[All] Replace definition EIGEN3_{FUTURE,BETA} by internal Eigen macro

CMakeLists.txt

@@ -81,22 +81,6 @@ ADD_OPTIONAL_DEPENDENCY("metapod >= 1.0.7")
 ADD_OPTIONAL_DEPENDENCY("urdfdom >= 0.2.0")
 ADD_OPTIONAL_DEPENDENCY("hpp-fcl >= 0.5.1")
 
-# Spetcial care of Eigen3 greater than 3.2.10
-IF(EIGEN3_FOUND)
-  IF(${EIGEN3_VERSION} VERSION_GREATER "3.2.10")
-    ADD_DEFINITIONS(-DEIGEN3_FUTURE)
-    SET(EIGEN3_FUTURE TRUE)
-    PKG_CONFIG_APPEND_CFLAGS("-DEIGEN3_FUTURE")
-    IF(${EIGEN3_VERSION} VERSION_LESS "3.3.0")
-      ADD_DEFINITIONS(-DEIGEN3_BETA_3_2_9x)
-      SET(EIGEN3_FUTURE TRUE)
-      PKG_CONFIG_APPEND_CFLAGS("-DEIGEN3_BETA_3_2_9x")
-    ENDIF(${EIGEN3_VERSION} VERSION_LESS "3.3.0")
-  ELSE(${EIGEN3_VERSION} VERSION_GREATER "3.2.10")
-    SET(EIGEN3_FUTURE FALSE)
-  ENDIF(${EIGEN3_VERSION} VERSION_GREATER "3.2.10")
-ENDIF(EIGEN3_FOUND)
-
 # Special care of urdfdom version
 IF(URDFDOM_FOUND)
   IF(${URDFDOM_VERSION} VERSION_LESS "0.3.0")

src/macros.hpp

@@ -44,7 +44,7 @@ Eigen::ScalarBinaryOpTraits< typename Eigen::internal::traits< D1 >::Scalar, typ
 Eigen::internal::scalar_product_traits<typename Eigen::internal::traits< D1 >::Scalar,typename Eigen::internal::traits< D2 >::Scalar>::ReturnType
 #endif
 
-#ifdef EIGEN3_BETA_3_2_9x
+#if EIGEN_VERSION_AT_LEAST(3,2,90) && !EIGEN_VERSION_AT_LEAST(3,3,0)
 namespace se3
 {
   namespace internal

src/multibody/joint/joint-prismatic-unaligned.hpp

@@ -165,7 +165,7 @@ namespace se3
         /* [CRBA]  MatrixBase operator* (Constraint::Transpose S, ForceSet::Block) */
         template<typename D>
         friend
-#ifdef EIGEN3_FUTURE
+#if EIGEN_VERSION_AT_LEAST(3,2,90)
         const Eigen::Product<
         Eigen::Transpose<const Vector3>,
         typename Eigen::MatrixBase<const D>::template NRowsBlockXpr<3>::Type
@@ -235,7 +235,7 @@ namespace se3
   
   /* [ABA] Y*S operator (Inertia Y,Constraint S) */
   inline
-#ifdef EIGEN3_FUTURE
+#if EIGEN_VERSION_AT_LEAST(3,2,90)
   const Eigen::Product<
   Eigen::Block<const Inertia::Matrix6,6,3>,
   ConstraintPrismaticUnaligned::Vector3,

src/multibody/joint/joint-revolute-unaligned.hpp

@@ -167,7 +167,7 @@ namespace se3
         /* [CRBA]  MatrixBase operator* (Constraint::Transpose S, ForceSet::Block) */
         template<typename D>
         friend
-#ifdef EIGEN3_FUTURE
+#if EIGEN_VERSION_AT_LEAST(3,2,90)
         const Eigen::Product<
         Eigen::Transpose<const Vector3>,
         typename Eigen::MatrixBase<const D>::template NRowsBlockXpr<3>::Type
@@ -243,7 +243,7 @@ namespace se3
   /* [ABA] Y*S operator (Inertia Y,Constraint S) */
 //  inline Eigen::Matrix<double,6,1>
   inline
-#ifdef EIGEN3_FUTURE
+#if EIGEN_VERSION_AT_LEAST(3,2,90)
   const Eigen::Product<
   Eigen::Block<const Inertia::Matrix6,6,3>,
   ConstraintRevoluteUnaligned::Vector3

