[eigen] Replacing jrl-mal with eigen. Removed solvers sot-h, weighted-sot, solver-hierarchical-inequalities.

>Todo: computederivation template specialization for vectorquaternion in derivator.h
>Removed solvers
>does not build

Author: Rohan Budhiraja

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/lapack.cmake)
 INCLUDE(cmake/cpack.cmake)
 
@@ -43,8 +44,8 @@ PKG_CONFIG_APPEND_LIBS("sot-core")
 # Boost
 SET(BOOST_COMPONENTS thread filesystem program_options unit_test_framework system regex )
 SEARCH_FOR_BOOST()
+SEARCH_FOR_EIGEN()
 
-ADD_REQUIRED_DEPENDENCY("jrl-mal >= 1.8.0")
 ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 1.0.0")
 ADD_REQUIRED_DEPENDENCY("dynamic-graph-python")
 

include/CMakeLists.txt

@@ -18,10 +18,8 @@ SET(NEWHEADERS
   sot/core/abstract-sot-external-interface.hh
   sot/core/device.hh
   sot/core/robot-simu.hh
-  sot/core/matrix-homogeneous.hh
-  sot/core/matrix-rotation.hh
-  sot/core/vector-utheta.hh
-  sot/core/vector-rotation.hh
+  sot/core/matrix-geometry.hh
+  sot/core/matrix-svd.hh
   sot/core/contiifstream.hh
   sot/core/debug.hh
   sot/core/exception-abstract.hh
@@ -44,11 +42,7 @@ SET(NEWHEADERS
   sot/core/factory.hh
   sot/core/macros-signal.hh
   sot/core/pool.hh
-  sot/core/matrix-force.hh
-  sot/core/matrix-twist.hh
   sot/core/op-point-modifier.hh
-  sot/core/vector-quaternion.hh
-  sot/core/vector-roll-pitch-yaw.hh
   sot/core/feature-point6d.hh
   sot/core/feature-vector3.hh
   sot/core/feature-abstract.hh
@@ -71,13 +65,8 @@ SET(NEWHEADERS
   sot/core/task.hh
   sot/core/gain-hyperbolic.hh
   sot/core/flags.hh
-  sot/core/sot-qr.hh
   sot/core/memory-task-sot.hh
-  sot/core/sot-h.hh
   sot/core/sot.hh
-  sot/core/rotation-simple.hh
-  sot/core/weighted-sot.hh
-  sot/core/solver-hierarchical-inequalities.hh
   sot/core/reader.hh
   sot/core/utils-windows.hh
   sot/core/time-stamp.hh

include/sot/core/binary-op.hh

@@ -26,14 +26,14 @@
 /* --------------------------------------------------------------------- */
 
 /* Matrix */
-#include <jrl/mal/boost.hh>
+#include <dynamic-graph/linear-algebra.h>
 
 /* SOT */
 #include <sot/core/flags.hh>
 #include <dynamic-graph/entity.h>
 #include <sot/core/pool.hh>
 #include <dynamic-graph/all-signals.h>
-#include <sot/core/vector-quaternion.hh>
+#include <sot/core/matrix-geometry.hh>
 
 /* STD */
 #include <string>

include/sot/core/clamp-workspace.hh

@@ -25,17 +25,14 @@
 #include <utility>
 
 /* Matrix */
-#include <jrl/mal/boost.hh>
-namespace ml = maal::boost;
+#include <dynamic-graph/linear-algebra.h>
+namespace dg = dynamicgraph;
 
 /* SOT */
 #include <dynamic-graph/entity.h>
 #include <sot/core/exception-task.hh>
 #include <dynamic-graph/all-signals.h>
-#include <sot/core/vector-roll-pitch-yaw.hh>
-#include <sot/core/matrix-rotation.hh>
-#include <sot/core/matrix-homogeneous.hh>
-#include <sot/core/matrix-twist.hh>
+#include <sot/core/matrix-geometry.hh>
 
 
 /* --------------------------------------------------------------------- */
@@ -71,8 +68,8 @@ class SOTCLAMPWORKSPACE_EXPORT ClampWorkspace
 
   dg::SignalPtr< MatrixHomogeneous,int > positionrefSIN;
   dg::SignalPtr< MatrixHomogeneous,int > positionSIN;
-  dg::SignalTimeDependent< ml::Matrix,int > alphaSOUT;
-  dg::SignalTimeDependent< ml::Matrix,int > alphabarSOUT;
+  dg::SignalTimeDependent< dg::Matrix,int > alphaSOUT;
+  dg::SignalTimeDependent< dg::Matrix,int > alphabarSOUT;
   dg::SignalTimeDependent< MatrixHomogeneous,int > handrefSOUT;
 
  public:
@@ -82,8 +79,8 @@ class SOTCLAMPWORKSPACE_EXPORT ClampWorkspace
 
   void update( int time );
 
