[wip/dynamic-graph3][PATCH] update the ostream output format for MatrixHomogeneous

dynamic-graph3/Makefile

@@ -4,6 +4,7 @@
 PKG_NAME=		dynamic-graph
 VERSION=		3.0.0
 DISTNAME=		${PKG_NAME}-${VERSION}
+PKGREVISION=		1
 
 CATEGORIES=		wip
 MASTER_SITES=		${MASTER_SITE_OPENROBOTS:=dynamic-graph/}
@@ -25,7 +26,6 @@ CMAKE_ARGS+=		-DMANDIR=${PREFIX}/${PKGMANDIR}
 # library location
 CMAKE_ARGS+=		-DCMAKE_INSTALL_LIBDIR=lib
 
-PATCH_STRIP?=		-p1
 include ../../math/eigen3/depend.mk
 include ../../pkgtools/pkg-config/depend.mk
 include ../../mk/sysdep/cmake.mk

dynamic-graph3/distinfo

 SHA1 (dynamic-graph-3.0.0.tar.gz) = 2d88c7942ecbb2b8d5d680fcf8c21eaf4bc6ff34
 RMD160 (dynamic-graph-3.0.0.tar.gz) = e2f50ba8e06003d264fd9e61afef9248c7df4dea
 Size (dynamic-graph-3.0.0.tar.gz) = 429940 bytes
-SHA1 (patch-aa) = d0c2f6a2201962295e3efc5c5a5c61d19c32a5fd
+SHA1 (patch-aa) = d8d3aa22eea6c004d8bce7fbbe3c54c376463303
+SHA1 (patch-ab) = f162e6527d43a57adb10700242997838c0446cc9

dynamic-graph3/patches/patch-aa

@@ -3,8 +3,8 @@ Patch for inputing Eigen::Transform as Matrix4d
 
 diff --git a/include/dynamic-graph/value.h b/include/dynamic-graph/value.h
 index d8adc30..ffa43c0 100644
---- a/include/dynamic-graph/value.h
-+++ b/include/dynamic-graph/value.h
+--- include/dynamic-graph/value.h
++++ include/dynamic-graph/value.h
 @@ -30,8 +30,6 @@ namespace dynamicgraph {
      class Value;
      class DYNAMIC_GRAPH_DLLAPI EitherType {
@@ -63,8 +63,8 @@ index d8adc30..ffa43c0 100644
      };
 diff --git a/src/command/command.cpp b/src/command/command.cpp
 index 7cd2b51..350a6af 100644
---- a/src/command/command.cpp
-+++ b/src/command/command.cpp
+--- src/command/command.cpp
++++ src/command/command.cpp
 @@ -50,7 +50,7 @@ namespace dynamicgraph {
        for (unsigned int iParam=0; iParam < values.size(); iParam++) {
  	if (values[iParam].type() != paramTypes[iParam]) {
@@ -76,8 +76,8 @@ index 7cd2b51..350a6af 100644
  	  throw ExceptionAbstract(ExceptionAbstract::TOOLS, ss.str());
 diff --git a/src/command/value.cpp b/src/command/value.cpp
 index ed77090..4ff3123 100644
---- a/src/command/value.cpp
-+++ b/src/command/value.cpp
+--- src/command/value.cpp
++++ src/command/value.cpp
 @@ -61,9 +61,14 @@ namespace dynamicgraph {
      {
        return value_->vectorValue();

dynamic-graph3/patches/patch-ab

+[c++] Patch to update ostream output format for MatrixHomogeneous
+
+diff --git include/dynamic-graph/eigen-io.h include/dynamic-graph/eigen-io.h
+index 60eab3f..89d8f33 100644
+--- include/dynamic-graph/eigen-io.h
++++ include/dynamic-graph/eigen-io.h
+@@ -138,9 +138,21 @@ namespace Eigen {
+   
+   
+   
++
++  /* \brief Eigen Homogeneous Matrix output
++   *
++   * Matrix format: [M,N]((val11,val12,val13,...,val1N),...,(valM1,valM2,...,valMN))
++   * e.g. [2,5]((1 23 32.2 12.12 32),(2 32 23 92.01 19.2))
++   */
++
+   inline std::ostream& operator << (std::ostream &os, 
+ 				    Transform<double,3,Affine> MH) {
+-    os << MH.matrix();      return os;   }
++    IOFormat boostFmt(StreamPrecision, DontAlignCols,
++		      ",", ",",
++		      "(",")",
++		      "(",")");
++    
++    os << "[4,4]"<< MH.matrix().format(boostFmt);      return os;   }
+   
+   
+   inline std::ostream& operator << (std::ostream &os, 
+diff --git include/dynamic-graph/linear-algebra.h include/dynamic-graph/linear-algebra.h
+index 7605815..4b566fb 100644
+--- include/dynamic-graph/linear-algebra.h
++++ include/dynamic-graph/linear-algebra.h
+@@ -18,6 +18,7 @@
+ #ifndef DYNAMIC_GRAPH_LINEAR_ALGEBRA_H
+ #define DYNAMIC_GRAPH_LINEAR_ALGEBRA_H
+ #include <Eigen/Core>
++#include <Eigen/Geometry>
+ 
+ namespace dynamicgraph {
+   typedef Eigen::MatrixXd Matrix;