From a32b75409f274d6ac1926fc491ec23b8ee9636d2 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Sat, 2 Apr 2016 12:42:45 +0200
Subject: [PATCH] Remove nested FclOp and FclType
---
include/hpp/fcl/eigen/product.h | 11 ++++--
include/hpp/fcl/eigen/vec_3fx.h | 66 ++++++++++++---------------------
2 files changed, 30 insertions(+), 47 deletions(-)
diff --git a/include/hpp/fcl/eigen/product.h b/include/hpp/fcl/eigen/product.h
index a6f2249a..3998cf39 100644
--- a/include/hpp/fcl/eigen/product.h
+++ b/include/hpp/fcl/eigen/product.h
@@ -20,10 +20,13 @@ struct FclProduct
COEFWISE = Derived::ColsAtCompileTime == 1 && OtherDerived::ColsAtCompileTime == 1
};
- typedef FclOp<typename internal::deduce_fcl_type<Derived, OtherDerived, COEFWISE>::Type> ProductType;
- typedef FclOp<typename ProductReturnType<Transpose<Derived>, OtherDerived >::Type> TransposeTimesType;
- typedef FclOp<typename ProductReturnType<Derived, Transpose<OtherDerived> >::Type> TimesTransposeType;
- typedef FclOp<typename ProductReturnType<ProductType, Transpose<Derived> >::Type> TensorTransformType;
+ typedef typename internal::remove_fcl<Derived>::type EDerived;
+ typedef typename internal::remove_fcl<OtherDerived>::type EOtherDerived;
+
+ typedef FclOp<typename internal::deduce_fcl_type<EDerived, EOtherDerived, COEFWISE>::Type> ProductType;
+ typedef FclOp<typename ProductReturnType<Transpose<Derived>, EOtherDerived >::Type> TransposeTimesType;
+ typedef FclOp<typename ProductReturnType<EDerived, Transpose<EOtherDerived> >::Type> TimesTransposeType;
+ typedef FclOp<typename ProductReturnType<ProductType, Transpose<EDerived> >::Type> TensorTransformType;
static EIGEN_STRONG_INLINE ProductType run (const Derived& l, const OtherDerived& r) { return ProductType (l, r); }
};
diff --git a/include/hpp/fcl/eigen/vec_3fx.h b/include/hpp/fcl/eigen/vec_3fx.h
index 4d50c6e9..23a1e3fd 100644
--- a/include/hpp/fcl/eigen/vec_3fx.h
+++ b/include/hpp/fcl/eigen/vec_3fx.h
@@ -142,37 +142,23 @@ namespace Eigen {
template <typename T> class FclOp;
template <typename T, int Cols, int Options> class FclMatrix;
-#include <hpp/fcl/eigen/product.h>
-
namespace internal {
template<typename T> struct traits< FclOp<T> > : traits <T> {};
template<typename T, int Cols, int _Options>
struct traits< FclMatrix<T, Cols, _Options> >
- {
- typedef T Scalar;
- typedef FclMatrix<T, Cols, _Options> This;
- typedef traits<typename This::Base> traits_base;
- typedef typename traits_base::StorageKind StorageKind;
- typedef typename traits_base::Index Index;
- typedef typename traits_base::XprKind XprKind;
- enum {
- RowsAtCompileTime = traits_base::RowsAtCompileTime,
- ColsAtCompileTime = traits_base::ColsAtCompileTime,
- MaxRowsAtCompileTime = traits_base::MaxRowsAtCompileTime,
- MaxColsAtCompileTime = traits_base::MaxColsAtCompileTime,
- Flags = traits_base::Flags,
- CoeffReadCost = traits_base::CoeffReadCost,
- Options = traits_base::Options,
- InnerStrideAtCompileTime = 1,
- OuterStrideAtCompileTime = traits_base::OuterStrideAtCompileTime
- };
- };
+ : traits<typename FclMatrix<T, Cols, _Options>::Base>
+ {};
template <typename Derived> struct remove_fcl { typedef Derived type; };
template <> template <typename Derived> struct remove_fcl <FclOp<Derived> > { typedef Derived type; };
+ template <> template <typename Derived> struct remove_fcl <const FclOp<Derived> > { typedef Derived type; };
+ template <> template <typename T, int Col, int Options> struct remove_fcl <FclMatrix<T,Col,Options> > { typedef typename FclMatrix<T,Col,Options>::Base type; };
+ template <> template <typename T, int Col, int Options> struct remove_fcl <const FclMatrix<T,Col,Options> > { typedef typename FclMatrix<T,Col,Options>::Base type; };
}
+#include <hpp/fcl/eigen/product.h>
+
template <typename Derived>
struct UnaryReturnType {
typedef typename Derived::Scalar Scalar;
@@ -266,9 +252,6 @@ public:
/// @brief create vector (x, x, x)
FclMatrix(T x) : Base(Base::Constant (x)) {}
- Base& base () { return *this; }
- const Base& base () const { return *this; }
-
/// @brief create vector using the internal data type
// Vec3fX(const T& data_) : data(data_) {}
@@ -298,10 +281,10 @@ public:
FCL_EIGEN_MAKE_CWISE_UNARY_OP(operator+,internal::scalar_add_op)
// This operator cannot be implement with the macro
// FCL_EIGEN_MAKE_CWISE_UNARY_OP(operator-,internal::scalar_difference_op)
- EIGEN_STRONG_INLINE const FclOp<const CwiseUnaryOp<internal::scalar_add_op<Scalar>, const FclMatrix> >
+ EIGEN_STRONG_INLINE const FclOp<const CwiseUnaryOp<internal::scalar_add_op<Scalar>, const Base> >
operator- (const Scalar& scalar) const
{
