[freecad] 01/02: Remove EIGEN2_SUPPORT. (Closes: #786356)
Anton Gladky
gladk at moszumanska.debian.org
Mon Oct 26 17:30:03 UTC 2015
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gladk pushed a commit to annotated tag debian/0.15.4671+dfsg1-2
in repository freecad.
commit 0c78ef55118153d5de00f6d97cfe7ae3678ddaf3
Author: Anton Gladky <gladk at debian.org>
Date: Sun Sep 20 13:09:15 2015 +0200
Remove EIGEN2_SUPPORT. (Closes: #786356)
---
debian/patches/eigen3.patch | 376 ++++++++++++++++++++++++++++++++++++++++++++
debian/patches/series | 1 +
2 files changed, 377 insertions(+)
diff --git a/debian/patches/eigen3.patch b/debian/patches/eigen3.patch
new file mode 100644
index 0000000..5f68c36
--- /dev/null
+++ b/debian/patches/eigen3.patch
@@ -0,0 +1,376 @@
+Description: Drop EIGEN2_SUPPORT
+Author: Anton Gladky <gladk at debian.org>
+Bug-Debian: https://bugs.debian.org/786356
+Last-Update: 2015-09-20
+
+Index: freecad-0.15.4671/src/Mod/Mesh/App/Core/Approximation.cpp
+===================================================================
+--- freecad-0.15.4671.orig/src/Mod/Mesh/App/Core/Approximation.cpp
++++ freecad-0.15.4671/src/Mod/Mesh/App/Core/Approximation.cpp
+@@ -26,6 +26,7 @@
+ #ifndef _PreComp_
+ # include <algorithm>
+ #endif
++#include <Eigen/Dense>
+
+ #include "Approximation.h"
+
+@@ -56,8 +57,6 @@ extern "C" void LAPACK_DGESV (int const*
+
+ #endif
+
+-# include <Eigen/LeastSquares>
+-
+ using namespace MeshCore;
+
+
+@@ -700,7 +699,7 @@ double SurfaceFit::PolynomFit()
+ //std::clog << b << std::endl;
+ #else
+ // A.llt().solve(b,&x); // not sure if always positive definite
+- A.qr().solve(b,&x);
++ x = A.colPivHouseholderQr().solve(b);
+ #endif
+
+ _fCoeff[0] = (float)(-x(5));
+Index: freecad-0.15.4671/src/Mod/Robot/App/kdl_cp/articulatedbodyinertia.cpp
+===================================================================
+--- freecad-0.15.4671.orig/src/Mod/Robot/App/kdl_cp/articulatedbodyinertia.cpp
++++ freecad-0.15.4671/src/Mod/Robot/App/kdl_cp/articulatedbodyinertia.cpp
+@@ -29,8 +29,8 @@ namespace KDL{
+
+ ArticulatedBodyInertia::ArticulatedBodyInertia(const RigidBodyInertia& rbi)
+ {
+- this->M.part<SelfAdjoint>()=Matrix3d::Identity()*rbi.m;
+- this->I.part<SelfAdjoint>()=Map<Matrix3d>(rbi.I.data);
++ this->M=Matrix3d::Identity()*rbi.m;
++ this->I=Map<Matrix3d>(rbi.I.data);
+ this->H << 0,-rbi.h[2],rbi.h[1],
+ rbi.h[2],0,-rbi.h[0],
+ -rbi.h[1],rbi.h[0],0;
+@@ -43,8 +43,8 @@ namespace KDL{
+
+ ArticulatedBodyInertia::ArticulatedBodyInertia(const Eigen::Matrix3d& M, const Eigen::Matrix3d& H, const Eigen::Matrix3d& I)
+ {
+- this->M.part<SelfAdjoint>()=M;
+- this->I.part<SelfAdjoint>()=I;
++ this->M=M;
++ this->I=I;
+ this->H=H;
