diff options
Diffstat (limited to 'intern/itasc')
48 files changed, 267 insertions, 179 deletions
diff --git a/intern/itasc/Armature.cpp b/intern/itasc/Armature.cpp index f2b6d427302..916b0bc7bf3 100644 --- a/intern/itasc/Armature.cpp +++ b/intern/itasc/Armature.cpp @@ -1,7 +1,7 @@ /** \file itasc/Armature.cpp * \ingroup itasc */ -/* $Id$ +/* * Armature.cpp * * Created on: Feb 3, 2009 diff --git a/intern/itasc/Armature.hpp b/intern/itasc/Armature.hpp index 312ca1b28c3..0f4abeab4f0 100644 --- a/intern/itasc/Armature.hpp +++ b/intern/itasc/Armature.hpp @@ -1,4 +1,4 @@ -/* $Id: Armature.hpp 20853 2009-06-13 12:29:46Z ben2610 $ +/* * Armature.hpp * * Created on: Feb 3, 2009 diff --git a/intern/itasc/CMakeLists.txt b/intern/itasc/CMakeLists.txt index 26b61f5c6ce..3d24a0cb8c6 100644 --- a/intern/itasc/CMakeLists.txt +++ b/intern/itasc/CMakeLists.txt @@ -1,4 +1,3 @@ -# $Id: CMakeLists.txt 19905 2009-04-23 13:29:54Z ben2610 $ # ***** BEGIN GPL LICENSE BLOCK ***** # # This program is free software; you can redistribute it and/or @@ -25,7 +24,7 @@ # ***** END GPL LICENSE BLOCK ***** set(INC - ../../extern/Eigen2 + ../../extern/Eigen3 ) set(INC_SYS @@ -47,6 +46,8 @@ set(SRC WSDLSSolver.cpp WorldObject.cpp eigen_types.cpp + ublas_types.hpp + kdl/chain.cpp kdl/chainfksolverpos_recursive.cpp kdl/chainjnttojacsolver.cpp @@ -114,116 +115,211 @@ set(SRC kdl/utilities/traits.h kdl/utilities/utility.h kdl/utilities/utility_io.h - ublas_types.hpp + + kdl/frameacc.inl + kdl/frames.inl + kdl/framevel.inl # until we have another user... - ../../extern/Eigen2/Eigen/src/Array/BooleanRedux.h - ../../extern/Eigen2/Eigen/src/Array/CwiseOperators.h - ../../extern/Eigen2/Eigen/src/Array/Functors.h - ../../extern/Eigen2/Eigen/src/Array/Norms.h - ../../extern/Eigen2/Eigen/src/Array/PartialRedux.h - ../../extern/Eigen2/Eigen/src/Array/Random.h - ../../extern/Eigen2/Eigen/src/Array/Select.h - ../../extern/Eigen2/Eigen/src/Cholesky/LDLT.h - ../../extern/Eigen2/Eigen/src/Cholesky/LLT.h - ../../extern/Eigen2/Eigen/src/Core/Assign.h - ../../extern/Eigen2/Eigen/src/Core/Block.h - ../../extern/Eigen2/Eigen/src/Core/CacheFriendlyProduct.h - ../../extern/Eigen2/Eigen/src/Core/Coeffs.h - ../../extern/Eigen2/Eigen/src/Core/CommaInitializer.h - ../../extern/Eigen2/Eigen/src/Core/Cwise.h - ../../extern/Eigen2/Eigen/src/Core/CwiseBinaryOp.h - ../../extern/Eigen2/Eigen/src/Core/CwiseNullaryOp.h - ../../extern/Eigen2/Eigen/src/Core/CwiseUnaryOp.h - ../../extern/Eigen2/Eigen/src/Core/DiagonalCoeffs.h - ../../extern/Eigen2/Eigen/src/Core/DiagonalMatrix.h - ../../extern/Eigen2/Eigen/src/Core/DiagonalProduct.h - ../../extern/Eigen2/Eigen/src/Core/Dot.h - ../../extern/Eigen2/Eigen/src/Core/Flagged.h - ../../extern/Eigen2/Eigen/src/Core/Functors.h - ../../extern/Eigen2/Eigen/src/Core/Fuzzy.h - ../../extern/Eigen2/Eigen/src/Core/GenericPacketMath.h - ../../extern/Eigen2/Eigen/src/Core/IO.h - ../../extern/Eigen2/Eigen/src/Core/Map.h - ../../extern/Eigen2/Eigen/src/Core/MapBase.h - ../../extern/Eigen2/Eigen/src/Core/MathFunctions.h - ../../extern/Eigen2/Eigen/src/Core/Matrix.h - ../../extern/Eigen2/Eigen/src/Core/MatrixBase.h - ../../extern/Eigen2/Eigen/src/Core/MatrixStorage.h - ../../extern/Eigen2/Eigen/src/Core/Minor.h - ../../extern/Eigen2/Eigen/src/Core/NestByValue.h - ../../extern/Eigen2/Eigen/src/Core/NumTraits.h - ../../extern/Eigen2/Eigen/src/Core/Part.h - ../../extern/Eigen2/Eigen/src/Core/Product.h - ../../extern/Eigen2/Eigen/src/Core/Redux.h - ../../extern/Eigen2/Eigen/src/Core/SolveTriangular.h - ../../extern/Eigen2/Eigen/src/Core/Sum.h - ../../extern/Eigen2/Eigen/src/Core/Swap.h - ../../extern/Eigen2/Eigen/src/Core/Transpose.h - ../../extern/Eigen2/Eigen/src/Core/Visitor.h - ../../extern/Eigen2/Eigen/src/Core/arch/AltiVec/PacketMath.h - ../../extern/Eigen2/Eigen/src/Core/arch/SSE/PacketMath.h - ../../extern/Eigen2/Eigen/src/Core/util/Constants.h - ../../extern/Eigen2/Eigen/src/Core/util/DisableMSVCWarnings.h - ../../extern/Eigen2/Eigen/src/Core/util/EnableMSVCWarnings.h - ../../extern/Eigen2/Eigen/src/Core/util/ForwardDeclarations.h - ../../extern/Eigen2/Eigen/src/Core/util/Macros.h - ../../extern/Eigen2/Eigen/src/Core/util/Memory.h - ../../extern/Eigen2/Eigen/src/Core/util/Meta.h - ../../extern/Eigen2/Eigen/src/Core/util/StaticAssert.h - ../../extern/Eigen2/Eigen/src/Core/util/XprHelper.h - ../../extern/Eigen2/Eigen/src/Geometry/AlignedBox.h - ../../extern/Eigen2/Eigen/src/Geometry/AngleAxis.h - ../../extern/Eigen2/Eigen/src/Geometry/EulerAngles.h - ../../extern/Eigen2/Eigen/src/Geometry/Hyperplane.h - ../../extern/Eigen2/Eigen/src/Geometry/OrthoMethods.h - ../../extern/Eigen2/Eigen/src/Geometry/ParametrizedLine.h - ../../extern/Eigen2/Eigen/src/Geometry/Quaternion.h - ../../extern/Eigen2/Eigen/src/Geometry/Rotation2D.h - ../../extern/Eigen2/Eigen/src/Geometry/RotationBase.h - ../../extern/Eigen2/Eigen/src/Geometry/Scaling.h - ../../extern/Eigen2/Eigen/src/Geometry/Transform.h - ../../extern/Eigen2/Eigen/src/Geometry/Translation.h - ../../extern/Eigen2/Eigen/src/LU/Determinant.h - ../../extern/Eigen2/Eigen/src/LU/Inverse.h - ../../extern/Eigen2/Eigen/src/LU/LU.h - ../../extern/Eigen2/Eigen/src/LeastSquares/LeastSquares.h - ../../extern/Eigen2/Eigen/src/QR/EigenSolver.h - ../../extern/Eigen2/Eigen/src/QR/HessenbergDecomposition.h - ../../extern/Eigen2/Eigen/src/QR/QR.h - ../../extern/Eigen2/Eigen/src/QR/SelfAdjointEigenSolver.h - ../../extern/Eigen2/Eigen/src/QR/Tridiagonalization.h - ../../extern/Eigen2/Eigen/src/SVD/SVD.h - ../../extern/Eigen2/Eigen/src/Sparse/AmbiVector.h - ../../extern/Eigen2/Eigen/src/Sparse/CholmodSupport.h - ../../extern/Eigen2/Eigen/src/Sparse/CompressedStorage.h - ../../extern/Eigen2/Eigen/src/Sparse/CoreIterators.h - ../../extern/Eigen2/Eigen/src/Sparse/DynamicSparseMatrix.h - ../../extern/Eigen2/Eigen/src/Sparse/MappedSparseMatrix.h - ../../extern/Eigen2/Eigen/src/Sparse/RandomSetter.h - ../../extern/Eigen2/Eigen/src/Sparse/SparseAssign.h - ../../extern/Eigen2/Eigen/src/Sparse/SparseBlock.h - ../../extern/Eigen2/Eigen/src/Sparse/SparseCwise.h - ../../extern/Eigen2/Eigen/src/Sparse/SparseCwiseBinaryOp.h - ../../extern/Eigen2/Eigen/src/Sparse/SparseCwiseUnaryOp.h - ../../extern/Eigen2/Eigen/src/Sparse/SparseDiagonalProduct.h - ../../extern/Eigen2/Eigen/src/Sparse/SparseDot.h - ../../extern/Eigen2/Eigen/src/Sparse/SparseFlagged.h - ../../extern/Eigen2/Eigen/src/Sparse/SparseFuzzy.h - ../../extern/Eigen2/Eigen/src/Sparse/SparseLDLT.h - ../../extern/Eigen2/Eigen/src/Sparse/SparseLLT.h - ../../extern/Eigen2/Eigen/src/Sparse/SparseLU.h - ../../extern/Eigen2/Eigen/src/Sparse/SparseMatrix.h - ../../extern/Eigen2/Eigen/src/Sparse/SparseMatrixBase.h - ../../extern/Eigen2/Eigen/src/Sparse/SparseProduct.h - ../../extern/Eigen2/Eigen/src/Sparse/SparseRedux.h - ../../extern/Eigen2/Eigen/src/Sparse/SparseTranspose.h - ../../extern/Eigen2/Eigen/src/Sparse/SparseUtil.h - ../../extern/Eigen2/Eigen/src/Sparse/SparseVector.h - ../../extern/Eigen2/Eigen/src/Sparse/SuperLUSupport.h - ../../extern/Eigen2/Eigen/src/Sparse/TaucsSupport.h - ../../extern/Eigen2/Eigen/src/Sparse/TriangularSolver.h - ../../extern/Eigen2/Eigen/src/Sparse/UmfPackSupport.h + ../../extern/Eigen3/Eigen/src/plugins/MatrixCwiseUnaryOps.h + ../../extern/Eigen3/Eigen/src/plugins/CommonCwiseUnaryOps.h + ../../extern/Eigen3/Eigen/src/plugins/MatrixCwiseBinaryOps.h + ../../extern/Eigen3/Eigen/src/plugins/BlockMethods.h + ../../extern/Eigen3/Eigen/src/plugins/ArrayCwiseUnaryOps.h + ../../extern/Eigen3/Eigen/src/plugins/ArrayCwiseBinaryOps.h + ../../extern/Eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h + ../../extern/Eigen3/Eigen/src/misc/Kernel.h + ../../extern/Eigen3/Eigen/src/misc/Image.h + ../../extern/Eigen3/Eigen/src/misc/Solve.h + ../../extern/Eigen3/Eigen/src/QR/HouseholderQR.h + ../../extern/Eigen3/Eigen/src/QR/ColPivHouseholderQR.h + ../../extern/Eigen3/Eigen/src/QR/FullPivHouseholderQR.h + ../../extern/Eigen3/Eigen/src/StlSupport/details.h + ../../extern/Eigen3/Eigen/src/StlSupport/StdList.h + ../../extern/Eigen3/Eigen/src/StlSupport/StdDeque.h + ../../extern/Eigen3/Eigen/src/StlSupport/StdVector.h + ../../extern/Eigen3/Eigen/src/SVD/UpperBidiagonalization.h + ../../extern/Eigen3/Eigen/src/SVD/JacobiSVD.h + ../../extern/Eigen3/Eigen/src/Eigenvalues/ComplexEigenSolver.h + ../../extern/Eigen3/Eigen/src/Eigenvalues/ComplexSchur.h + ../../extern/Eigen3/Eigen/src/Eigenvalues/HessenbergDecomposition.h + ../../extern/Eigen3/Eigen/src/Eigenvalues/Tridiagonalization.h + ../../extern/Eigen3/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h + ../../extern/Eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h + ../../extern/Eigen3/Eigen/src/Eigenvalues/RealSchur.h + ../../extern/Eigen3/Eigen/src/Eigenvalues/EigenvaluesCommon.h + ../../extern/Eigen3/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h + ../../extern/Eigen3/Eigen/src/Eigenvalues/EigenSolver.h + ../../extern/Eigen3/Eigen/src/Jacobi/Jacobi.h + ../../extern/Eigen3/Eigen/src/Householder/Householder.h + ../../extern/Eigen3/Eigen/src/Householder/BlockHouseholder.h + ../../extern/Eigen3/Eigen/src/Householder/HouseholderSequence.h + ../../extern/Eigen3/Eigen/src/Geometry/RotationBase.h + ../../extern/Eigen3/Eigen/src/Geometry/Rotation2D.h + ../../extern/Eigen3/Eigen/src/Geometry/Homogeneous.h + ../../extern/Eigen3/Eigen/src/Geometry/Hyperplane.h + ../../extern/Eigen3/Eigen/src/Geometry/EulerAngles.h + ../../extern/Eigen3/Eigen/src/Geometry/arch/Geometry_SSE.h + ../../extern/Eigen3/Eigen/src/Geometry/ParametrizedLine.h + ../../extern/Eigen3/Eigen/src/Geometry/OrthoMethods.h + ../../extern/Eigen3/Eigen/src/Geometry/AngleAxis.h + ../../extern/Eigen3/Eigen/src/Geometry/Umeyama.h + ../../extern/Eigen3/Eigen/src/Geometry/Scaling.h + ../../extern/Eigen3/Eigen/src/Geometry/Translation.h + ../../extern/Eigen3/Eigen/src/Geometry/AlignedBox.h + ../../extern/Eigen3/Eigen/src/Geometry/Transform.h + ../../extern/Eigen3/Eigen/src/Geometry/Quaternion.h + ../../extern/Eigen3/Eigen/src/LU/PartialPivLU.h + ../../extern/Eigen3/Eigen/src/LU/Determinant.h + ../../extern/Eigen3/Eigen/src/LU/arch/Inverse_SSE.h + ../../extern/Eigen3/Eigen/src/LU/FullPivLU.h + ../../extern/Eigen3/Eigen/src/LU/Inverse.h + ../../extern/Eigen3/Eigen/src/Sparse/SparseMatrixBase.h + ../../extern/Eigen3/Eigen/src/Sparse/SparseSelfAdjointView.h + ../../extern/Eigen3/Eigen/src/Sparse/SparseVector.h + ../../extern/Eigen3/Eigen/src/Sparse/SparseDiagonalProduct.h + ../../extern/Eigen3/Eigen/src/Sparse/TriangularSolver.h + ../../extern/Eigen3/Eigen/src/Sparse/AmbiVector.h + ../../extern/Eigen3/Eigen/src/Sparse/SparseDenseProduct.h + ../../extern/Eigen3/Eigen/src/Sparse/SparseBlock.h + ../../extern/Eigen3/Eigen/src/Sparse/SparseTriangularView.h + ../../extern/Eigen3/Eigen/src/Sparse/SparseCwiseBinaryOp.h + ../../extern/Eigen3/Eigen/src/Sparse/CoreIterators.h + ../../extern/Eigen3/Eigen/src/Sparse/SparseMatrix.h + ../../extern/Eigen3/Eigen/src/Sparse/SparseAssign.h + ../../extern/Eigen3/Eigen/src/Sparse/SparseSparseProduct.h + ../../extern/Eigen3/Eigen/src/Sparse/SparseDot.h + ../../extern/Eigen3/Eigen/src/Sparse/DynamicSparseMatrix.h + ../../extern/Eigen3/Eigen/src/Sparse/SparseRedux.h + ../../extern/Eigen3/Eigen/src/Sparse/SparseFuzzy.h + ../../extern/Eigen3/Eigen/src/Sparse/SparseCwiseUnaryOp.h + ../../extern/Eigen3/Eigen/src/Sparse/SparseView.h + ../../extern/Eigen3/Eigen/src/Sparse/MappedSparseMatrix.h + ../../extern/Eigen3/Eigen/src/Sparse/SparseUtil.h + ../../extern/Eigen3/Eigen/src/Sparse/SparseTranspose.h + ../../extern/Eigen3/Eigen/src/Sparse/SparseProduct.h + ../../extern/Eigen3/Eigen/src/Sparse/CompressedStorage.h + ../../extern/Eigen3/Eigen/src/Eigen2Support/Cwise.h + ../../extern/Eigen3/Eigen/src/Eigen2Support/TriangularSolver.h + ../../extern/Eigen3/Eigen/src/Eigen2Support/QR.h + ../../extern/Eigen3/Eigen/src/Eigen2Support/Lazy.h + ../../extern/Eigen3/Eigen/src/Eigen2Support/Memory.h + ../../extern/Eigen3/Eigen/src/Eigen2Support/SVD.h + ../../extern/Eigen3/Eigen/src/Eigen2Support/CwiseOperators.h + ../../extern/Eigen3/Eigen/src/Eigen2Support/VectorBlock.h + ../../extern/Eigen3/Eigen/src/Eigen2Support/Meta.h + ../../extern/Eigen3/Eigen/src/Eigen2Support/Macros.h + ../../extern/Eigen3/Eigen/src/Eigen2Support/LeastSquares.h + ../../extern/Eigen3/Eigen/src/Eigen2Support/LU.h + ../../extern/Eigen3/Eigen/src/Eigen2Support/Block.h + ../../extern/Eigen3/Eigen/src/Eigen2Support/Geometry/RotationBase.h + ../../extern/Eigen3/Eigen/src/Eigen2Support/Geometry/Rotation2D.h + ../../extern/Eigen3/Eigen/src/Eigen2Support/Geometry/Hyperplane.h + ../../extern/Eigen3/Eigen/src/Eigen2Support/Geometry/ParametrizedLine.h + ../../extern/Eigen3/Eigen/src/Eigen2Support/Geometry/AngleAxis.h + ../../extern/Eigen3/Eigen/src/Eigen2Support/Geometry/Scaling.h + ../../extern/Eigen3/Eigen/src/Eigen2Support/Geometry/All.h + ../../extern/Eigen3/Eigen/src/Eigen2Support/Geometry/Translation.h + ../../extern/Eigen3/Eigen/src/Eigen2Support/Geometry/AlignedBox.h + ../../extern/Eigen3/Eigen/src/Eigen2Support/Geometry/Transform.h + ../../extern/Eigen3/Eigen/src/Eigen2Support/Geometry/Quaternion.h + ../../extern/Eigen3/Eigen/src/Eigen2Support/Minor.h + ../../extern/Eigen3/Eigen/src/Eigen2Support/MathFunctions.h + ../../extern/Eigen3/Eigen/src/Core/SelfAdjointView.h + ../../extern/Eigen3/Eigen/src/Core/MatrixBase.h + ../../extern/Eigen3/Eigen/src/Core/Swap.h + ../../extern/Eigen3/Eigen/src/Core/DenseCoeffsBase.h + ../../extern/Eigen3/Eigen/src/Core/DenseBase.h + ../../extern/Eigen3/Eigen/src/Core/GlobalFunctions.h + ../../extern/Eigen3/Eigen/src/Core/ProductBase.h + ../../extern/Eigen3/Eigen/src/Core/CwiseBinaryOp.h + ../../extern/Eigen3/Eigen/src/Core/Stride.h + ../../extern/Eigen3/Eigen/src/Core/Matrix.h + ../../extern/Eigen3/Eigen/src/Core/Visitor.h + ../../extern/Eigen3/Eigen/src/Core/Array.h + ../../extern/Eigen3/Eigen/src/Core/ReturnByValue.h + ../../extern/Eigen3/Eigen/src/Core/SelfCwiseBinaryOp.h + ../../extern/Eigen3/Eigen/src/Core/EigenBase.h + ../../extern/Eigen3/Eigen/src/Core/Random.h + ../../extern/Eigen3/Eigen/src/Core/Redux.h + ../../extern/Eigen3/Eigen/src/Core/arch/Default/Settings.h + ../../extern/Eigen3/Eigen/src/Core/arch/AltiVec/PacketMath.h + ../../extern/Eigen3/Eigen/src/Core/arch/AltiVec/Complex.h + ../../extern/Eigen3/Eigen/src/Core/arch/NEON/PacketMath.h + ../../extern/Eigen3/Eigen/src/Core/arch/NEON/Complex.h + ../../extern/Eigen3/Eigen/src/Core/arch/SSE/PacketMath.h + ../../extern/Eigen3/Eigen/src/Core/arch/SSE/Complex.h + ../../extern/Eigen3/Eigen/src/Core/arch/SSE/MathFunctions.h + ../../extern/Eigen3/Eigen/src/Core/BooleanRedux.h + ../../extern/Eigen3/Eigen/src/Core/util/ReenableStupidWarnings.h + ../../extern/Eigen3/Eigen/src/Core/util/BlasUtil.h + ../../extern/Eigen3/Eigen/src/Core/util/Memory.h + ../../extern/Eigen3/Eigen/src/Core/util/Meta.h + ../../extern/Eigen3/Eigen/src/Core/util/Constants.h + ../../extern/Eigen3/Eigen/src/Core/util/Macros.h + ../../extern/Eigen3/Eigen/src/Core/util/ForwardDeclarations.h + ../../extern/Eigen3/Eigen/src/Core/util/StaticAssert.h + ../../extern/Eigen3/Eigen/src/Core/util/DisableStupidWarnings.h + ../../extern/Eigen3/Eigen/src/Core/util/XprHelper.h + ../../extern/Eigen3/Eigen/src/Core/VectorBlock.h + ../../extern/Eigen3/Eigen/src/Core/Transpositions.h + ../../extern/Eigen3/Eigen/src/Core/Select.h + ../../extern/Eigen3/Eigen/src/Core/BandMatrix.h + ../../extern/Eigen3/Eigen/src/Core/CwiseUnaryView.h + ../../extern/Eigen3/Eigen/src/Core/Dot.h + ../../extern/Eigen3/Eigen/src/Core/GenericPacketMath.h + ../../extern/Eigen3/Eigen/src/Core/Product.h + ../../extern/Eigen3/Eigen/src/Core/Transpose.h + ../../extern/Eigen3/Eigen/src/Core/Block.h + ../../extern/Eigen3/Eigen/src/Core/ArrayWrapper.h + ../../extern/Eigen3/Eigen/src/Core/MapBase.h + ../../extern/Eigen3/Eigen/src/Core/NoAlias.h + ../../extern/Eigen3/Eigen/src/Core/ForceAlignedAccess.h + ../../extern/Eigen3/Eigen/src/Core/PlainObjectBase.h + ../../extern/Eigen3/Eigen/src/Core/IO.h + ../../extern/Eigen3/Eigen/src/Core/DiagonalMatrix.h + ../../extern/Eigen3/Eigen/src/Core/CwiseUnaryOp.h + ../../extern/Eigen3/Eigen/src/Core/Reverse.h + ../../extern/Eigen3/Eigen/src/Core/Fuzzy.h + ../../extern/Eigen3/Eigen/src/Core/DenseStorage.h + ../../extern/Eigen3/Eigen/src/Core/StableNorm.h + ../../extern/Eigen3/Eigen/src/Core/NumTraits.h + ../../extern/Eigen3/Eigen/src/Core/Map.h + ../../extern/Eigen3/Eigen/src/Core/Functors.h + ../../extern/Eigen3/Eigen/src/Core/PermutationMatrix.h + ../../extern/Eigen3/Eigen/src/Core/ArrayBase.h + ../../extern/Eigen3/Eigen/src/Core/CwiseNullaryOp.h + ../../extern/Eigen3/Eigen/src/Core/SolveTriangular.h + ../../extern/Eigen3/Eigen/src/Core/NestByValue.h + ../../extern/Eigen3/Eigen/src/Core/DiagonalProduct.h + ../../extern/Eigen3/Eigen/src/Core/CommaInitializer.h + ../../extern/Eigen3/Eigen/src/Core/MathFunctions.h + ../../extern/Eigen3/Eigen/src/Core/Diagonal.h + ../../extern/Eigen3/Eigen/src/Core/Replicate.h + ../../extern/Eigen3/Eigen/src/Core/products/TriangularMatrixMatrix.h + ../../extern/Eigen3/Eigen/src/Core/products/SelfadjointProduct.h + ../../extern/Eigen3/Eigen/src/Core/products/GeneralMatrixVector.h + ../../extern/Eigen3/Eigen/src/Core/products/CoeffBasedProduct.h + ../../extern/Eigen3/Eigen/src/Core/products/SelfadjointMatrixVector.h + ../../extern/Eigen3/Eigen/src/Core/products/SelfadjointRank2Update.h + ../../extern/Eigen3/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h + ../../extern/Eigen3/Eigen/src/Core/products/GeneralMatrixMatrix.h + ../../extern/Eigen3/Eigen/src/Core/products/SelfadjointMatrixMatrix.h + ../../extern/Eigen3/Eigen/src/Core/products/Parallelizer.h + ../../extern/Eigen3/Eigen/src/Core/products/TriangularSolverMatrix.h + ../../extern/Eigen3/Eigen/src/Core/products/TriangularSolverVector.h + ../../extern/Eigen3/Eigen/src/Core/products/TriangularMatrixVector.h + ../../extern/Eigen3/Eigen/src/Core/products/GeneralBlockPanelKernel.h + ../../extern/Eigen3/Eigen/src/Core/TriangularMatrix.h + ../../extern/Eigen3/Eigen/src/Core/VectorwiseOp.h + ../../extern/Eigen3/Eigen/src/Core/Assign.h + ../../extern/Eigen3/Eigen/src/Core/Flagged.h + ../../extern/Eigen3/Eigen/src/Cholesky/LDLT.h + ../../extern/Eigen3/Eigen/src/Cholesky/LLT.h ) +if(WIN32) + add_definitions(-DEIGEN_DONT_ALIGN_STATICALLY) +endif() + blender_add_lib(bf_intern_itasc "${SRC}" "${INC}" "${INC_SYS}") diff --git a/intern/itasc/Cache.cpp b/intern/itasc/Cache.cpp index ba674addb9a..6a698005d63 100644 --- a/intern/itasc/Cache.cpp +++ b/intern/itasc/Cache.cpp @@ -1,7 +1,7 @@ /** \file itasc/Cache.cpp * \ingroup itasc */ -/* $Id$ +/* * Cache.cpp * * Created on: Feb 24, 2009 diff --git a/intern/itasc/Cache.hpp b/intern/itasc/Cache.hpp index 64707782e6f..a533d75b53a 100644 --- a/intern/itasc/Cache.hpp +++ b/intern/itasc/Cache.hpp @@ -1,4 +1,4 @@ -/* $Id: Cache.hpp 21152 2009-06-25 11:57:19Z ben2610 $ +/* * Cache.hpp * * Created on: Feb 24, 2009 diff --git a/intern/itasc/ConstraintSet.cpp b/intern/itasc/ConstraintSet.cpp index b07dc5bb983..e21cd36e4c8 100644 --- a/intern/itasc/ConstraintSet.cpp +++ b/intern/itasc/ConstraintSet.cpp @@ -1,7 +1,7 @@ /** \file itasc/ConstraintSet.cpp * \ingroup itasc */ -/* $Id$ +/* * ConstraintSet.cpp * * Created on: Jan 5, 2009 @@ -80,7 +80,7 @@ void ConstraintSet::modelUpdate(Frame& _external_pose,const Timestamp& timestamp double ConstraintSet::getMaxTimestep(double& timestep) { - e_scalar maxChidot = m_chidot.cwise().abs().maxCoeff(); + e_scalar maxChidot = m_chidot.array().abs().maxCoeff(); if (timestep*maxChidot > m_maxDeltaChi) { timestep = m_maxDeltaChi/maxChidot; } @@ -162,9 +162,9 @@ bool ConstraintSet::closeLoop(){ }else m_B.row(i) = m_U.col(i)/m_S(i); - m_Jf_inv=(m_V*m_B).lazy(); + m_Jf_inv.noalias()=m_V*m_B; - m_chi+=(m_Jf_inv*m_tdelta).lazy(); + m_chi.noalias()+=m_Jf_inv*m_tdelta; updateJacobian(); // m_externalPose-m_internalPose in end effector frame // this is just to compare the pose, a different formula would work too diff --git a/intern/itasc/ConstraintSet.hpp b/intern/itasc/ConstraintSet.hpp index 12bb085c911..bf29190a050 100644 --- a/intern/itasc/ConstraintSet.hpp +++ b/intern/itasc/ConstraintSet.hpp @@ -1,4 +1,4 @@ -/* $Id: ConstraintSet.hpp 20307 2009-05-20 20:39:18Z ben2610 $ +/* * ConstraintSet.hpp * * Created on: Jan 5, 2009 diff --git a/intern/itasc/ControlledObject.cpp b/intern/itasc/ControlledObject.cpp index 693e35c63af..4055aad7768 100644 --- a/intern/itasc/ControlledObject.cpp +++ b/intern/itasc/ControlledObject.cpp @@ -1,7 +1,7 @@ /** \file itasc/ControlledObject.cpp * \ingroup itasc */ -/* $Id$ +/* * ControlledObject.cpp * * Created on: Jan 5, 2009 @@ -54,7 +54,7 @@ const e_matrix& ControlledObject::getJq(unsigned int ee) const double ControlledObject::getMaxTimestep(double& timestep) { - e_scalar maxQdot = m_qdot.cwise().abs().maxCoeff(); + e_scalar maxQdot = m_qdot.array().abs().maxCoeff(); if (timestep*maxQdot > m_maxDeltaQ) { timestep = m_maxDeltaQ/maxQdot; } diff --git a/intern/itasc/ControlledObject.hpp b/intern/itasc/ControlledObject.hpp index 2370f6594ed..4530bf9823b 100644 --- a/intern/itasc/ControlledObject.hpp +++ b/intern/itasc/ControlledObject.hpp @@ -1,4 +1,4 @@ -/* $Id: ControlledObject.hpp 20853 2009-06-13 12:29:46Z ben2610 $ +/* * ControlledObject.hpp * * Created on: Jan 5, 2009 diff --git a/intern/itasc/CopyPose.cpp b/intern/itasc/CopyPose.cpp index 14c3e95a2f1..a9d4c2f0a2a 100644 --- a/intern/itasc/CopyPose.cpp +++ b/intern/itasc/CopyPose.cpp @@ -1,7 +1,7 @@ /** \file itasc/CopyPose.cpp * \ingroup itasc */ -/* $Id$ +/* * CopyPose.cpp * * Created on: Mar 17, 2009 @@ -473,7 +473,7 @@ double CopyPose::getMaxTimestep(double& timestep) // CopyPose should not have any limit on linear velocity: // in case the target is out of reach, this can be very high. // We will simply limit on rotation - e_scalar maxChidot = m_chidot.block(3,0,3,1).cwise().abs().maxCoeff(); + e_scalar maxChidot = m_chidot.block(3,0,3,1).array().abs().maxCoeff(); if (timestep*maxChidot > m_maxDeltaChi) { timestep = m_maxDeltaChi/maxChidot; } diff --git a/intern/itasc/CopyPose.hpp b/intern/itasc/CopyPose.hpp index 3a3f60a9f37..fd8a5451310 100644 --- a/intern/itasc/CopyPose.hpp +++ b/intern/itasc/CopyPose.hpp @@ -1,4 +1,4 @@ -/* $Id: CopyPose.hpp 20622 2009-06-04 12:47:59Z ben2610 $ +/* * CopyPose.h * * Created on: Mar 17, 2009 diff --git a/intern/itasc/Distance.cpp b/intern/itasc/Distance.cpp index d621295d015..7cf04367a4e 100644 --- a/intern/itasc/Distance.cpp +++ b/intern/itasc/Distance.cpp @@ -1,7 +1,7 @@ /** \file itasc/Distance.cpp * \ingroup itasc */ -/* $Id$ +/* * Distance.cpp * * Created on: Jan 30, 2009 diff --git a/intern/itasc/Distance.hpp b/intern/itasc/Distance.hpp index 1366693743e..5c56dd871ef 100644 --- a/intern/itasc/Distance.hpp +++ b/intern/itasc/Distance.hpp @@ -1,4 +1,4 @@ -/* $Id: Distance.hpp 19905 2009-04-23 13:29:54Z ben2610 $ +/* * Distance.hpp * * Created on: Jan 30, 2009 diff --git a/intern/itasc/FixedObject.cpp b/intern/itasc/FixedObject.cpp index f6ef718b768..9dc4d69878a 100644 --- a/intern/itasc/FixedObject.cpp +++ b/intern/itasc/FixedObject.cpp @@ -1,7 +1,7 @@ /** \file itasc/FixedObject.cpp * \ingroup itasc */ -/* $Id$ +/* * FixedObject.cpp * * Created on: Feb 10, 2009 diff --git a/intern/itasc/FixedObject.hpp b/intern/itasc/FixedObject.hpp index 01ab3355259..b4279d9adcb 100644 --- a/intern/itasc/FixedObject.hpp +++ b/intern/itasc/FixedObject.hpp @@ -1,4 +1,4 @@ -/* $Id: FixedObject.hpp 19905 2009-04-23 13:29:54Z ben2610 $ +/* * FixedObject.h * * Created on: Feb 10, 2009 diff --git a/intern/itasc/MovingFrame.cpp b/intern/itasc/MovingFrame.cpp index 44a490b3248..3b0ee7842ca 100644 --- a/intern/itasc/MovingFrame.cpp +++ b/intern/itasc/MovingFrame.cpp @@ -1,7 +1,7 @@ /** \file itasc/MovingFrame.cpp * \ingroup itasc */ -/* $Id$ +/* * MovingFrame.cpp * * Created on: Feb 10, 2009 diff --git a/intern/itasc/MovingFrame.hpp b/intern/itasc/MovingFrame.hpp index edaa3136a13..21cb344980a 100644 --- a/intern/itasc/MovingFrame.hpp +++ b/intern/itasc/MovingFrame.hpp @@ -1,4 +1,4 @@ -/* $Id: MovingFrame.hpp 19907 2009-04-23 13:41:59Z ben2610 $ +/* * MovingFrame.h * * Created on: Feb 10, 2009 diff --git a/intern/itasc/Object.hpp b/intern/itasc/Object.hpp index 5c312cab768..5aa4346fc4b 100644 --- a/intern/itasc/Object.hpp +++ b/intern/itasc/Object.hpp @@ -1,4 +1,4 @@ -/* $Id: Object.hpp 19907 2009-04-23 13:41:59Z ben2610 $ +/* * Object.hpp * * Created