Commit 67793588 authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

disambiguate vectors and matrices for Eigen 3.4

parent 0a4af409
......@@ -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);
......
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