+ }
+
+Index: freecad-0.15.4671/src/Mod/Robot/App/kdl_cp/chainiksolvervel_pinv_givens.cpp
+===================================================================
+--- freecad-0.15.4671.orig/src/Mod/Robot/App/kdl_cp/chainiksolvervel_pinv_givens.cpp
++++ freecad-0.15.4671/src/Mod/Robot/App/kdl_cp/chainiksolvervel_pinv_givens.cpp
+@@ -68,9 +68,9 @@ namespace KDL
+ //std::cout<<"# sweeps: "<<ret<<std::endl;
+
+ if(transpose)
+- UY = (V.transpose() * v_in_eigen).lazy();
++ UY = (V.transpose() * v_in_eigen);
+ else
+- UY = (U.transpose() * v_in_eigen).lazy();
++ UY = (U.transpose() * v_in_eigen);
+
+ for (unsigned int i = 0; i < n; i++){
+ double wi = UY(i);
+@@ -83,9 +83,9 @@ namespace KDL
+ SUY(i)= alpha * wi;
+ }
+ if(transpose)
+- qdot_eigen = (U * SUY).lazy();
++ qdot_eigen = (U * SUY);
+ else
+- qdot_eigen = (V * SUY).lazy();
++ qdot_eigen = (V * SUY);
+
+ for (unsigned int j=0;j<chain.getNrOfJoints();j++)
+ qdot_out(j)=qdot_eigen(j);
+Index: freecad-0.15.4671/src/Mod/Robot/App/kdl_cp/chainiksolvervel_pinv_givens.hpp
+===================================================================
+--- freecad-0.15.4671.orig/src/Mod/Robot/App/kdl_cp/chainiksolvervel_pinv_givens.hpp
++++ freecad-0.15.4671/src/Mod/Robot/App/kdl_cp/chainiksolvervel_pinv_givens.hpp
+@@ -8,7 +8,7 @@
+
+ #include <Eigen/Core>
+
+-USING_PART_OF_NAMESPACE_EIGEN;
++using namespace Eigen;
+
+ namespace KDL
+ {
+Index: freecad-0.15.4671/src/Mod/Robot/App/kdl_cp/chainiksolvervel_wdls.cpp
+===================================================================
+--- freecad-0.15.4671.orig/src/Mod/Robot/App/kdl_cp/chainiksolvervel_wdls.cpp
++++ freecad-0.15.4671/src/Mod/Robot/App/kdl_cp/chainiksolvervel_wdls.cpp
+@@ -78,15 +78,15 @@ namespace KDL
+ */
+
+ // Create the Weighted jacobian
+- tmp_jac_weight1 = (jac.data*weight_js).lazy();
+- tmp_jac_weight2 = (weight_ts*tmp_jac_weight1).lazy();
++ tmp_jac_weight1 = (jac.data*weight_js);
++ tmp_jac_weight2 = (weight_ts*tmp_jac_weight1);
+
+ // Compute the SVD of the weighted jacobian
+ int ret = svd_eigen_HH(tmp_jac_weight2,U,S,V,tmp,maxiter);
+
+ //Pre-multiply U and V by the task space and joint space weighting matrix respectively
+- tmp_ts = (weight_ts*U.corner(Eigen::TopLeft,6,6)).lazy();
+- tmp_js = (weight_js*V).lazy();
++ tmp_ts = (weight_ts*U.topLeftCorner(6,6));
++ tmp_js = (weight_js*V);
+
+ // tmp = (Si*U'*Ly*y),
+ for (i=0;i<jac.columns();i++) {
+@@ -112,7 +112,7 @@ namespace KDL
+ qdot_out(i)=sum;
+ }
+ */
+- qdot_out.data=(tmp_js*tmp).lazy();
++ qdot_out.data=(tmp_js*tmp);
+ return ret;
+ }
+
+Index: freecad-0.15.4671/src/Mod/Robot/App/kdl_cp/jacobian.cpp
+===================================================================