-  virtual ml::Matrix& computeOutput( ml::Matrix& res, int time );
-  virtual ml::Matrix& computeOutputBar( ml::Matrix& res, int time );
+  virtual dg::Matrix& computeOutput( dg::Matrix& res, int time );
+  virtual dg::Matrix& computeOutputBar( dg::Matrix& res, int time );
   virtual MatrixHomogeneous& computeRef( MatrixHomogeneous& res, int time );
 
   virtual void display( std::ostream& ) const;
@@ -95,10 +92,10 @@ class SOTCLAMPWORKSPACE_EXPORT ClampWorkspace
 
   int timeUpdate;
 
-  ml::Matrix alpha;
-  ml::Matrix alphabar;
+  dg::Matrix alpha;
+  dg::Matrix alphabar;
   MatrixHomogeneous prefMp;
-  ml::Vector pd;
+  dg::Vector pd;
   MatrixRotation Rd;
   MatrixHomogeneous handref;
 

include/sot/core/com-freezer.hh

@@ -26,8 +26,8 @@
 /* --------------------------------------------------------------------- */
 
 /* Matrix */
-#include <jrl/mal/boost.hh>
-namespace ml = maal::boost;
+#include <dynamic-graph/linear-algebra.h>
+namespace dg = dynamicgraph;
 
 /* SOT */
 #include <dynamic-graph/entity.h>
@@ -64,7 +64,7 @@ class SOTCOMFREEZER_EXPORT CoMFreezer
     virtual const std::string & getClassName() const { return CLASS_NAME; }
 
   private:
-    ml::Vector m_lastCoM;
+    dg::Vector m_lastCoM;
     bool m_previousPGInProcess;
     int m_lastStopTime;
 
@@ -73,12 +73,12 @@ class SOTCOMFREEZER_EXPORT CoMFreezer
     virtual ~CoMFreezer(void);
 
   public: /* --- SIGNAL --- */
-    dg::SignalPtr<ml::Vector, int> CoMRefSIN;
+    dg::SignalPtr<dg::Vector, int> CoMRefSIN;
     dg::SignalPtr<unsigned, int>  PGInProcessSIN;
-    dg::SignalTimeDependent<ml::Vector, int> freezedCoMSOUT;
+    dg::SignalTimeDependent<dg::Vector, int> freezedCoMSOUT;
 
   public: /* --- FUNCTION --- */
-    ml::Vector& computeFreezedCoM(ml::Vector & freezedCoM, const int& time);
+    dg::Vector& computeFreezedCoM(dg::Vector & freezedCoM, const int& time);
 
   public: /* --- PARAMS --- */
     virtual void display(std::ostream & os) const;

include/sot/core/constraint.hh

@@ -26,8 +26,8 @@
 /* --------------------------------------------------------------------- */
 
 /* Matrix */
-#include <jrl/mal/boost.hh>
-namespace ml = maal::boost;
+#include <dynamic-graph/linear-algebra.h>
+namespace dg = dynamicgraph;
 
 /* STD */
 #include <string>
@@ -66,7 +66,7 @@ namespace dynamicgraph {
       : public TaskAbstract
     {
     protected:
-      typedef std::list< Signal<ml::Matrix,int>* > JacobianList;
+      typedef std::list< Signal<dg::Matrix,int>* > JacobianList;
       JacobianList jacobianList;
 
     public: 
@@ -76,15 +76,15 @@ namespace dynamicgraph {
     public:
       Constraint( const std::string& n );
 
-      void addJacobian( Signal<ml::Matrix,int>& sig );
+      void addJacobian( Signal<dg::Matrix,int>& sig );
       void clearJacobianList( void );
 
       void setControlSelection( const Flags& act );
       void addControlSelection( const Flags& act );
       void clearControlSelection( void );
 
       /* --- COMPUTATION --- */
-      ml::Matrix& computeJacobian( ml::Matrix& J,int time );
+      dg::Matrix& computeJacobian( dg::Matrix& J,int time );
 
       /* --- DISPLAY ------------------------------------------------------------ */
       SOTCONSTRAINT_EXPORT friend std::ostream& operator<< ( std::ostream& os,const Constraint& t );

include/sot/core/control-gr.hh

@@ -26,8 +26,8 @@
 /* --------------------------------------------------------------------- */
 
