diff --git a/ChangeLog b/ChangeLog
index 6899fbb19a09d65e3cab61d253d4c47172c0bcfb..155b576a8e367ae96c324a69d62f141cea0a0e74 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -3,6 +3,11 @@ CHANGELOG
[Current]
+[v3.0.0]
+ * Replace jrl-mal with eigen
+ * Add ostream and isteram operators for Eigen Classes
+
+
[v2.5.5]
* Improve Travis support
diff --git a/include/dynamic-graph/eigen-io.h b/include/dynamic-graph/eigen-io.h
index f3ee994ddc92a7963478d276dfe49831b6a5bffd..60eab3f023aa56ac11f9e53b0dcc396c77f38ecc 100644
--- a/include/dynamic-graph/eigen-io.h
+++ b/include/dynamic-graph/eigen-io.h
@@ -1,5 +1,5 @@
//
-// Copyright 2010 CNRS
+// Copyright 2016 CNRS
//
// Author: Rohan Budhiraja
//
@@ -34,92 +34,126 @@ using dynamicgraph::ExceptionSignal;
/* \brief Eigen Vector input from istream
*
- * Input Vector format: val1 val2 val3 ... valN
- * e.g. 1 23 32.2 12.12 32
+ * Input Vector format: [N](val1,val2,val3,...,valN)
+ * e.g. [5](1,23,32.2,12.12,32)
*/
namespace Eigen {
typedef EIGEN_DEFAULT_DENSE_INDEX_TYPE eigen_index;
inline std::istringstream& operator >> (std::istringstream &iss,
- dynamicgraph::Vector &inst)
- {
- std::vector<double> _stdvec;
- double _dbl_val;
-
- boost::format fmt ("Failed to enter %s as vector. Reenter as [val1 val2 ... valN]");
- fmt %iss.str();
-
- while(iss >> _dbl_val && !iss.fail()) {
- _stdvec.push_back(_dbl_val);
- }
- try {
- inst = Eigen::VectorXd::Map (_stdvec.data(),
- boost::numeric_cast<eigen_index> (_stdvec.size()) );
+ dynamicgraph::Vector &inst) {
+ unsigned int _size;
+ double _dbl_val;
+ char _ch;
+ boost::format fmt ("Failed to enter %s as vector. Reenter as [N](val1,val2,val3,...,valN)");
+ fmt %iss.str();
+ if(iss>> _ch && _ch != '['){
+ throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
+ }
+ else {
+ if(iss >> _size && !iss.fail()){
+ inst.resize(_size);
}
- catch (boost::bad_numeric_cast&) {
- throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str() );
+ else
+ throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
+ if(iss >> _ch && _ch != ']')
+ throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
+ else {
+ if(iss>> _ch && _ch != '(')
+ throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
+ else {
+ for (unsigned int i=0;i<_size; i++){
+ iss >> _dbl_val;
+ if (iss.peek() == ',' || iss.peek() == ' ')
+ iss.ignore();
+ inst(i) = _dbl_val;
+ }
+ if(iss >> _ch && _ch != ')')
+ throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
+ }
}
-
- return iss;
}
+ return iss;
+ }
/* \brief Eigen Matrix input from istream
*
- * Matrix format: [[val11 val12 val13 ... val1N] ... [valM1 valM2 ... valMN]]
- * e.g. [[1 23 32.2 12.12 32][2 32 23 92.01 19.2]]
+ * Matrix format: [M,N]((val11,val12,val13,...,val1N),...,(valM1,valM2,...,valMN))
+ * e.g. [2,5]((1 23 32.2 12.12 32),(2 32 23 92.01 19.2))
*/
template<typename Derived>
inline std::istringstream& operator >> (std::istringstream &iss,
- DenseBase<Derived> &inst)
- {
- std::vector<dynamicgraph::Vector> _stdmat;
- char _ch;
- int _vec_size;
- bool _vec_size_set = false;
-
- boost::format fmt
- ("Failed to enter %s as matrix. Reenter as [[val11 val12 ... val1N]...[valM1 valM2 ... valMN]]. Check that vector sizes are consistent.");
- fmt %iss.str();
-