+--- freecad-0.15.4671.orig/src/Mod/Robot/App/kdl_cp/jacobian.cpp
++++ freecad-0.15.4671/src/Mod/Robot/App/kdl_cp/jacobian.cpp
+@@ -23,7 +23,7 @@
+
+ namespace KDL
+ {
+- USING_PART_OF_NAMESPACE_EIGEN
++ using namespace Eigen;
+
+ Jacobian::Jacobian()
+ {
+@@ -147,8 +147,8 @@ namespace KDL
+ }
+
+ void Jacobian::setColumn(unsigned int i,const Twist& t){
+- data.col(i).start<3>()=Eigen::Map<Vector3d>(t.vel.data);
+- data.col(i).end<3>()=Eigen::Map<Vector3d>(t.rot.data);
++ data.col(i).head<3>()=Eigen::Map<Vector3d>(t.vel.data);
++ data.col(i).tail<3>()=Eigen::Map<Vector3d>(t.rot.data);
+ }
+
+ }
+Index: freecad-0.15.4671/src/Mod/Robot/App/kdl_cp/jntarray.cpp
+===================================================================
+--- freecad-0.15.4671.orig/src/Mod/Robot/App/kdl_cp/jntarray.cpp
++++ freecad-0.15.4671/src/Mod/Robot/App/kdl_cp/jntarray.cpp
+@@ -23,7 +23,7 @@
+
+ namespace KDL
+ {
+- USING_PART_OF_NAMESPACE_EIGEN
++ using namespace Eigen;
+
+ JntArray::JntArray()
+ {
+@@ -101,7 +101,7 @@ namespace KDL
+
+ void MultiplyJacobian(const Jacobian& jac, const JntArray& src, Twist& dest)
+ {
+- Eigen::Matrix<double,6,1> t=(jac.data*src.data).lazy();
++ Eigen::Matrix<double,6,1> t=(jac.data*src.data);
+ dest=Twist(Vector(t(0),t(1),t(2)),Vector(t(3),t(4),t(5)));
+ }
+
+Index: freecad-0.15.4671/src/Mod/Robot/App/kdl_cp/jntspaceinertiamatrix.cpp
+===================================================================
+--- freecad-0.15.4671.orig/src/Mod/Robot/App/kdl_cp/jntspaceinertiamatrix.cpp
++++ freecad-0.15.4671/src/Mod/Robot/App/kdl_cp/jntspaceinertiamatrix.cpp
+@@ -23,7 +23,7 @@
+
+ namespace KDL
+ {
+- USING_PART_OF_NAMESPACE_EIGEN
++ using namespace Eigen;
+
+ JntSpaceInertiaMatrix::JntSpaceInertiaMatrix()
+ {
+@@ -100,7 +100,7 @@ namespace KDL
+
+ void Multiply(const JntSpaceInertiaMatrix& src, const JntArray& vec, JntArray& dest)
+ {
+- dest.data=(src.data*vec.data).lazy();
++ dest.data=(src.data*vec.data);
+ }
+
+ void SetToZero(JntSpaceInertiaMatrix& mat)
+Index: freecad-0.15.4671/src/Mod/Robot/App/kdl_cp/treeiksolvervel_wdls.cpp
+===================================================================
+--- freecad-0.15.4671.orig/src/Mod/Robot/App/kdl_cp/treeiksolvervel_wdls.cpp
++++ freecad-0.15.4671/src/Mod/Robot/App/kdl_cp/treeiksolvervel_wdls.cpp
+@@ -76,15 +76,15 @@ namespace KDL {
+
+ //Lets use the wdls algorithm to find the qdot:
+ // Create the Weighted jacobian
+- J_Wq = (J * Wq).lazy();
+- Wy_J_Wq = (Wy * J_Wq).lazy();
++ J_Wq = (J * Wq);
++ Wy_J_Wq = (Wy * J_Wq);
+
+ // Compute the SVD of the weighted jacobian
+ int ret = svd_eigen_HH(Wy_J_Wq, U, S, V, tmp);
+
+ //Pre-multiply U and V by the task space and joint space weighting matrix respectively
