From e4647efe82486d8ad1cd262b521f7187838409c1 Mon Sep 17 00:00:00 2001
From: Rohan Budhiraja <budhiraja@laas.fr>
Date: Fri, 29 Jan 2016 20:48:29 +0100
Subject: [PATCH] Patch for inputing Eigen::Transform as Matrix4d
---
include/sot/core/op-point-modifier.hh | 4 ++--
src/math/op-point-modifier.cpp | 20 ++++++++++----------
2 files changed, 12 insertions(+), 12 deletions(-)
diff --git a/include/sot/core/op-point-modifier.hh b/include/sot/core/op-point-modifier.hh
index 5d83a0cf..b72b1e0c 100644
--- a/include/sot/core/op-point-modifier.hh
+++ b/include/sot/core/op-point-modifier.hh
@@ -78,9 +78,9 @@ public:
dg::Matrix& jacobianSOUT_function( dg::Matrix& res,const int& time );
MatrixHomogeneous& positionSOUT_function( MatrixHomogeneous& res,const int& time );
- void setTransformation( const MatrixHomogeneous& tr );
+ void setTransformation( const Eigen::Matrix4d& tr );
void setTransformationBySignalName( std::istringstream& cmdArgs );
- const MatrixHomogeneous& getTransformation( void );
+ const Eigen::Matrix4d& getTransformation( void );
virtual void commandLine( const std::string& cmdLine,
std::istringstream& cmdArgs,
diff --git a/src/math/op-point-modifier.cpp b/src/math/op-point-modifier.cpp
index 88655a47..8c006d37 100644
--- a/src/math/op-point-modifier.cpp
+++ b/src/math/op-point-modifier.cpp
@@ -55,14 +55,14 @@ OpPointModifier( const std::string& name )
sotDEBUGIN(15);
signalRegistration( jacobianSIN<<positionSIN<<jacobianSOUT<<positionSOUT );
-
{
+
using namespace dynamicgraph::command;
addCommand("getTransformation",
- makeDirectGetter(*this,&(dynamicgraph::Matrix&)transformation,
+ makeDirectGetter(*this,&transformation.matrix(),
docDirectGetter("transformation","matrix 4x4 homo")));
addCommand("setTransformation",
- makeDirectSetter(*this, &(dynamicgraph::Matrix&)transformation,
+ makeDirectSetter(*this, &transformation.matrix(),
docDirectSetter("dimension","matrix 4x4 homo")));
addCommand("getEndEffector",
makeDirectGetter(*this,&isEndEffector,
@@ -135,11 +135,11 @@ OpPointModifier::positionSOUT_function( MatrixHomogeneous& res,const int& iter )
}
void
-OpPointModifier::setTransformation( const MatrixHomogeneous& tr )
-{ transformation = tr; }
-const MatrixHomogeneous&
+OpPointModifier::setTransformation( const Eigen::Matrix4d& tr )
+{ transformation.matrix() = tr; }
+const Eigen::Matrix4d&
OpPointModifier::getTransformation( void )
-{ return transformation; }
+{ return transformation.matrix(); }
/* The following function needs an access to a specific signal via
@@ -152,8 +152,8 @@ OpPointModifier::getTransformation( void )
void
OpPointModifier::setTransformationBySignalName( std::istringstream& cmdArgs )
{
- Signal< MatrixHomogeneous,int > &sig
- = dynamic_cast< Signal< MatrixHomogeneous,int >& >
+ Signal< Eigen::Matrix4d,int > &sig
+ = dynamic_cast< Signal< Eigen::Matrix4d,int >& >
(PoolStorage::getInstance()->getSignal( cmdArgs ));
setTransformation(sig.accessCopy());
}
@@ -166,7 +166,7 @@ commandLine( const std::string& cmdLine,
{
if( cmdLine == "transfo" )
{
- MatrixHomogeneous tr;
+ Eigen::Matrix4d tr;
cmdArgs >> tr;
setTransformation(tr);
}
--
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