From 478c9d26393b0a29f11c3809f25b9e9b6f547441 Mon Sep 17 00:00:00 2001
From: Fabian Peller-Konrad <fabian.peller-konrad@kit.edu>
Date: Thu, 21 Dec 2023 10:50:19 +0100
Subject: [PATCH] remove useless .empty check. Fix codegeneration for
quaternioins for gcc13
---
.../cpp/generator/ndarray/Matrix.cpp | 2 +-
.../cpp/generator/ndarray/Quaternion.cpp | 31 +++++++++++++++++--
.../cpp/generator/ndarray/Quaternion.h | 1 +
3 files changed, 30 insertions(+), 4 deletions(-)
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp
index d8f53d388..0fe08b1dc 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp
@@ -98,7 +98,7 @@ namespace armarx::aron::codegenerator::cpp::generator
{
block_if_data->addLine(cppAccessor + " = " + getInstantiatedCppTypename() + "::Identity();");
}
- else if (type.getDefaultValue().empty() || type.getDefaultValue() == aron::type::matrix::default_value::DEFAULT || type.getDefaultValue() == aron::type::matrix::default_value::ZEROS)
+ else if (type.getDefaultValue() == aron::type::matrix::default_value::DEFAULT || type.getDefaultValue() == aron::type::matrix::default_value::ZEROS)
{
block_if_data->addLine(cppAccessor + " = " + getInstantiatedCppTypename() + "::Zero();");
}
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Quaternion.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Quaternion.cpp
index 365b3c882..150c0be30 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Quaternion.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Quaternion.cpp
@@ -62,13 +62,13 @@ namespace armarx::aron::codegenerator::cpp::generator
{
if (type.getDefaultValue() == aron::type::quaternion::default_value::DEFAULT)
{
- return {{}, false};
+ return {{{name, getInstantiatedCppTypename() + "::Identity())"}}, true};
}
- if (type.getDefaultValue() == aron::type::quaternion::default_value::ZEROS)
+ else if (type.getDefaultValue() == aron::type::quaternion::default_value::ZEROS)
{
return {{{name, getInstantiatedCppTypename() + "(0, 0, 0, 0)"}}, true};
}
- if (type.getDefaultValue() == aron::type::quaternion::default_value::ONES)
+ else if (type.getDefaultValue() == aron::type::quaternion::default_value::ONES)
{
return {{{name, getInstantiatedCppTypename() + "(1, 1, 1, 1)"}}, true};
}
@@ -80,6 +80,31 @@ namespace armarx::aron::codegenerator::cpp::generator
}
}
+ CppBlockPtr
+ Quaternion::getResetHardBlock(const std::string& cppAccessor) const
+ {
+ CppBlockPtr block_if_data = std::make_shared<CppBlock>();
+
+ if (type.getDefaultValue() == aron::type::quaternion::default_value::DEFAULT)
+ {
+ block_if_data->addLine(cppAccessor + " = " + getInstantiatedCppTypename() + "::Identity();");
+ }
+ else if (type.getDefaultValue() == aron::type::quaternion::default_value::ZEROS)
+ {
+ block_if_data->addLine(cppAccessor + " = " + getInstantiatedCppTypename() + "(0, 0, 0, 0);");
+ }
+ else if (type.getDefaultValue() == aron::type::quaternion::default_value::ONES)
+ {
+ block_if_data->addLine(cppAccessor + " = " + getInstantiatedCppTypename() + "(1, 1, 1, 1);");
+ }
+ else if (not type.getDefaultValue().empty())
+ {
+ // try to parse num. We ensure from typereader that defaultValue is valid number
+ block_if_data->addLine(cppAccessor + " = " + getInstantiatedCppTypename() + "(" + type.getDefaultValue() + ");");
+ }
+ return resolveMaybeResetHardBlock(block_if_data, cppAccessor);
+ }
+
CppBlockPtr
Quaternion::getResetSoftBlock(const std::string& cppAccessor) const
{
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Quaternion.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Quaternion.h
index 4fd41b7db..70f8e890e 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Quaternion.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Quaternion.h
@@ -42,6 +42,7 @@ namespace armarx::aron::codegenerator::cpp::generator
std::vector<std::string> getRequiredIncludes() const final;
std::pair<std::vector<std::pair<std::string, std::string>>, bool>
getCtorInitializers(const std::string&) const final;
+ CppBlockPtr getResetHardBlock(const std::string& cppAccessor) const final;
CppBlockPtr getResetSoftBlock(const std::string& cppAccessor) const final;
CppBlockPtr getWriteTypeBlock(const std::string& typeAccessor,
const std::string& cppAccessor,
--
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