From 70501397579ac3376b3bda9bdda56b910c142a9c Mon Sep 17 00:00:00 2001
From: Rohan Budhiraja <budhiraja@laas.fr>
Date: Fri, 8 Apr 2016 20:15:09 +0200
Subject: [PATCH] [wip/dynamic-graph3][PATCH] fix bug in matrix istream input
operator
---
dynamic-graph3/Makefile | 2 +-
dynamic-graph3/distinfo | 1 +
dynamic-graph3/patches/patch-ac | 73 +++++++++++++++++++++++++++++++++
3 files changed, 75 insertions(+), 1 deletion(-)
create mode 100644 dynamic-graph3/patches/patch-ac
diff --git a/dynamic-graph3/Makefile b/dynamic-graph3/Makefile
index 8bdb8b6e..97bd4f4a 100644
--- a/dynamic-graph3/Makefile
+++ b/dynamic-graph3/Makefile
@@ -4,7 +4,7 @@
PKG_NAME= dynamic-graph
VERSION= 3.0.0
DISTNAME= ${PKG_NAME}-${VERSION}
-PKGREVISION= 1
+PKGREVISION= 2
CATEGORIES= wip
MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=dynamic-graph/}
diff --git a/dynamic-graph3/distinfo b/dynamic-graph3/distinfo
index d87a5a01..8ed9b9a0 100644
--- a/dynamic-graph3/distinfo
+++ b/dynamic-graph3/distinfo
@@ -3,3 +3,4 @@ RMD160 (dynamic-graph-3.0.0.tar.gz) = e2f50ba8e06003d264fd9e61afef9248c7df4dea
Size (dynamic-graph-3.0.0.tar.gz) = 429940 bytes
SHA1 (patch-aa) = d8d3aa22eea6c004d8bce7fbbe3c54c376463303
SHA1 (patch-ab) = f162e6527d43a57adb10700242997838c0446cc9
+SHA1 (patch-ac) = 302875035b9e3ed3b82593bc4903c46b831b4bb8
diff --git a/dynamic-graph3/patches/patch-ac b/dynamic-graph3/patches/patch-ac
new file mode 100644
index 00000000..5591b2e2
--- /dev/null
+++ b/dynamic-graph3/patches/patch-ac
@@ -0,0 +1,73 @@
+[c++] fix bug in matrix istream input operator
+
+diff --git include/dynamic-graph/eigen-io.h include/dynamic-graph/eigen-io.h
+index 89d8f33..6352cb5 100644
+--- include/dynamic-graph/eigen-io.h
++++ include/dynamic-graph/eigen-io.h
+@@ -39,6 +39,7 @@ using dynamicgraph::ExceptionSignal;
+ */
+ namespace Eigen {
+ typedef EIGEN_DEFAULT_DENSE_INDEX_TYPE eigen_index;
++
+ inline std::istringstream& operator >> (std::istringstream &iss,
+ dynamicgraph::Vector &inst) {
+ unsigned int _size;
+@@ -88,7 +89,8 @@ namespace Eigen {
+ unsigned int _rowsize;
+ double _dbl_val;
+ char _ch;
+- boost::format fmt ("Failed to enter %s as vector. Reenter as [N](val1,val2,val3,...,valN)");
++ boost::format fmt ("Failed to enter %s as matrix. Reenter as ((val11,val12,val13,...,val1N),...,(valM1,valM2,...,valMN))");
++ MatrixXd _tmp_matrix;
+ fmt %iss.str();
+ if(iss>> _ch && _ch != '['){
+ throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
+@@ -101,7 +103,7 @@ namespace Eigen {
+ if (iss.fail())
+ throw ExceptionSignal(ExceptionSignal::GENERIC,fmt.str());
+ else {
+- inst.resize(_rowsize,_colsize);
++ _tmp_matrix.resize(_rowsize,_colsize);
+ if(iss >> _ch && _ch != ']')
+ throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
+ else {
+@@ -115,7 +117,7 @@ namespace Eigen {
+ iss >> _dbl_val;
+ if (iss.peek() == ',' || iss.peek() == ' ')
+ iss.ignore();
+- inst(j,i) = _dbl_val;
++ _tmp_matrix(j,i) = _dbl_val;
+ }
+ if(iss >> _ch && _ch != ')')
+ throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
+@@ -128,13 +130,14 @@ namespace Eigen {
+ }
+ }
+ }
++ inst = _tmp_matrix;
+ return iss;
+ }
+
+
+ inline std::istringstream& operator >> (std::istringstream &iss,
+ Transform<double,3,Affine> &inst) {
+- Matrix4d M; iss >> M; inst = M; return iss; }
++ MatrixXd M; iss >> M; inst.matrix() = M; return iss; }
+
+
+
+@@ -157,12 +160,12 @@ namespace Eigen {
+
+ inline std::ostream& operator << (std::ostream &os,
+ AngleAxisd quat) {
+- Vector4d v; v(0) = quat.angle(); v.tail<3>() = quat.axis();
++ VectorXd v(4); v(0) = quat.angle(); v.tail<3>() = quat.axis();
+ os << v; return os; }
+
+ inline std::istringstream& operator >> (std::istringstream &iss,
+ AngleAxisd &inst) {
+- Vector4d v; iss >>v;
++ VectorXd v(4); iss >>v;
+ inst.angle() = v(0); inst.axis() = v.tail<3>();
+ return iss; }
+
--
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