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ivareri · Aug 23, 2016 · 8d14989 · 8d14989
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diff --git a/.gitignore b/.gitignore
@@ -0,0 +1,5 @@
+*~
+*.pyc
+doc/manifest.yaml
+doc/html
+build
diff --git a/CMakeLists.txt b/CMakeLists.txt
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+cmake_minimum_required(VERSION 2.8.3)
+project(moveit_tutorials)
+
+find_package(catkin REQUIRED
+  COMPONENTS
+    moveit_core
+    moveit_ros_planning
+    moveit_ros_planning_interface
+    pluginlib
+    cmake_modules
+    geometric_shapes
+)
+
+find_package(Boost REQUIRED system filesystem date_time thread)
+
+catkin_package(
+  CATKIN_DEPENDS
+    moveit_core
+    moveit_ros_planning_interface
+    interactive_markers
+)
+find_package(Eigen REQUIRED)
+
+###########
+## Build ##
+###########
+
+include_directories(SYSTEM ${Boost_INCLUDE_DIR} ${EIGEN_INCLUDE_DIRS})
+include_directories(${catkin_INCLUDE_DIRS})
+link_directories(${catkin_LIBRARY_DIRS})
+
+add_subdirectory(doc/pr2_tutorials/kinematics)
+add_subdirectory(doc/pr2_tutorials/planning)
+add_subdirectory(doc/pr2_tutorials/state_display)
+add_subdirectory(doc/pr2_tutorials/interactivity)
+add_subdirectory(doc/pr2_tutorials/pick_place)
diff --git a/README.md b/README.md
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+# MoveIt! Tutorials
+
+To build locally:
+
+    . build_locally.sh
+
+Then open ``/build/html/build/doc/index.html`` in your web browser.
diff --git a/_scripts/tutorialformatter.py b/_scripts/tutorialformatter.py
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+"""
+    tutorialformatter
+    ===========================
+
+    This extension provides a directive to include a source code file
+    in a document, but with certain comments from the file formatted
+    as regular document text.  This allows code for a tutorial to look like:
+
+        /// BEGIN_TUTORIAL
+        /// This next line adds one.
+        i = i + 1;
+        /// Then we need to double it.
+        i = i * 2;
+        /// END_TUTORIAL
+
+    And have it formatted as
+
+    This next line adds one.::
+        i = i + 1;
+
+    Then we need to double it.::
+        i = i * 2;
+
+    The special-looking comment character sequence at the start of
+    each text line can be anything not starting or ending with
+    whitespace.  tutorialformatter starts by scanning the file for the
+    string BEGIN_TUTORIAL.  When it finds it, it takes all the
+    characters before BEGIN_TUTORIAL on that line, strips whitespace
+    from the left, and uses that as the text marker.  So this would
+    also be fine:
+
+        #My Tutorial# BEGIN_TUTORIAL
+        #My Tutorial# This next line adds one.
+        i = i + 1
+        #My Tutorial# Then we need to double it.
+        i = i * 2
+        #My Tutorial# END_TUTORIAL
+
+    Sometimes the order that makes sense in the tutorial is not
+    compatible with the computer language of the code, like when a
+    callback function in C++ is defined outside of the main tutorial
+    code.  To support this, you can use the tags BEGIN_SUB_TUTORIAL,
+    END_SUB_TUTORIAL, and CALL_SUB_TUTORIAL.  They look like this:
+
+        # BEGIN_SUB_TUTORIAL callbackFunction
+        def callback():
+            print "in callback"
+        # END_SUB_TUTORIAL
+
+        # BEGIN_TUTORIAL
+        # Here we call a special callback:
+        callback()
+        # which is defined as:
+        # CALL_SUB_TUTORIAL callbackFunction
+        # and then we move on to the next topic.
+
+    Both the BEGIN_SUB_TUTORIAL and CALL_SUB_TUTORIAL tags take an
+    argument, which is the name of the "sub-tutorial".  That name does
+    not need to correspond to anything in the code.  Sub-tutorials
+    cannot be nested, and they only work within a single source file
+    processed by tutorialformatter.  They have no outside meaning.
+    The implementation simply slices out sub-tutorials from the input
+    lines and copies them into the output lines where-ever the
+    corresponding "call" tags are found.
+
+    .. moduleauthor::  Dave Hershberger <hersh@willowgarage.com>
+"""
+
+# 0.1.0: First version.
+# 0.1.1: fixed a bug in source file directory lookup: now source paths are
+#        relative to the directory in which the including document lives.
+# 0.1.2: Added SUB_TUTORIAL support.
+__version__ = '0.1.2'
+
+import os
+from docutils.parsers import rst
+from docutils.parsers.rst.directives import flag, unchanged
+from docutils.statemachine import string2lines
+from pygments.lexers import get_lexer_for_filename
+
+class TutorialFormatterDirective(rst.Directive):
+    has_content = False
+    final_argument_whitespace = True
+    required_arguments = 1
+
+    option_spec = dict(shell=flag, prompt=flag, nostderr=flag,
+                       in_srcdir=flag, extraargs=unchanged,
+                       until=unchanged)
+
+    def flatten_sub_tutorials(self, file_):
+        lines = []
+        in_sub = False
+        begin_sub_tutorial = 'BEGIN_SUB_TUTORIAL'
+        end_sub_tutorial = 'END_SUB_TUTORIAL'
+        call_sub_tutorial = 'CALL_SUB_TUTORIAL'
+        sub_name = ''
+        subs = {}
+        sub_lines = []
+        regular_lines = []
+        for line in file_:
+            begin_pos = line.find( begin_sub_tutorial )
+            if begin_pos != -1:
+                sub_name = line[begin_pos + len(begin_sub_tutorial) : ].strip()
+                in_sub = True
+            elif line.find( end_sub_tutorial ) != -1 and in_sub:
+                in_sub = False
+                subs[sub_name] = sub_lines
+                sub_lines = []
+            elif in_sub:
+                sub_lines.append(line)
+            else:
+                regular_lines.append(line)
+        flattened_lines = []
+        for line in regular_lines:
+            call_pos = line.find( call_sub_tutorial )
+            if call_pos != -1:
+                sub_name = line[call_pos + len(call_sub_tutorial) : ].strip()
+                if sub_name in subs:
+                    flattened_lines.extend( subs[sub_name] )
+                else:
+                    print 'tutorialformatter.py error: sub-tutorial %s not found.' % sub_name
+            else:
+                flattened_lines.append( line )
+        return flattened_lines
+
+    def run(self):
+        filename = self.arguments[0]
+        text_tag = None
+        tag_len = 0
+
+        filepath = os.path.dirname(self.state.document.settings.env.docname)
+        absfilename = os.path.abspath(os.path.join( filepath, filename ))
+        if absfilename.endswith('.h'):
+            language = 'c++'
+        elif absfilename.endswith('CMakeLists.txt'):
+            language = 'cmake'
+        else:
+            try:
+                language = get_lexer_for_filename( absfilename ).name.lower()
+                if language == 'text only':
+                    language = 'none'
+            except:
+                language = 'none'
+        code_prefix = '\n.. code-block:: ' + language + '\n\n'
+        code_suffix = '\n'
+
+        print "tutorial-formatter running on", absfilename
+        file_ = open( absfilename, 'r' )
+        text_to_process = ""
+        current_block = ""
+        in_code = False
+        in_text = False
+        in_tutorial = False
+        lines = self.flatten_sub_tutorials(file_)
+        for line in lines:
+            if not in_tutorial:
+                begin_pos = line.find( 'BEGIN_TUTORIAL' )
+                if begin_pos != -1:
+                    text_tag = line[:begin_pos].lstrip()
+                    tag_len = len( text_tag )
+                    in_tutorial = True
+                continue
+            if line.find( 'END_TUTORIAL' ) != -1:
+                break
+            stripped = line.lstrip()
+            if stripped.startswith( text_tag.strip() ):
+                if in_code:
+                    text_to_process += code_prefix + current_block + code_suffix
+                    current_block = ""
+                    in_code = False
+                in_text = True
+                addition = stripped[tag_len:]
+                if addition == '' or addition[-1] != '\n':
+                    addition += '\n'
+                current_block += addition
+            else:
+                if in_text:
+                    text_to_process += current_block
+                    current_block = ""
+                    in_text = False
+                    in_code = True # Code to show begins right after tagged text
+                if in_code:
+                    current_block += ' ' + line
+        if in_code:
+            text_to_process += code_prefix + current_block + code_suffix
+        elif in_text:
+            text_to_process += current_block
+
+        # Debug writes...
