Commit 8c95e5c7 authored by Justin Carpentier's avatar Justin Carpentier Committed by GitHub
Browse files

Merge pull request #391 from jcarpent/topic/fix

Fix bug with SRDF parsers and handle bug in Eigen 3.2.9x pre-release version
parents 3f2cd506 32fde4cb
......@@ -87,6 +87,11 @@ IF(EIGEN3_FOUND)
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")
......@@ -310,6 +315,7 @@ SET(HEADERS
${${PROJECT_NAME}_CONTAINER_HEADERS}
exception.hpp
assert.hpp
macros.hpp
)
LIST(REMOVE_DUPLICATES HEADERS)
......
//
// Copyright (c) 2017 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_macros_hpp__
#define __se3_macros_hpp__
#include <Eigen/Core>
#ifdef EIGEN3_BETA_3_2_9x
namespace se3
{
namespace internal
{
template<typename XprType> struct size_of_xpr_at_compile_time
{
enum { ret = Eigen::internal::size_at_compile_time<Eigen::internal::traits<XprType>::RowsAtCompileTime,Eigen::internal::traits<XprType>::ColsAtCompileTime>::ret };
};
}
}
#endif
#endif // ifndef __se3_macros_hpp__
//
// Copyright (c) 2015-2016 CNRS
// Copyright (c) 2015-2017 CNRS
// Copyright (c) 2016 Wandercraft, 86 rue de Paris 91400 Orsay, France.
//
// This file is part of Pinocchio
......@@ -20,6 +20,7 @@
#define __se3_constraint_hpp__
#include "pinocchio/macros.hpp"
#include "pinocchio/spatial/fwd.hpp"
#include "pinocchio/spatial/motion.hpp"
......@@ -125,9 +126,7 @@ namespace se3
{
// There is currently a bug in Eigen/Core/util/StaticAssert.h in the use of the full namespace path
// TODO
#ifndef EIGEN3_FUTURE
EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(DenseBase, D);
#endif
}
ConstraintTpl() : S()
......
//
// Copyright (c) 2015-2016 CNRS
// Copyright (c) 2015-2017 CNRS
// Copyright (c) 2015-2016 Wandercraft, 86 rue de Paris 91400 Orsay, France.
//
// This file is part of Pinocchio
......@@ -19,6 +19,7 @@
#ifndef __se3_joint_free_flyer_hpp__
#define __se3_joint_free_flyer_hpp__
#include "pinocchio/macros.hpp"
#include "pinocchio/spatial/inertia.hpp"
#include "pinocchio/multibody/joint/joint-base.hpp"
#include "pinocchio/multibody/constraint.hpp"
......
//
// Copyright (c) 2015-2016 CNRS
// Copyright (c) 2015-2017 CNRS
// Copyright (c) 2015-2016 Wandercraft, 86 rue de Paris 91400 Orsay, France.
//
// This file is part of Pinocchio
......@@ -19,6 +19,7 @@
#ifndef __se3_joint_planar_hpp__
#define __se3_joint_planar_hpp__
#include "pinocchio/macros.hpp"
#include "pinocchio/multibody/joint/joint-base.hpp"
#include "pinocchio/multibody/constraint.hpp"
#include "pinocchio/math/sincos.hpp"
......
//
// Copyright (c) 2015-2016 CNRS
// Copyright (c) 2015-2017 CNRS
// Copyright (c) 2016 Wandercraft, 86 rue de Paris 91400 Orsay, France.
//
// This file is part of Pinocchio
......@@ -19,6 +19,7 @@
#ifndef __se3_joint_prismatic_unaligned_hpp__
#define __se3_joint_prismatic_unaligned_hpp__
#include "pinocchio/macros.hpp"
#include "pinocchio/multibody/joint/joint-base.hpp"
#include "pinocchio/multibody/constraint.hpp"
#include "pinocchio/spatial/inertia.hpp"
......
//
// Copyright (c) 2015-2016 CNRS
// Copyright (c) 2015-2017 CNRS
// Copyright (c) 2015-2016 Wandercraft, 86 rue de Paris 91400 Orsay, France.
//
// This file is part of Pinocchio
......@@ -19,6 +19,7 @@
#ifndef __se3_joint_prismatic_hpp__
#define __se3_joint_prismatic_hpp__
#include "pinocchio/macros.hpp"
#include "pinocchio/multibody/joint/joint-base.hpp"
#include "pinocchio/multibody/constraint.hpp"
#include "pinocchio/spatial/inertia.hpp"
......
//
// Copyright (c) 2015-2016 CNRS
// Copyright (c) 2015-2017 CNRS
// Copyright (c) 2015-2016 Wandercraft, 86 rue de Paris 91400 Orsay, France.
//
// This file is part of Pinocchio
......@@ -19,6 +19,7 @@
#ifndef __se3_joint_revolute_unaligned_hpp__
#define __se3_joint_revolute_unaligned_hpp__
#include "pinocchio/macros.hpp"
#include "pinocchio/multibody/joint/joint-base.hpp"
#include "pinocchio/multibody/constraint.hpp"
#include "pinocchio/spatial/inertia.hpp"
......
