diff --git a/GraspPlanning/GraspQuality/GraspEvaluationPoseUncertainty.h b/GraspPlanning/GraspQuality/GraspEvaluationPoseUncertainty.h
index 3ec365c674af532f7eb8b0751fb09610d3cad094..370ff9f2c412df07765bd0efc9e1b97a223cbe19 100644
--- a/GraspPlanning/GraspQuality/GraspEvaluationPoseUncertainty.h
+++ b/GraspPlanning/GraspQuality/GraspEvaluationPoseUncertainty.h
@@ -37,7 +37,7 @@ namespace GraspStudio
This class implements the paper:
Jonathan Weisz and Peter K. Allen, "Pose Error Robust Grasping from Contact Wrench Space Metrics", 2012 IEEE International Conference on Robotics and Automation
*/
-class GraspEvaluationPoseUncertainty : public boost::enable_shared_from_this<GraspEvaluationPoseUncertainty>
+class GRASPSTUDIO_IMPORT_EXPORT GraspEvaluationPoseUncertainty : public boost::enable_shared_from_this<GraspEvaluationPoseUncertainty>
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
diff --git a/GraspPlanning/examples/GraspPlanner/GraspPlannerWindow.cpp b/GraspPlanning/examples/GraspPlanner/GraspPlannerWindow.cpp
index c855c0141b0c17ca4e32545cec31f3a4c3d178dc..871f76570a448e96d3357b19f7463a82d505180a 100644
--- a/GraspPlanning/examples/GraspPlanner/GraspPlannerWindow.cpp
+++ b/GraspPlanning/examples/GraspPlanner/GraspPlannerWindow.cpp
@@ -542,12 +542,14 @@ void GraspPlannerWindow::planObjectBatch()
for (boost::filesystem::recursive_directory_iterator end, dir(fi.toUtf8().data(), boost::filesystem::symlink_option::recurse);
dir != end ; ++dir)
{
- std::string path(dir->path().c_str());
+ //std::string path(dir->path().c_str());
// search for all statechart group xml files
if (dir->path().extension() == ".moxml")
{
- paths << dir->path().c_str();
+ std::string p = dir->path().string();
+ QString qs(p.c_str());
+ paths.append(qs);
}
}
diff --git a/VirtualRobot/MathTools.h b/VirtualRobot/MathTools.h
index 2a55b55af37672544d883d1dfcb41bad54567893..713f10c0872e611e0a14c423cf5b2a3f0b2dcbba 100644
--- a/VirtualRobot/MathTools.h
+++ b/VirtualRobot/MathTools.h
@@ -89,21 +89,21 @@ namespace VirtualRobot
*/
MathTools::Quaternion VIRTUAL_ROBOT_IMPORT_EXPORT slerp(const MathTools::Quaternion& q1, const MathTools::Quaternion& q2, float alpha);
- float fmod(float value, float boundLow, float boundHigh);
+ float VIRTUAL_ROBOT_IMPORT_EXPORT fmod(float value, float boundLow, float boundHigh);
- float angleMod2PI(float value);
+ float VIRTUAL_ROBOT_IMPORT_EXPORT angleMod2PI(float value);
- float angleModPI(float value);
+ float VIRTUAL_ROBOT_IMPORT_EXPORT angleModPI(float value);
- float angleModX(float value, float center);
+ float VIRTUAL_ROBOT_IMPORT_EXPORT angleModX(float value, float center);
- float Lerp(float a, float b, float f);
+ float VIRTUAL_ROBOT_IMPORT_EXPORT Lerp(float a, float b, float f);
- float ILerp(float a, float b, float f);
+ float VIRTUAL_ROBOT_IMPORT_EXPORT ILerp(float a, float b, float f);
- float AngleLerp(float a, float b, float f);
+ float VIRTUAL_ROBOT_IMPORT_EXPORT AngleLerp(float a, float b, float f);
- float AngleDelta(float angle1, float angle2);
