Merge branch 'master' into clear-open-list

Author: k-okada

.github/workflows/config.yml

@@ -23,14 +23,14 @@ jobs:
           - DOCKER_IMAGE: debian:stretch
           - DOCKER_IMAGE: osrf/ubuntu_armhf:trusty
           - DOCKER_IMAGE: osrf/ubuntu_armhf:xenial
-          - DOCKER_IMAGE: osrf/ubuntu_arm64:trusty
+          # - DOCKER_IMAGE: osrf/ubuntu_arm64:trusty  # deprecated
           - DOCKER_IMAGE: osrf/ubuntu_arm64:xenial
           - DOCKER_IMAGE: arm64v8/ubuntu:bionic
           - DOCKER_IMAGE: arm64v8/ubuntu:focal
           - DOCKER_IMAGE: osrf/debian_arm64:stretch
       fail-fast: false
 
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-latest
     timeout-minutes: 90
 
     name: linux
@@ -48,29 +48,42 @@ jobs:
           export TRAVIS_OS_NAME=linux
           export DOCKER_IMAGE=${{matrix.DOCKER_IMAGE}}
           if [[ "$DOCKER_IMAGE" == *"arm"* ]]; then sudo apt-get install -y -qq qemu-user-static git; fi
-          if [[ "$DOCKER_IMAGE" == *"arm64v8"* ]]; then export QEMU_VOLUME="-v /usr/bin/qemu-aarch64-static:/usr/bin/qemu-aarch64-static"; fi #
+          if [[ "$DOCKER_IMAGE" == *"arm64v8"* ]]; then export QEMU_VOLUME="-v /usr/bin/qemu-aarch64-static:/usr/bin/qemu-aarch64-static"; export PLATFORM_OPTION="--platform linux/aarch64"; fi #
           echo "Testing branch $TRAVIS_BRANCH of $REPOSITORY_NAME"
-          docker run --rm $QEMU_VOLUME -v $CI_SOURCE_PATH:$CI_SOURCE_PATH -e "DOCKER_IMAGE=$DOCKER_IMAGE" -e "COLLISION_LIB=$COLLISION_LIB" -e "CI_SOURCE_PATH=$CI_SOURCE_PATH" -e "HOME=$HOME" -t $DOCKER_IMAGE sh -c "cd $CI_SOURCE_PATH; ./.travis.sh"
+          docker run $PLATFORM_OPTION --rm $QEMU_VOLUME -v $CI_SOURCE_PATH:$CI_SOURCE_PATH -e "DOCKER_IMAGE=$DOCKER_IMAGE" -e "COLLISION_LIB=$COLLISION_LIB" -e "CI_SOURCE_PATH=$CI_SOURCE_PATH" -e "HOME=$HOME" -t $DOCKER_IMAGE sh -c "cd $CI_SOURCE_PATH; ./.travis.sh"
 
   catkin:
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-latest
+    container:
+      image: ubuntu:18.04
+      volumes:
+        - /tmp/node20:/__e/node20
     timeout-minutes: 60
 
     steps:
+      - name: Try to replace `node` with an glibc 2.17
+        shell: bash
+        run: |
+          ls -lar /__e/node20 &&
+          apt update && apt-get install -y curl &&
+          curl -Lo /tmp/node.tar.gz https://unofficial-builds.nodejs.org/download/release/v20.17.0/node-v20.17.0-linux-x64-glibc-217.tar.gz &&
+          cd /__e/node20 &&
+          tar -x --strip-components=1 -f /tmp/node.tar.gz &&
+          ls -lar /__e/node20/bin/
       - name: Checkout
         uses: actions/checkout@v2
       - name: Setup Apt
         run: |
-          echo 'debconf debconf/frontend select Noninteractive' | sudo debconf-set-selections
-          sudo apt-get update -qq
-          sudo apt-get install -qq -y lsb-release wget gnupg2  # necessary for catkin-pkg to be installable
-          sudo apt-get install -qq -y dpkg  # necessary for catkin-pkg to be installable
+          echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
+          apt-get update -qq
+          apt-get install -qq -y lsb-release wget gnupg2  # necessary for catkin-pkg to be installable
+          apt-get install -qq -y dpkg  # necessary for catkin-pkg to be installable
           echo "Testing branch $GITHUB_REF of $GITHUB_REPOSITORY"
-          sudo sh -c 'echo "deb http://packages.ros.org/ros-shadow-fixed/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
-          wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
-          sudo apt-get update -qq
-          sudo apt-get install -qq -y python-catkin-tools python-rosdep
-          sudo apt-get install -qq -y build-essential git ros-melodic-rosbash ros-melodic-rospack
+          sh -c 'echo "deb http://packages.ros.org/ros-shadow-fixed/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
+          wget http://packages.ros.org/ros.key -O - | apt-key add -
+          apt-get update -qq
+          apt-get install -qq -y python-catkin-tools python-rosdep
+          apt-get install -qq -y build-essential git ros-melodic-rosbash ros-melodic-rospack
       - name: Setup Src
         shell: bash
         run: |
@@ -89,7 +102,7 @@ jobs:
           wget https://raw.githubusercontent.com/tork-a/jskeus-release/master/patches/CMakeLists.txt -O jskeus/CMakeLists.txt
           # rosdep install
           cd ..
-          sudo rosdep init
+          rosdep init
           rosdep update
           rosdep install -y -r --rosdistro melodic --from-paths src --ignore-src
       - name: Build
@@ -140,7 +153,7 @@ jobs:
 
 
   osx:
-    runs-on: macos-latest
+    runs-on: macos-13  # https://github.com/actions/runner-images/blob/main/images/macos/macos-13-Readme.md
     timeout-minutes: 60
     steps:
       - name: Checkout

.travis.sh

@@ -21,6 +21,11 @@ function travis_time_end {
 }
 
 travis_time_start setup.apt-get_update
+# Use archive repository for Debian Stretch
+if [[ "$DOCKER_IMAGE" == *"stretch" ]]; then
+    sed -i 's/[[:alpha:]]*.debian.org/archive.debian.org/' /etc/apt/sources.list
+    sed -i '/stretch-updates/ s/^#*/#/' /etc/apt/sources.list
+fi
 if [ "$(which sudo)" == "" ]; then apt-get update && apt-get install -y sudo; else sudo apt-get update; fi
 travis_time_end
 
@@ -89,20 +94,27 @@ for test_l in irteus/test/*.l; do
     irteusgl $test_l;
     export TMP_EXIT_STATUS=$?
 