 /* Matrix */
-#include <jrl/mal/boost.hh>
-namespace ml = maal::boost;
+#include <dynamic-graph/linear-algebra.h>
+namespace dg = dynamicgraph;
 
 /* SOT */
 #include <dynamic-graph/signal-time-dependent.h>
@@ -90,15 +90,15 @@ namespace dynamicgraph {
 
     public:  /* --- SIGNALS --- */
 
-      SignalPtr<ml::Matrix,int> matrixASIN;
-      SignalPtr<ml::Vector,int> accelerationSIN;
-      SignalPtr<ml::Vector,int> gravitySIN;
-      SignalTimeDependent<ml::Vector,int> controlSOUT;
+      SignalPtr<dg::Matrix,int> matrixASIN;
+      SignalPtr<dg::Vector,int> accelerationSIN;
+      SignalPtr<dg::Vector,int> gravitySIN;
+      SignalTimeDependent<dg::Vector,int> controlSOUT;
 
     protected:
 
       double& setsize(int dimension);
-      ml::Vector& computeControl( ml::Vector& tau,int t );
+      dg::Vector& computeControl( dg::Vector& tau,int t );
 
     };
 

include/sot/core/control-pd.hh

@@ -26,8 +26,8 @@
 /* --------------------------------------------------------------------- */
 
 /* Matrix */
-#include <jrl/mal/boost.hh>
-namespace ml = maal::boost;
+#include <dynamic-graph/linear-algebra.h>
+namespace dg = dynamicgraph;
 
 /* SOT */
 #include <dynamic-graph/signal-time-dependent.h>
@@ -88,18 +88,18 @@ namespace dynamicgraph {
 
     public:  /* --- SIGNALS --- */
 
-      SignalPtr<ml::Vector,int> KpSIN;
-      SignalPtr<ml::Vector,int> KdSIN;
-      SignalPtr<ml::Vector,int> positionSIN;
-      SignalPtr<ml::Vector,int> desiredpositionSIN;
-      SignalPtr<ml::Vector,int> velocitySIN;
-      SignalPtr<ml::Vector,int> desiredvelocitySIN;
-      SignalTimeDependent<ml::Vector,int> controlSOUT;
+      SignalPtr<dg::Vector,int> KpSIN;
+      SignalPtr<dg::Vector,int> KdSIN;
+      SignalPtr<dg::Vector,int> positionSIN;
+      SignalPtr<dg::Vector,int> desiredpositionSIN;
+      SignalPtr<dg::Vector,int> velocitySIN;
+      SignalPtr<dg::Vector,int> desiredvelocitySIN;
+      SignalTimeDependent<dg::Vector,int> controlSOUT;
 
     protected:
 
       double& setsize(int dimension);
-      ml::Vector& computeControl( ml::Vector& tau,int t );
+      dg::Vector& computeControl( dg::Vector& tau,int t );
 
     };
 

include/sot/core/derivator-impl.hh

@@ -22,7 +22,7 @@
 #define __SOT_DERIVATOR_IMPL_H__
 
 #include <sot/core/derivator.hh>
-#include <sot/core/vector-quaternion.hh>
+#include <sot/core/matrix-geometry.hh>
 
 /* --------------------------------------------------------------------- */
 /* --- API ------------------------------------------------------------- */
@@ -58,8 +58,8 @@ namespace dg = dynamicgraph;
 #endif
 
 DECLARE_SPECIFICATION(DerivatorDouble,double)
-DECLARE_SPECIFICATION(DerivatorVector,ml::Vector)
-DECLARE_SPECIFICATION(DerivatorMatrix,ml::Matrix)
+DECLARE_SPECIFICATION(DerivatorVector,dg::Vector)
+DECLARE_SPECIFICATION(DerivatorMatrix,dg::Matrix)
 DECLARE_SPECIFICATION(DerivatorVectorQuaternion,VectorQuaternion)
 } /* namespace sot */} /* namespace dynamicgraph */
 

include/sot/core/derivator.hh

@@ -26,15 +26,14 @@
 /* --------------------------------------------------------------------- */
 
 /* Matrix */
-#include <jrl/mal/boost.hh>
-namespace ml = maal::boost;
+#include <dynamic-graph/linear-algebra.h>
 
 /* SOT */
 #include <sot/core/flags.hh>
 #include <sot/core/pool.hh>
 #include <dynamic-graph/entity.h>
 #include <dynamic-graph/all-signals.h>
-#include <sot/core/vector-quaternion.hh>
+#include <sot/core/matrix-geometry.hh>
 
 /* STD */
 #include <string>