[wip/py-dynamic-graph-v3] Update to 3.0.1

Integrates patches + access to object map in dynamic-graph.

py-dynamic-graph-v3/Makefile

@@ -3,8 +3,8 @@
 #
 
 DISTNAME=		dynamic-graph-python-v3-${VERSION}
-VERSION=		3.0.0
-PKGREVISION=		2
+VERSION=		3.0.1
+#PKGREVISION=		2
 
 PKGNAME=		${PKGTAG.python-}dynamic-graph-v3-${VERSION}
 MASTER_SITES=		${MASTER_SITE_OPENROBOTS:=dynamic-graph-python-v3/}

py-dynamic-graph-v3/distinfo

-SHA1 (dynamic-graph-python-v3-3.0.0.tar.gz) = 3cd0dc7c031d93a5369eab0be753a84cbdd2f151
-RMD160 (dynamic-graph-python-v3-3.0.0.tar.gz) = f385b8d218a4615cfa8b631e977fce8f98a2403f
-Size (dynamic-graph-python-v3-3.0.0.tar.gz) = 778595 bytes
+SHA1 (dynamic-graph-python-v3-3.0.1.tar.gz) = e10ab558b4c30bd104ea79852227badabfb19e77
+RMD160 (dynamic-graph-python-v3-3.0.1.tar.gz) = a59e232747d4930f9c2a14ec9a5e18aa7ba005e3
+Size (dynamic-graph-python-v3-3.0.1.tar.gz) = 791709 bytes
 SHA1 (patch-aa) = 538c46d0eaeb6c032b4f54a9627f6b411cb02fef
 SHA1 (patch-ab) = d97f989705499ed8014985217a99f42eefd39fcd
 SHA1 (patch-ac) = da39a3ee5e6b4b0d3255bfef95601890afd80709

py-dynamic-graph-v3/patches/patch-aa

-Patch for inputing Eigen::Transform as Matrix4d
-
-diff --git a/src/convert-dg-to-py.cc b/src/convert-dg-to-py.cc
-index 0c9cc61..446dba0 100644
---- src/convert-dg-to-py.cc
-+++ src/convert-dg-to-py.cc
-@@ -49,6 +49,24 @@ namespace dynamicgraph {
- 				   "a floating point number.");
- 	}
-       }
-+      void fillMatrixRow(Eigen::Matrix4d& m, unsigned iRow, PyObject* tuple)
-+      {
-+	if (PyTuple_Size(tuple) != (int)m.cols()) {
-+	  throw ExceptionPython(ExceptionPython::MATRIX_PARSING,
-+				 "lines of matrix have different sizes.");
-+	}
-+	for (int iCol=0; iCol < m.cols(); iCol++) {
-+	  PyObject* pyDouble = PyTuple_GetItem(tuple, iCol);
-+	  if (PyFloat_Check(pyDouble))
-+	    m(iRow, iCol) = PyFloat_AsDouble(pyDouble);
-+	  else if(PyInt_Check(pyDouble))
-+	    m(iRow, iCol) = (int)PyInt_AS_LONG(pyDouble)+0.0;
-+	  else
-+	    throw ExceptionPython(ExceptionPython::MATRIX_PARSING,
-+				   "element of matrix should be "
-+				   "a floating point number.");
-+	}
-+      }
- 
-       command::Value pythonToValue(PyObject* pyObject,
- 				   const command::Value::Type& valueType)
-@@ -62,6 +80,7 @@ namespace dynamicgraph {
- 	std::string svalue;
- 	Vector v;
- 	Matrix m;
-+	Eigen::Matrix4d m4;
- 	Py_ssize_t nCols;
- 	Py_ssize_t size;
- 	PyObject* row;
-@@ -175,6 +194,36 @@ namespace dynamicgraph {
- 	  }
- 	  return Value(m);
- 	  break;
-+	case (Value::MATRIX4D) :
-+	  // Check that argument is a tuple
-+	  if (!PyTuple_Check(pyObject)) {
-+	    throw ExceptionPython(ExceptionPython::VALUE_PARSING,
-+				   "matrix4d");
-+	  }
-+	  nRows = PyTuple_Size(pyObject);
-+	  if (nRows == 0) {
-+	    return Value(Eigen::Matrix4d());
-+	  }
-+	  row = PyTuple_GetItem(pyObject, 0);
-+	  if (!PyTuple_Check(row)) {
-+	    throw ExceptionPython(ExceptionPython::MATRIX_PARSING,
-+				   "matrix4d");
-+	  }
-+	  nCols = PyTuple_Size(row);
-+
-+	  m4.resize(nRows, nCols);
-+	  fillMatrixRow(m4, 0, row);
-+
-+	  for (Py_ssize_t iRow=1; iRow<nRows; iRow++) {
-+	    row = PyTuple_GetItem(pyObject, iRow);
-+	    if (!PyTuple_Check(row)) {
-+	      throw ExceptionPython(ExceptionPython::MATRIX_PARSING,
-+				     "matrix");
-+	    }
-+	    fillMatrixRow(m4, static_cast<unsigned> (iRow), row);
-+	  }
-+	  return Value(m4);
-+	  break;
- 	default:
- 	  std::cerr << "Only int, double and string are supported."
- 		    << std::endl;
-@@ -206,6 +255,20 @@ namespace dynamicgraph {
- 	return tuple;
-       }
- 
-+      PyObject* matrix4dToPython(const Eigen::Matrix4d& matrix)
-+      {
-+	PyObject* tuple = PyTuple_New(matrix.rows());
-+	for (int iRow = 0; iRow < matrix.rows(); iRow++) {
-+	  PyObject* row = PyTuple_New(matrix.cols());
-+	  for (int iCol=0; iCol < matrix.cols(); iCol++) {
-+	    PyObject* pyDouble = PyFloat_FromDouble(matrix(iRow, iCol));
-+	    PyTuple_SET_ITEM(row, iCol, pyDouble);
-+	  }
-+	  PyTuple_SET_ITEM(tuple, iRow, row);
-+	}
-+	return tuple;
-+      }
-+
-       PyObject* valueToPython(const command::Value& value)
-       {
- 	using command::Value;
-@@ -217,6 +280,7 @@ namespace dynamicgraph {
- 	std::string stringValue;
- 	Vector vectorValue;
- 	Matrix matrixValue;
-+	Eigen::Matrix4d matrix4dValue;
- 	switch(value.type()) {
- 	case (Value::BOOL) :
- 	  boolValue = value.value();
-@@ -245,6 +309,9 @@ namespace dynamicgraph {
- 	case (Value::MATRIX) :
- 	  matrixValue = value.value();
- 	  return matrixToPython(matrixValue);
-+	case (Value::MATRIX4D) :
-+	  matrix4dValue = value.value();
-+	  return matrix4dToPython(matrix4dValue);
- 	default:
- 	  return Py_BuildValue("");
- 	}
-diff --git a/src/convert-dg-to-py.hh b/src/convert-dg-to-py.hh
-index 62d6fc2..13f114f 100644
---- src/convert-dg-to-py.hh
-+++ src/convert-dg-to-py.hh
-@@ -26,6 +26,7 @@ namespace dynamicgraph {
- 				   const command::Value::Type& valueType);
-       PyObject* vectorToPython(const Vector& vector);
-       PyObject* matrixToPython(const  ::dynamicgraph::Matrix& matrix);
-+      PyObject* matrix4dToPython(const  Eigen::Matrix4d& matrix);
-       PyObject* valueToPython(const  ::dynamicgraph::command::Value& value);
- 
-     } // namespace dynamicgraph