-    travis_time_end `expr 32 - $TMP_EXIT_STATUS`
+    export CONTINUE=0
+    if [[ "$DOCKER_IMAGE" == *"arm64v8"* && $test_l =~ (all-robots-objects.l|coords.l|geo.l|graph.l|interpolator.l|irteus-demo.l|joint.l|mathtest.l|matrix.l|read-img.l|rendering.l|robot-model-usage.l|test-cad.l|test-collada.l|test-collision.l|test-irt-motion.l|test-pointcloud.l|test-triangulation.l|transparent.l) ]]; then export CONTINUE=1; fi ## source
+    if [[ $CONTINUE != 0 ]]; then export TMP_EXIT_STATUS=0; fi
 
     export EXIT_STATUS=`expr $TMP_EXIT_STATUS + $EXIT_STATUS`;
 
+    travis_time_end `expr 32 - $TMP_EXIT_STATUS`
 
     travis_time_start jskeus.compiled.${test_l##*/}.test
 
     irteusgl "(let ((o (namestring (merge-pathnames \".o\" \"$test_l\"))) (so (namestring (merge-pathnames \".so\" \"$test_l\")))) (compile-file \"$test_l\" :o o) (if (probe-file so) (load so) (exit 1))))"
     export TMP_EXIT_STATUS=$?
 
-    travis_time_end `expr 32 - $TMP_EXIT_STATUS`
+    export CONTINUE=0
+    if [[ "$DOCKER_IMAGE" == *"arm64v8"* && $test_l =~ (all-robots-objects.l|interpolator.l|irteus-demo.l|joint.l|mathtest.l|matrix.l|read-img.l|robot-model-usage.l|test-cad.l|test-collada.l|test-collision.l|test-file.l|test-irt-motion.l|test-pointcloud.l|test-triangulation.l) ]]; then export CONTINUE=1; fi ## compiled
+    if [[ $CONTINUE != 0 ]]; then export TMP_EXIT_STATUS=0; fi
 
     export EXIT_STATUS=`expr $TMP_EXIT_STATUS + $EXIT_STATUS`;
 
+    travis_time_end `expr 32 - $TMP_EXIT_STATUS`
+
 done;
 echo "Exit status : $EXIT_STATUS";
 

irteus/irtmath.l

@@ -523,6 +523,7 @@
 ;; lmeds
 ;;http://www-pse.cheme.kyoto-u.ac.jp/~kano/document/text-PCA.pdf
 (defun lms (point-list)
+  "returns the result of line/plane/hyperplane fitting (regression) on point-list with least squares. The result consists of the normal vector and the signed distance to the origin"
   (let ((v^ (vector-mean point-list))
         (point-length (length point-list))
 	delx x v eigen-res eigen-val eigen-vec min-lam min-vec)
@@ -543,10 +544,12 @@
     ))
 
 (defun lms-estimate (res point-)
+  "returns the signed distance from the fitted line/plane/hyperplane to point-"
   (+ (v. point- (car res)) (cadr res))
   )
 
 (defun lms-error (result point-list)
+  "returns the mean of the square of the distance from the fitted line/plane/hyperplane to each point in point-list"
   (let ((ret-err 0) tmp-err)
     (dolist (l point-list)
       (setq tmp-err (lms-estimate result l))
@@ -555,13 +558,14 @@
     (/ ret-err (length point-list))
     ))
 
-;; choose num points randomly and apply lms to find the souliton with smallest errors
-;; to use ransac ransac
+;; choose num points randomly and apply lms to find the solution with the smallest error
+;; to use ransac
 ;;   :lmeds-error-func -> set to ransac-error
 ;;   :ransac-threshold err^2 (square of the distance from the plane)
 (defun lmeds (point-list &key (num 5) (err-rate 0.3) (iteration) (ransac-threshold)
 			 (lms-func #'lms) (lmeds-error-func #'lmeds-error)
 			 (lms-estimate-func #'lms-estimate))
+  "returns the result of line/plane/hyperplane fitting (regression) on point-list with LMedS. The result consists of the normal vector and the signed distance to the origin"
   (let (point-num r result result-list error-list iter
 		  comb-index comb-index-list point-list-tmp)
     ;; initialize variables
@@ -599,6 +603,7 @@
     ))
 
 (defun lmeds-error (result point-list &key (lms-estimate-func #'lms-estimate))
+  "returns the median of the square of the distance from the fitted line/plane/hyperplane to each point in point-list"
   (let (tmp-err err)
     (dolist (l point-list)
       (setq tmp-err (funcall lms-estimate-func result l))
@@ -608,6 +613,7 @@
     ))
 
 (defun lmeds-error-mat (result mat &key (lms-estimate-func #'lms-estimate))
+  "matrixed version of lmeds-error. mat is the matrixed version of point-list"
   (let ((size (array-dimension mat 0))
         (p (float-vector 0 0 0))
         tmp-err  err)