+ float VIRTUAL_ROBOT_IMPORT_EXPORT AngleDelta(float angle1, float angle2);
/************************************************************************/
/* SPHERICAL COORDINATES */
diff --git a/VirtualRobot/Random.h b/VirtualRobot/Random.h
index 2aa5a62b07c5f547f0723b1a1bbb4bc8245320d3..96a9eeed01e115deb463b75120915a23b5843ed0 100644
--- a/VirtualRobot/Random.h
+++ b/VirtualRobot/Random.h
@@ -22,11 +22,12 @@
*/
#pragma once
+#include "VirtualRobot.h"
#include <random>
namespace VirtualRobot
{
- std::mt19937_64& PRNG64Bit();
+ std::mt19937_64 VIRTUAL_ROBOT_IMPORT_EXPORT & PRNG64Bit();
inline typename std::mt19937_64::result_type RandomNumber()
{
diff --git a/VirtualRobot/TimeOptimalTrajectory/Path.h b/VirtualRobot/TimeOptimalTrajectory/Path.h
index 0dd40d37de8fa5385d6c737d75338051137824b9..94b66bcaa72f1bdf7be08d42dc3d83e99b24de7e 100644
--- a/VirtualRobot/TimeOptimalTrajectory/Path.h
+++ b/VirtualRobot/TimeOptimalTrajectory/Path.h
@@ -38,12 +38,13 @@
#pragma once
+#include "../VirtualRobot.h"
#include <list>
#include <Eigen/Core>
namespace VirtualRobot
{
- class PathSegment
+ class VIRTUAL_ROBOT_IMPORT_EXPORT PathSegment
{
public:
PathSegment(double length = 0.0) :
@@ -69,7 +70,7 @@ namespace VirtualRobot
- class Path
+ class VIRTUAL_ROBOT_IMPORT_EXPORT Path
{
public:
Path(const std::list<Eigen::VectorXd> &path, double maxDeviation = 0.0);
diff --git a/VirtualRobot/TimeOptimalTrajectory/TimeOptimalTrajectory.h b/VirtualRobot/TimeOptimalTrajectory/TimeOptimalTrajectory.h
index 23bd16274ee6e7231d6cd458907b1cc00fdc0376..af42cd6a1326e57de59e0fedb565b4ff772dd77e 100644
--- a/VirtualRobot/TimeOptimalTrajectory/TimeOptimalTrajectory.h
+++ b/VirtualRobot/TimeOptimalTrajectory/TimeOptimalTrajectory.h
@@ -38,6 +38,7 @@
#pragma once
+#include "../VirtualRobot.h"
#include <Eigen/Core>
#include "Path.h"
@@ -49,7 +50,7 @@ namespace VirtualRobot
* Time-Optimal Trajectory Generation for Path Following with Bounded Acceleration and Velocity
* Robotics: Science and Systems. 2012.
*/
- class TimeOptimalTrajectory
+ class VIRTUAL_ROBOT_IMPORT_EXPORT TimeOptimalTrajectory
{
public:
// Generates a time-optimal trajectory
diff --git a/VirtualRobot/VirtualRobot.h b/VirtualRobot/VirtualRobot.h
index 9af653432fe5fa6956b82e93c73ff9a645f58bf9..5ab517e54f299e1038e95b3498a2869a4c288d56 100644
--- a/VirtualRobot/VirtualRobot.h
+++ b/VirtualRobot/VirtualRobot.h
@@ -114,10 +114,12 @@ EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Vector2f)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Vector3f)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Vector4f)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::VectorXf)
+EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::VectorXd)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Matrix2f)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Matrix3f)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Matrix4f)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::MatrixXf)
+EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::MatrixXd)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Vector3d)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Vector3i)
diff --git a/VirtualRobot/Visualization/TriMeshModel.cpp b/VirtualRobot/Visualization/TriMeshModel.cpp
index fa4d27946531958511e0d84f3aaad22692eff912..941ab1a65ff4eec805c015e08de23ec6fa91c085 100644
--- a/VirtualRobot/Visualization/TriMeshModel.cpp
+++ b/VirtualRobot/Visualization/TriMeshModel.cpp
@@ -386,7 +386,7 @@ namespace VirtualRobot
query_pt[1] = p1[1];
query_pt[2] = p1[2];
const size_t nMatches = index.radiusSearch(&query_pt[0],search_radius, ret_matches, params);
- for (int k = 0; k < nMatches; ++k)
+ for (size_t k = 0; k < nMatches; ++k)
{
int foundIndex = ret_matches.at(k).first;
auto& faces = vertex2FaceMap[foundIndex];
@@ -471,7 +471,7 @@ namespace VirtualRobot
}
std::vector<Eigen::Vector3f> newVertices;
- std::map<u_int, u_int> oldNewIndexMap;
+ std::map<unsigned int, unsigned int> oldNewIndexMap;
for (size_t i=0; i<vertex2FaceMap.size(); i++ )
{
@@ -480,7 +480,7 @@ namespace VirtualRobot
{
Eigen::Vector3f &v = vertices.at(i);
newVertices.push_back(v);
- oldNewIndexMap[i] = (u_int)newVertices.size()-1;
+ oldNewIndexMap[i] = (unsigned int)newVertices.size()-1;
}
}
diff --git a/VirtualRobot/examples/RobotViewer/RobotViewer.cpp b/VirtualRobot/examples/RobotViewer/RobotViewer.cpp
index 9ef445f7cfa0429e1937863524e324aec3f85540..05b9df68f34722c5d4b6e6d458b9ff386fb3ecdc 100644
--- a/VirtualRobot/examples/RobotViewer/RobotViewer.cpp
+++ b/VirtualRobot/examples/RobotViewer/RobotViewer.cpp
@@ -38,6 +38,7 @@ int main(int argc, char* argv[])
cout << " --- START --- " << endl;
// --robot "robots/iCub/iCub.xml"
std::string filename("robots/ArmarIII/ArmarIII.xml");
+ //std::string filename("C:/Projects/MMM/mmmtools/data/Model/Winter/mmm.xml");
//std::string filename("robots/ArmarIII/ArmarIII-RightArm.xml");
//std::string filename("C:/Projects/IIT_Projects/iCubRobot/robot/iCub.xml");
//std::string filename(DEMO_BASE_DIR "/robot/iCub_RightArm.xml");
diff --git a/VirtualRobot/math/AbstractFunctionR1Ori.h b/VirtualRobot/math/AbstractFunctionR1Ori.h
index fd85ea7a7e5335f7527589efb8b89477b862e63f..4215bf8337e95288468ae3432c78f509bd9381a8 100644
--- a/VirtualRobot/math/AbstractFunctionR1Ori.h
+++ b/VirtualRobot/math/AbstractFunctionR1Ori.h
@@ -21,12 +21,13 @@
#pragma once
+#include "../VirtualRobot.h"
#include "MathForwardDefinitions.h"
#include "SimpleAbstractFunctionR1Ori.h"
namespace math
{
- class AbstractFunctionR1Ori
+ class VIRTUAL_ROBOT_IMPORT_EXPORT AbstractFunctionR1Ori
: public SimpleAbstractFunctionR1Ori
{
public:
diff --git a/VirtualRobot/math/AbstractFunctionR1R2.cpp b/VirtualRobot/math/AbstractFunctionR1R2.cpp
index 045ff816ec8c15421f3382ff363008fc8f6d2f8b..9d92e99030113932698927ba940e407966e813b4 100644
--- a/VirtualRobot/math/AbstractFunctionR1R2.cpp
+++ b/VirtualRobot/math/AbstractFunctionR1R2.cpp
@@ -19,6 +19,7 @@
* GNU Lesser General Public License
*/
+#include "../VirtualRobot.h"
#include "AbstractFunctionR1R2.h"
#include <Eigen/Geometry>
