pull request from branch wip to master.
libmove3d: from branch move4dwip
gui: from branch wip

Fixes/addresses:

ft #1167 / pr #1168
bug #1175
bug #1181
bug #1182
bug #1184
bug #1186
part of bug #1187

Changelog:¶

Added¶

• Compute stablility of robots: read Support polygon from json Entities definition, centers of mass from urdf
• get agent FoV from Entities/Agent file
• database also reads from a path given through API::Parameter
• Robots with name ending by CYLINDER are considered virtual
• collision class to check Cylinder instead of default collisions when available

• PlannerBase and PlannerRegister + Planner Factories, registers all existing motion planners
• Target class
• set numeric locale to en_US in project initialization (for using '.' and not ',' as decimal separator when parsing)
• API::Scene save/load scenario
• API::Parameter helper methods for setting/getting
• Set active DoFs from Joint and Robot
• helper to set Planning Parts
• RobotState::setCost
• access/set multi localpath config from Robot class (e.g Robot::setMultiLpGroupToPlan)
• robot::checkConstraints
• Scene::setDMax
• Path::resetCheckStatus and more
• Path register uses first registered factory as default
• Can now register several Path/LocalPath factories in a same cpp file (fix macro)

• Drawable 3D arrows, 2D grids

• logging uses output handlers to change output method (default is log4cxx)
• colored logs
• move4d has its own exceptions (unknown_robot)
• array_to_str function for logging
• self diagnostic (on request) debut

• Python bindings:
  • LocalpathFactory
  • global_Project
  • request read/write json body/joint weights from python
  • CollisionInterface::collisionList
  • access/set multi localpath config from Robot class (e.g Robot::setMultiLpGroupToPlan)

Changed¶

• include path is PREFIX/include/move4/move4d
• builds on Ubuntu 16.04
• do not require log4cxx when not used
• use Qt5
• use CMake target system: export target (backward compatible)

• N-D Grids improved/fixed + Dijkstra
• Graphic::Drawable2dGrid based on N-D grid
• LocalPath allocates its internal struct on construcion
• LocalPath throws when construction fails (invalid_argument)
• PqpCollision class fixed (let user disabled selfcollision)
• add some cv-qualifiers to Robot RobotState
• removed the HRI_ prefix of robot type names

• install python to PREFIX/lib/python3/site-packages (it was in python2.7)

Removed¶

• LocalPathKDTP files where actually unused