From a5cc3bcd46c4a1ff3d5317ddfbfb822bdf9fab45 Mon Sep 17 00:00:00 2001
From: Valenza Florian <fvalenza@laas.fr>
Date: Fri, 5 Feb 2016 17:02:30 +0100
Subject: [PATCH] [C++][Frame] Moved the generation of random string in a new
file. Modified the default constructor of frame to produce unique frame (as
long as the random strings generated are unique)
---
CMakeLists.txt | 1 +
src/multibody/model.hpp | 1 +
src/multibody/model.hxx | 13 +-----------
src/spatial/frame.hpp | 3 ++-
src/tools/string-generator.hpp | 39 ++++++++++++++++++++++++++++++++++
5 files changed, 44 insertions(+), 13 deletions(-)
create mode 100644 src/tools/string-generator.hpp
diff --git a/CMakeLists.txt b/CMakeLists.txt
index b8e97d824..9e86d1c45 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -83,6 +83,7 @@ SET(${PROJECT_NAME}_MATH_HEADERS
SET(${PROJECT_NAME}_TOOLS_HEADERS
tools/timer.hpp
+ tools/string-generator.hpp
)
SET(${PROJECT_NAME}_SPATIAL_HEADERS
diff --git a/src/multibody/model.hpp b/src/multibody/model.hpp
index 24d7f8fdc..e43c03d7f 100644
--- a/src/multibody/model.hpp
+++ b/src/multibody/model.hpp
@@ -27,6 +27,7 @@
#include "pinocchio/spatial/inertia.hpp"
#include "pinocchio/spatial/frame.hpp"
#include "pinocchio/multibody/joint/joint-variant.hpp"
+#include "pinocchio/tools/string-generator.hpp"
#include <iostream>
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(se3::SE3)
diff --git a/src/multibody/model.hxx b/src/multibody/model.hxx
index 4e154279b..16d182119 100644
--- a/src/multibody/model.hxx
+++ b/src/multibody/model.hxx
@@ -43,18 +43,7 @@ namespace se3
return os;
}
- inline std::string random (const int len)
- {
- std::string res;
- static const char alphanum[] =
- "0123456789"
- "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
- "abcdefghijklmnopqrstuvwxyz";
-
- for (int i=0; i<len;++i)
- res += alphanum[((size_t)std::rand() % (sizeof(alphanum) - 1))];
- return res;
- }
+
template<typename D>
Model::Index Model::addBody (Index parent, const JointModelBase<D> & j, const SE3 & placement,
diff --git a/src/spatial/frame.hpp b/src/spatial/frame.hpp
index ee4918866..45584baf1 100644
--- a/src/spatial/frame.hpp
+++ b/src/spatial/frame.hpp
@@ -23,6 +23,7 @@
#include "pinocchio/spatial/force.hpp"
#include "pinocchio/spatial/motion.hpp"
#include "pinocchio/spatial/inertia.hpp"
+#include "pinocchio/tools/string-generator.hpp"
#include <iostream>
namespace se3
@@ -31,7 +32,7 @@ struct Frame
{
typedef std::size_t Index;
- Frame() : name(), parent_id(), frame_placement()
+ Frame() : name(random(8)), parent_id(), frame_placement()
{
}
diff --git a/src/tools/string-generator.hpp b/src/tools/string-generator.hpp
new file mode 100644
index 000000000..8930cc739
--- /dev/null
+++ b/src/tools/string-generator.hpp
@@ -0,0 +1,39 @@
+//
+// Copyright (c) 2016 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
+#ifndef __se3_string_generator_hpp__
+#define __se3_string_generator_hpp__
+
+#include <iostream>
+namespace se3
+{
+
+inline std::string random (const int len)
+ {
+ std::string res;
+ static const char alphanum[] =
+ "0123456789"
+ "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
+ "abcdefghijklmnopqrstuvwxyz";
+
+ for (int i=0; i<len;++i)
+ res += alphanum[((size_t)std::rand() % (sizeof(alphanum) - 1))];
+ return res;
+ }
+}
+
+#endif // __se3_string_generator_hpp__
--
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