Merge pull request #37 from gergondet/topic/NoUsingNamespace

jrl-umi3218 · Dec 14, 2020 · f2829e6 · f2829e6
2 parents b5a92d9 + 97cea6b
commit f2829e6
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diff --git a/LICENSE b/LICENSE
@@ -1,6 +1,6 @@
 BSD 2-Clause License
 
-Copyright (c) 2012-2019, CNRS-UM LIRMM, CNRS-AIST JRL
+Copyright (c) 2012-2020, CNRS-UM LIRMM, CNRS-AIST JRL
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

diff --git a/conanfile.py b/conanfile.py
@@ -1,6 +1,6 @@
 # -*- coding: utf-8 -*-
 #
-# Copyright 2012-2019 CNRS-UM LIRMM, CNRS-AIST JRL
+# Copyright 2012-2020 CNRS-UM LIRMM, CNRS-AIST JRL
 #
 
 from conans import python_requires

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -1,11 +1,12 @@
 #
-# Copyright 2012-2019 CNRS-UM LIRMM, CNRS-AIST JRL
+# Copyright 2012-2020 CNRS-UM LIRMM, CNRS-AIST JRL
 #
 
 set(HEADERS_INCLUDE_DIR
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>$<INSTALL_INTERFACE:include>)
 
 set(HEADERS
+  ${HEADERS_INCLUDE_DIR}/SpaceVecAlg/fwd.h
   ${HEADERS_INCLUDE_DIR}/SpaceVecAlg/MotionVec.h
   ${HEADERS_INCLUDE_DIR}/SpaceVecAlg/ForceVec.h
   ${HEADERS_INCLUDE_DIR}/SpaceVecAlg/ImpedanceVec.h
@@ -26,6 +27,9 @@ if(COMMAND target_sources)
   target_sources(SpaceVecAlg INTERFACE ${HEADERS})
 endif()
 target_compile_features(SpaceVecAlg INTERFACE cxx_auto_type cxx_constexpr)
+if(MSVC)
+  target_compile_options(SpaceVecAlg PRIVATE /source-charset:utf-8)
+endif()
 if(TARGET Eigen3::Eigen)
   target_link_libraries(SpaceVecAlg INTERFACE Eigen3::Eigen)
 else()

diff --git a/src/SpaceVecAlg/ABInertia.h b/src/SpaceVecAlg/ABInertia.h
@@ -1,14 +1,15 @@
 /*
- * Copyright 2012-2019 CNRS-UM LIRMM, CNRS-AIST JRL
+ * Copyright 2012-2020 CNRS-UM LIRMM, CNRS-AIST JRL
  */
 
 #pragma once
 
+#include "EigenTypedef.h"
+#include "fwd.h"
+
 namespace sva
 {
 
-using namespace Eigen;
-
 /**
  * Spatial Articulated Body Inertia compact representation.
  * See Roy Featherstone «Rigid Body Dynamics Algorithms» page 247.
@@ -17,9 +18,9 @@ template<typename T>
 class ABInertia
 {
 public:
-  typedef Vector3<T> vector3_t;
-  typedef Matrix3<T> matrix3_t;
-  typedef Matrix6<T> matrix6_t;
+  typedef Eigen::Vector3<T> vector3_t;
+  typedef Eigen::Matrix3<T> matrix3_t;
+  typedef Eigen::Matrix6<T> matrix6_t;
 
 public:
   ABInertia() : M_(), H_(), I_() {}
@@ -32,18 +33,18 @@ class ABInertia
   ABInertia(const matrix3_t & M, const matrix3_t & H, const matrix3_t & I)
   : M_(matrix3_t::Zero()), H_(H), I_(matrix3_t::Zero())
   {
-    M_.template triangularView<Lower>() = M;
-    I_.template triangularView<Lower>() = I;
+    M_.template triangularView<Eigen::Lower>() = M;
+    I_.template triangularView<Eigen::Lower>() = I;
   }
 
   /**
    * @param M Lower triangular view of Mass matrix.
    * @param H Generalized inertia matrix.
    * @param I Lower triangular view Inertia matrix.
    */
-  ABInertia(const TriangularView<matrix3_t, Lower> & ltM,
+  ABInertia(const Eigen::TriangularView<matrix3_t, Eigen::Lower> & ltM,
             const matrix3_t & H,
-            const TriangularView<matrix3_t, Lower> & ltI)
+            const Eigen::TriangularView<matrix3_t, Eigen::Lower> & ltI)
   : M_(ltM), H_(H), I_(ltI)
   {
   }
@@ -59,8 +60,8 @@ class ABInertia
   matrix3_t massMatrix() const
   {
     matrix3_t M;
-    M.template triangularView<Upper>() = M_.transpose();
-    M.template triangularView<StrictlyLower>() = M_;
+    M.template triangularView<Eigen::Upper>() = M_.transpose();
+    M.template triangularView<Eigen::StrictlyLower>() = M_;
     return M;
   }
 
