HPP version for Kinodynamic planner

[Mathieu-Geisert]

Hi,

This week, I quickly tried to install Sanghyun's software to replace Justin's one in the docker. However, the current version of the kinodynamic planner is based on an old version of HPP so I got conflicts. I know that @stonneau is updating hpp-rbprm but is it the static version or also the kinodynamic one?

Best,
Mathieu.

[stonneau]

Hi, sorry I took time to answer. Sanghyun's version is supposed to be similar to the one in the docker. @pFernbach can you confirm ?

[Mathieu-Geisert]

Sanghyun uses newer libraries for instance he uses hpp-pinocchio, which correspond to the new version of HPP.

[stonneau]

I am pretty sure it is not the case, since rbprm only works since yesterday with pinocchio

[pFernbach]

Sanghyun is supposed to work on the same branch as you (dynamicPlanner) of rbprm which do not use hpp-pinocchio. There may be few commits of difference between you depending of when you pulled the branch but I do not know why he use hpp-pinocchio.

[Mathieu-Geisert]

There are the dependencies used in Sanghyun's package hpp-timeoptimization (from the CMakeLists):
eigen3 >= 3.2
hpp-util >= 3
hpp-constraints >= 4
hpp-pinocchio >= 4
hpp-core >= 4

But for the code I installed in the docker, i.e. Pierre code, "git describe" gives:
hpp-constraints = 3.1
hpp-core = 3.2
@pFernbach, do you have the same?

Maybe he is using different versions for generating contact plans and for its program...?

[pFernbach]

The Makefile that I made should install the following versions
hpp-core : v3.1.0-469-g2cb0029
hpp-constraints : v3.1.0-173-g32e38e6

You can check the number of the last commit. What is sure is that this version of hpp-rbprm do not require hpp-pinocchio neither hpp version >= 4 .
I will ask Sanghyun about this.

Anyway, we are working on porting hpp-rbprm with the latest release of hpp and we will make a release of hpp-rbprm as soon as it's done (2 weeks max). I will update the docker once this is done.