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replace Eigen::Index with auto to support older Eigen3 versions

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This commit is contained in:
wmayer
2019-10-03 12:44:43 +02:00
parent 3090bf19e9
commit 38447e4dd2
4 changed files with 12 additions and 12 deletions
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2
src/Mod/Robot/App/kdl_cp/chainiksolverpos_lma.cpp
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@@ -195,7 +195,7 @@ int ChainIkSolverPos_LMA::CartToJnt(const KDL::JntArray& q_init, const KDL::Fram
svd.compute(jac);
original_Aii = svd.singularValues();
for (Eigen::Index j=0;j<original_Aii.rows();++j) {
for (auto j=0;j<original_Aii.rows();++j) {
original_Aii(j) = original_Aii(j)/( original_Aii(j)*original_Aii(j)+lambda);
}

6
src/Mod/Robot/App/kdl_cp/jacobian.cpp
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@@ -83,7 +83,7 @@ namespace KDL
}
void Jacobian::changeRefPoint(const Vector& base_AB){
for(Eigen::Index i=0;i<data.cols();i++)
for(auto i=0;i<data.cols();i++)
this->setColumn(i,this->getColumn(i).RefPoint(base_AB));
}
@@ -97,7 +97,7 @@ namespace KDL
}
void Jacobian::changeBase(const Rotation& rot){
for(Eigen::Index i=0;i<data.cols();i++)
for(auto i=0;i<data.cols();i++)
this->setColumn(i,rot*this->getColumn(i));;
}
@@ -111,7 +111,7 @@ namespace KDL
}
void Jacobian::changeRefFrame(const Frame& frame){
for(Eigen::Index i=0;i<data.cols();i++)
for(auto i=0;i<data.cols();i++)
this->setColumn(i,frame*this->getColumn(i));
}

4
src/Mod/Robot/App/kdl_cp/treeiksolvervel_wdls.cpp
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@@ -89,9 +89,9 @@ namespace KDL {
Wq_V.noalias() = Wq * V;
// tmp = (Si*Wy*U'*y),
for (Eigen::Index i = 0; i < J.cols(); i++) {
for (auto i = 0; i < J.cols(); i++) {
double sum = 0.0;
for (Eigen::Index j = 0; j < J.rows(); j++) {
for (auto j = 0; j < J.rows(); j++) {
if (i < Wy_t.rows())
sum += U(j, i) * Wy_t(j);
else

12
src/Mod/Robot/App/kdl_cp/utilities/svd_eigen_Macie.hpp
View File

@@ -70,8 +70,8 @@ namespace KDL
rotate=false;
rotations=0;
//Perform rotations between columns of B
for(Eigen::Index i=0;i<B.cols();i++){
for(Eigen::Index j=i+1;j<B.cols();j++){
for(auto i=0;i<B.cols();i++){
for(auto j=i+1;j<B.cols();j++){
//calculate plane rotation
double p = B.col(i).dot(B.col(j));
double qi =B.col(i).dot(B.col(i));
@@ -111,7 +111,7 @@ namespace KDL
}
//Only calculate new U and S if there were any rotations
if(rotations!=0){
for(Eigen::Index i=0;i<U.rows();i++) {
for(auto i=0;i<U.rows();i++) {
if(i<B.cols()){
double si=sqrt(B.col(i).dot(B.col(i)));
if(si==0)
@@ -134,8 +134,8 @@ namespace KDL
rotate=false;
rotations=0;
//Perform rotations between rows of B
for(Eigen::Index i=0;i<B.cols();i++){
for(Eigen::Index j=i+1;j<B.cols();j++){
for(auto i=0;i<B.cols();i++){
for(auto j=i+1;j<B.cols();j++){
//calculate plane rotation
double p = B.row(i).dot(B.row(j));
double qi = B.row(i).dot(B.row(i));
@@ -179,7 +179,7 @@ namespace KDL
//Only calculate new U and S if there were any rotations
if(rotations!=0){
for(Eigen::Index i=0;i<V.rows();i++) {
for(auto i=0;i<V.rows();i++) {
double si=sqrt(B.row(i).dot(B.row(i)));
if(si==0)
V.col(i) = B.row(i);