diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..22cf052921772422e3c990e8b7dc3a3fe00e2e3c
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,2 @@
+_build*
+*~
\ No newline at end of file
diff --git a/.gitmodules b/.gitmodules
index 5a0f6c96ed7ab18de3526d12a5d335d9a06e1e5a..6dc3ed2b21103954f059301d375426b642e0ad3c 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,6 +1,6 @@
[submodule "jrl-cmakemodules"]
- path = jrl-cmakemodules
- url = git://github.com/jrl-umi3218/jrl-cmakemodules.git
+ path = jrl-cmakemodules
+ url = git://github.com/jrl-umi3218/jrl-cmakemodules.git
[submodule "cmake"]
path = cmake
url = git://github.com/jrl-umi3218/jrl-cmakemodules.git
diff --git a/.travis.yml b/.travis.yml
index 786db3a2418b74d1de8417b1af0c277dfef2eef8..9cd6f2ceffaab02f36e6c72deb32df799cca25e8 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -1,4 +1,5 @@
language: cpp
+sudo: required
compiler:
- gcc
- clang
diff --git a/.version b/.version
new file mode 100644
index 0000000000000000000000000000000000000000..56fea8a08d2faa60fec80b40241566d3c39744f7
--- /dev/null
+++ b/.version
@@ -0,0 +1 @@
+3.0.0
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 32666977e8f800f897228a6feb7188fdb7d9b5b3..b4cbf66ba243e61dc42cb883e44e27cd40f8fbbc 100644
--- a/CMakeLists.txt
+++ b/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)
@@ -31,9 +32,6 @@ SET(LIBRARY_OUTPUT_PATH ${PROJECT_BINARY_DIR}/lib)
SETUP_PROJECT()
-# Trigger dependency to jrl-mal
-ADD_REQUIRED_DEPENDENCY("jrl-mal >= 1.8.0")
-
# Add configuration headers for plug-ins.
GENERATE_CONFIGURATION_HEADER(
${HEADER_DIR} config-tracer.hh DG_TRACER tracer_EXPORTS)
@@ -62,6 +60,9 @@ PKG_CONFIG_APPEND_LIBS("dynamic-graph")
SEARCH_FOR_BOOST()
SEARCH_FOR_PTHREAD()
+# Search for Boost.
+SEARCH_FOR_EIGEN()
+
ADD_SUBDIRECTORY(src)
ADD_SUBDIRECTORY(include)
ADD_SUBDIRECTORY(doc)
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/README.md b/README.md
index a368e44ace2adf80db0dd4ddc4ac8afb890b0dc1..f8165cddb0ee356494d658915d60255397d4cd02 100644
--- a/README.md
+++ b/README.md
@@ -58,7 +58,7 @@ have to be available on your machine.
- Libraries:
- [Boost][] (>= 1.40)
- Its detection is controled by the `BOOST_ROOT` variable, see next section
+ Its detection is controlled by the `BOOST_ROOT` variable, see next section
for more information.
- [Lapack][] library
Use the generic purpose `CMAKE_CXX_FLAGS` and `CMAKE_EXE_LINKER_FLAGS`
diff --git a/debian/changelog b/debian/changelog
new file mode 100644
index 0000000000000000000000000000000000000000..df73393fcf7c2af7b3b1917ecd321c6e98bf76b1
--- /dev/null
+++ b/debian/changelog
@@ -0,0 +1,5 @@
+dynamic-graph (3.0.0-1) unstable; urgency=low
+
+ * Initial release (Closes: #822608)
+
+ -- Rohan Budhiraja <budhiraja.rohan@gmail.com> Fri, 01 Jul 2016 12:30:14 +0200
diff --git a/debian/compat b/debian/compat
new file mode 100644
index 0000000000000000000000000000000000000000..ec635144f60048986bc560c5576355344005e6e7
--- /dev/null
+++ b/debian/compat
@@ -0,0 +1 @@
+9
diff --git a/debian/control b/debian/control
new file mode 100644
index 0000000000000000000000000000000000000000..628040c38cc9909e1e88924934bebe852a9c4e6f
--- /dev/null
+++ b/debian/control
@@ -0,0 +1,53 @@
+Source: dynamic-graph
+Section: libs
+Priority: extra
+Maintainer: Rohan Budhiraja <budhiraja.rohan@gmail.com>
+Build-Depends: debhelper (>= 9.0.0),
+ cmake (>= 2.6),
+ doxygen (>=1.6.3),
+ pkg-config (>=0.22),
+ perl (>=5.10.1),
+ libboost-dev (>=1.46),
+ libboost-filesystem-dev (>=1.46),
+ libboost-system-dev (>=1.46),
+ libboost-test-dev (>=1.46),
+ libboost-thread-dev (>=1.46),
+ libboost-program-options-dev (>=1.46),
+ libpthread-stubs0-dev (>=0.3),
+ libeigen3-dev (>=3.0.5)
+Standards-Version: 3.9.8
+Homepage: http://stack-of-tasks.github.io
+Vcs-Git: https://github.com/proyan/dynamic-graph.git
+
+Package: libdynamic-graph-dev
+Section: libdevel
+Architecture: any
+Depends: libdynamic-graph3.0.0 (= ${binary:Version}),
+ ${misc:Depends}
+Suggests: libdynamic-graph-doc
+Description: Dynamic graph C++ library development package
+ The dynamic graph library allows the representation of data-flow in C++.
