1 files changed, 82 insertions, 0 deletions
diff --git a/intern/itasc/ublas_types.hpp b/intern/itasc/ublas_types.hpp
new file mode 100644
index 00000000000..bf9bdcc26f2
--- /dev/null
+++ b/intern/itasc/ublas_types.hpp
@@ -0,0 +1,82 @@
+/*
+ * ublas_types.hpp
+ *
+ *  Created on: Jan 5, 2009
+ *      Author: rubensmits
+ */
+
+#ifndef UBLAS_TYPES_HPP_
+#define UBLAS_TYPES_HPP_
+
+#include <boost/numeric/ublas/matrix.hpp>
+#include <boost/numeric/ublas/vector.hpp>
+#include <boost/numeric/ublas/matrix_proxy.hpp>
+#include <boost/numeric/ublas/vector_proxy.hpp>
+#include "kdl/frames.hpp"
+#include "kdl/tree.hpp"
+#include "kdl/chain.hpp"
+#include "kdl/jacobian.hpp"
+#include "kdl/jntarray.hpp"
+
+
+namespace iTaSC{
+
+namespace ublas = boost::numeric::ublas;
+using KDL::Twist;
+using KDL::Frame;
+using KDL::Joint;
+using KDL::Inertia;
+using KDL::SegmentMap;
+using KDL::Tree;
+using KDL::JntArray;
+using KDL::Jacobian;
+using KDL::Segment;
+using KDL::Rotation;
+using KDL::Vector;
+using KDL::Chain;
+
+#define u_scalar double
+#define u_vector ublas::vector<u_scalar>
+#define u_zero_vector ublas::zero_vector<u_scalar>
+#define u_matrix ublas::matrix<u_scalar>
+#define u_matrix6 ublas::matrix<u_scalar,6,6>
+#define u_identity_matrix ublas::identity_matrix<u_scalar>
+#define u_scalar_vector ublas::scalar_vector<u_scalar>
+#define u_zero_matrix ublas::zero_matrix<u_scalar>
+#define u_vector6 ublas::bounded_vector<u_scalar,6>
+
+inline static int changeBase(const u_matrix& J_in, const Frame& T, u_matrix& J_out) {
+
+    if (J_out.size1() != 6 || J_in.size1() != 6 || J_in.size2() != J_out.size2())
+        return -1;
+    for (unsigned int j = 0; j < J_in.size2(); ++j) {
+        ublas::matrix_column<const u_matrix > Jj_in = column(J_in,j);
+        ublas::matrix_column<u_matrix > Jj_out = column(J_out,j);
+		Twist arg;
+        for(unsigned int i=0;i<6;++i)
+            arg(i)=Jj_in(i);
+		Twist tmp(T*arg);
+        for(unsigned int i=0;i<6;++i)
+                    Jj_out(i)=tmp(i);
+    }
+    return 0;
+}
+inline static int changeBase(const ublas::matrix_range<u_matrix >& J_in, const Frame& T, ublas::matrix_range<u_matrix >& J_out) {
+
+    if (J_out.size1() != 6 || J_in.size1() != 6 || J_in.size2() != J_out.size2())
+        return -1;
+    for (unsigned int j = 0; j < J_in.size2(); ++j) {
+        ublas::matrix_column<const ublas::matrix_range<u_matrix > > Jj_in = column(J_in,j);
+        ublas::matrix_column<ublas::matrix_range<u_matrix > > Jj_out = column(J_out,j);
+		Twist arg;
+        for(unsigned int i=0;i<6;++i)
+            arg(i)=Jj_in(i);
+		Twist tmp(T*arg);
+        for(unsigned int i=0;i<6;++i)
+                    Jj_out(i)=tmp(i);
+    }
+    return 0;
+}
+
+}
+#endif /* UBLAS_TYPES_HPP_ */