From aea2802ec2c3eca7bd573398f12be896ed4845f8 Mon Sep 17 00:00:00 2001
From: Fabian Peller-Konrad <fabian.peller-konrad@kit.edu>
Date: Thu, 21 Dec 2023 10:39:51 +0100
Subject: [PATCH] change codegeneration for matrix default type for gcc13
---
.../cpp/generator/ndarray/Matrix.cpp | 31 ++++++++++++++++---
.../codewriter/cpp/generator/ndarray/Matrix.h | 1 +
2 files changed, 27 insertions(+), 5 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 6ace1783e..0cacba084 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
@@ -69,15 +69,11 @@ namespace armarx::aron::codegenerator::cpp::generator
std::pair<std::vector<std::pair<std::string, std::string>>, bool>
Matrix::getCtorInitializers(const std::string& name) const
{
- if (type.getDefaultValue() == aron::type::matrix::default_value::DEFAULT)
- {
- return {{}, false};
- }
if (type.getDefaultValue() == aron::type::matrix::default_value::IDENTITY)
{
return {{{name, getInstantiatedCppTypename() + "::Identity()"}}, true};
}
- if (type.getDefaultValue() == aron::type::matrix::default_value::ZEROS)
+ if (type.getDefaultValue() == aron::type::matrix::default_value::DEFAULT || type.getDefaultValue() == aron::type::matrix::default_value::ZEROS)
{
return {{{name, getInstantiatedCppTypename() + "::Zero()"}}, true};
}
@@ -93,6 +89,31 @@ namespace armarx::aron::codegenerator::cpp::generator
}
}
+ CppBlockPtr
+ Matrix::getResetHardBlock(const std::string& cppAccessor) const
+ {
+ CppBlockPtr block_if_data = std::make_shared<CppBlock>();
+
+ if (type.getDefaultValue() == aron::type::matrix::default_value::IDENTITY)
+ {
+ block_if_data->addLine(cppAccessor + " = " + getInstantiatedCppTypename() + "::Identity();");
+ }
+ if (type.getDefaultValue() == aron::type::matrix::default_value::DEFAULT || type.getDefaultValue() == aron::type::matrix::default_value::ZEROS)
+ {
+ block_if_data->addLine(cppAccessor + " = " + getInstantiatedCppTypename() + "::Zero();");
+ }
+ if (type.getDefaultValue() == aron::type::matrix::default_value::ONES)
+ {
+ block_if_data->addLine(cppAccessor + " = " + getInstantiatedCppTypename() + "::One();");
+ }
+ else
+ {
+ // try to parse num. We ensure from typereader that defaultValue is valid number
+ block_if_data->addLine(cppAccessor + " = " + "::One() * " + type.getDefaultValue() + ";");
+ }
+ return resolveMaybeResetHardBlock(block_if_data, cppAccessor);
+ }
+
CppBlockPtr
Matrix::getResetSoftBlock(const std::string& cppAccessor) const
{
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.h b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.h
index 452ac7b53..69790642a 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.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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