build openrave on Ubuntu 13.10 (saucy)

初投稿。
公式リリースされてないけどbuildはできたのでその方法を書きとめる。

    sudo apt-get install libboost-thread libboost-date-time python-numpy libglew-dev libboost-graph-dev libboost-wave-dev libboost-serialization-dev libboost-filesystem-dev libpcre3-dev libboost-thread-dev libassimp-dev libopenscenegraph-dev qt4-dev-tools libqt4-dev libqt4-opengl-dev libqt4-dev-bin libqhull-dev libann-dev libpcre++-dev libbullet-dev libavformat-dev libavcodec-dev libboost-regex-dev libboost-python-dev libswscale-dev libode-dev libsoqt4-dev liblapack-dev

    git clone https://github.com/rdiankov/openrave
    cd openrave
    mkdir build
    cd build
    cmake .. -DOPT_DOUBLE_PRECISION=ON

ipythonのversionが違うとopenrave.py -iが動かないので、訂正するpatch:

    diff --git a/python/openrave.py.in b/python/openrave.py.in
    index df21b33..b0b7064 100644
    --- a/python/openrave.py.in
    +++ b/python/openrave.py.in
    @@ -205,6 +205,10 @@ if __name__ == "__main__":
                         api_version = '0.10'
                     elif IPython.__version__.startswith("0.11"):
                         api_version = '0.11'
    +                elif IPython.__version__.startswith("0.12"):
    +                    api_version = '0.12'
    +                elif IPython.__version__.startswith("0.13"):
    +                    api_version = '0.13'

                     # start ipython in a separate thread
                     def ipythonthreadfn(env):
    @@ -217,7 +221,7 @@ if __name__ == "__main__":
                             if api_version == '0.10':
                                 ipshell = IPython.Shell.IPShellEmbed(argv='',banner = 'OpenRAVE %s dropping into IPython, variables: env, robot, body'%openravepy.__version__,exit_msg = 'Leaving Interpreter and closing program.')
                                 ipshell(local_ns=locals())
    -                        else:
    +                        elif api_version == '0.11':
                                 from IPython.terminal import embed; ipshell=embed.InteractiveShellEmbed(config=embed.load_default_config())(local_ns=locals())
     #                             from IPython.config.loader import Config
     #                             cfg = Config()
    @@ -226,6 +230,12 @@ if __name__ == "__main__":
     #                             #IPython.embed(config=cfg, banner2 = 'OpenRAVE %s dropping into IPython, variables: env, robot, body'%openravepy.__version__)
     #                             from IPython.frontend.terminal.embed import InteractiveShellEmbed
     #                             ipshell = InteractiveShellEmbed(config=cfg)
    +                        elif api_version == '0.12' or api_version == '0.13':
    +                            from IPython import embed
    +                            embed()
    +                        else:
    +                            raise StandardError("no appropriate embed shell to this version of openrave")
    +
                         finally:
                             # ipython exited. if viewer is valid, then exit the viewer also
                             if viewer is not None: