disambiguate vectors and matrices for Eigen 3.4

test/test_static_equilibrium.cpp

@@ -153,11 +153,11 @@ int test_findExtremumOverLine(Equilibrium* solver_to_test, Equilibrium* solver_g
                               int N_TESTS, double e_max, const string& PERF_STRING_TEST,
                               const string& PERF_STRING_GROUND_TRUTH, int verb = 0) {
   int error_counter = 0;
-  Vector3 a, com;
+  centroidal_dynamics::Vector3 a, com;
   LP_status status;
   double desired_robustness, robustness;
   for (unsigned int i = 0; i < N_TESTS; i++) {
-    uniform3(-1.0 * Vector3::Ones(), Vector3::Ones(), a);
+    uniform3(-1.0 * centroidal_dynamics::Vector3::Ones(), centroidal_dynamics::Vector3::Ones(), a);
     if (e_max >= 0.0)
       desired_robustness = (rand() / value_type(RAND_MAX)) * e_max;
     else
@@ -218,7 +218,7 @@ int test_findExtremumOverLine(Equilibrium* solver_to_test, Equilibrium* solver_g
 void drawRobustnessGrid(int N_CONTACTS, int GRID_SIZE, Equilibrium* solver, Cref_matrixXX comPositions,
                         Cref_matrixXX p) {
   MatrixXi contactPointCoord(4 * N_CONTACTS, 2);
-  VectorX minDistContactPoint = 1e10 * VectorX::Ones(4 * N_CONTACTS);
+  centroidal_dynamics::VectorX minDistContactPoint = 1e10 * centroidal_dynamics::VectorX::Ones(4 * N_CONTACTS);
 
   // create grid of com positions to test
   for (unsigned int i = 0; i < GRID_SIZE; i++) {
@@ -275,7 +275,7 @@ void drawRobustnessGrid(int N_CONTACTS, int GRID_SIZE, Equilibrium* solver, Cref
 
 void generateContacts(unsigned int N_CONTACTS, double MIN_CONTACT_DISTANCE, double LX, double LY,
                       RVector3& CONTACT_POINT_LOWER_BOUNDS, RVector3& CONTACT_POINT_UPPER_BOUNDS,
-                      RVector3& RPY_LOWER_BOUNDS, RVector3& RPY_UPPER_BOUNDS, MatrixX3& p, MatrixX3& N) {
+                      RVector3& RPY_LOWER_BOUNDS, RVector3& RPY_UPPER_BOUNDS, centroidal_dynamics::MatrixX3& p, centroidal_dynamics::MatrixX3& N) {
   MatrixXX contact_pos = MatrixXX::Zero(N_CONTACTS, 3);
   MatrixXX contact_rpy = MatrixXX::Zero(N_CONTACTS, 3);
   p.setZero(4 * N_CONTACTS, 3);  // contact points
@@ -324,7 +324,7 @@ void testWithLoadedData() {
   EquilibriumAlgorithm algorithms[] = {EQUILIBRIUM_ALGORITHM_LP, EQUILIBRIUM_ALGORITHM_LP2, EQUILIBRIUM_ALGORITHM_DLP};
 
   MatrixXX contactPoints, contactNormals;
-  Vector3 com;
+  centroidal_dynamics::Vector3 com;
   if (!readMatrixFromFile(file_path + "positions.dat", contactPoints)) {
     SEND_ERROR_MSG("Impossible to read positions from file");
     return;
@@ -339,8 +339,8 @@ void testWithLoadedData() {
   }
 
   // this is a test to ensure that a matrixXX can be cast into a MatrixX3
-  const MatrixX3& cp = contactPoints;
-  const MatrixX3& cn = contactNormals;
+  const centroidal_dynamics::MatrixX3& cp = contactPoints;
+  const centroidal_dynamics::MatrixX3& cn = contactNormals;
   Equilibrium* solvers[N_SOLVERS];
   double robustness[N_SOLVERS];
   for (int s = 0; s < N_SOLVERS; s++) {
@@ -418,9 +418,9 @@ int main() {
   for (int s = 0; s < N_SOLVERS; s++)
     solvers[s] = new Equilibrium(solverNames[s], mass, generatorsPerContact, lp_solver_types[s]);
 
-  MatrixX3 p, N;
+  centroidal_dynamics::MatrixX3 p, N;
   RVector2 com_LB, com_UB;
-  VectorX x_range(GRID_SIZE), y_range(GRID_SIZE);
+  centroidal_dynamics::VectorX x_range(GRID_SIZE), y_range(GRID_SIZE);
   MatrixXX comPositions(GRID_SIZE * GRID_SIZE, 3);
   for (unsigned n_test = 0; n_test < N_TESTS; n_test++) {
     generateContacts(N_CONTACTS, MIN_CONTACT_DISTANCE, LX, LY, CONTACT_POINT_LOWER_BOUNDS, CONTACT_POINT_UPPER_BOUNDS,
@@ -474,7 +474,7 @@ int main() {
     }
 
     const int N_TESTS_EXTREMUM = 100;
-    Vector3 a0 = Vector3::Zero();
+    centroidal_dynamics::Vector3 a0 = centroidal_dynamics::Vector3::Zero();
     a0.head<2>() = 0.5 * (com_LB + com_UB);
     double e_max;
     LP_status status = solvers[0]->computeEquilibriumRobustness(a0, e_max);