@@ -80,8 +81,8 @@ class ABInertia
   matrix3_t inertia() const
   {
     matrix3_t I;
-    I.template triangularView<Upper>() = I_.transpose();
-    I.template triangularView<StrictlyLower>() = I_;
+    I.template triangularView<Eigen::Upper>() = I_.transpose();
+    I.template triangularView<Eigen::StrictlyLower>() = I_;
     return I;
   }
 
@@ -103,16 +104,16 @@ class ABInertia
   ABInertia<T> operator+(const ABInertia<T> & rbI) const
   {
     matrix3_t M, I;
-    M.template triangularView<Lower>() = M_ + rbI.M_;
-    I.template triangularView<Lower>() = I_ + rbI.I_;
+    M.template triangularView<Eigen::Lower>() = M_ + rbI.M_;
+    I.template triangularView<Eigen::Lower>() = I_ + rbI.I_;
     return ABInertia<T>(M, H_ + rbI.H_, I);
   }
 
   ABInertia<T> operator-(const ABInertia<T> & rbI) const
   {
     matrix3_t M, I;
-    M.template triangularView<Lower>() = M_ - rbI.M_;
-    I.template triangularView<Lower>() = I_ - rbI.I_;
+    M.template triangularView<Eigen::Lower>() = M_ - rbI.M_;
+    I.template triangularView<Eigen::Lower>() = I_ - rbI.I_;
     return ABInertia<T>(M, H_ - rbI.H_, I);
   }
 
@@ -123,26 +124,26 @@ class ABInertia
 
   ABInertia<T> & operator+=(const ABInertia<T> & rbI)
   {
-    M_.template triangularView<Lower>() += rbI.M_;
+    M_.template triangularView<Eigen::Lower>() += rbI.M_;
     H_ += rbI.H_;
-    I_.template triangularView<Lower>() += rbI.I_;
+    I_.template triangularView<Eigen::Lower>() += rbI.I_;
     return *this;
   }
 
   ABInertia<T> & operator-=(const ABInertia<T> & rbI)
   {
-    M_.template triangularView<Lower>() -= rbI.M_;
+    M_.template triangularView<Eigen::Lower>() -= rbI.M_;
     H_ -= rbI.H_;
-    I_.template triangularView<Lower>() -= rbI.I_;
+    I_.template triangularView<Eigen::Lower>() -= rbI.I_;
     return *this;
   }
 
   template<typename T2>
   ABInertia<T> operator*(T2 scalar) const
   {
     matrix3_t M, I;
-    M.template triangularView<Lower>() = scalar * M_;
-    I.template triangularView<Lower>() = scalar * I_;
+    M.template triangularView<Eigen::Lower>() = scalar * M_;
+    I.template triangularView<Eigen::Lower>() = scalar * I_;
     return ABInertia<T>(M, scalar * H_, I);
   }
 

diff --git a/src/SpaceVecAlg/AdmittanceVec.h b/src/SpaceVecAlg/AdmittanceVec.h
@@ -1,16 +1,16 @@
 /*
- * Copyright 2012-2019 CNRS-UM LIRMM, CNRS-AIST JRL
+ * Copyright 2012-2020 CNRS-UM LIRMM, CNRS-AIST JRL
  */
 
 #pragma once
 
+#include "EigenTypedef.h"
+#include "fwd.h"
 #include <type_traits>
 
 namespace sva
 {
 
-using namespace Eigen;
-
 /**
  * Admittance Vector.
  * Mechanical admittance is a measure of how much a structure moves
@@ -26,8 +26,8 @@ template<typename T>
 class AdmittanceVec
 {
 public:
-  typedef Vector3<T> vector3_t;
-  typedef Vector6<T> vector6_t;
+  typedef Eigen::Vector3<T> vector3_t;
+  typedef Eigen::Vector6<T> vector6_t;
 
 public:
   /// Zero admittance vector

diff --git a/src/SpaceVecAlg/Conversions.h b/src/SpaceVecAlg/Conversions.h
@@ -1,5 +1,5 @@
 /*
- * Copyright 2012-2019 CNRS-UM LIRMM, CNRS-AIST JRL
+ * Copyright 2012-2020 CNRS-UM LIRMM, CNRS-AIST JRL
  */
 
 #pragma once

diff --git a/src/SpaceVecAlg/EigenTypedef.h b/src/SpaceVecAlg/EigenTypedef.h
@@ -1,9 +1,11 @@
 /*
- * Copyright 2012-2019 CNRS-UM LIRMM, CNRS-AIST JRL
+ * Copyright 2012-2020 CNRS-UM LIRMM, CNRS-AIST JRL
  */
 
