From 106dee5fec84dea6b6cbbc46d68a10827d2f6b6b Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Fri, 1 Apr 2016 15:26:56 +0200
Subject: [PATCH] Update Eigen::FclMatrix and Eigen::FclType
---
.../fcl/eigen/plugins/ccd/interval-vector.h | 2 +-
include/hpp/fcl/eigen/vec_3fx.h | 34 +++++++++----------
include/hpp/fcl/math/matrix_3f.h | 2 +-
include/hpp/fcl/math/vec_3f.h | 2 +-
4 files changed, 20 insertions(+), 20 deletions(-)
diff --git a/include/hpp/fcl/eigen/plugins/ccd/interval-vector.h b/include/hpp/fcl/eigen/plugins/ccd/interval-vector.h
index 18811c7c..fda38f99 100644
--- a/include/hpp/fcl/eigen/plugins/ccd/interval-vector.h
+++ b/include/hpp/fcl/eigen/plugins/ccd/interval-vector.h
@@ -1,7 +1,7 @@
template <typename Derived>
IVector3& operator=(const FclType<Derived>& other)
{
- const Vec3f& tmp = other.derived();
+ const Vec3f& tmp = other.fcl();
setValue (tmp);
return *this;
}
diff --git a/include/hpp/fcl/eigen/vec_3fx.h b/include/hpp/fcl/eigen/vec_3fx.h
index 94a9829d..338567d4 100644
--- a/include/hpp/fcl/eigen/vec_3fx.h
+++ b/include/hpp/fcl/eigen/vec_3fx.h
@@ -133,8 +133,8 @@ template <typename Derived>
class FclType
{
public:
- Derived& derived () { return static_cast<Derived&> (*this); }
- const Derived& derived () const { return static_cast<const Derived&> (*this); }
+ Derived& fcl () { return static_cast<Derived&> (*this); }
+ const Derived& fcl () const { return static_cast<const Derived&> (*this); }
};
}
@@ -209,7 +209,7 @@ namespace Eigen {
#define FCL_EIGEN_CURRENT_CLASS FclMatrix
/// @brief Vector3 class wrapper. The core data is in the template parameter class.
-template <typename T, int Cols, int _Options>
+template <typename T, int Cols, int _Options = internal::traits<Matrix <T, 3, Cols> >::Options >
class FclMatrix : public Matrix <T, 3, Cols, _Options>, public ::fcl::FclType<FclMatrix <T, Cols, _Options> >
{
public:
@@ -255,9 +255,9 @@ public:
const ::fcl::FclType<Vector>& r1,
const ::fcl::FclType<Vector>& r2) : Base()
{
- this->row(0) = r0.derived();
- this->row(1) = r1.derived();
- this->row(2) = r2.derived();
+ this->row(0) = r0.fcl();
+ this->row(1) = r1.fcl();
+ this->row(2) = r2.fcl();
}
/// @brief create vector (x, x, x)
@@ -563,7 +563,7 @@ public:
inline const typename UnaryReturnType<EigenOp>::Abs
abs() const
{
- return typename UnaryReturnType<EigenOp>::Abs (this->derived());
+ return typename UnaryReturnType<EigenOp>::Abs (*this);
}
inline Scalar length() const { return this->norm(); }
@@ -638,21 +638,21 @@ template<typename Derived, typename OtherDerived>
static inline const typename Eigen::BinaryReturnType<const Derived, const OtherDerived>::Min
min(const FclType<Derived>& x, const FclType<OtherDerived>& y)
{
- return typename Eigen::BinaryReturnType<const Derived, const OtherDerived>::Min (x.derived(), y.derived());
+ return typename Eigen::BinaryReturnType<const Derived, const OtherDerived>::Min (x.fcl(), y.fcl());
}
template<typename Derived, typename OtherDerived>
static inline const typename Eigen::BinaryReturnType<const Derived, const OtherDerived>::Max
max(const FclType<Derived>& x, const FclType<OtherDerived>& y)
{
- return typename Eigen::BinaryReturnType<const Derived, const OtherDerived>::Max (x.derived(), y.derived());
+ return typename Eigen::BinaryReturnType<const Derived, const OtherDerived>::Max (x.fcl(), y.fcl());
}
template<typename Derived>
static inline const typename Eigen::UnaryReturnType<const Derived>::Abs
abs(const FclType<Derived>& x)
{
- return typename Eigen::UnaryReturnType<const Derived>::Abs (x.derived());
+ return typename Eigen::UnaryReturnType<const Derived>::Abs (x.fcl());
}
template<typename Derived>
@@ -663,9 +663,9 @@ void generateCoordinateSystem(
{
typedef typename Derived::Scalar T;
- Derived& w = _w.derived();
- Derived& u = _u.derived();
- Derived& v = _v.derived();
+ Derived& w = _w.fcl();
+ Derived& u = _u.fcl();
+ Derived& v = _v.fcl();
T inv_length;
if(std::abs(w[0]) >= std::abs(w[1]))
@@ -720,7 +720,7 @@ template<typename Matrix, typename Vector>
void eigen(const FclType<Matrix>& m, typename Matrix::Scalar dout[3], Vector* vout)
{
typedef typename Matrix::Scalar Scalar;
- Matrix R(m.derived());
+ Matrix R(m.fcl());
int n = 3;
int j, iq, ip, i;
Scalar tresh, theta, tau, t, sm, s, h, g, c;
@@ -805,10 +805,10 @@ void eigen(const FclType<Matrix>& m, typename Matrix::Scalar dout[3], Vector* vo
return;
}
-template<typename T, int _Options>
-Eigen::FclOp<Eigen::Transpose<const Eigen::FclMatrix<T,3,_Options> > > transpose(const Eigen::FclMatrix<T, 3, _Options>& R)
+template<typename Derived>
+Eigen::FclOp<Eigen::Transpose<const Derived> > transpose(const FclType<Derived>& R)
{
- return Eigen::FclOp<Eigen::Transpose<const Eigen::FclMatrix<T,3,_Options> > > (R);
+ return Eigen::FclOp<Eigen::Transpose<const Derived > > (R.fcl());
}
template<typename T, int _Options>
diff --git a/include/hpp/fcl/math/matrix_3f.h b/include/hpp/fcl/math/matrix_3f.h
index b43b5d6c..a44118f6 100644
--- a/include/hpp/fcl/math/matrix_3f.h
+++ b/include/hpp/fcl/math/matrix_3f.h
@@ -49,7 +49,7 @@ namespace fcl
#if FCL_HAVE_EIGEN
# if FCL_USE_NATIVE_EIGEN
- typedef Eigen::FclMatrix<FCL_REAL, 3, 0> Matrix3f;
+ typedef Eigen::FclMatrix<FCL_REAL, 3> Matrix3f;
# else
typedef Matrix3fX<details::eigen_wrapper_m3<FCL_REAL> > Matrix3f;
# endif
diff --git a/include/hpp/fcl/math/vec_3f.h b/include/hpp/fcl/math/vec_3f.h
index 5b1be28b..0cf42198 100644
--- a/include/hpp/fcl/math/vec_3f.h
+++ b/include/hpp/fcl/math/vec_3f.h
@@ -67,7 +67,7 @@ namespace fcl
#if FCL_HAVE_EIGEN
# if FCL_USE_NATIVE_EIGEN
- typedef Eigen::FclMatrix<FCL_REAL, 1, 0> Vec3f;
+ typedef Eigen::FclMatrix<FCL_REAL, 1> Vec3f;
# else
typedef Vec3fX<details::eigen_wrapper_v3<FCL_REAL> > Vec3f;
# endif
--
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