+ It provides fast graph evaluation and a simple script language to manipulate
+ the graph actions.
+ .
+ This package contains development files (headers and pkg-config file).
+
+Package: libdynamic-graph3.0.0
+Architecture: any
+Depends: ${shlibs:Depends}, ${misc:Depends}
+Description: Dynamic graph C++ library
+ The dynamic graph library allows the representation of data-flow in C++.
+ It provides fast graph evaluation and a simple script language to manipulate
+ the graph actions.
+
+
+Package: libdynamic-graph-doc
+Section: doc
+Architecture: all
+Depends: ${misc:Depends}
+Description: documentation for the dynamic graph C++ library
+ The dynamic graph library allows the representation of data-flow in C++.
+ It provides fast graph evaluation and a simple script language to manipulate
+ the graph actions.
+ .
+ This package contains the Doxygen documentation.
\ No newline at end of file
diff --git a/debian/copyright b/debian/copyright
new file mode 100644
index 0000000000000000000000000000000000000000..795c55c816ca3ec84b413acd850f5a965bb8dd49
--- /dev/null
+++ b/debian/copyright
@@ -0,0 +1,15 @@
+Format: http://www.debian.org/doc/packaging-manuals/copyright-format/1.0/
+Upstream-Name: dynamic-graph
+Upstream-Contact: HPP mailing list <hpp@laas.fr>
+Source: https://github.com/proyan/dynamic-graph
+
+Files: *
+Copyright: 2010-2016 JRL, CNRS/AIST.
+License: LGPL-3
+
+Files: debian/*
+Copyright: 2016 Rohan Budhiraja
+License: LGPL-3
+
+License: LGPL-3
+ See `/usr/share/common-licenses/LGPL-3'.
\ No newline at end of file
diff --git a/debian/docs b/debian/docs
new file mode 100644
index 0000000000000000000000000000000000000000..46a4ca7180f4a6e0f569152a8ec634c8ed313ca6
--- /dev/null
+++ b/debian/docs
@@ -0,0 +1,3 @@
+AUTHORS
+NEWS
+README.md
diff --git a/debian/libdynamic-graph-dev.install b/debian/libdynamic-graph-dev.install
new file mode 100644
index 0000000000000000000000000000000000000000..fc5fd602d0a05a0bed37403ef45d4f9399eddd23
--- /dev/null
+++ b/debian/libdynamic-graph-dev.install
@@ -0,0 +1,3 @@
+usr/include/*
+usr/lib/lib*.so
+usr/lib/pkgconfig/*
\ No newline at end of file
diff --git a/debian/libdynamic-graph-doc.doc-base b/debian/libdynamic-graph-doc.doc-base
new file mode 100644
index 0000000000000000000000000000000000000000..116ecde60270a29a491d05bf46c6ca17912a3a70
--- /dev/null
+++ b/debian/libdynamic-graph-doc.doc-base
@@ -0,0 +1,9 @@
+Document: dynamic-graph
+Title: Debian dynamic-graph Manual
+Author: Thomas Moulard <thomas.moulard@gmail.com>
+Abstract: Doxygen documentation of dynamic-graph.
+Section: Programming
+
+Format: HTML
+Index: /usr/share/doc/dynamic-graph/doxygen-html/index.html
+Files: /usr/share/doc/dynamic-graph/doxygen-html/*.html
\ No newline at end of file
diff --git a/debian/libdynamic-graph-doc.install b/debian/libdynamic-graph-doc.install
new file mode 100644
index 0000000000000000000000000000000000000000..5536e7c10a5f8db99bbf779f486788a43725cbaf
--- /dev/null
+++ b/debian/libdynamic-graph-doc.install
@@ -0,0 +1 @@
+usr/share/doc/dynamic-graph/*
\ No newline at end of file
diff --git a/debian/libdynamic-graph-doc.lintian-overrides b/debian/libdynamic-graph-doc.lintian-overrides
new file mode 100644
index 0000000000000000000000000000000000000000..829488b9678c7c3381f1d900b46b05b08d1088c7
--- /dev/null
+++ b/debian/libdynamic-graph-doc.lintian-overrides
@@ -0,0 +1,3 @@
+#Suppresses the embedded javascript warning produced by doxygen embed of jquery.
+#See https://bugs.debian.org/cgi-bin/bugreport.cgi?bug=736360
+libdynamic-graph-doc binary: embedded-javascript-library usr/share/doc/dynamic-graph/doxygen-html/jquery.js
\ No newline at end of file
diff --git a/debian/libdynamic-graph3.0.0.install b/debian/libdynamic-graph3.0.0.install
new file mode 100644
index 0000000000000000000000000000000000000000..eddacbfc33e1902241aa84d53a971a3dc636c4d4
--- /dev/null
+++ b/debian/libdynamic-graph3.0.0.install
@@ -0,0 +1,4 @@
+usr/lib/*.so.*
+usr/lib/plugin/*.so
+usr/share/man/*
+usr/share/dynamic-graph/*
\ No newline at end of file
diff --git a/debian/libdynamic-graph3.0.0.triggers b/debian/libdynamic-graph3.0.0.triggers
new file mode 100644
index 0000000000000000000000000000000000000000..72850ac4b5a0fc64b1281183596d641cefacd705
--- /dev/null
+++ b/debian/libdynamic-graph3.0.0.triggers
@@ -0,0 +1 @@
+activate-noawait ldconfig
\ No newline at end of file
diff --git a/debian/rules b/debian/rules
new file mode 100755
index 0000000000000000000000000000000000000000..ab6136c99a806ac6f823838d51c9e636e7ff2046
--- /dev/null
+++ b/debian/rules
@@ -0,0 +1,32 @@
+#!/usr/bin/make -f
+# -*- makefile -*-
+# Sample debian/rules that uses debhelper.