+        # print 'text_to_process ='
+        # print text_to_process
+        # print '= text_to_process'
+
+        lines = string2lines( text_to_process )
+        self.state_machine.insert_input( lines, absfilename )
+
+        return []
+
+def setup(app):
+    app.add_directive('tutorial-formatter', TutorialFormatterDirective)
diff --git a/_static/favicon.ico b/_static/favicon.ico
diff --git a/_static/logo.png b/_static/logo.png
diff --git a/_static/override.css b/_static/override.css
@@ -0,0 +1,15 @@
+.icon:before {
+    white-space: pre-wrap !important;
+}
+.header-override {
+  margin-bottom: 20px;
+}
+.header-override p {
+  padding: 5px;
+  font-size: 1.2em;
+  text-align: right;
+  float: right;
+}
+.header-override img {
+  width: 200px;
+}
diff --git a/_themes/sphinx_rtd_theme/__init__.py b/_themes/sphinx_rtd_theme/__init__.py
@@ -0,0 +1,17 @@
+"""Sphinx ReadTheDocs theme.
+
+From https://github.com/ryan-roemer/sphinx-bootstrap-theme.
+
+"""
+import os
+
+VERSION = (0, 1, 8)
+
+__version__ = ".".join(str(v) for v in VERSION)
+__version_full__ = __version__
+
+
+def get_html_theme_path():
+    """Return list of HTML theme paths."""
+    cur_dir = os.path.abspath(os.path.dirname(os.path.dirname(__file__)))
+    return cur_dir
diff --git a/_themes/sphinx_rtd_theme/breadcrumbs.html b/_themes/sphinx_rtd_theme/breadcrumbs.html
@@ -0,0 +1,23 @@
+<div role="navigation" aria-label="breadcrumbs navigation">
+  <ul class="wy-breadcrumbs">
+    <li><a href="{{ pathto(master_doc) }}">Docs</a> &raquo;</li>
+      {% for doc in parents %}
+          <li><a href="{{ doc.link|e }}">{{ doc.title }}</a> &raquo;</li>
+      {% endfor %}
+    <li>{{ title }}</li>
+      <li class="wy-breadcrumbs-aside">
+        {% if pagename != "search" %}
+          {% if display_github %}
+            <a href="https://{{ github_host|default("github.com") }}/{{ github_user }}/{{ github_repo }}/blob/{{ github_version }}{{ conf_py_path }}{{ pagename }}{{ source_suffix }}" class="fa fa-github"> Edit on GitHub</a>
+          {% elif display_bitbucket %}
+            <a href="https://bitbucket.org/{{ bitbucket_user }}/{{ bitbucket_repo }}/src/{{ bitbucket_version}}{{ conf_py_path }}{{ pagename }}{{ source_suffix }}" class="fa fa-bitbucket"> Edit on Bitbucket</a>
+          {% elif show_source and source_url_prefix %}
+            <a href="{{ source_url_prefix }}{{ pagename }}{{ source_suffix }}">View page source</a>
+          {% elif show_source and has_source and sourcename %}
+            <a href="{{ pathto('_sources/' + sourcename, true)|e }}" rel="nofollow"> View page source</a>
+          {% endif %}
+        {% endif %}
+      </li>
+  </ul>
+  <hr/>
+</div>
diff --git a/_themes/sphinx_rtd_theme/footer.html b/_themes/sphinx_rtd_theme/footer.html
@@ -0,0 +1,27 @@
+<footer>
+  {% if next or prev %}
+    <div class="rst-footer-buttons" role="navigation" aria-label="footer navigation">
+      {% if next %}
+        <a href="{{ next.link|e }}" class="btn btn-neutral float-right" title="{{ next.title|striptags|e }}" accesskey="n">Next <span class="fa fa-arrow-circle-right"></span></a>
+      {% endif %}
+      {% if prev %}
+        <a href="{{ prev.link|e }}" class="btn btn-neutral" title="{{ prev.title|striptags|e }}" accesskey="p"><span class="fa fa-arrow-circle-left"></span> Previous</a>
+      {% endif %}
+    </div>
+  {% endif %}
+
+  <hr/>
+
+  <div role="contentinfo">
+    <p>
+    {%- if last_updated %}
+      {% trans last_updated=last_updated|e %}Last updated on {{ last_updated }}.{% endtrans %}
+    {%- endif %}
+    </p>
+  </div>
+
+  {%- if show_sphinx %}
+  {% trans %}Built with <a href="http://sphinx-doc.org/">Sphinx</a> using a <a href="https://github.com/snide/sphinx_rtd_theme">theme</a> provided by <a href="https://readthedocs.org">Read the Docs</a>{% endtrans %}.
+  {%- endif %}
+
+</footer>