Fix dynamic-graph-python to use dynamic-graph3 with eigen

.travis.yml

 language: cpp
+sudo: required
 compiler:
   - gcc
   - clang
@@ -6,7 +7,7 @@ env:
   global:
   - secure: ECiHIh0aT5ml/MdKifvFIM2UpDWiPsJPEZpafLYM8U0VAPYThSfUe8JWhMsky8amOwm38akbSbr6C7iBKVpzjAqpgNdOdufO1RUZ6pUvtlVXiXTw2KlqPqbDVlD3QroVDhnX/rIRcg5ezEHAIb594uEaHdf8tlikhjdTc3aAgMA=
   - APT_DEPENDENCIES="doxygen doxygen-latex libboost-all-dev libeigen3-dev liblapack-dev libblas-dev gfortran python-dev python-sphinx"
-  - GIT_DEPENDENCIES="jrl-umi3218/jrl-mathtools jrl-umi3218/jrl-mal  stack-of-tasks/dynamic-graph"
+  - GIT_DEPENDENCIES="stack-of-tasks/dynamic-graph"
   - LCOV_IGNORE_RULES="*unitTesting*"
   allow_failures: 
   - compiler: clang

CMakeLists.txt

@@ -17,6 +17,7 @@ CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
 
 INCLUDE(cmake/base.cmake)
 INCLUDE(cmake/boost.cmake)
+INCLUDE(cmake/eigen.cmake)
 INCLUDE(cmake/pthread.cmake)
 INCLUDE(cmake/cpack.cmake)
 include(cmake/header.cmake)
@@ -47,6 +48,7 @@ PKG_CONFIG_APPEND_LIBS("dynamic-graph-python")
 # Search for Boost.
 SET(BOOST_COMPONENTS python filesystem system thread program_options unit_test_framework)
 SEARCH_FOR_BOOST()
+SEARCH_FOR_EIGEN()
 
 ADD_SUBDIRECTORY(src)
 ADD_SUBDIRECTORY(include)

src/convert-dg-to-py.cc

@@ -33,11 +33,11 @@ namespace dynamicgraph {
 
       void fillMatrixRow(Matrix& m, unsigned iRow, PyObject* tuple)
       {
-	if (PyTuple_Size(tuple) != (int)m.nbCols()) {
+	if (PyTuple_Size(tuple) != (int)m.cols()) {
 	  throw ExceptionPython(ExceptionPython::MATRIX_PARSING,
 				 "lines of matrix have different sizes.");
 	}
-	for (unsigned int iCol=0; iCol < m.nbCols(); iCol++) {
+	for (int iCol=0; iCol < m.cols(); iCol++) {
 	  PyObject* pyDouble = PyTuple_GetItem(tuple, iCol);
 	  if (PyFloat_Check(pyDouble))
 	    m(iRow, iCol) = PyFloat_AsDouble(pyDouble);
@@ -185,7 +185,7 @@ namespace dynamicgraph {
       PyObject* vectorToPython(const Vector& vector)
       {
 	PyObject* tuple = PyTuple_New(vector.size());
-	for (unsigned int index = 0; index < vector.size(); index++) {
+	for (int index = 0; index < vector.size() ; index++) {
 	  PyObject* pyDouble = PyFloat_FromDouble(vector(index));
 	  PyTuple_SET_ITEM(tuple, index, pyDouble);
 	}
@@ -194,10 +194,10 @@ namespace dynamicgraph {
 
       PyObject* matrixToPython(const Matrix& matrix)
       {
-	PyObject* tuple = PyTuple_New(matrix.nbRows());
-	for (unsigned int iRow = 0; iRow < matrix.nbRows(); iRow++) {
-	  PyObject* row = PyTuple_New(matrix.nbCols());
-	  for (unsigned iCol=0; iCol < matrix.nbCols(); iCol++) {
+	PyObject* tuple = PyTuple_New(matrix.rows());
+	for (int iRow = 0; iRow < matrix.rows(); iRow++) {
+	  PyObject* row = PyTuple_New(matrix.cols());
+	  for (int iCol=0; iCol < matrix.cols(); iCol++) {
 	    PyObject* pyDouble = PyFloat_FromDouble(matrix(iRow, iCol));
 	    PyTuple_SET_ITEM(row, iCol, pyDouble);
 	  }
@@ -217,7 +217,6 @@ namespace dynamicgraph {
 	std::string stringValue;
 	Vector vectorValue;
 	Matrix matrixValue;
-
 	switch(value.type()) {
 	case (Value::BOOL) :
 	  boolValue = value.value();

src/entity-py.cc

@@ -22,6 +22,7 @@
 #include <dynamic-graph/command.h>
 #include <dynamic-graph/value.h>
 #include <dynamic-graph/pool.h>
+#include <dynamic-graph/linear-algebra.h>
 
 #include "convert-dg-to-py.hh"
 #include "exception.hh"
@@ -214,11 +215,9 @@ namespace dynamicgraph {
 	PyObject* argTuple = NULL;
 	char* commandName = NULL;
 	void* pointer = NULL;
-
 	if (!PyArg_ParseTuple(args, "OsO", &object, &commandName, &argTuple)) {
 	  return NULL;
 	}
-
 	// Retrieve the entity instance
 	if (!PyCObject_Check(object)) {
 	  PyErr_SetString(PyExc_TypeError, "first argument is not an object");
@@ -226,17 +225,14 @@ namespace dynamicgraph {
 	}
 	pointer = PyCObject_AsVoidPtr(object);
 	Entity* entity = (Entity*)pointer;
-
 	// Retrieve the argument tuple
 	if (!PyTuple_Check(argTuple)) {
 	  PyErr_SetString(PyExc_TypeError, "third argument is not a tuple");
 	  return NULL;
 	}
 	Py_ssize_t size = PyTuple_Size(argTuple);
-
 	std::map<const std::string, Command*> commandMap =
 	  entity->getNewStyleCommandMap();
-
 	if (commandMap.count(std::string(commandName)) != 1) {
 	  std::ostringstream oss;
 	  oss << "'" << entity->getName() << "' entity has no command '"
@@ -255,7 +251,6 @@ namespace dynamicgraph {
 	    PyErr_SetString(dgpyError, ss.str().c_str());
 	    return NULL;
 	  }
-
 	std::vector<Value> valueVector;
 	for (Py_ssize_t iParam=0; iParam<size; iParam++) {
 	  PyObject* PyValue = PyTuple_GetItem(argTuple, iParam);