From 1c738aeea74f53087fbba96a9b0574190b39fe12 Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@laas.fr>
Date: Tue, 14 Oct 2014 13:45:55 +0200
Subject: [PATCH] Correct some missing operator= overaloading - Python modules
now compile
---
CMakeLists.txt | 3 +++
src/python/force.hpp | 2 +-
src/python/motion.hpp | 2 +-
src/spatial/force.hpp | 8 ++++++++
src/spatial/motion.hpp | 8 ++++++++
src/spatial/se3.hpp | 8 ++++++++
6 files changed, 29 insertions(+), 2 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 971e078d6..c16a48728 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -120,6 +120,9 @@ PKG_CONFIG_USE_DEPENDENCY(${PYWRAP} eigenpy)
TARGET_LINK_LIBRARIES(${PYWRAP} ${Boost_LIBRARIES} eigenpy)
SET_TARGET_PROPERTIES(${PYWRAP} PROPERTIES
LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib/python/${PROJECT_NAME}")
+INSTALL(FILES
+ "${CMAKE_BINARY_DIR}/lib/python/${PROJECT_NAME}/lib${PYWRAP}.so"
+ DESTINATION ${PYTHON_SITELIB}/${PROJECT_NAME})
# --- INSTALL SCRIPTS
SET(PYTHON_FILES
diff --git a/src/python/force.hpp b/src/python/force.hpp
index 94b8533d0..c89881093 100644
--- a/src/python/force.hpp
+++ b/src/python/force.hpp
@@ -40,7 +40,7 @@ namespace se3
static PyObject* convert(Force const& m)
{
- Force_fx m_fx = m;
+ Force_fx m_fx (m);
return boost::python::incref(boost::python::object(m_fx).ptr());
}
diff --git a/src/python/motion.hpp b/src/python/motion.hpp
index 4835e8665..38ae0872e 100644
--- a/src/python/motion.hpp
+++ b/src/python/motion.hpp
@@ -43,7 +43,7 @@ namespace se3
static PyObject* convert(Motion const& m)
{
- Motion_fx m_fx = m;
+ Motion_fx m_fx (m);
return boost::python::incref(boost::python::object(m_fx).ptr());
}
diff --git a/src/spatial/force.hpp b/src/spatial/force.hpp
index 7b735a378..314d79885 100644
--- a/src/spatial/force.hpp
+++ b/src/spatial/force.hpp
@@ -59,6 +59,14 @@ namespace se3
void angular(const Vector3 & n) { m_n = n; }
// Arithmetic operators
+ template<typename S2, int O2>
+ ForceTpl & operator= (const ForceTpl<S2,O2> & other)
+ {
+ m_n = other.angular ();
+ m_f = other.linear ();
+ return *this;
+ }
+
template<typename F6>
ForceTpl & operator=(const Eigen::MatrixBase<F6> & phi)
{
diff --git a/src/spatial/motion.hpp b/src/spatial/motion.hpp
index 163ec8b21..c179e3c70 100644
--- a/src/spatial/motion.hpp
+++ b/src/spatial/motion.hpp
@@ -60,6 +60,14 @@ namespace se3
void linear (const Vector3 & v) { m_v=v; }
// Arithmetic operators
+ template<typename S2, int O2>
+ MotionTpl & operator= (const MotionTpl<S2,O2> & other)
+ {
+ m_w = other.angular ();
+ m_v = other.linear ();
+ return *this;
+ }
+
template<typename V6>
MotionTpl & operator=(const Eigen::MatrixBase<V6> & v)
{
diff --git a/src/spatial/se3.hpp b/src/spatial/se3.hpp
index 74184364b..7d324537e 100644
--- a/src/spatial/se3.hpp
+++ b/src/spatial/se3.hpp
@@ -57,6 +57,14 @@ namespace se3
template<typename S2, int O2>
SE3Tpl( const SE3Tpl<S2,O2> clone )
: rot(clone.rotation()),trans(clone.translation()) {}
+
+ template<typename S2, int O2>
+ SE3Tpl & operator= (const SE3Tpl<S2,O2> & other)
+ {
+ rot = other.rotation ();
+ trans = other.translation ();
+ return *this;
+ }
const Matrix3 & rotation() const { return rot; }
const Vector3 & translation() const { return trans; }
--
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