+- Wy_t = (Wy * t).lazy();
+- Wq_V = (Wq * V).lazy();
++ Wy_t = (Wy * t);
++ Wq_V = (Wq * V);
+
+ // tmp = (Si*Wy*U'*y),
+ for (unsigned int i = 0; i < J.cols(); i++) {
+@@ -99,7 +99,7 @@ namespace KDL {
+ }
+
+ // x = Lx^-1*V*tmp + x
+- qdot_out.data = (Wq_V * tmp).lazy();
++ qdot_out.data = (Wq_V * tmp);
+
+ return Wy_t.norm();
+ }
+Index: freecad-0.15.4671/src/Mod/Robot/App/kdl_cp/treeiksolvervel_wdls.hpp
+===================================================================
+--- freecad-0.15.4671.orig/src/Mod/Robot/App/kdl_cp/treeiksolvervel_wdls.hpp
++++ freecad-0.15.4671/src/Mod/Robot/App/kdl_cp/treeiksolvervel_wdls.hpp
+@@ -14,7 +14,7 @@
+
+ namespace KDL {
+
+- USING_PART_OF_NAMESPACE_EIGEN;
++ using namespace Eigen;
+
+ class TreeIkSolverVel_wdls: public TreeIkSolverVel {
+ public:
+Index: freecad-0.15.4671/src/Mod/Robot/App/kdl_cp/utilities/svd_eigen_HH.cpp
+===================================================================
+--- freecad-0.15.4671.orig/src/Mod/Robot/App/kdl_cp/utilities/svd_eigen_HH.cpp
++++ freecad-0.15.4671/src/Mod/Robot/App/kdl_cp/utilities/svd_eigen_HH.cpp
+@@ -30,7 +30,7 @@ namespace KDL{
+ const int cols = A.cols();
+
+ U.setZero();
+- U.corner(Eigen::TopLeft,rows,cols)=A;
++ U.topLeftCorner(rows,cols)=A;
+
+ int i(-1),its(-1),j(-1),jj(-1),k(-1),nm=0;
+ int ppi(0);
+Index: freecad-0.15.4671/src/Mod/Robot/App/kdl_cp/utilities/svd_eigen_HH.hpp
+===================================================================
+--- freecad-0.15.4671.orig/src/Mod/Robot/App/kdl_cp/utilities/svd_eigen_HH.hpp
++++ freecad-0.15.4671/src/Mod/Robot/App/kdl_cp/utilities/svd_eigen_HH.hpp
+@@ -28,7 +28,7 @@
+ #include <Eigen/Core>
+ #include <algorithm>
+
+-USING_PART_OF_NAMESPACE_EIGEN;
++using namespace Eigen;
+
+ namespace KDL
+ {
+Index: freecad-0.15.4671/src/Mod/Robot/App/kdl_cp/utilities/svd_eigen_Macie.hpp
+===================================================================
+--- freecad-0.15.4671.orig/src/Mod/Robot/App/kdl_cp/utilities/svd_eigen_Macie.hpp
++++ freecad-0.15.4671/src/Mod/Robot/App/kdl_cp/utilities/svd_eigen_Macie.hpp
+@@ -26,7 +26,7 @@
+ #define SVD_BOOST_MACIE
+
+ #include <Eigen/Core>
+-USING_PART_OF_NAMESPACE_EIGEN
++using namespace Eigen;
+
+ namespace KDL
+ {
+@@ -39,7 +39,7 @@ namespace KDL
+ unsigned int rotations=0;
+ if(toggle){
+ //Calculate B from new A and previous V
+- B=(A*V).lazy();
++ B=(A*V);
+ while(rotate){
+ rotate=false;
+ rotations=0;
+@@ -76,9 +76,9 @@ namespace KDL
+ B.col(i) = tempi;
+
+ //Apply plane rotation to columns of V
+- tempi.start(V.rows()) = cos*V.col(i) + sin*V.col(j);
++ tempi.head(V.rows()) = cos*V.col(i) + sin*V.col(j);
+ V.col(j) = - sin*V.col(i) + cos*V.col(j);