 #pragma once
 
+#include <Eigen/Core>
+
 namespace Eigen
 {
 

diff --git a/src/SpaceVecAlg/EigenUtility.h b/src/SpaceVecAlg/EigenUtility.h
@@ -1,9 +1,11 @@
 /*
- * Copyright 2012-2019 CNRS-UM LIRMM, CNRS-AIST JRL
+ * Copyright 2012-2020 CNRS-UM LIRMM, CNRS-AIST JRL
  */
 
 #pragma once
 
+#include "EigenTypedef.h"
+
 namespace Eigen
 {
 
@@ -40,3 +42,12 @@ inline Matrix6<T> vector6ToCrossDualMatrix(const Vector6<T> & vec)
 }
 
 } // namespace Eigen
+
+namespace sva
+{
+
+using Eigen::vector3ToCrossMatrix;
+using Eigen::vector6ToCrossDualMatrix;
+using Eigen::vector6ToCrossMatrix;
+
+} // namespace sva
diff --git a/src/SpaceVecAlg/ForceVec.h b/src/SpaceVecAlg/ForceVec.h
@@ -1,16 +1,16 @@
 /*
- * Copyright 2012-2019 CNRS-UM LIRMM, CNRS-AIST JRL
+ * Copyright 2012-2020 CNRS-UM LIRMM, CNRS-AIST JRL
  */
 
 #pragma once
 
+#include "EigenTypedef.h"
+#include "fwd.h"
 #include <type_traits>
 
 namespace sva
 {
 
-using namespace Eigen;
-
 /**
  * Spatial Force Vector compact representations.
  * See Roy Featherstone «Rigid Body Dynamics Algorithms» page 247.
@@ -19,8 +19,8 @@ template<typename T>
 class ForceVec
 {
 public:
-  typedef Vector3<T> vector3_t;
-  typedef Vector6<T> vector6_t;
+  typedef Eigen::Vector3<T> vector3_t;
+  typedef Eigen::Vector6<T> vector6_t;
 
   friend class PTransform<T>;
 

diff --git a/src/SpaceVecAlg/ImpedanceVec.h b/src/SpaceVecAlg/ImpedanceVec.h
@@ -1,16 +1,16 @@
 /*
- * Copyright 2012-2019 CNRS-UM LIRMM, CNRS-AIST JRL
+ * Copyright 2012-2020 CNRS-UM LIRMM, CNRS-AIST JRL
  */
 
 #pragma once
 
+#include "EigenTypedef.h"
+#include "fwd.h"
 #include <type_traits>
 
 namespace sva
 {
 
-using namespace Eigen;
-
 /**
  * Impedance Vector.
  * Mechanical impedance is a measure of how much a structure resists
@@ -25,8 +25,8 @@ template<typename T>
 class ImpedanceVec
 {
 public:
-  typedef Vector3<T> vector3_t;
-  typedef Vector6<T> vector6_t;
+  typedef Eigen::Vector3<T> vector3_t;
+  typedef Eigen::Vector6<T> vector6_t;
 
 public:
   /// Zero impedance vector

diff --git a/src/SpaceVecAlg/MathFunc.h b/src/SpaceVecAlg/MathFunc.h
@@ -1,9 +1,10 @@
 /*
- * Copyright 2012-2019 CNRS-UM LIRMM, CNRS-AIST JRL
+ * Copyright 2012-2020 CNRS-UM LIRMM, CNRS-AIST JRL
  */
 
 #pragma once
 
+#include <cmath>
 #include <limits>
 
 namespace sva

diff --git a/src/SpaceVecAlg/MotionVec.h b/src/SpaceVecAlg/MotionVec.h
@@ -1,16 +1,16 @@
 /*
- * Copyright 2012-2019 CNRS-UM LIRMM, CNRS-AIST JRL
+ * Copyright 2012-2020 CNRS-UM LIRMM, CNRS-AIST JRL
  */
 
 #pragma once
 
+#include "EigenTypedef.h"
+#include "fwd.h"
 #include <type_traits>
 
 namespace sva
 {
 
-using namespace Eigen;
-
 /**
  * Spatial Motion Vector compact representations.
  * See Roy Featherstone «Rigid Body Dynamics Algorithms» page 247.
@@ -19,8 +19,8 @@ template<typename T>
 class MotionVec
 {
 public:
-  typedef Vector3<T> vector3_t;
-  typedef Vector6<T> vector6_t;
+  typedef Eigen::Vector3<T> vector3_t;
+  typedef Eigen::Vector6<T> vector6_t;
 
   friend class PTransform<T>;