License switched to LGPL 3.0

stephane-caron · Dec 15, 2017 · 11210df · 11210df
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diff --git a/LICENSE b/LICENSE
diff --git a/benchmark/run.py b/benchmark/run.py
@@ -7,16 +7,17 @@
 # <https://github.com/stephane-caron/3d-balance>.
 #
 # 3d-balance is free software: you can redistribute it and/or modify it under
-# the terms of the GNU General Public License as published by the Free Software
-# Foundation, either version 3 of the License, or (at your option) any later
-# version.
+# the terms of the GNU Lesser General Public License as published by the Free
+# Software Foundation, either version 3 of the License, or (at your option) any
+# later version.
 #
 # 3d-balance is distributed in the hope that it will be useful, but WITHOUT ANY
 # WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR
-# A PARTICULAR PURPOSE. See the GNU General Public License for more details.
+# A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
+# details.
 #
-# You should have received a copy of the GNU General Public License along with
-# 3d-balance. If not, see <http://www.gnu.org/licenses/>.
+# You should have received a copy of the GNU Lesser General Public License along
+# with 3d-balance. If not, see <http://www.gnu.org/licenses/>.
 
 import os
 import IPython

diff --git a/punkah/__init__.py b/punkah/__init__.py
@@ -7,16 +7,17 @@
 # <https://github.com/stephane-caron/3d-balance>.
 #
 # 3d-balance is free software: you can redistribute it and/or modify it under
-# the terms of the GNU General Public License as published by the Free Software
-# Foundation, either version 3 of the License, or (at your option) any later
-# version.
+# the terms of the GNU Lesser General Public License as published by the Free
+# Software Foundation, either version 3 of the License, or (at your option) any
+# later version.
 #
 # 3d-balance is distributed in the hope that it will be useful, but WITHOUT ANY
 # WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR
-# A PARTICULAR PURPOSE. See the GNU General Public License for more details.
+# A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
+# details.
 #
-# You should have received a copy of the GNU General Public License along with
-# 3d-balance. If not, see <http://www.gnu.org/licenses/>.
+# You should have received a copy of the GNU Lesser General Public License along
+# with 3d-balance. If not, see <http://www.gnu.org/licenses/>.
 
 from pendulum import InvertedPendulum
 from stabilize2d import Stabilizer2D

diff --git a/punkah/convex.py b/punkah/convex.py
@@ -7,16 +7,17 @@
 # <https://github.com/stephane-caron/3d-balance>.
 #
 # 3d-balance is free software: you can redistribute it and/or modify it under
-# the terms of the GNU General Public License as published by the Free Software
-# Foundation, either version 3 of the License, or (at your option) any later
-# version.
+# the terms of the GNU Lesser General Public License as published by the Free
+# Software Foundation, either version 3 of the License, or (at your option) any
+# later version.
 #
 # 3d-balance is distributed in the hope that it will be useful, but WITHOUT ANY
 # WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR
-# A PARTICULAR PURPOSE. See the GNU General Public License for more details.
+# A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
+# details.
 #
-# You should have received a copy of the GNU General Public License along with
-# 3d-balance. If not, see <http://www.gnu.org/licenses/>.
+# You should have received a copy of the GNU Lesser General Public License along
+# with 3d-balance. If not, see <http://www.gnu.org/licenses/>.
 
 from bisect import bisect_right
 from numpy import array, linspace, log, sqrt

diff --git a/punkah/pendulum.py b/punkah/pendulum.py
@@ -7,16 +7,17 @@
 # <https://github.com/stephane-caron/3d-balance>.
 #
 # 3d-balance is free software: you can redistribute it and/or modify it under
-# the terms of the GNU General Public License as published by the Free Software
-# Foundation, either version 3 of the License, or (at your option) any later
-# version.
+# the terms of the GNU Lesser General Public License as published by the Free
+# Software Foundation, either version 3 of the License, or (at your option) any
+# later version.
 #
 # 3d-balance is distributed in the hope that it will be useful, but WITHOUT ANY
 # WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR
-# A PARTICULAR PURPOSE. See the GNU General Public License for more details.
+# A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
+# details.
 #
-# You should have received a copy of the GNU General Public License along with
-# 3d-balance. If not, see <http://www.gnu.org/licenses/>.
+# You should have received a copy of the GNU Lesser General Public License along
+# with 3d-balance. If not, see <http://www.gnu.org/licenses/>.
 
 import pymanoid
 

diff --git a/punkah/stabilize.py b/punkah/stabilize.py
@@ -7,16 +7,17 @@
 # <https://github.com/stephane-caron/3d-balance>.
 #
 # 3d-balance is free software: you can redistribute it and/or modify it under
-# the terms of the GNU General Public License as published by the Free Software
-# Foundation, either version 3 of the License, or (at your option) any later
-# version.
+# the terms of the GNU Lesser General Public License as published by the Free
+# Software Foundation, either version 3 of the License, or (at your option) any
+# later version.
 #
 # 3d-balance is distributed in the hope that it will be useful, but WITHOUT ANY
 # WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR
-# A PARTICULAR PURPOSE. See the GNU General Public License for more details.
+# A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
+# details.
 #
-# You should have received a copy of the GNU General Public License along with
-# 3d-balance. If not, see <http://www.gnu.org/licenses/>.
+# You should have received a copy of the GNU Lesser General Public License along
+# with 3d-balance. If not, see <http://www.gnu.org/licenses/>.
 