py-dynamic-graph-v3/patches/patch-ab

-[c++] patch to extract values from MatrixHomogeneous Signal
-
-diff --git src/signal-base-py.cc src/signal-base-py.cc
-index 065fb65..2c2115c 100644
---- src/signal-base-py.cc
-+++ src/signal-base-py.cc
-@@ -204,6 +204,33 @@ namespace dynamicgraph {
- 	    }
- 	  }
- 
-+	  { // --- HOMOGENEOUS MATRIX SIGNALS --------------------
-+	    // Two cases: the signal embeds directly a matrix, or embeds
-+	    // an object deriving from matrix.In the first case,
-+	    // the signal is directly cast into sig<matrix>.
-+	    // In the second case, the derived object can be access as a matrix
-+	    // using the signal-ptr<matrix> type.
-+	    
-+	    //TODO: See if matrix homogeneous can be properly put in linear-algebra.h
-+	    typedef Eigen::Transform<double,3, Eigen::Affine> MatrixHomogeneous;
-+	    Signal<MatrixHomogeneous,int> * sigmat
-+	      = dynamic_cast< Signal<MatrixHomogeneous,int>* >( signal );
-+	    if( NULL!= sigmat ) {
-+	      return matrixToPython( sigmat->accessCopy().matrix() );
-+	    }
-+	    
-+	    SignalPtr<Eigen::Transform<double,3, Eigen::Affine>,int> sigptr(NULL,"matrix-caster");
-+	    try {
-+	      sigptr.plug(signal);
-+	      return matrixToPython( sigptr.accessCopy().matrix() );
-+	    }
-+	    catch( dynamicgraph::ExceptionSignal& ex ) {
-+	      if( ex.getCode() !=
-+		  dynamicgraph::ExceptionSignal::PLUG_IMPOSSIBLE )
-+	      throw;
-+	    }
-+	  }
-+	  
- 	  Signal<double,int> * sigdouble
- 	    = dynamic_cast< Signal<double,int>* >( signal );
- 	  if( NULL!= sigdouble )