+# This file was originally written by Joey Hess and Craig Small.
+# As a special exception, when this file is copied by dh-make into a
+# dh-make output file, you may use that output file without restriction.
+# This special exception was added by Craig Small in version 0.37 of dh-make.
+
+# Uncomment this to turn on verbose mode.
+export DH_VERBOSE=1
+export DEB_BUILD_MAINT_OPTIONS = hardening=+all
+
+DPKG_EXPORT_BUILDFLAGS = 1
+include /usr/share/dpkg/buildflags.mk
+CFLAGS+=$(CPPFLAGS)
+CXXFLAGS+=$(CPPFLAGS)
+
+
+override_dh_auto_configure:
+ dh_auto_configure -- -DGENERATE_DOC=ON
+
+override_dh_makeshlibs:
+ dh_makeshlibs --exclude=lib/plugin --noscripts
+
+override_dh_shlibdeps:
+ dh_shlibdeps --exclude=lib/plugin
+
+override_dh_installchangelogs:
+ dh_installchangelogs changelog
+
+%:
+ dh $@
diff --git a/debian/source/format b/debian/source/format
new file mode 100644
index 0000000000000000000000000000000000000000..163aaf8d82b6c54f23c45f32895dbdfdcc27b047
--- /dev/null
+++ b/debian/source/format
@@ -0,0 +1 @@
+3.0 (quilt)
diff --git a/debian/upstream/signing-key.asc b/debian/upstream/signing-key.asc
new file mode 100644
index 0000000000000000000000000000000000000000..9c97e30f5bdd2ef7a1074c615bcfbee6fa2922cb
--- /dev/null
+++ b/debian/upstream/signing-key.asc
@@ -0,0 +1,52 @@
+-----BEGIN PGP PUBLIC KEY BLOCK-----
+Version: GnuPG v1.4.11 (GNU/Linux)
+
+mQINBFcWFgYBEAChZPmJhHIfP2TGMdp0+CrM3vnRzHvlr0mz+o7JFIq8Sq8dMkv0
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+ZjNmUHOna0zViA==
+=nPA5
+-----END PGP PUBLIC KEY BLOCK-----
diff --git a/debian/watch b/debian/watch
new file mode 100644
index 0000000000000000000000000000000000000000..e33ea088d215a6c4be76baa5ffc6ff433778ce39
--- /dev/null
+++ b/debian/watch
@@ -0,0 +1,7 @@
+version=3
+opts=filenamemangle=s/.+\/v?(\d\S*)\.tar\.gz/dynamic-graph-$1\.tar\.gz/,\
+pgpsigurlmangle=s/github.com/raw.githubusercontent.com/;\
+s/archive\/master/signatures/;\
+s/([^\/]+)\.tar\.gz/dynamic-graph-$1\.tar\.gz/;\
+s/$/.asc/ \
+ https://github.com/proyan/dynamic-graph/releases .*/v?(\d\S*)\.tar\.gz
\ No newline at end of file
diff --git a/doc/additionalDoc/package.h b/doc/additionalDoc/package.h
index 3933783915edf09f9a3c9a90fbc840bf8fa79969..7aa365ebeef90653ec7a8911fd5b90be0382ee51 100644
--- a/doc/additionalDoc/package.h
+++ b/doc/additionalDoc/package.h
@@ -33,7 +33,7 @@ for a given problem. It is the basis for the stack of tasks operation.
