859af4da91b201e151900270cb137af5a)
+set(bullet_GIT_REPOSITORY https://github.com/RobotLocomotion/bullet-pod.git)
+set(bullet_GIT_TAG 54d0751b50f86481549391961b209f06ac5035f9)
 set(bullet_IS_PUBLIC TRUE)
 set(bullet_IS_CMAKE_POD TRUE)
 set(cmake_GIT_REPOSITORY https://github.com/RobotLocomotion/cmake.git)
@@ -137,8 +137,8 @@ set(lcm_IS_PUBLIC TRUE)
 set(libbot_GIT_REPOSITORY https://github.com/RobotLocomotion/libbot.git)
 set(libbot_GIT_TAG 94fe5290329646959e1c27896d529abba81e6d93)
 set(libbot_IS_PUBLIC TRUE)
-set(bot_core_lcmtypes_GIT_REPOSITORY  https://github.com/jhoare/bot_core_lcmtypes)
-set(bot_core_lcmtypes_GIT_TAG 15471b23faee6cdc48242eb2dfd4c816f0cbe88a)
+set(bot_core_lcmtypes_GIT_REPOSITORY  https://github.com/openhumanoids/bot_core_lcmtypes)
+set(bot_core_lcmtypes_GIT_TAG e5540921b8df89f33896109284a612dab195c0dd)
 set(bot_core_lcmtypes_IS_CMAKE_POD TRUE)
 set(bot_core_lcmtypes_IS_PUBLIC TRUE)
 set(meshconverters_GIT_REPOSITORY https://github.com/RobotLocomotion/meshConverters.git)

diff --git a/drake/examples/Acrobot/test/urdfDynamicsTest.cpp b/drake/examples/Acrobot/test/urdfDynamicsTest.cpp
@@ -10,10 +10,10 @@ using namespace Drake;
 int main(int argc, char* argv[]) {
   auto r = Acrobot();
 
-  auto r_urdf = make_shared<RigidBodySystem>();
-  r_urdf->addRobotFromFile(getDrakePath() + "/examples/Acrobot/Acrobot.urdf", DrakeJoint::FIXED);
-  auto r_sdf = make_shared<RigidBodySystem>();
-  r_sdf->addRobotFromFile(getDrakePath() + "/examples/Acrobot/Acrobot.sdf", DrakeJoint::FIXED);
+  auto r_urdf = RigidBodySystem();
+  r_urdf.addRobotFromFile(getDrakePath() + "/examples/Acrobot/Acrobot.urdf", DrakeJoint::FIXED);
+  auto r_sdf = RigidBodySystem();
+  r_sdf.addRobotFromFile(getDrakePath() + "/examples/Acrobot/Acrobot.sdf", DrakeJoint::FIXED);
 
   // for debugging:
   /*
@@ -47,12 +47,12 @@ int main(int argc, char* argv[]) {
     */
 
     auto xdot = toEigen(r.dynamics(0.0,x0,u0));
-    auto xdot_urdf = r_urdf->dynamics(0.0, x0_rb, u0_rb);
+    auto xdot_urdf = r_urdf.dynamics(0.0, x0_rb, u0_rb);
 //    cout << "xdot = " << xdot.transpose() << endl;
 //    cout << "xdot_rb = " << xdot_rb.transpose() << endl;
     valuecheckMatrix(xdot_urdf,xdot,1e-8);
 
-    auto xdot_sdf = r_sdf->dynamics(0.0, x0_rb, u0_rb);
+    auto xdot_sdf = r_sdf.dynamics(0.0, x0_rb, u0_rb);
     valuecheckMatrix(xdot_sdf,xdot,1e-8);
   }
 }
diff --git a/drake/examples/Pendulum/test/urdfDynamicsTest.cpp b/drake/examples/Pendulum/test/urdfDynamicsTest.cpp
@@ -10,8 +10,8 @@ using namespace Drake;
 
 int main(int argc, char* argv[])
 {
-  auto tree = make_shared<RigidBodyTree>(getDrakePath()+"/examples/Pendulum/Pendulum.urdf",DrakeJoint::FIXED);
-  auto rbsys = make_shared<RigidBodySystem>(tree);
+  auto tree = shared_ptr<RigidBodyTree>(new RigidBodyTree(getDrakePath()+"/examples/Pendulum/Pendulum.urdf",DrakeJoint::FIXED));
+  auto rbsys = RigidBodySystem(tree);
   auto p = Pendulum();
 
   for (int i = 0; i < 1000; i++) {
@@ -24,7 +24,7 @@ int main(int argc, char* argv[])
 
 
     auto xdot = toEigen(p.dynamics(0.0,x0,u0));
-    auto xdot_rb = rbsys->dynamics(0.0,x0_rb,u0_rb);
+    auto xdot_rb = rbsys.dynamics(0.0,x0_rb,u0_rb);
     valuecheckMatrix(xdot_rb,xdot,1e-8);
   }
 }
diff --git a/drake/examples/Quadrotor/test/urdfDynamicsTest.cpp b/drake/examples/Quadrotor/test/urdfDynamicsTest.cpp
@@ -9,8 +9,8 @@ using namespace Drake;
 
 int main(int argc, char* argv[])
 {
-  auto rbsys = make_shared<RigidBodySystem>();
-  rbsys->addRobotFromFile(getDrakePath()+"/examples/Quadrotor/quadrotor.urdf",DrakeJoint::ROLLPITCHYAW);
+  auto rbsys = RigidBodySystem();
+  rbsys.addRobotFromFile(getDrakePath()+"/examples/Quadrotor/quadrotor.urdf",DrakeJoint::ROLLPITCHYAW);
 
   auto p = Quadrotor();
 
@@ -22,7 +22,7 @@ int main(int argc, char* argv[])
     RigidBodySystem::InputVector<double> u0_rb = toEigen(u0);
 
     auto xdot = toEigen(p.dynamics(0.0,x0,u0));
-    auto xdot_rb = rbsys->dynamics(0.0,x0_rb,u0_rb);
+    auto xdot_rb = rbsys.dynamics(0.0,x0_rb,u0_rb);
     valuecheckMatrix(xdot_rb,xdot,1e-8);
   }
 }