+- V.col(i) = tempi.start(V.rows());
++ V.col(i) = tempi.head(V.rows());
+
+ rotate=true;
+ }
+@@ -103,7 +103,7 @@ namespace KDL
+ return sweeps;
+ }else{
+ //Calculate B from new A and previous U'
+- B =(U.transpose() * A).lazy();
++ B =(U.transpose() * A);
+ while(rotate){
+ rotate=false;
+ rotations=0;
+@@ -137,15 +137,15 @@ namespace KDL
+ }
+
+ //Apply plane rotation to rows of B
+- tempi.start(B.cols()) = cos*B.row(i) + sin*B.row(j);
++ tempi.head(B.cols()) = cos*B.row(i) + sin*B.row(j);
+ B.row(j) = - sin*B.row(i) + cos*B.row(j);
+- B.row(i) = tempi.start(B.cols());
++ B.row(i) = tempi.head(B.cols());
+
+
+ //Apply plane rotation to rows of U
+- tempi.start(U.rows()) = cos*U.col(i) + sin*U.col(j);
++ tempi.head(U.rows()) = cos*U.col(i) + sin*U.col(j);
+ U.col(j) = - sin*U.col(i) + cos*U.col(j);
+- U.col(i) = tempi.start(U.rows());
++ U.col(i) = tempi.head(U.rows());
+
+ rotate=true;
+ }
+Index: freecad-0.15.4671/src/Mod/Mesh/App/CMakeLists.txt
+===================================================================
+--- freecad-0.15.4671.orig/src/Mod/Mesh/App/CMakeLists.txt
++++ freecad-0.15.4671/src/Mod/Mesh/App/CMakeLists.txt
+@@ -1,7 +1,5 @@
+ if(WIN32)
+ add_definitions(-DFCAppMesh -DWM4_FOUNDATION_DLL_EXPORT -DEIGEN2_SUPPORT)
+-else (Win32)
+- add_definitions(-DEIGEN2_SUPPORT)
+ endif(WIN32)
+
+ include_directories(
+Index: freecad-0.15.4671/src/Mod/Robot/App/CMakeLists.txt
+===================================================================
+--- freecad-0.15.4671.orig/src/Mod/Robot/App/CMakeLists.txt
++++ freecad-0.15.4671/src/Mod/Robot/App/CMakeLists.txt
+@@ -1,7 +1,7 @@
+ if(MSVC)
+ add_definitions(-DFCAppRobot -DHAVE_ACOSH -DHAVE_ASINH -DHAVE_ATANH -DEIGEN2_SUPPORT)
+ else(MSVC)
+- add_definitions(-DHAVE_LIMITS_H -DHAVE_CONFIG_H -DEIGEN2_SUPPORT)
++ add_definitions(-DHAVE_LIMITS_H -DHAVE_CONFIG_H)
+ endif(MSVC)
+
+
+Index: freecad-0.15.4671/src/Mod/Robot/Gui/CMakeLists.txt
+===================================================================
+--- freecad-0.15.4671.orig/src/Mod/Robot/Gui/CMakeLists.txt
++++ freecad-0.15.4671/src/Mod/Robot/Gui/CMakeLists.txt
+@@ -1,7 +1,7 @@
+ if(MSVC)
+ add_definitions(-DFCGuiRobot -DHAVE_ACOSH -DHAVE_ASINH -DHAVE_ATANH -DEIGEN2_SUPPORT)
+ else(MSVC)
+- add_definitions(-DHAVE_LIMITS_H -DHAVE_CONFIG_H -DEIGEN2_SUPPORT)
++ add_definitions(-DHAVE_LIMITS_H -DHAVE_CONFIG_H)
+ endif(MSVC)
+
+
diff --git a/debian/patches/series b/debian/patches/series
index 1321ee0..d56b9ea 100644
--- a/debian/patches/series
+++ b/debian/patches/series
@@ -9,3 +9,4 @@ fix_clang_compilation.patch
gcc5.patch
remove_doc-files.patch
remove_getting_webpage.patch
+eigen3.patch
--
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