Functionality:
\li Built-in scripting language* for fast prototyping and testing
\li Support for extensions and modules using dynamic link libraries
-\li Template-based signal definition, independant
+\li Template-based signal definition, independent
\li Type-safe connection of input and output signals
\li On-demand signal computation as well as a caching system for signal values allow fast
computation of signal values, which is a critical point for real-time systems\n
diff --git a/include/CMakeLists.txt b/include/CMakeLists.txt
index 079ed6d1747284fe04cd3a07a0e0ded279cb2422..ec6d20b86ce1a2d93923afcbfff8109330a3e72d 100644
--- a/include/CMakeLists.txt
+++ b/include/CMakeLists.txt
@@ -67,6 +67,7 @@ tracer.h
tracer-real-time.h
command.h
+eigen-io.h
linear-algebra.h
value.h
diff --git a/include/dynamic-graph/command-direct-getter.h b/include/dynamic-graph/command-direct-getter.h
index e64efa6613343a7fddf4a8e09282ab69335b5ebe..7f3da90ea2282f1348e00d310556c98eb5eb5401 100644
--- a/include/dynamic-graph/command-direct-getter.h
+++ b/include/dynamic-graph/command-direct-getter.h
@@ -38,7 +38,7 @@ namespace dynamicgraph {
: public Command
{
public:
- /// Pointer to method that sets paramter of type T
+ /// Pointer to method that sets parameter of type T
typedef T (E::*GetterMethod) () const;
/// Constructor
diff --git a/include/dynamic-graph/command-getter.h b/include/dynamic-graph/command-getter.h
index 9c60a231063cfb2d6e9d8897a89e7e0ba9a7f198..731c9dd674bed95342b9f752e031ed4f2f2f11e7 100644
--- a/include/dynamic-graph/command-getter.h
+++ b/include/dynamic-graph/command-getter.h
@@ -55,7 +55,7 @@ namespace dynamicgraph {
template <class E, typename T>
class Getter : public Command {
public:
- /// Pointer to method that sets paramter of type T
+ /// Pointer to method that sets parameter of type T
typedef T (E::*GetterMethod) () const;
/// Constructor
Getter(E& entity, GetterMethod getterMethod,
diff --git a/include/dynamic-graph/command-setter.h b/include/dynamic-graph/command-setter.h
index cc8859386f5087d48e8d72dba15aaad8b82b7014..45cc9dc98d9f2123254b9ae376f2dba88fabf0ed 100644
--- a/include/dynamic-graph/command-setter.h
+++ b/include/dynamic-graph/command-setter.h
@@ -55,7 +55,7 @@ namespace dynamicgraph {
template <class E, typename T>
class Setter : public Command {
public:
- /// Pointer to method that sets paramter of type T
+ /// Pointer to method that sets parameter of type T
typedef void (E::*SetterMethod) (const T&);
/// Constructor
Setter(E& entity, SetterMethod setterMethod,
diff --git a/include/dynamic-graph/command-setter.t.cpp b/include/dynamic-graph/command-setter.t.cpp
index 937c7edeb70bdb7a1ccb41d1193df7b5ee692a32..0a26374c7e98620a76df446e83a683c41eac732b 100644
--- a/include/dynamic-graph/command-setter.t.cpp
+++ b/include/dynamic-graph/command-setter.t.cpp
@@ -32,7 +32,7 @@ namespace dynamicgraph {
template <class E>
class Setter<E, bool> : public Command {
public:
- /// Pointer to method that sets paramter of type bool
+ /// Pointer to method that sets parameter of type bool
typedef void (E::*SetterMethod) (const bool&);
/// Constructor
Setter(E& entity, SetterMethod setterMethod,
@@ -70,7 +70,7 @@ namespace dynamicgraph {
template <class E>
class Setter<E, unsigned> : public Command {
public:
- /// Pointer to method that sets paramter of type unsigned
+ /// Pointer to method that sets parameter of type unsigned
typedef void (E::*SetterMethod) (const unsigned&);
/// Constructor
Setter(E& entity, SetterMethod setterMethod,
@@ -108,7 +108,7 @@ namespace dynamicgraph {
template <class E>
class Setter<E, int> : public Command {
public:
- /// Pointer to method that sets paramter of type int
+ /// Pointer to method that sets parameter of type int
typedef void (E::*SetterMethod) (const int&);
/// Constructor
Setter(E& entity, SetterMethod setterMethod,
@@ -146,7 +146,7 @@ namespace dynamicgraph {
template <class E>
class Setter<E, float> : public Command {
public:
- /// Pointer to method that sets paramter of type float
+ /// Pointer to method that sets parameter of type float
typedef void (E::*SetterMethod) (const float&);
/// Constructor
Setter(E& entity, SetterMethod setterMethod,
@@ -184,7 +184,7 @@ namespace dynamicgraph {
template <class E>
class Setter<E, double> : public Command {
public:
- /// Pointer to method that sets paramter of type double
+ /// Pointer to method that sets parameter of type double
typedef void (E::*SetterMethod) (const double&);
/// Constructor
Setter(E& entity, SetterMethod setterMethod,
@@ -222,7 +222,7 @@ namespace dynamicgraph {
template <class E>
class Setter<E, std::string> : public Command {
public:
- /// Pointer to method that sets paramter of type std::string
+ /// Pointer to method that sets parameter of type std::string
typedef void (E::*SetterMethod) (const std::string&);
/// Constructor
Setter(E& entity, SetterMethod setterMethod,
@@ -260,7 +260,7 @@ namespace dynamicgraph {
template <class E>
class Setter<E, Vector> : public Command {
public:
- /// Pointer to method that sets paramter of type Vector
+ /// Pointer to method that sets parameter of type Vector
typedef void (E::*SetterMethod) (const Vector&);
/// Constructor
Setter(E& entity, SetterMethod setterMethod,
@@ -298,7 +298,7 @@ namespace dynamicgraph {
template <class E>
class Setter<E, Matrix> : public Command {
public:
- /// Pointer to method that sets paramter of type Matrix
+ /// Pointer to method that sets parameter of type Matrix
typedef void (E::*SetterMethod) (const Matrix&);
/// Constructor
Setter(E& entity, SetterMethod setterMethod,
diff --git a/include/dynamic-graph/eigen-io.h b/include/dynamic-graph/eigen-io.h
new file mode 100644
index 0000000000000000000000000000000000000000..6352cb520dcf36e4e4512bb897d274a33bbe70ae
--- /dev/null
+++ b/include/dynamic-graph/eigen-io.h
@@ -0,0 +1,175 @@
+//
+// Copyright 2016 CNRS
+//
+// Author: Rohan Budhiraja
+//
+// This file is part of dynamic-graph.
+// dynamic-graph 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.
