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fbaillyolivier-stasse
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[topic/robotUtils] removed logger and signal helper, changed authorship and license
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8 files changed

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‎include/CMakeLists.txt

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@@ -89,8 +89,6 @@ SET(NEWHEADERS
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sot/core/trajectory.hh
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sot/core/switch.hh
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sot/core/variadic-op.hh
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sot/core/logger.hh
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sot/core/signal-helper.hh
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sot/core/robot-utils.hh
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)
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INSTALL(FILES ${NEWHEADERS}

‎include/sot/core/logger.hh

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‎include/sot/core/matrix-geometry.hh

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/*
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* Copyright 2010,
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* François Bleibel,
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* Olivier Stasse,
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*
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* CNRS/AIST
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* Copyright 2010,2019
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* CNRS/AIST
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* François Bleibel, Olivier Stasse, François Bailly
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*
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* This file is part of sot-core.
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* sot-core is free software: you can redistribute it and/or
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/* --------------------------------------------------------------------- */
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/* --------------------------------------------------------------------- */
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namespace Eigen
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{
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#define EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Size, SizeSuffix) \
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/** \ingroup matrixtypedefs */ \
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typedef Matrix<Type, Size, Size> Matrix##SizeSuffix##TypeSuffix; \
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/** \ingroup matrixtypedefs */ \
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typedef Matrix<Type, Size, 1> Vector##SizeSuffix##TypeSuffix; \
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/** \ingroup matrixtypedefs */ \
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typedef Matrix<Type, 1, Size> RowVector##SizeSuffix##TypeSuffix;
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#define EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, Size) \
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/** \ingroup matrixtypedefs */ \
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typedef Matrix<Type, Size, Dynamic> Matrix##Size##X##TypeSuffix; \
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/** \ingroup matrixtypedefs */ \
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typedef Matrix<Type, Dynamic, Size> Matrix##X##Size##TypeSuffix;
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#define EIGEN_MAKE_TYPEDEFS_ALL_SIZES(Type, TypeSuffix) \
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EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 1, 1) \
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EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 5, 5) \
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EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 6, 6) \
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EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 7, 7) \
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EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 1) \
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EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 5) \
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EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 6) \
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EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 7)
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EIGEN_MAKE_TYPEDEFS_ALL_SIZES(int, i)
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EIGEN_MAKE_TYPEDEFS_ALL_SIZES(float, f)
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EIGEN_MAKE_TYPEDEFS_ALL_SIZES(double, d)
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EIGEN_MAKE_TYPEDEFS_ALL_SIZES(std::complex<float>, cf)
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EIGEN_MAKE_TYPEDEFS_ALL_SIZES(std::complex<double>, cd)
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#undef EIGEN_MAKE_TYPEDEFS_ALL_SIZES
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#undef EIGEN_MAKE_TYPEDEFS
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typedef Matrix<double,Dynamic,Dynamic,RowMajor> MatrixRXd;
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typedef Map<MatrixRXd> SigMatrixXd;
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typedef Map<VectorXd> SigVectorXd;
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typedef const Map<const MatrixRXd> const_SigMatrixXd;
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typedef const Map<const VectorXd> const_SigVectorXd;
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typedef Eigen::Ref<Eigen::VectorXd> RefVector;
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typedef const Eigen::Ref<const Eigen::VectorXd>& ConstRefVector;
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typedef Eigen::Ref<Eigen::MatrixXd> RefMatrix;
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typedef const Eigen::Ref<const Eigen::MatrixXd> ConstRefMatrix;
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}
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namespace dynamicgraph {
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namespace sot {
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#define EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Size, SizeSuffix) \
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/** \ingroup matrixtypedefs */ \
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typedef Eigen::Matrix<Type, Size, Size> Matrix##SizeSuffix##TypeSuffix; \
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/** \ingroup matrixtypedefs */ \
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typedef Eigen::Matrix<Type, Size, 1> Vector##SizeSuffix##TypeSuffix; \
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/** \ingroup matrixtypedefs */ \
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typedef Eigen::Matrix<Type, 1, Size> RowVector##SizeSuffix##TypeSuffix;
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#define EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, Size) \
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/** \ingroup matrixtypedefs */ \
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typedef Eigen::Matrix<Type, Size, Eigen::Dynamic> Matrix##Size##X##TypeSuffix; \
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/** \ingroup matrixtypedefs */ \
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typedef Eigen::Matrix<Type, Eigen::Dynamic, Size> Matrix##X##Size##TypeSuffix;
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#define EIGEN_MAKE_TYPEDEFS_ALL_SIZES(Type, TypeSuffix) \
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EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 1, 1) \
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EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 5, 5) \
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EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 6, 6) \
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EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 7, 7) \
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EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 1) \
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EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 5) \
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EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 6) \
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EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 7)
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EIGEN_MAKE_TYPEDEFS_ALL_SIZES(int, i)
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EIGEN_MAKE_TYPEDEFS_ALL_SIZES(float, f)
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EIGEN_MAKE_TYPEDEFS_ALL_SIZES(double, d)
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EIGEN_MAKE_TYPEDEFS_ALL_SIZES(std::complex<float>, cf)
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EIGEN_MAKE_TYPEDEFS_ALL_SIZES(std::complex<double>, cd)
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#undef EIGEN_MAKE_TYPEDEFS_ALL_SIZES
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#undef EIGEN_MAKE_TYPEDEFS
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typedef Eigen::Matrix<double,Eigen::Dynamic,Eigen::Dynamic,Eigen::RowMajor> MatrixRXd;
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typedef Eigen::Map<MatrixRXd> SigMatrixXd;
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typedef Eigen::Map<Eigen::VectorXd> SigVectorXd;
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typedef const Eigen::Map<const MatrixRXd> const_SigMatrixXd;
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typedef const Eigen::Map<const Eigen::VectorXd> const_SigVectorXd;
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typedef Eigen::Ref<Eigen::VectorXd> RefVector;
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typedef const Eigen::Ref<const Eigen::VectorXd>& ConstRefVector;
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typedef Eigen::Ref<Eigen::MatrixXd> RefMatrix;
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typedef const Eigen::Ref<const Eigen::MatrixXd> ConstRefMatrix;
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typedef Eigen::Transform<double,3, Eigen::Affine> SOT_CORE_EXPORT MatrixHomogeneous;
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typedef Eigen::Matrix<double,3,3> SOT_CORE_EXPORT MatrixRotation;
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typedef Eigen::AngleAxis<double> SOT_CORE_EXPORT VectorUTheta;

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