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Commit 60a6350

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Benjamin Chrétien
committed
Fix for new Eigen::Ref API.
1 parent 9de91a4 commit 60a6350

10 files changed

Lines changed: 35 additions & 32 deletions

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‎.gitignore‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1 +1 @@
1-
_build
1+
*build*

‎include/roboptim/capsule/distance-capsule-point.hh‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -61,8 +61,8 @@ namespace roboptim
6161
/// coordinates, the segment second end point coordinates, the
6262
/// capsule radius.
6363
virtual void
64-
impl_compute (result_t& result,
65-
const argument_t& argument) const;
64+
impl_compute (result_ref result,
65+
const_argument_ref argument) const;
6666

6767
/// \brief Compute of the distance gradient with respect to the
6868
/// capsule parameters.
@@ -72,8 +72,8 @@ namespace roboptim
7272
/// coordinates, the segment second end point coordinates, the
7373
/// capsule radius.
7474
virtual void
75-
impl_gradient (gradient_t& gradient,
76-
const argument_t& argument,
75+
impl_gradient (gradient_ref gradient,
76+
const_argument_ref argument,
7777
size_type functionId = 0) const;
7878

7979
private:

‎include/roboptim/capsule/fitter.hh‎

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -70,15 +70,15 @@ namespace roboptim
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/// Polyhedron vector attribute is used to compute capsule and set
7171
/// capsuleParam attribute.
7272
/// \param initParam initial capsule parameters
73-
void computeBestFitCapsule (const argument_t& initParam);
73+
void computeBestFitCapsule (const_argument_ref initParam);
7474

7575
/// \brief Compute best fitting capsule over polyhedron vector.
7676
///
7777
/// \param polyhedron Polyhedron over which the capsule is
7878
/// fitted
7979
/// \param initParam initial capsule parameters
8080
void computeBestFitCapsule (const polyhedrons_t& polyhedrons,
81-
const argument_t& initParam);
81+
const_argument_ref initParam);
8282

8383
/// \brief Compute best fitting capsule over polyhedron vector.
8484
///
@@ -87,7 +87,7 @@ namespace roboptim
8787
///
8888
/// \param initParam initial capsule parameters
8989
/// \return capsule parameters
90-
const argument_t computeBestFitCapsuleParam (const argument_t&
90+
const argument_t computeBestFitCapsuleParam (const_argument_ref
9191
initParam);
9292

9393
/// \brief Compute best fitting capsule over polyhedron.
@@ -99,7 +99,7 @@ namespace roboptim
9999
/// \return capsule parameters
100100
const argument_t computeBestFitCapsuleParam (const polyhedrons_t&
101101
polyhedrons,
102-
const argument_t&
102+
const_argument_ref
103103
initParam);
104104

105105
protected:
@@ -109,8 +109,8 @@ namespace roboptim
109109
/// \param initParam initial capsule parameters
110110
/// \return solutionParam solution capsule parameters
111111
void impl_computeBestFitCapsuleParam (const polyhedrons_t& polyhedrons,
112-
const argument_t& initParam,
113-
argument_t& solutionParam);
112+
const_argument_ref initParam,
113+
argument_ref solutionParam);
114114

115115
private:
116116
/// \brief Polyhedron vector attribute.

‎include/roboptim/capsule/types.hh‎

Lines changed: 5 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -31,7 +31,11 @@ namespace roboptim
3131
/// \brief Import types from roboptim Function.
3232
typedef roboptim::Function::value_type value_type;
3333
typedef roboptim::Function::size_type size_type;
34-
typedef roboptim::Function::argument_t argument_t;
34+
35+
typedef roboptim::Function::argument_t argument_t;
36+
typedef roboptim::Function::argument_ref argument_ref;
37+
typedef roboptim::Function::const_argument_ref const_argument_ref;
38+
3539
typedef roboptim::Function::vector_t vector_t;
3640
typedef roboptim::Function::matrix_t matrix_t;
3741

‎include/roboptim/capsule/util.hh‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -105,7 +105,7 @@ namespace roboptim
105105
/// \return dst parameters vector containing, in this
106106
/// order, the capsule axis first end point coordinates, the
107107
/// capsule axis second end point coordinates and the radius.
108-
void convertCapsuleToSolverParam (argument_t& dst,
108+
void convertCapsuleToSolverParam (argument_ref dst,
109109
const point_t& endPoint1,
110110
const point_t& endPoint2,
111111
const value_type& radius);