+// dynamic-graph 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 Lesser General Public License for more details. You should
+// have received a copy of the GNU Lesser General Public License along
+// with dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef DYNAMIC_GRAPH_EIGEN_IO_H
+#define DYNAMIC_GRAPH_EIGEN_IO_H
+
+#include <iostream>
+#include <boost/format.hpp>
+#include <boost/numeric/conversion/cast.hpp>
+
+#include <dynamic-graph/exception-signal.h>
+#include <dynamic-graph/linear-algebra.h>
+#include <Eigen/Geometry>
+
+using dynamicgraph::ExceptionSignal;
+
+//TODO: Eigen 3.3 onwards has a global Eigen::Index definition.
+//If Eigen version is updated, use Eigen::Index instead of this macro.
+
+
+ /* \brief Eigen Vector input from istream
+ *
+ * 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) {
+ 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);
+ }
+ 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;
+ }
+
+ /* \brief Eigen Matrix input from istream
+ *
+ * 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) {
+ unsigned int _colsize;
+ unsigned int _rowsize;
+ double _dbl_val;
+ char _ch;
+ boost::format fmt ("Failed to enter %s as matrix. Reenter as ((val11,val12,val13,...,val1N),...,(valM1,valM2,...,valMN))");
+ MatrixXd _tmp_matrix;
+ 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 {
+ _tmp_matrix.resize(_rowsize,_colsize);
+ 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 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();
+ _tmp_matrix(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());
+ }
+ }
+ }
+ }
+ inst = _tmp_matrix;
+ return iss;
+ }
+
+
+ inline std::istringstream& operator >> (std::istringstream &iss,
+ Transform<double,3,Affine> &inst) {
+ MatrixXd M; iss >> M; inst.matrix() = M; return iss; }
+
+
+
+
+ /* \brief Eigen Homogeneous Matrix output
+ *
+ * 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))
+ */
+
+ inline std::ostream& operator << (std::ostream &os,
+ Transform<double,3,Affine> MH) {
+ IOFormat boostFmt(StreamPrecision, DontAlignCols,
+ ",", ",",
+ "(",")",
+ "(",")");
+
+ os << "[4,4]"<< MH.matrix().format(boostFmt); return os; }
+
+
+ inline std::ostream& operator << (std::ostream &os,
+ AngleAxisd quat) {
+ VectorXd v(4); v(0) = quat.angle(); v.tail<3>() = quat.axis();
+ os << v; return os; }
+
+ inline std::istringstream& operator >> (std::istringstream &iss,
+ AngleAxisd &inst) {
+ VectorXd v(4); iss >>v;
+ inst.angle() = v(0); inst.axis() = v.tail<3>();
+ return iss; }
+
+}
+
+
+#endif //DYNAMIC_GRAPH_EIGEN_IO_H
diff --git a/include/dynamic-graph/linear-algebra.h b/include/dynamic-graph/linear-algebra.h
index 62cc76dfb8067294cb78f14cf40c281b40258361..4b566fb6f881935454e5c019d542b58383cde15e 100644
--- a/include/dynamic-graph/linear-algebra.h
+++ b/include/dynamic-graph/linear-algebra.h
@@ -17,15 +17,13 @@
#ifndef DYNAMIC_GRAPH_LINEAR_ALGEBRA_H
#define DYNAMIC_GRAPH_LINEAR_ALGEBRA_H
-
-#include <jrl/mal/boost.hh>
-#include <boost/numeric/ublas/matrix.hpp>
+#include <Eigen/Core>
+#include <Eigen/Geometry>
namespace dynamicgraph {
- typedef maal::boost::Vector Vector;
- typedef maal::boost::Matrix Matrix;
+ typedef Eigen::MatrixXd Matrix;
+ typedef Eigen::VectorXd Vector;
}
-#endif //DYNAMIC_GRAPH_LINEAR_ALGEBRA_H
-
+#endif //DYNAMIC_GRAPH_LINEAR_ALGEBRA_H
diff --git a/include/dynamic-graph/signal-cast-helper.h b/include/dynamic-graph/signal-cast-helper.h
index f7704dba15802d22faa918774f8aa505bd644491..4024e9ad371511e8c20de37e4d5240e13902e2cd 100644
--- a/include/dynamic-graph/signal-cast-helper.h
+++ b/include/dynamic-graph/signal-cast-helper.h
@@ -28,6 +28,8 @@
# include <boost/lexical_cast.hpp>
# include <boost/tuple/tuple.hpp>
+#include <dynamic-graph/eigen-io.h>
+
# include <dynamic-graph/dynamic-graph-api.h>
# include "dynamic-graph/exception-signal.h"
# include "dynamic-graph/signal-caster.h"
@@ -99,8 +101,8 @@ namespace dynamicgraph
class SignalCast
{
public:
- static T cast( std::istringstream& stringValue ) { throw 1;}
- static void disp( const T& t,std::ostream& os ) { throw 1; }
+ static T cast( std::istringstream& ) { throw 1;}
+ static void disp( const T&,std::ostream&) { throw 1; }
static void trace( const T& t,std::ostream& os ) { disp(t,os); }
public:
// adapter functions for SignalCast
diff --git a/include/dynamic-graph/value.h b/include/dynamic-graph/value.h