on: Jan 5, 2009 diff --git a/intern/itasc/SConscript b/intern/itasc/SConscript index 5fa4246d711..69dddf40228 100644 --- a/intern/itasc/SConscript +++ b/intern/itasc/SConscript @@ -5,7 +5,12 @@ sources = env.Glob('*.cpp') sources += env.Glob('kdl/*.cpp') sources += env.Glob('kdl/utilities/*.cpp') -incs = '. ../../extern/Eigen2' +incs = '. ../../extern/Eigen3' -env.BlenderLib ('bf_intern_itasc', sources, Split(incs), [], libtype=['intern','player'], priority=[20,100] ) +defs = [] + +if env['PLATFORM'] == 'win32': + defs.append('EIGEN_DONT_ALIGN_STATICALLY') + +env.BlenderLib ('bf_intern_itasc', sources, Split(incs), defs, libtype=['intern','player'], priority=[20,100] ) diff --git a/intern/itasc/Scene.cpp b/intern/itasc/Scene.cpp index 0c5e00ec56f..16f8551bfc7 100644 --- a/intern/itasc/Scene.cpp +++ b/intern/itasc/Scene.cpp @@ -1,7 +1,7 @@ /** \file itasc/Scene.cpp * \ingroup itasc */ -/* $Id$ +/* * Scene.cpp * * Created on: Jan 5, 2009 @@ -356,7 +356,7 @@ bool Scene::update(double timestamp, double timestep, unsigned int numsubstep, b m_Uf.col(i).setConstant(0.0); else m_Uf.col(i)*=(1/m_Sf(i)); - project(m_Jf_inv,cs->featurerange,cs->featurerange)=(m_Vf*m_Uf.transpose()).lazy(); + project(m_Jf_inv,cs->featurerange,cs->featurerange).noalias()=m_Vf*m_Uf.transpose(); //Get the robotjacobian associated with this constraintset //Each jacobian is expressed in robot base frame => convert to world reference @@ -410,11 +410,11 @@ bool Scene::update(double timestamp, double timestep, unsigned int numsubstep, b } //Calculate A - m_Atemp=(m_Cf*m_Jf_inv).lazy(); - m_A = m_Cq-(m_Atemp*m_Jq).lazy(); + m_Atemp.noalias()=m_Cf*m_Jf_inv; + m_A.noalias() = m_Cq-(m_Atemp*m_Jq); if (m_nuTotal > 0) { - m_B=(m_Atemp*m_Ju).lazy(); - m_ydot += (m_B*m_xdot).lazy(); + m_B.noalias()=m_Atemp*m_Ju; + m_ydot.noalias() += m_B*m_xdot; } //Call the solver with A, Wq, Wy, ydot to solver qdot: @@ -435,13 +435,13 @@ bool Scene::update(double timestamp, double timestep, unsigned int numsubstep, b //Calculate the twist of the world reference frame due to the robots (Jq*qdot+Ju*chiudot): e_vector6 external_vel = e_zero_vector(6); if (ob1->jointrange.count > 0) - external_vel += (project(m_Jq,cs->featurerange,ob1->jointrange)*project(m_qdot,ob1->jointrange)).lazy(); + external_vel.noalias() += (project(m_Jq,cs->featurerange,ob1->jointrange)*project(m_qdot,ob1->jointrange)); if (ob2->jointrange.count > 0) - external_vel += (project(m_Jq,cs->featurerange,ob2->jointrange)*project(m_qdot,ob2->jointrange)).lazy(); + external_vel.noalias() += (project(m_Jq,cs->featurerange,ob2->jointrange)*project(m_qdot,ob2->jointrange)); if (ob1->coordinaterange.count > 0) - external_vel += (project(m_Ju,cs->featurerange,ob1->coordinaterange)*project(m_xdot,ob1->coordinaterange)).lazy(); + external_vel.noalias() += (project(m_Ju,cs->featurerange,ob1->coordinaterange)*project(m_xdot,ob1->coordinaterange)); if (ob2->coordinaterange.count > 0) - external_vel += (project(m_Ju,cs->featurerange,ob2->coordinaterange)*project(m_xdot,ob2->coordinaterange)).lazy(); + external_vel.noalias() += (project(m_Ju,cs->featurerange,ob2->coordinaterange)*project(m_xdot,ob2->coordinaterange)); //the twist caused by the constraint must be opposite because of the closed loop //estimate the velocity of the joints using the inverse jacobian e_vector6 estimated_chidot = project(m_Jf_inv,cs->featurerange,cs->featurerange)*(-external_vel); diff --git a/intern/itasc/Scene.hpp b/intern/itasc/Scene.hpp index a2d63361d95..5ed031b543e 100644 --- a/intern/itasc/Scene.hpp +++ b/intern/itasc/Scene.hpp @@ -1,4 +1,4 @@ -/* $Id: Scene.hpp 20622 2009-06-04 12:47:59Z ben2610 $ +/* * Scene.hpp * * Created on: Jan 5, 2009 diff --git a/intern/itasc/Solver.hpp b/intern/itasc/Solver.hpp index e3aa1e1abc8..809c03d9bce 100644 --- a/intern/itasc/Solver.hpp +++ b/intern/itasc/Solver.hpp @@ -1,4 +1,4 @@ -/* $Id: Solver.hpp 20622 2009-06-04 12:47:59Z ben2610 $ +/* * Solver.hpp * * Created on: Jan 8, 2009 diff --git a/intern/itasc/UncontrolledObject.cpp b/intern/itasc/UncontrolledObject.cpp index 54ac56bbf1e..a5f2362aa94 100644 --- a/intern/itasc/UncontrolledObject.cpp +++ b/intern/itasc/UncontrolledObject.cpp @@ -1,7 +1,7 @@ /** \file itasc/UncontrolledObject.cpp * \ingroup itasc */ -/* $Id$ +/* * UncontrolledObject.cpp * * Created on: Jan 5, 2009 diff --git a/intern/itasc/UncontrolledObject.hpp b/intern/itasc/UncontrolledObject.hpp index 3b693a0b2ed..81445538fa6 100644 --- a/intern/itasc/UncontrolledObject.hpp +++ b/intern/itasc/UncontrolledObject.hpp @@ -1,4 +1,4 @@ -/* $Id: UncontrolledObject.hpp 19907 2009-04-23 13:41:59Z ben2610 $ +/* * UncontrolledObject.h * * Created on: Jan 5, 2009 diff --git a/intern/itasc/WDLSSolver.cpp b/intern/itasc/WDLSSolver.cpp index ea95db93359..d03c38396c7 100644 --- a/intern/itasc/WDLSSolver.cpp +++ b/intern/itasc/WDLSSolver.cpp @@ -1,7 +1,7 @@ /** \file itasc/WDLSSolver.cpp * \ingroup itasc */ -/* $Id$ +/* * WDLSSolver.hpp.cpp * * Created on: Jan 8, 2009 @@ -65,10 +65,10 @@ bool WDLSSolver::solve(const e_matrix& A, const e_vector& Wy, const e_vector& yd if(ret<0) return false; - m_WqV = (Wq*m_V).lazy(); + m_WqV.noalias() = Wq*m_V; //Wy*ydot - m_Wy_ydot = Wy.cwise() * ydot; + m_Wy_ydot = Wy.array() * ydot.array(); //S^-1*U'*Wy*ydot e_scalar maxDeltaS = e_scalar(0.0); e_scalar prevS = e_scalar(0.0); @@ -85,7 +85,7 @@ bool WDLSSolver::solve(const e_matrix& A, const e_vector& Wy, const e_vector& yd } lambda = (S < m_epsilon) ? (e_scalar(1.0)-KDL::sqr(S/m_epsilon))*m_lambda*m_lambda : e_scalar(0.0); alpha = m_U.col(i).dot(m_Wy_ydot)*S/(S*S+lambda); - vmax = m_WqV.col(i).cwise().abs().maxCoeff(); + vmax = m_WqV.col(i).array().abs().maxCoeff(); norm = fabs(alpha*vmax); if (norm > m_qmax) { qdot += m_WqV.col(i)*(alpha*m_qmax/norm); diff --git a/intern/itasc/WDLSSolver.hpp b/intern/itasc/WDLSSolver.hpp index b56ad1ab2b8..4e72490cf1b 100644 --- a/intern/itasc/WDLSSolver.hpp +++ b/intern/itasc/WDLSSolver.hpp @@ -1,4 +1,4 @@ -/* $Id: WDLSSolver.hpp 20622 2009-06-04 12:47:59Z ben2610 $ +/* * WDLSSolver.hpp * * Created on: Jan 8, 2009 diff --git a/intern/itasc/WSDLSSolver.cpp b/intern/itasc/WSDLSSolver.cpp index bf9407a859a..6fdd8e6e06c 100644 --- a/intern/itasc/WSDLSSolver.cpp +++ b/intern/itasc/WSDLSSolver.cpp @@ -1,7 +1,7 @@ /** \file itasc/WSDLSSolver.cpp * \ingroup itasc */ -/* $Id$ +/* * WDLSSolver.hpp.cpp * * Created on: Jan 8, 2009 @@ -60,7 +60,7 @@ bool WSDLSSolver::solve(const e_matrix& A, const e_vector& Wy, const e_vector& y e_scalar N, M; // Create the Weighted jacobian - m_AWq = (A*Wq).lazy(); + m_AWq.noalias() = A*Wq; for (i=0; i<m_nc; i++) m_WyAWq.row(i) = Wy(i)*m_AWq.row(i); @@ -75,8 +75,8 @@ bool WSDLSSolver::solve(const e_matrix& A, const e_vector& Wy, const e_vector& y if(ret<0) return false; - m_Wy_ydot = Wy.cwise() * ydot; - m_WqV = (Wq*m_V).lazy(); + m_Wy_ydot = Wy.array() * ydot.array(); + m_WqV.noalias() = Wq*m_V; qdot.setZero(); e_scalar maxDeltaS = e_scalar(0.0); e_scalar prevS = e_scalar(0.0); @@ -121,7 +121,7 @@ bool WSDLSSolver::solve(const e_matrix& A, const e_vector& Wy, const e_vector& y M *= Sinv; alpha = m_U.col(i).dot(m_Wy_ydot); _qmax = (N < M) ? m_qmax*N/M : m_qmax; - vmax = m_WqV.col(i).cwise().abs().maxCoeff(); + vmax = m_WqV.col(i).array().abs().maxCoeff(); norm = fabs(Sinv*alpha*vmax); if (norm > _qmax) { damp = Sinv*alpha*_qmax/norm; diff --git a/intern/itasc/WSDLSSolver.hpp b/intern/itasc/WSDLSSolver.hpp index 0b17f26ef47..e6516031428 100644 --- a/intern/itasc/WSDLSSolver.hpp +++ b/intern/itasc/WSDLSSolver.hpp @@ -1,4 +1,4 @@ -/* $Id: WSDLSSolver.hpp 20622 2009-06-04 12:47:59Z ben2610 $ +/* * WSDLSSolver.hpp * * Created on: Mar 26, 2009 diff --git a/intern/itasc/WorldObject.cpp b/intern/itasc/WorldObject.cpp index 1bdf2738451..cabe13fe379 100644 --- a/intern/itasc/WorldObject.cpp +++ b/intern/itasc/WorldObject.cpp @@ -1,7 +1,7 @@ /** \file itasc/WorldObject.cpp * \ingroup itasc */ -/* $Id$ +/* * WorldObject.cpp * * Created on: Feb 10, 2009 diff --git a/intern/itasc/WorldObject.hpp b/intern/itasc/WorldObject.hpp index b309545a843..99756dcd684 100644 --- a/intern/itasc/WorldObject.hpp +++ b/intern/itasc/WorldObject.hpp @@ -1,4 +1,4 @@ -/* $Id: WorldObject.hpp 19907 2009-04-23 13:41:59Z ben2610 $ +/* * WorldObject.h * * Created on: Feb 10, 2009 diff --git a/intern/itasc/eigen_types.cpp b/intern/itasc/eigen_types.cpp index 1173be881c4..a2ec68ca8e4 100644 --- a/intern/itasc/eigen_types.cpp +++ b/intern/itasc/eigen_types.cpp @@ -1,7 +1,7 @@ /** \file itasc/eigen_types.cpp * \ingroup itasc */ -/* $Id$ +/* * eigen_types.cpp * * Created on: March 19, 2009 diff --git a/intern/itasc/eigen_types.hpp b/intern/itasc/eigen_types.hpp index fe46f8b6bb3..601b69274d9 100644 --- a/intern/itasc/eigen_types.hpp +++ b/intern/itasc/eigen_types.hpp @@ -1,4 +1,4 @@ -/* $Id: eigen_types.hpp 19905 2009-04-23 13:29:54Z ben2610 $ +/* * eigen_types.hpp * * Created on: March 6, 2009 diff --git a/intern/itasc/kdl/frameacc.cpp b/intern/itasc/kdl/frameacc.cpp index c9f13b31f91..28d073e399e 100644 --- a/intern/itasc/kdl/frameacc.cpp +++ b/intern/itasc/kdl/frameacc.cpp @@ -12,7 +12,6 @@ * - $log$ * * \par Release - * $Id$ * $Name: $ ****************************************************************************/ diff --git a/intern/itasc/kdl/frameacc.hpp b/intern/itasc/kdl/frameacc.hpp index 43e38698ef3..40dd5bfa712 100644 --- a/intern/itasc/kdl/frameacc.hpp +++ b/intern/itasc/kdl/frameacc.hpp @@ -22,7 +22,6 @@ * - $log$ * * \par Release - * $Id: frameacc.hpp 19905 2009-04-23 13:29:54Z ben2610 $ * $Name: $ ****************************************************************************/ diff --git a/intern/itasc/kdl/frameacc.inl b/intern/itasc/kdl/frameacc.inl index a8ea35ad436..667664f2079 100644 --- a/intern/itasc/kdl/frameacc.inl +++ b/intern/itasc/kdl/frameacc.inl @@ -12,7 +12,6 @@ * - $log$ * * \par Release - * $Id: frameacc.inl 19905 2009-04-23 13:29:54Z ben2610 $ * $Name: $ ****************************************************************************/ diff --git a/intern/itasc/kdl/framevel.cpp b/intern/itasc/kdl/framevel.cpp index 4540d5a6621..9ea1147aa74 100644 --- a/intern/itasc/kdl/framevel.cpp +++ b/intern/itasc/kdl/framevel.cpp @@ -12,7 +12,6 @@ * - $log$ * * \par Release - * $Id$ * $Name: $ ****************************************************************************/ diff --git a/intern/itasc/kdl/framevel.hpp b/intern/itasc/kdl/framevel.hpp index b70182bccde..e95c5ef7907 100644 --- a/intern/itasc/kdl/framevel.hpp +++ b/intern/itasc/kdl/framevel.hpp @@ -16,7 +16,6 @@ * - $log$ * * \par Release - * $Id: framevel.hpp 19905 2009-04-23 13:29:54Z ben2610 $ * $Name: $ ****************************************************************************/ diff --git a/intern/itasc/kdl/framevel.inl b/intern/itasc/kdl/framevel.inl index 994b3d2028e..d0872b8869b 100644 --- a/intern/itasc/kdl/framevel.inl +++ b/intern/itasc/kdl/framevel.inl @@ -12,7 +12,6 @@ * - $log$ * * \par Release - * $Id: framevel.inl 19905 2009-04-23 13:29:54Z ben2610 $ * $Name: $ ****************************************************************************/ diff --git a/intern/itasc/kdl/inertia.cpp b/intern/itasc/kdl/inertia.cpp index 362b8310a52..783bb04db70 100644 --- a/intern/itasc/kdl/inertia.cpp +++ b/intern/itasc/kdl/inertia.cpp @@ -24,7 +24,7 @@ #include "inertia.hpp" -#include <Eigen/Array> +#include <Eigen/Core> namespace KDL { using namespace Eigen; diff --git a/intern/itasc/kdl/inertia.hpp b/intern/itasc/kdl/inertia.hpp index 9f33859671c..f37d9972883 100644 --- a/intern/itasc/kdl/inertia.hpp +++ b/intern/itasc/kdl/inertia.hpp @@ -22,7 +22,7 @@ #ifndef KDLINERTIA_HPP #define KDLINERTIA_HPP -#include <Eigen/Array> +#include <Eigen/Core> #include "frames.hpp" namespace KDL { diff --git a/intern/itasc/kdl/utilities/error.h b/intern/itasc/kdl/utilities/error.h index b5d209f6f62..53cb27b43d6 100644 --- a/intern/itasc/kdl/utilities/error.h +++ b/intern/itasc/kdl/utilities/error.h @@ -39,7 +39,6 @@ * - $log$ * * \par Release - * $Id$ * $Name: $ ****************************************************************************/ #ifndef ERROR_H_84822 // to make it unique, a random number diff --git a/intern/itasc/kdl/utilities/error_stack.cpp b/intern/itasc/kdl/utilities/error_stack.cpp index 8abddfa4474..c9ef0296474 100644 --- a/intern/itasc/kdl/utilities/error_stack.cpp +++ b/intern/itasc/kdl/utilities/error_stack.cpp @@ -12,7 +12,6 @@ * - $log$ * * \par Release - * $Id$ * $Name: $ ****************************************************************************/ diff --git a/intern/itasc/kdl/utilities/rall1d.h b/intern/itasc/kdl/utilities/rall1d.h index 98bd4385d1e..4ff2ca06ea6 100644 --- a/intern/itasc/kdl/utilities/rall1d.h +++ b/intern/itasc/kdl/utilities/rall1d.h @@ -19,7 +19,6 @@ * - $log$ * * \par Release - * $Id$ * $Name: $ ****************************************************************************/ diff --git a/intern/itasc/kdl/utilities/rall2d.h b/intern/itasc/kdl/utilities/rall2d.h index cbd9e70b04f..0847171cf37 100644 --- a/intern/itasc/kdl/utilities/rall2d.h +++ b/intern/itasc/kdl/utilities/rall2d.h @@ -19,7 +19,6 @@ * - $log$ * * \par Release - * $Id$ * $Name: $ ****************************************************************************/ diff --git a/intern/itasc/kdl/utilities/svd_eigen_HH.hpp b/intern/itasc/kdl/utilities/svd_eigen_HH.hpp index 2bbb8df521f..f4b46963813 100644 --- a/intern/itasc/kdl/utilities/svd_eigen_HH.hpp +++ b/intern/itasc/kdl/utilities/svd_eigen_HH.hpp @@ -25,7 +25,7 @@ #define SVD_EIGEN_HH_HPP -#include <Eigen/Array> +#include <Eigen/Core> #include <algorithm> namespace KDL diff --git a/intern/itasc/kdl/utilities/utility.h b/intern/itasc/kdl/utilities/utility.h index 7151792536e..fbf9982665a 100644 --- a/intern/itasc/kdl/utilities/utility.h +++ b/intern/itasc/kdl/utilities/utility.h @@ -9,7 +9,6 @@ * - $log$ * * \par Release - * $Id$ * $Name: $ * \file * Included by most lrl-files to provide some general diff --git a/intern/itasc/kdl/utilities/utility_io.cpp b/intern/itasc/kdl/utilities/utility_io.cpp index c9a016176ff..0926f424f71 100644 --- a/intern/itasc/kdl/utilities/utility_io.cpp +++ b/intern/itasc/kdl/utilities/utility_io.cpp @@ -12,7 +12,6 @@ * - $log$ * * \par Release - * $Id$ * $Name: $ * \todo * make IO routines more robust against the differences between DOS/UNIX end-of-line style. diff --git a/intern/itasc/kdl/utilities/utility_io.h b/intern/itasc/kdl/utilities/utility_io.h index 2a71ce870a3..b597472cee7 100644 --- a/intern/itasc/kdl/utilities/utility_io.h +++ b/intern/itasc/kdl/utilities/utility_io.h @@ -9,7 +9,6 @@ * - $log$ * * \par Release - * $Id$ * $Name: $ * * \file utility_io.h |