‎include/roboptim/capsule/volume.hh‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -53,14 +53,14 @@ namespace roboptim
5353
/// coordinates, the segment second end point coordinates, the
5454
/// capsule radius.
5555
virtual void
56-
impl_compute (result_t& result,
57-
const argument_t& argument) const;
56+
impl_compute (result_ref result,
57+
const_argument_ref argument) const;
5858

5959
/// \brief Compute gradient of the capsule volume with respect
6060
/// to the argument vector.
6161
virtual void
62-
impl_gradient (gradient_t& gradient,
63-
const argument_t& argument,
62+
impl_gradient (gradient_ref gradient,
63+
const_argument_ref argument,
6464
size_type functionId = 0) const;
6565
};
6666

‎src/distance-capsule-point.cc‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -59,8 +59,8 @@ namespace roboptim
5959
// -------------------PROTECTED FUNCTIONS--------------------
6060

6161
void DistanceCapsulePoint::
62-
impl_compute (result_t& result,
63-
const argument_t& argument) const
62+
impl_compute (result_ref result,
63+
const_argument_ref argument) const
6464
{
6565
assert (argument.size () == 7 && "Wrong argument size, expected 7.");
6666

@@ -79,8 +79,8 @@ namespace roboptim
7979

8080

8181
void DistanceCapsulePoint::
82-
impl_gradient (gradient_t& gradient,
83-
const argument_t& argument,
82+
impl_gradient (gradient_ref gradient,
83+
const_argument_ref argument,
8484
size_type /*functionId*/) const
8585
{
8686
assert (argument.size () == 7 && "Wrong argument size, expected 7.");

‎src/fitter.cc‎

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -105,20 +105,20 @@ namespace roboptim
105105
}
106106

107107
void Fitter::
108-
computeBestFitCapsule (const argument_t& initParam)
108+
computeBestFitCapsule (const_argument_ref initParam)
109109
{
110110
impl_computeBestFitCapsuleParam (polyhedrons_, initParam, solutionParam_);
111111
}
112112

113113
void Fitter::
114114
computeBestFitCapsule (const polyhedrons_t& polyhedrons,
115-
const argument_t& initParam)
115+
const_argument_ref initParam)
116116
{
117117
impl_computeBestFitCapsuleParam (polyhedrons, initParam, solutionParam_);
118118
}
119119

120120
const argument_t Fitter::
121-
computeBestFitCapsuleParam (const argument_t& initParam)
121+
computeBestFitCapsuleParam (const_argument_ref initParam)
122122
{
123123
impl_computeBestFitCapsuleParam (polyhedrons_, initParam, solutionParam_);
124124

@@ -127,7 +127,7 @@ namespace roboptim
127127

128128
const argument_t Fitter::
129129
computeBestFitCapsuleParam (const polyhedrons_t& polyhedrons,
130-
const argument_t& initParam)
130+
const_argument_ref initParam)
131131
{
132132
impl_computeBestFitCapsuleParam (polyhedrons, initParam, solutionParam_);
133133

@@ -138,8 +138,8 @@ namespace roboptim
138138

139139
void Fitter::
140140
impl_computeBestFitCapsuleParam (const polyhedrons_t& polyhedrons,
141-
const argument_t& initParam,
142-
argument_t& solutionParam)
141+
const_argument_ref initParam,
142+
argument_ref solutionParam)
143143
{
144144
assert (polyhedrons.size () != 0 && "Empty polyhedron vector");
145145
assert (initParam.size () == 7

‎src/util.cc‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -345,7 +345,7 @@ namespace roboptim
345345
}
346346

347347

348-
void convertCapsuleToSolverParam (argument_t& dst,
348+
void convertCapsuleToSolverParam (argument_ref dst,
349349
const point_t& endPoint1,
350350
const point_t& endPoint2,
351351
const value_type& radius)

‎src/volume.cc‎

Lines changed: 3 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -49,8 +49,7 @@ namespace roboptim
4949
// -------------------PROTECTED FUNCTIONS--------------------
5050

5151
void Volume::
52-
impl_compute (result_t & result,
53-
const argument_t & argument) const
52+
impl_compute (result_ref result, const_argument_ref argument) const
5453
{
5554
assert (argument.size () == 7 && "Wrong argument size, expected 7.");
5655

@@ -71,8 +70,8 @@ namespace roboptim
7170
}
7271

7372
void Volume::
74-
impl_gradient (gradient_t& gradient,
75-
const argument_t& argument,
73+
impl_gradient (gradient_ref gradient,
74+
const_argument_ref argument,
7675
size_type functionId) const
7776
{
7877
assert (functionId == 0);

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