index f3614bbec54572338ecea654c20d08a4727884f6..ffa43c065a5df8711569575019070b8a9d41ecd0 100644
--- a/include/dynamic-graph/value.h
+++ b/include/dynamic-graph/value.h
@@ -23,7 +23,7 @@
#include <cassert>
#include <typeinfo>
#include "dynamic-graph/dynamic-graph-api.h"
-#include "dynamic-graph/linear-algebra.h"
+#include <dynamic-graph/linear-algebra.h>
namespace dynamicgraph {
namespace command {
@@ -39,7 +39,8 @@ namespace dynamicgraph {
operator double () const;
operator std::string () const;
operator Vector () const;
- operator Matrix () const;
+ operator Eigen::MatrixXd () const;
+ operator Eigen::Matrix4d () const;
private:
const Value* value_;
};
@@ -56,6 +57,7 @@ namespace dynamicgraph {
STRING,
VECTOR,
MATRIX,
+ MATRIX4D,
NB_TYPES
};
~Value();
@@ -67,7 +69,8 @@ namespace dynamicgraph {
explicit Value(const double& value);
explicit Value(const std::string& value);
explicit Value(const Vector& value);
- explicit Value(const Matrix& value);
+ explicit Value(const Eigen::MatrixXd& value);
+ explicit Value(const Eigen::Matrix4d& value);
/// Copy constructor
Value(const Value& value);
// Construct an empty value (None)
@@ -103,7 +106,8 @@ namespace dynamicgraph {
double doubleValue() const;
std::string stringValue() const;
Vector vectorValue() const;
- Matrix matrixValue() const;
+ Eigen::MatrixXd matrixXdValue() const;
+ Eigen::Matrix4d matrix4dValue() const;
Type type_;
const void* const value_;
};
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index de7b7f88dfc69b98ea27f497c38210b79a8c88f7..9209da60e94313adc87ab350840ae7018186580d 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -50,7 +50,6 @@ ADD_LIBRARY(${LIBRARY_NAME}
SET_TARGET_PROPERTIES(${LIBRARY_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} jrl-mal)
IF (UNIX)
TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${CMAKE_DL_LIBS} pthread)
@@ -58,9 +57,9 @@ ENDIF (UNIX)
TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${Boost_LIBRARIES})
-IF (UNIX AND NOT APPLE)
- TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${JRL_MAL_LDFLAGS_OTHER})
-ENDIF (UNIX AND NOT APPLE)
+#IF (UNIX AND NOT APPLE)
+# TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${JRL_MAL_LDFLAGS_OTHER})
+#ENDIF (UNIX AND NOT APPLE)
INSTALL(TARGETS ${LIBRARY_NAME}
DESTINATION ${CMAKE_INSTALL_LIBDIR})
diff --git a/src/command/command.cpp b/src/command/command.cpp
index 7cd2b512a553f70bcedb32a52a7763abb1f044ac..350a6afdd2691acf9b65f798dd9df90edd9943e5 100644
--- a/src/command/command.cpp
+++ b/src/command/command.cpp
@@ -50,7 +50,7 @@ namespace dynamicgraph {
for (unsigned int iParam=0; iParam < values.size(); iParam++) {
if (values[iParam].type() != paramTypes[iParam]) {
std::stringstream ss;
- ss << "argument " << iParam << "is of wrong type: "
+ ss << "argument " << iParam << " is of wrong type: "
<< Value::typeName(paramTypes[iParam]) << " expected, got "
<< Value::typeName(values[iParam].type());
throw ExceptionAbstract(ExceptionAbstract::TOOLS, ss.str());
diff --git a/src/command/value.cpp b/src/command/value.cpp
index 92a032d1d016e7b9222ee2f7334b9a556ea5fa0b..4ff312353292abf0af47a92fe551e56ae6939933 100644
--- a/src/command/value.cpp
+++ b/src/command/value.cpp
@@ -15,7 +15,6 @@
// have received a copy of the GNU Lesser General Public License along
// with dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
-#include <boost/numeric/ublas/io.hpp>
#include "dynamic-graph/value.h"
#include "dynamic-graph/exception-abstract.h"
@@ -62,9 +61,14 @@ namespace dynamicgraph {
{
return value_->vectorValue();
}
- EitherType::operator Matrix() const
+ EitherType::operator Eigen::MatrixXd() const
{
- return value_->matrixValue();
+ return value_->matrixXdValue();
+ }
+
+ EitherType::operator Eigen::Matrix4d() const
+ {
+ return value_->matrix4dValue();
}
void Value::deleteValue ()
@@ -92,7 +96,10 @@ namespace dynamicgraph {
delete(const Vector*)value_;
break;
case MATRIX:
- delete(const Matrix*)value_;
+ delete(const Eigen::MatrixXd*)value_;
+ break;
+ case MATRIX4D:
+ delete(const Eigen::Matrix4d*)value_;
break;
default:;
}
@@ -130,8 +137,12 @@ namespace dynamicgraph {
value_(new Vector(value))
{
}
- Value::Value(const Matrix& value) : type_(MATRIX),
- value_(new Matrix(value))
+ Value::Value(const Eigen::MatrixXd& value) : type_(MATRIX),
+ value_(new Eigen::MatrixXd(value))
+ {
+ }
+ Value::Value(const Eigen::Matrix4d& value) : type_(MATRIX4D),
+ value_(new Eigen::Matrix4d(value))
