From ff8b2c31c9b8f5ab9fc1c2bf5e1138bfb9f50ad2 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Tue, 31 May 2016 14:43:51 +0200
Subject: [PATCH] Make Eigen a required dependency and add
fcl::Vec3fX::derived() (same for Matrix3fX
---
CMakeLists.txt | 11 ++++-------
include/hpp/fcl/math/matrix_3fx.h | 11 +++++++++++
include/hpp/fcl/math/vec_3fx.h | 7 +++++++
3 files changed, 22 insertions(+), 7 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9e91088b..5a839e00 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -48,13 +48,10 @@ setup_project()
set(FCL_HAVE_SSE FALSE CACHE BOOL "Enable SSE vectorization")
-add_optional_dependency("eigen3 >= 3.0.0")
-set(FCL_HAVE_EIGEN ${EIGEN3_FOUND} CACHE BOOL "Use eigen matrix type when possible")
-if (EIGEN3_FOUND)
- if (FCL_HAVE_EIGEN)
- include_directories(${EIGEN3_INCLUDE_DIRS})
- endif (FCL_HAVE_EIGEN)
-endif (EIGEN3_FOUND)
+# add_optional_dependency("eigen3 >= 3.0.0")
+add_required_dependency("eigen3 >= 3.0.0")
+set(FCL_HAVE_EIGEN TRUE CACHE BOOL "Use eigen matrix type when possible")
+include_directories(${EIGEN3_INCLUDE_DIRS})
# Required dependencies
add_required_dependency("ccd >= 1.4")
diff --git a/include/hpp/fcl/math/matrix_3fx.h b/include/hpp/fcl/math/matrix_3fx.h
index 18584b06..1c93e7e6 100644
--- a/include/hpp/fcl/math/matrix_3fx.h
+++ b/include/hpp/fcl/math/matrix_3fx.h
@@ -39,6 +39,7 @@
#define FCL_MATRIX_3FX_H
#include <hpp/fcl/math/vec_3f.h>
+#include <Eigen/Core>
namespace fcl
{
@@ -50,6 +51,7 @@ class Matrix3fX
public:
typedef typename T::meta_type U;
typedef typename T::vector_type S;
+ typedef Eigen::Matrix<U, 3, 3> EigenType;
T data;
Matrix3fX() {}
@@ -75,6 +77,15 @@ public:
return Vec3fX<S>(data.getRow(i));
}
+ inline EigenType derived() const
+ {
+ EigenType ret;
+ for(int i = 0; i < 3; ++i)
+ for(int j = 0; j < 3; ++j)
+ ret(i,j) = data(i,j);
+ return ret;
+ }
+
inline U operator () (size_t i, size_t j) const
{
return data(i, j);
diff --git a/include/hpp/fcl/math/vec_3fx.h b/include/hpp/fcl/math/vec_3fx.h
index 4cc8d869..e49cba19 100644
--- a/include/hpp/fcl/math/vec_3fx.h
+++ b/include/hpp/fcl/math/vec_3fx.h
@@ -45,6 +45,7 @@
#include <iostream>
#include <limits>
+#include <Eigen/Core>
namespace fcl
{
@@ -55,6 +56,7 @@ class Vec3fX
{
public:
typedef typename T::meta_type U;
+ typedef Eigen::Matrix<U, 3, 1> EigenType;
/// @brief interval vector3 data
T data;
@@ -71,6 +73,11 @@ public:
/// @brief create vector using the internal data type
Vec3fX(const T& data_) : data(data_) {}
+ inline EigenType derived() const
+ {
+ return EigenType (data[0],data[1],data[2]);
+ }
+
inline U operator [] (size_t i) const { return data[i]; }
inline U& operator [] (size_t i) { return data[i]; }
--
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