- return FclOp <const CwiseUnaryOp<internal::scalar_add_op<Scalar>, const FclMatrix> > (*this, internal::scalar_add_op<Scalar>(-scalar));
+ return FclOp <const CwiseUnaryOp<internal::scalar_add_op<Scalar>, const Base> > (*this, internal::scalar_add_op<Scalar>(-scalar));
}
FCL_EIGEN_MAKE_CWISE_UNARY_OP(operator*,internal::scalar_multiple_op)
FCL_EIGEN_MAKE_CWISE_UNARY_OP(operator/,internal::scalar_quotient1_op)
@@ -309,7 +292,7 @@ public:
FCL_EIGEN_MAKE_EXPOSE_PARENT_ARRAY_SCALAR1(operator-=)
FCL_EIGEN_MAKE_EXPOSE_PARENT_ARRAY_SCALAR1(operator*=)
FCL_EIGEN_MAKE_EXPOSE_PARENT_ARRAY_SCALAR1(operator/=)
- inline const typename UnaryReturnType<FclMatrix>::Opposite operator-() const { return typename UnaryReturnType<FclMatrix>::Opposite(*this); }
+ inline const typename UnaryReturnType<Base>::Opposite operator-() const { return typename UnaryReturnType<Base>::Opposite(*this); }
// There is no class for cross
// inline Vec3fX cross(const Vec3fX& other) const { return Vec3fX(details::cross_prod(data, other.data)); }
FCL_EIGEN_MAKE_CROSS()
@@ -408,28 +391,28 @@ public:
}
template<typename OtherDerived>
- EIGEN_STRONG_INLINE const typename FclProduct<const FclMatrix,const OtherDerived>::TransposeTimesType
+ EIGEN_STRONG_INLINE const typename FclProduct<const Base,const OtherDerived>::TransposeTimesType
transposeTimes (const MatrixBase<OtherDerived>& other) const
{
- const Transpose<const FclMatrix> t (*this);
- return typename FclProduct<const FclMatrix,const OtherDerived>::TransposeTimesType (t, other.derived());
+ const Transpose<const Base> t (*this);
+ return typename FclProduct<const Base,const OtherDerived>::TransposeTimesType (t, other.derived());
}
template<typename OtherDerived>
- EIGEN_STRONG_INLINE const typename FclProduct<const FclMatrix,const OtherDerived>::TimesTransposeType
+ EIGEN_STRONG_INLINE const typename FclProduct<const Base,const OtherDerived>::TimesTransposeType
timesTranspose (const MatrixBase<OtherDerived>& other) const
{
const Transpose<const OtherDerived> t (other.derived());
- return typename FclProduct<const FclMatrix,const OtherDerived>::TimesTransposeType (*this, t);
+ return typename FclProduct<const Base,const OtherDerived>::TimesTransposeType (*this, t);
}
template<typename OtherDerived>
- EIGEN_STRONG_INLINE const typename FclProduct<const FclMatrix,const OtherDerived>::TensorTransformType
+ EIGEN_STRONG_INLINE const typename FclProduct<const Base,const OtherDerived>::TensorTransformType
tensorTransform(const MatrixBase<OtherDerived>& other) const
{
- const Transpose<const FclMatrix> t (*this);
- const typename FclProduct<const FclMatrix,const OtherDerived>::ProductType left (*this, other.derived());
- return typename FclProduct<const FclMatrix,const OtherDerived>::TensorTransformType (left, t);
+ const Transpose<const Base> t (*this);
+ const typename FclProduct<const Base,const OtherDerived>::ProductType left (*this, other.derived());
+ return typename FclProduct<const Base,const OtherDerived>::TensorTransformType (left, t);
}
static const FclMatrix& getIdentity()
@@ -509,10 +492,6 @@ public:
FclOp (XprType& xpr)
: Base (xpr) {}
- Base& base () { return *this; }
- const Base& base () const { return *this; }
-
-
FCL_EIGEN_MAKE_GET_COL_ROW()
FCL_EIGEN_MATRIX_DOT(dot,row)
FCL_EIGEN_MATRIX_DOT(transposeDot,col)
@@ -535,7 +514,7 @@ public:
}
FCL_EIGEN_MAKE_CWISE_UNARY_OP(operator*,internal::scalar_multiple_op)
FCL_EIGEN_MAKE_CWISE_UNARY_OP(operator/,internal::scalar_quotient1_op)
- inline const typename UnaryReturnType<const FclOp>::Opposite operator-() const { return typename UnaryReturnType<const FclOp>::Opposite(*this); }
+ inline const typename UnaryReturnType<const Base>::Opposite operator-() const { return typename UnaryReturnType<const Base>::Opposite(*this); }
FCL_EIGEN_MAKE_CROSS()
@@ -604,9 +583,9 @@ public:
return this->Base::isZero ();
}
- const FclOp<Transpose<const FclOp> > transpose () const {
+ const FclOp<Transpose<const Base> > transpose () const {
EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(EigenOp, 3, 3);
- return FclOp<Transpose<const FclOp> >(*this);
+ return FclOp<Transpose<const Base> >(*this);
}
// const FclOp<internal::inverse_impl<FclOp> > inverse () const { return FclOp<Transpose<FclOp> >(*this); }
@@ -811,6 +790,7 @@ void eigen(const FclType<Matrix>& m, typename Matrix::Scalar dout[3], Vector* vo
template<typename Derived>
Eigen::FclOp<Eigen::Transpose<const typename Eigen::internal::remove_fcl<Derived>::type> > transpose(const FclType<Derived>& R)
{
+ EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Derived, 3, 3);
return Eigen::FclOp<Eigen::Transpose<const typename Eigen::internal::remove_fcl<Derived>::type > > (R.fcl());
}
--
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