- if(iss>> _ch && _ch != '['){
- throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
- }
- else{
- dynamicgraph::Vector _eigvec;
- while(iss >> _eigvec && !iss.fail()){
- if (!_vec_size_set) {
- try {
- _vec_size = boost::numeric_cast <int> (_eigvec.size());
- }
- catch (boost::bad_numeric_cast&) {
- throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
- }
- _vec_size_set = true;
- }
- else {
- if (_eigvec.size() != _vec_size) {
- throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
- }
- }
- _stdmat.push_back(_eigvec);
- }
- if(iss>> _ch && _ch != ']'){
+ DenseBase<Derived> &inst) {
+ unsigned int _colsize;
+ unsigned int _rowsize;
+ double _dbl_val;
+ char _ch;
+ boost::format fmt ("Failed to enter %s as vector. Reenter as [N](val1,val2,val3,...,valN)");
+ fmt %iss.str();
+ if(iss>> _ch && _ch != '['){
+ throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
+ }
+ else {
+ iss >>_rowsize;
+ if (iss.peek() == ',' || iss.peek() == ' ')
+ iss.ignore();
+ iss >> _colsize;
+ if (iss.fail())
+ throw ExceptionSignal(ExceptionSignal::GENERIC,fmt.str());
+ else {
+ inst.resize(_rowsize,_colsize);
+ if(iss >> _ch && _ch != ']')
throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
- }
else {
- try {
- inst.resize(boost::numeric_cast<eigen_index> (_stdmat.size()), _vec_size);
- }
- catch (boost::bad_numeric_cast&) {
+ if(iss>> _ch && _ch != '(')
throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
- }
- for (unsigned int i =0;i<_stdmat.size(); i++) {
- inst.row(i) = _stdmat[i];
+ else {
+ for (unsigned int j=0;j<_rowsize; j++){
+ if(iss>> _ch && _ch != '(')
+ throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
+ for (unsigned int i=0;i<_colsize; i++){
+ iss >> _dbl_val;
+ if (iss.peek() == ',' || iss.peek() == ' ')
+ iss.ignore();
+ inst(j,i) = _dbl_val;
+ }
+ if(iss >> _ch && _ch != ')')
+ throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
+ if (iss.peek() == ',' || iss.peek() == ' ')
+ iss.ignore();
+ }
+ if(iss >> _ch && _ch != ')')
+ throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
}
}
}
- return iss;
}
+ return iss;
+ }
+
+
+ inline std::istringstream& operator >> (std::istringstream &iss,
+ Transform<double,3,Affine> &inst) {
+ Matrix4d M; iss >> M; inst = M; return iss; }
+
+
+
+ inline std::ostream& operator << (std::ostream &os,
+ Transform<double,3,Affine> MH) {
+ os << MH.matrix(); return os; }
+
+
+ inline std::ostream& operator << (std::ostream &os,
+ AngleAxisd quat) {
+ Vector4d v; v(0) = quat.angle(); v.tail<3>() = quat.axis();
+ os << v; return os; }
+
+ inline std::istringstream& operator >> (std::istringstream &iss,
+ AngleAxisd &inst) {
+ Vector4d v; iss >>v;
+ inst.angle() = v(0); inst.axis() = v.tail<3>();
+ return iss; }
+
}
diff --git a/tests/signal-cast-registerer.cpp b/tests/signal-cast-registerer.cpp
index 78dba1ef447b5416964438f28fa44f26fd23feac..1982589f3d3d73f0a8092541a2c781a355845441 100644
--- a/tests/signal-cast-registerer.cpp
+++ b/tests/signal-cast-registerer.cpp
@@ -149,7 +149,7 @@ BOOST_AUTO_TEST_CASE (custom_vector_registerer)
Vector v = Vector::Unit(5,i) ;
std::ostringstream os;
os << v;
- std::istringstream ss (os.str ());
+ std::istringstream ss ("[5]("+os.str ()+")");
// Set signal value.
myVectorSignal.set (ss);