From 7fe1d94a2165d104ecf6ef17ba82ceb2b2b88a1f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Stefan=20Tr=C3=B6ger?= <stefantroeger@gmx.net>
Date: Sun, 4 Aug 2013 13:54:04 +0000
Subject: [PATCH] fix rotational/translational solver bugs in cylce detection
 and mapping

---
 src/Mod/Assembly/App/ConstraintGroup.cpp         |  1 -
 src/Mod/Assembly/App/ItemAssembly.cpp            |  2 --
 src/Mod/Assembly/App/opendcm/core/kernel.hpp     |  6 +++---
 src/Mod/Assembly/App/opendcm/module3d/solver.hpp | 12 +++++++++---
 4 files changed, 12 insertions(+), 9 deletions(-)

diff --git a/src/Mod/Assembly/App/ConstraintGroup.cpp b/src/Mod/Assembly/App/ConstraintGroup.cpp
index 818f9aa378..b8f6db81a0 100644
--- a/src/Mod/Assembly/App/ConstraintGroup.cpp
+++ b/src/Mod/Assembly/App/ConstraintGroup.cpp
@@ -85,5 +85,4 @@ void ConstraintGroup::init(ItemAssembly* ass) {
     }
 }
 
-
 }
diff --git a/src/Mod/Assembly/App/ItemAssembly.cpp b/src/Mod/Assembly/App/ItemAssembly.cpp
index 76c0f2a9ba..960828f600 100644
--- a/src/Mod/Assembly/App/ItemAssembly.cpp
+++ b/src/Mod/Assembly/App/ItemAssembly.cpp
@@ -211,9 +211,7 @@ void ItemAssembly::init(boost::shared_ptr<Solver> parent) {
 //no signals for subsystems, we need to extract the placement by hand
 void ItemAssembly::finish(boost::shared_ptr<Solver> parent) {
 
-  Base::Console().Message("finish\n");
     if(parent) {
-	Base::Console().Message("set product placement\n");
 	Base::Placement p = m_solver->getTransformation<Base::Placement>();
 	this->Placement.setValue(p);
     }
diff --git a/src/Mod/Assembly/App/opendcm/core/kernel.hpp b/src/Mod/Assembly/App/opendcm/core/kernel.hpp
index 80f37d753f..392dc43da0 100644
--- a/src/Mod/Assembly/App/opendcm/core/kernel.hpp
+++ b/src/Mod/Assembly/App/opendcm/core/kernel.hpp
@@ -438,15 +438,15 @@ struct Kernel {
         void setAccess(ParameterType t) {
 
             if(t==complete) {
-                new(&Jacobi) VectorMap(&m_jacobi(0,0),m_eqns,m_params,DynStride(m_eqns,1));
+                new(&Jacobi) MatrixMap(&m_jacobi(0,0),m_eqns,m_params,DynStride(m_eqns,1));
                 new(&Parameter) VectorMap(&m_parameter(0),m_params,DynStride(1,1));
             } else if(t==rotation) {
                 int num = m_param_trans_offset;
-                new(&Jacobi) VectorMap(&m_jacobi(0,0),m_eqns,num,DynStride(m_eqns,1));
+                new(&Jacobi) MatrixMap(&m_jacobi(0,0),m_eqns,num,DynStride(m_eqns,1));
                 new(&Parameter) VectorMap(&m_parameter(0),num,DynStride(1,1));
             } else if(t==general) {
                 int num = m_params - m_param_trans_offset;
-                new(&Jacobi) VectorMap(&m_jacobi(0,m_param_trans_offset),m_eqns,num,DynStride(m_eqns,1));
+                new(&Jacobi) MatrixMap(&m_jacobi(0,m_param_trans_offset),m_eqns,num,DynStride(m_eqns,1));
                 new(&Parameter) VectorMap(&m_parameter(m_param_trans_offset),num,DynStride(1,1));
             }
         };
diff --git a/src/Mod/Assembly/App/opendcm/module3d/solver.hpp b/src/Mod/Assembly/App/opendcm/module3d/solver.hpp
index d2ce5d1d98..3f8d5a114f 100644
--- a/src/Mod/Assembly/App/opendcm/module3d/solver.hpp
+++ b/src/Mod/Assembly/App/opendcm/module3d/solver.hpp
@@ -29,8 +29,12 @@
 
 #include <boost/graph/adjacency_list.hpp>
 #include <boost/graph/depth_first_search.hpp>
+#include <boost/graph/undirected_dfs.hpp>
 #include <boost/exception/errinfo_errno.hpp>
 
+#include "Base/Console.h"
+#include <boost/graph/graphviz.hpp>
+
 namespace dcm {
 namespace details {
 
@@ -374,10 +378,12 @@ void SystemSolver<Sys>::solveCluster(boost::shared_ptr<Cluster> cluster, Sys& sy
             cycle_dedector cd(has_cycle);
             //create te needed property map, fill it and run the test
             property_map<vertex_index_prop, Cluster> vi_map(cluster);
+	    property_map<vertex_color_prop, Cluster> vc_map(cluster);
+	    property_map<edge_color_prop, Cluster> ec_map(cluster);
             cluster->initIndexMaps();
-            boost::depth_first_search(*cluster.get(), boost::visitor(cd).vertex_index_map(vi_map));
-
-            bool done = false;
+            boost::undirected_dfs(*cluster.get(), boost::visitor(cd).vertex_index_map(vi_map).vertex_color_map(vc_map).edge_color_map(ec_map));
+	    
+	    bool done = false;
             if(!has_cycle) {
 #ifdef USE_LOGGING
                 BOOST_LOG(log)<< "non-cyclic system dedected"