{
}
@@ -169,7 +180,10 @@ namespace dynamicgraph {
copy = new Vector(value.vectorValue());
break;
case Value::MATRIX:
- copy = new Matrix(value.matrixValue());
+ copy = new Eigen::MatrixXd(value.matrixXdValue());
+ break;
+ case Value::MATRIX4D:
+ copy = new Eigen::Matrix4d(value.matrix4dValue());
break;
default:
abort();
@@ -263,12 +277,20 @@ namespace dynamicgraph {
"value is not an vector");
}
- Matrix Value::matrixValue() const
+ Eigen::MatrixXd Value::matrixXdValue() const
{
if(type_ == MATRIX)
- return *((const Matrix*)value_);
+ return *((const Eigen::MatrixXd*)value_);
+ throw ExceptionAbstract(ExceptionAbstract::TOOLS,
+ "value is not a Eigen matrixXd");
+ }
+
+ Eigen::Matrix4d Value::matrix4dValue() const
+ {
+ if(type_ == MATRIX4D)
+ return *((const Eigen::Matrix4d*)value_);
throw ExceptionAbstract(ExceptionAbstract::TOOLS,
- "value is not a matrix");
+ "value is not a Eigen matrix4d");
}
std::string Value::typeName(Type type)
@@ -289,7 +311,9 @@ namespace dynamicgraph {
case VECTOR:
return std::string("vector");
case MATRIX:
- return std::string("matrix");
+ return std::string("matrixXd");
+ case MATRIX4D:
+ return std::string("matrix4d");
default:
return std::string("unknown");
}
@@ -322,7 +346,10 @@ namespace dynamicgraph {
os << value.vectorValue();
break;
case Value::MATRIX:
- os << value.matrixValue();
+ os << value.matrixXdValue();
+ break;
+ case Value::MATRIX4D:
+ os << value.matrix4dValue();
break;
default:
return os;
@@ -337,7 +364,8 @@ namespace dynamicgraph {
template<> const Value::Type ValueHelper<double>::TypeID = Value::DOUBLE;
template<> const Value::Type ValueHelper<std::string>::TypeID = Value::STRING;
template<> const Value::Type ValueHelper<Vector>::TypeID = Value::VECTOR;
- template<> const Value::Type ValueHelper<Matrix>::TypeID = Value::MATRIX;
+ template<> const Value::Type ValueHelper<Eigen::MatrixXd>::TypeID = Value::MATRIX;
+ template<> const Value::Type ValueHelper<Eigen::Matrix4d>::TypeID = Value::MATRIX4D;
} // namespace command
} //namespace dynamicgraph
diff --git a/src/signal/signal-cast-helper.cpp b/src/signal/signal-cast-helper.cpp
index 00a683b4f47879d4acd22db53e0cbc9aa387d636..376bfe42561549874a13dfab549ca81abd9b3ce4 100644
--- a/src/signal/signal-cast-helper.cpp
+++ b/src/signal/signal-cast-helper.cpp
@@ -24,7 +24,6 @@
#include <sstream>
#include <algorithm>
#include <dynamic-graph/exception-signal.h>
-
#include <dynamic-graph/linear-algebra.h>
namespace dynamicgraph
@@ -41,6 +40,7 @@ namespace dynamicgraph
// To workaround this problem, parse special values manually
// (the strings used are the one produces by displaying special
// values on a stream).
+
template <>
inline boost::any
DefaultCastRegisterer<double>::cast (std::istringstream& iss)
@@ -68,13 +68,14 @@ namespace dynamicgraph
}
/* Specialize Matrix and Vector traces. */
+
template <>
void
DefaultCastRegisterer<dynamicgraph::Vector>::
trace(const boost::any& object, std::ostream& os)
{
const dynamicgraph::Vector & v = boost::any_cast<dynamicgraph::Vector> (object);
- for( unsigned int i=0;i<v.size();++i )
+ for( int i=0;i<v.size();++i )
{ os << "\t" << v(i); }
}
template <>
@@ -83,13 +84,12 @@ namespace dynamicgraph
trace(const boost::any& object, std::ostream& os)
{
const dynamicgraph::Matrix & m = boost::any_cast<dynamicgraph::Matrix> (object);
- for( unsigned int i=0;i<m.nbRows();++i )
- for( unsigned int j=0;j<m.nbCols();++j )
+ for(int i=0;i<m.rows();++i )
+ for(int j=0;j<m.cols();++j )
{ os << "\t" << m(i,j); }
}
-
/// Registers useful casts
namespace
{
diff --git a/src/traces/tracer.cpp b/src/traces/tracer.cpp
index 36e0e52d746cbdc6c47ffe4af3d754ca7a44d31a..3cc3b66d0d1a620f47d046e7c32ad97535d69bdc 100644
--- a/src/traces/tracer.cpp
+++ b/src/traces/tracer.cpp
@@ -256,7 +256,7 @@ recordSignal( std::ostream& os,
}
}
catch( ExceptionAbstract& exc ) { os << exc << std::endl; }
- catch( ... ) { os << "Unknown error occured while reading signal." << std::endl; }
+ catch( ... ) { os << "Unknown error occurred while reading signal." << std::endl; }
dgDEBUGOUT(15);
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 723b69b2065f4be6c8d8417f8be6417fd794d890..4d14693d9b7097ffddbb7356779fb4c0d7b6f021 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -43,12 +43,6 @@ MACRO(DYNAMIC_GRAPH_TEST NAME)
# Link against Boost.
TARGET_LINK_LIBRARIES(${NAME} ${Boost_LIBRARIES})
- # Search for jrl-mal.
