From 844d1d4903159bb2ebbcf9b724a2cb237fdcd6fb Mon Sep 17 00:00:00 2001
From: Rohan Budhiraja <budhiraja@laas.fr>
Date: Fri, 8 Apr 2016 20:08:50 +0200
Subject: [PATCH] [c++] fix bug in matrix istream input operator
---
include/dynamic-graph/eigen-io.h | 15 +++++++++------
1 file changed, 9 insertions(+), 6 deletions(-)
diff --git a/include/dynamic-graph/eigen-io.h b/include/dynamic-graph/eigen-io.h
index 89d8f33..6352cb5 100644
--- a/include/dynamic-graph/eigen-io.h
+++ b/include/dynamic-graph/eigen-io.h
@@ -39,6 +39,7 @@ using dynamicgraph::ExceptionSignal;
*/
namespace Eigen {
typedef EIGEN_DEFAULT_DENSE_INDEX_TYPE eigen_index;
+
inline std::istringstream& operator >> (std::istringstream &iss,
dynamicgraph::Vector &inst) {
unsigned int _size;
@@ -88,7 +89,8 @@ namespace Eigen {
unsigned int _rowsize;
double _dbl_val;
char _ch;
- boost::format fmt ("Failed to enter %s as vector. Reenter as [N](val1,val2,val3,...,valN)");
+ 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());
@@ -101,7 +103,7 @@ namespace Eigen {
if (iss.fail())
throw ExceptionSignal(ExceptionSignal::GENERIC,fmt.str());
else {
- inst.resize(_rowsize,_colsize);
+ _tmp_matrix.resize(_rowsize,_colsize);
if(iss >> _ch && _ch != ']')
throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
else {
@@ -115,7 +117,7 @@ namespace Eigen {
iss >> _dbl_val;
if (iss.peek() == ',' || iss.peek() == ' ')
iss.ignore();
- inst(j,i) = _dbl_val;
+ _tmp_matrix(j,i) = _dbl_val;
}
if(iss >> _ch && _ch != ')')
throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
@@ -128,13 +130,14 @@ namespace Eigen {
}
}
}
+ inst = _tmp_matrix;
return iss;
}
inline std::istringstream& operator >> (std::istringstream &iss,
Transform<double,3,Affine> &inst) {
- Matrix4d M; iss >> M; inst = M; return iss; }
+ MatrixXd M; iss >> M; inst.matrix() = M; return iss; }
@@ -157,12 +160,12 @@ namespace Eigen {
inline std::ostream& operator << (std::ostream &os,
AngleAxisd quat) {
- Vector4d v; v(0) = quat.angle(); v.tail<3>() = quat.axis();
+ 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) {
- Vector4d v; iss >>v;
+ VectorXd v(4); iss >>v;
inst.angle() = v(0); inst.axis() = v.tail<3>();
return iss; }
--
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