//
// Copyright (c) 2015-2016 CNRS
// Copyright (c) 2015-2017 CNRS
// Copyright (c) 2015-2016 Wandercraft, 86 rue de Paris 91400 Orsay, France.
//
// This file is part of Pinocchio
......@@ -19,6 +19,7 @@
#ifndef __se3_joint_spherical_ZYX_hpp__
#define __se3_joint_spherical_ZYX_hpp__
#include <iostream>
#include "pinocchio/macros.hpp"
#include "pinocchio/multibody/joint/joint-base.hpp"
#include "pinocchio/multibody/constraint.hpp"
#include "pinocchio/math/sincos.hpp"
......
......@@ -19,6 +19,7 @@
#ifndef __se3_joint_spherical_hpp__
#define __se3_joint_spherical_hpp__
#include "pinocchio/macros.hpp"
#include "pinocchio/multibody/joint/joint-base.hpp"
#include "pinocchio/multibody/constraint.hpp"
#include "pinocchio/math/sincos.hpp"
......
......@@ -19,6 +19,7 @@
#ifndef __se3_joint_translation_hpp__
#define __se3_joint_translation_hpp__
#include "pinocchio/macros.hpp"
#include "pinocchio/multibody/joint/joint-base.hpp"
#include "pinocchio/multibody/constraint.hpp"
#include "pinocchio/spatial/inertia.hpp"
......
//
// Copyright (c) 2016 CNRS
// Copyright (c) 2016-2017 CNRS
//
// This file is part of Pinocchio
// Pinocchio is free software: you can redistribute it
......@@ -18,6 +18,8 @@
#ifndef __se3_lie_group_operation_base_hxx__
#define __se3_lie_group_operation_base_hxx__
#include "pinocchio/macros.hpp"
namespace se3 {
// --------------- API with return value as argument ---------------------- //
......
......@@ -20,13 +20,14 @@
#include <limits>
#include <pinocchio/spatial/fwd.hpp>
#include <pinocchio/spatial/se3.hpp>
#include <pinocchio/multibody/liegroup/operation-base.hpp>
#include <pinocchio/multibody/liegroup/vector-space.hpp>
#include <pinocchio/multibody/liegroup/cartesian-product.hpp>
#include <pinocchio/multibody/liegroup/special-orthogonal.hpp>
#include <pinocchio/macros.hpp>
#include "pinocchio/spatial/fwd.hpp"
#include "pinocchio/spatial/se3.hpp"
#include "pinocchio/multibody/liegroup/operation-base.hpp"
#include "pinocchio/multibody/liegroup/vector-space.hpp"
#include "pinocchio/multibody/liegroup/cartesian-product.hpp"
#include "pinocchio/multibody/liegroup/special-orthogonal.hpp"
namespace se3
{
......
......@@ -19,6 +19,7 @@
#define __se3_parser_srdf_hpp__
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/geometry.hpp"
#include <iostream>
// Read XML file with boost
......
//
// Copyright (c) 2015-2016 CNRS
// Copyright (c) 2015-2017 CNRS
//
// This file is part of Pinocchio
// Pinocchio is free software: you can redistribute it
......@@ -19,7 +19,7 @@
#define __se3_act_on_set_hpp__
#include <Eigen/Core>
#include <Eigen/Geometry>
#include "pinocchio/macros.hpp"
#include "pinocchio/spatial/fwd.hpp"
namespace se3
......
//
// Copyright (c) 2015 - 2016 CNRS
// Copyright (c) 2015-2017 CNRS
// Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
//
// This file is part of Pinocchio
......@@ -21,6 +21,7 @@
# include <Eigen/Geometry>
# include "pinocchio/macros.hpp"
# include "pinocchio/math/sincos.hpp"
# include "pinocchio/spatial/motion.hpp"
# include "pinocchio/spatial/skew.hpp"
......@@ -170,4 +171,4 @@ namespace se3
}
} // namespace se3
#endif //#ifndef __math_explog_hpp__
#endif //#ifndef __spatial_explog_hpp__
......@@ -20,8 +20,8 @@
#define __se3_force_hpp__
#include <Eigen/Core>
#include <Eigen/Geometry>
#include "pinocchio/spatial/fwd.hpp"
#include "pinocchio/macros.hpp"
#include "pinocchio/spatial/se3.hpp"
/** \addtogroup Force_group Force
......
......@@ -20,8 +20,8 @@
#define __se3_motion_hpp__
#include <Eigen/Core>
#include <Eigen/Geometry>
#include "pinocchio/spatial/fwd.hpp"
#include "pinocchio/macros.hpp"
#include "pinocchio/spatial/se3.hpp"
#include "pinocchio/spatial/force.hpp"
......
......@@ -22,7 +22,7 @@
#include <Eigen/Geometry>
#include "pinocchio/spatial/fwd.hpp"
#include "pinocchio/spatial/skew.hpp"
#include "pinocchio/macros.hpp"
namespace se3
{
......
......@@ -18,6 +18,8 @@
#ifndef __se3_skew_hpp__
#define __se3_skew_hpp__
#include "pinocchio/macros.hpp"
namespace se3
{
......
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