 from numpy import array, cross, dot, vstack
 

diff --git a/punkah/stabilize2d.py b/punkah/stabilize2d.py
@@ -7,16 +7,17 @@
 # <https://github.com/stephane-caron/3d-balance>.
 #
 # 3d-balance is free software: you can redistribute it and/or modify it under
-# the terms of the GNU General Public License as published by the Free Software
-# Foundation, either version 3 of the License, or (at your option) any later
-# version.
+# the terms of the GNU Lesser General Public License as published by the Free
+# Software Foundation, either version 3 of the License, or (at your option) any
+# later version.
 #
 # 3d-balance is distributed in the hope that it will be useful, but WITHOUT ANY
 # WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR
-# A PARTICULAR PURPOSE. See the GNU General Public License for more details.
+# A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
+# details.
 #
-# You should have received a copy of the GNU General Public License along with
-# 3d-balance. If not, see <http://www.gnu.org/licenses/>.
+# You should have received a copy of the GNU Lesser General Public License along
+# with 3d-balance. If not, see <http://www.gnu.org/licenses/>.
 
 from casadi import sqrt as casadi_sqrt
 from numpy import array, sqrt

diff --git a/punkah/stabilize3d.py b/punkah/stabilize3d.py
@@ -7,16 +7,17 @@
 # <https://github.com/stephane-caron/3d-balance>.
 #
 # 3d-balance is free software: you can redistribute it and/or modify it under
-# the terms of the GNU General Public License as published by the Free Software
-# Foundation, either version 3 of the License, or (at your option) any later
-# version.
+# the terms of the GNU Lesser General Public License as published by the Free
+# Software Foundation, either version 3 of the License, or (at your option) any
+# later version.
 #
 # 3d-balance is distributed in the hope that it will be useful, but WITHOUT ANY
 # WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR
-# A PARTICULAR PURPOSE. See the GNU General Public License for more details.
+# A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
+# details.
 #
-# You should have received a copy of the GNU General Public License along with
-# 3d-balance. If not, see <http://www.gnu.org/licenses/>.
+# You should have received a copy of the GNU Lesser General Public License along
+# with 3d-balance. If not, see <http://www.gnu.org/licenses/>.
 
 from casadi import sqrt as casadi_sqrt
 from numpy import arange, arctan, array, cos, dot, sin, sqrt, tan, vstack

diff --git a/pymanoid b/pymanoid
diff --git a/step.py b/step.py
@@ -7,16 +7,17 @@
 # <https://github.com/stephane-caron/3d-balance>.
 #
 # 3d-balance is free software: you can redistribute it and/or modify it under
-# the terms of the GNU General Public License as published by the Free Software
-# Foundation, either version 3 of the License, or (at your option) any later
-# version.
+# the terms of the GNU Lesser General Public License as published by the Free
+# Software Foundation, either version 3 of the License, or (at your option) any
+# later version.
 #
 # 3d-balance is distributed in the hope that it will be useful, but WITHOUT ANY
 # WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR
-# A PARTICULAR PURPOSE. See the GNU General Public License for more details.
+# A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
+# details.
 #
-# You should have received a copy of the GNU General Public License along with
-# 3d-balance. If not, see <http://www.gnu.org/licenses/>.
+# You should have received a copy of the GNU Lesser General Public License along
+# with 3d-balance. If not, see <http://www.gnu.org/licenses/>.
 
 import IPython
 import os
+2 −0		.gitignore
+159 −669		LICENSE
+15 −34		README.md
+7 −12		doc/source/api-documentation.rst
+4 −4		doc/source/contact.rst
+1 −1		doc/source/index.rst
+1 −1		doc/source/inverse-kinematics.rst
+7 −7		doc/source/model-predictive-control.rst
+4 −4		doc/source/numerical-optimization.rst
+1 −1		doc/source/polyhedral-computations.rst
+9 −17		examples/README.md
+0 −133		examples/contact_stability.py
+35 −0		examples/contact_stability/README.md
+177 −0		examples/contact_stability/com_accel_cone.py
+205 −0		examples/contact_stability/com_robust_static_polytope.py
+182 −0		examples/contact_stability/com_static_polygon.py
+183 −0		examples/contact_stability/zmp_support_area.py
+0 −82		examples/contact_wrench_cone.py
+8 −7		examples/inverse_kinematics.py
+33 −42		examples/multi_contact_walking.py
+8 −7		examples/posture_generation.py
+20 −0		examples/stances/double.json
+51 −0		examples/stances/triple.json
+98 −0		examples/wrench_cone.py
+28 −21		pymanoid/__init__.py
+59 −24		pymanoid/body.py
+20 −19		pymanoid/centroidal.py
+57 −153		pymanoid/contact.py
+0 −446		pymanoid/drawers.py
+33 −18		pymanoid/geometry.py
+175 −11		pymanoid/gui.py
+77 −46		pymanoid/ik.py
+44 −119		pymanoid/interp.py
+93 −57		pymanoid/misc.py
+160 −0		pymanoid/models.py
+10 −9		pymanoid/mpc.py
+10 −9		pymanoid/optim.py
+16 −14		pymanoid/robot.py
+10 −9		pymanoid/robots/__init__.py
+41 −15		pymanoid/robots/hrp4.py
+10 −9		pymanoid/robots/jvrc1.py
+96 −58		pymanoid/sim.py
+213 −20		pymanoid/stance.py
+9 −8		pymanoid/tasks.py
+8 −7		pymanoid/thirdparty/__init__.py
+9 −8		pymanoid/thirdparty/bretl.py
+16 −8		pymanoid/thirdparty/casadi_.py
+20 −1		pymanoid/thirdparty/cvxopt_.py
+8 −7		pymanoid/thirdparty/mpcontroller_.py
+8 −7		pymanoid/thirdparty/quadprog_.py
+8 −7		pymanoid/transformations.py
+13 −13		setup.py
+8 −7		tests/run_all_tests.py