- INCLUDE_DIRECTORIES(${JRL_MAL_INCLUDE_DIRS})
- LINK_DIRECTORIES(${JRL_MAL_LIBRARY_DIRS})
- IF(UNIX AND NOT APPLE)
- TARGET_LINK_LIBRARIES(${NAME} ${JRL_MAL_LDFLAGS})
- ENDIF(UNIX AND NOT APPLE)
ENDMACRO(DYNAMIC_GRAPH_TEST)
diff --git a/tests/signal-cast-registerer-libA.hh b/tests/signal-cast-registerer-libA.hh
index 7dcdd3bc2ed5df2a2a713ec72ec6ac3f1960dd5b..f0065e224f434fc72190f2ff49efa82a5e8bd37f 100644
--- a/tests/signal-cast-registerer-libA.hh
+++ b/tests/signal-cast-registerer-libA.hh
@@ -13,8 +13,7 @@
// You should have received a copy of the GNU Lesser General Public License
// along with dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
-#include <boost/numeric/ublas/vector.hpp>
-#include <boost/numeric/ublas/io.hpp>
+#include <Eigen/Dense>
-typedef boost::numeric::ublas::vector<double> vec_type;
+typedef Eigen::VectorXd vec_type;
extern vec_type vA;
diff --git a/tests/signal-cast-registerer-libB.hh b/tests/signal-cast-registerer-libB.hh
index ea04629ecfb188e1fe8d9bc8f866d5289965b738..1c600a5b6bfdba87e4ce6ad84c0df57eb19e5c93 100644
--- a/tests/signal-cast-registerer-libB.hh
+++ b/tests/signal-cast-registerer-libB.hh
@@ -13,8 +13,7 @@
// You should have received a copy of the GNU Lesser General Public License
// along with dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
-#include <boost/numeric/ublas/vector.hpp>
-#include <boost/numeric/ublas/io.hpp>
+#include <Eigen/Core>
-typedef boost::numeric::ublas::vector<double> vec_type;
+typedef Eigen::VectorXd vec_type;
extern vec_type vB;
diff --git a/tests/signal-cast-registerer.cpp b/tests/signal-cast-registerer.cpp
index cc61c4935d7f9e36e3bd745b1c70f1fba3817150..1982589f3d3d73f0a8092541a2c781a355845441 100644
--- a/tests/signal-cast-registerer.cpp
+++ b/tests/signal-cast-registerer.cpp
@@ -17,13 +17,15 @@
#include <boost/foreach.hpp>
#include <boost/format.hpp>
-#include <boost/numeric/ublas/vector.hpp>
-#include <boost/numeric/ublas/io.hpp>
+
+#include <Eigen/Dense>
#include <dynamic-graph/debug.h>
#include <dynamic-graph/entity.h>
#include <dynamic-graph/factory.h>
#include <dynamic-graph/pool.h>
+#include <dynamic-graph/eigen-io.h>
+#include <dynamic-graph/linear-algebra.h>
#include <dynamic-graph/signal-caster.h>
#include <dynamic-graph/signal.h>
#include <dynamic-graph/signal-cast-helper.h>
@@ -39,14 +41,14 @@
using boost::test_tools::output_test_stream;
-typedef boost::numeric::ublas::vector<double> Vector;
+typedef Eigen::VectorXd Vector;
-struct BoostNumericsCastRegisterer : public dynamicgraph::SignalCastRegisterer
+struct EigenCastRegisterer : public dynamicgraph::SignalCastRegisterer
{
- typedef boost::numeric::ublas::vector<double> bnuVector;
+ typedef Vector bnuVector;
- BoostNumericsCastRegisterer () :
+ EigenCastRegisterer () :
SignalCastRegisterer
(typeid(bnuVector), dispVector, castVector, traceVector)
{}
@@ -62,7 +64,7 @@ struct BoostNumericsCastRegisterer : public dynamicgraph::SignalCastRegisterer
{
const bnuVector& v = boost::any_cast<bnuVector> (object);
os << "[ ";
- for (unsigned int i = 0; i < v.size (); ++i)
+ for (int i = 0; i < v.size (); ++i)
os << v(i) << " ";
os << " ];" << std::endl;
}
@@ -70,13 +72,13 @@ struct BoostNumericsCastRegisterer : public dynamicgraph::SignalCastRegisterer
static void traceVector (const boost::any& object, std::ostream& os)
{
const bnuVector& v = boost::any_cast<bnuVector> (object);
- for (unsigned int i = 0; i < v.size (); ++i)
+ for (int i = 0; i < v.size (); ++i)
os << v(i) << " ";
os << std::endl;
}
};
-BoostNumericsCastRegisterer myVectorCast;
+EigenCastRegisterer myVectorCast;
// Define a new cast with a type that supports streaming operators to
// and from it (this could be automated with macros).
@@ -132,9 +134,8 @@ BOOST_AUTO_TEST_CASE (standard_double_registerer)
// Check a custom cast registerer for Boost uBLAS vectors.
BOOST_AUTO_TEST_CASE (custom_vector_registerer)
{
- namespace ublas = boost::numeric::ublas;
- dynamicgraph::Signal<Vector, int> myVectorSignal("vector");
+ dynamicgraph::Signal<dynamicgraph::Vector, int> myVectorSignal("vector");
// Print the signal name.
{
@@ -145,10 +146,10 @@ BOOST_AUTO_TEST_CASE (custom_vector_registerer)
for (unsigned int i = 0; i < 5; ++i)
{
- ublas::unit_vector<double> v (5, i);
+ 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);