src/multibody/joint/joint-spherical-ZYX.hpp

@@ -160,7 +160,7 @@ namespace se3
       ConstraintTranspose(const ConstraintRotationalSubspaceTpl & ref) : ref(ref) {}
       
       template<typename Derived>
-#ifdef EIGEN3_FUTURE
+#if EIGEN_VERSION_AT_LEAST(3,2,90)
       const typename Eigen::Product<
       Eigen::Transpose<const Matrix3>,
       Eigen::Block<const typename ForceDense<Derived>::Vector6,3,1>
@@ -179,7 +179,7 @@ namespace se3
       
       /* [CRBA]  MatrixBase operator* (Constraint::Transpose S, ForceSet::Block) */
       template<typename D>
-#ifdef EIGEN3_FUTURE
+#if EIGEN_VERSION_AT_LEAST(3,2,90)
       const typename Eigen::Product<
       typename Eigen::Transpose<const Matrix3>,
       typename Eigen::MatrixBase<const D>::template NRowsBlockXpr<3>::Type
@@ -298,24 +298,24 @@ namespace se3
   }
   
   /* [ABA] Y*S operator (Inertia Y,Constraint S) */
-//  template <typename _Scalar, int _Options>
-//  inline Eigen::Matrix<_Scalar,6,3,_Options>
-//#ifdef EIGEN3_FUTURE
-//  const typename Eigen::Product<
-//  const Eigen::template Block<const typename InertiaTpl<_Scalar,_Options>::Matrix6,6,3>,
-//  const typename JointSphericalZYXTpl<_Scalar,_Options>::ConstraintRotationalSubspace::Matrix3
-//  >
-//#else
-//  const typename Eigen::ProductReturnType<
-//  const Eigen::template Block<const typename InertiaTpl<_Scalar,_Options>::Matrix6,6,3>,
-//  const typename JointSphericalZYXTpl<_Scalar,_Options>::ConstraintRotationalSubspace::Matrix3
-//  >::Type
-//#endif
-//  operator*(const typename InertiaTpl<_Scalar,_Options>::Matrix6 & Y,
-//            const typename JointSphericalZYXTpl<_Scalar,_Options>::ConstraintRotationalSubspace & S)
-//  {
-//    return Y.template middleCols<3>(Inertia::ANGULAR) * S.S_minimal;
-//  }
+  //  inline Eigen::Matrix<double,6,3>
+  template <typename _Scalar, int _Options>
+#if EIGEN_VERSION_AT_LEAST(3,2,90)
+  const typename Eigen::Product<
+  const Eigen::Block<const Inertia::Matrix6,6,3>,
+  const typename JointSphericalZYXTpl<_Scalar,_Options>::ConstraintRotationalSubspace::Matrix3
+  >
+#else
+  const typename Eigen::ProductReturnType<
+  const Eigen::Block<const Inertia::Matrix6,6,3>,
+  const typename JointSphericalZYXTpl<_Scalar,_Options>::ConstraintRotationalSubspace::Matrix3
+  >::Type
+#endif
+  operator*(const typename InertiaTpl<_Scalar,_Options>::Matrix6 & Y,
+            const typename JointSphericalZYXTpl<_Scalar,_Options>::ConstraintRotationalSubspace & S)
+  {
+    return Y.template middleCols<3>(Inertia::ANGULAR) * S.S_minimal;
+  }
   
   inline Eigen::Matrix<double,6,3>
   operator*(const Inertia::Matrix6 & Y,