diff --git a/VirtualRobot/math/AbstractFunctionR1R2.h b/VirtualRobot/math/AbstractFunctionR1R2.h
index 47f4b688c73e33a4b894546d3bb119372da60c67..b4d1f0a406169e3f1e128ad240290167cebebb21 100644
--- a/VirtualRobot/math/AbstractFunctionR1R2.h
+++ b/VirtualRobot/math/AbstractFunctionR1R2.h
@@ -21,6 +21,7 @@
#pragma once
+#include "../VirtualRobot.h"
#include "MathForwardDefinitions.h"
@@ -29,7 +30,7 @@
namespace math
{
-class AbstractFunctionR1R2
+class VIRTUAL_ROBOT_IMPORT_EXPORT AbstractFunctionR1R2
{
public:
virtual Eigen::Vector2f Get(float t) = 0;
diff --git a/VirtualRobot/math/AbstractFunctionR1R3.h b/VirtualRobot/math/AbstractFunctionR1R3.h
index e739b45ec420e2e40f88b19f6cb364fbb592585d..a3fd117b8a526c783a1ad353eaac918f70b61087 100644
--- a/VirtualRobot/math/AbstractFunctionR1R3.h
+++ b/VirtualRobot/math/AbstractFunctionR1R3.h
@@ -21,13 +21,12 @@
#pragma once
+#include "../VirtualRobot.h"
#include "SimpleAbstractFunctionR1R3.h"
-
-
namespace math
{
- class AbstractFunctionR1R3 :
+ class VIRTUAL_ROBOT_IMPORT_EXPORT AbstractFunctionR1R3 :
public SimpleAbstractFunctionR1R3
{
public:
diff --git a/VirtualRobot/math/AbstractFunctionR1R6.h b/VirtualRobot/math/AbstractFunctionR1R6.h
index 1feb63b856b27aa8be59d4b95d48ec7ae204b8e5..ce5d636c6d7c8aca7b71789c8d9bc5ccc5e0df07 100644
--- a/VirtualRobot/math/AbstractFunctionR1R6.h
+++ b/VirtualRobot/math/AbstractFunctionR1R6.h
@@ -21,12 +21,13 @@
#pragma once
+#include "../VirtualRobot.h"
#include "MathForwardDefinitions.h"
#include "SimpleAbstractFunctionR1R6.h"
namespace math
{
- class AbstractFunctionR1R6
+ class VIRTUAL_ROBOT_IMPORT_EXPORT AbstractFunctionR1R6
: public SimpleAbstractFunctionR1R6
{
public:
diff --git a/VirtualRobot/math/AbstractFunctionR2R3.h b/VirtualRobot/math/AbstractFunctionR2R3.h
index 39f4d71046a3d07895c536d57c2efa3f9880e94b..e7a8f27a9ba0dc077efffee2597c79c8f29ffe18 100644
--- a/VirtualRobot/math/AbstractFunctionR2R3.h
+++ b/VirtualRobot/math/AbstractFunctionR2R3.h
@@ -21,6 +21,7 @@
#pragma once
+#include "../VirtualRobot.h"
#include "SimpleAbstractFunctionR2R3.h"
@@ -29,7 +30,7 @@ namespace math
{
-class AbstractFunctionR2R3:
+class VIRTUAL_ROBOT_IMPORT_EXPORT AbstractFunctionR2R3:
public SimpleAbstractFunctionR2R3
{
public:
diff --git a/VirtualRobot/math/AbstractFunctionR3R1.h b/VirtualRobot/math/AbstractFunctionR3R1.h
index b610da2934032fa4f4ac391f5ab7b41c94519c24..8cc11401229cce58ee2387d006dee767d04f94cd 100644
--- a/VirtualRobot/math/AbstractFunctionR3R1.h
+++ b/VirtualRobot/math/AbstractFunctionR3R1.h
@@ -22,12 +22,13 @@
#pragma once
+#include "../VirtualRobot.h"
#include "SimpleAbstractFunctionR3R1.h"
namespace math
{
- class AbstractFunctionR3R1 :
+ class VIRTUAL_ROBOT_IMPORT_EXPORT AbstractFunctionR3R1 :
public SimpleAbstractFunctionR3R1
{
public:
diff --git a/VirtualRobot/math/Bezier.h b/VirtualRobot/math/Bezier.h
index cae16e12cd25679aa0d262c49ea46b5f99a7e488..f62ce7382589b4b76433eb84b1d96d5dab8a89c7 100644
--- a/VirtualRobot/math/Bezier.h
+++ b/VirtualRobot/math/Bezier.h
@@ -21,14 +21,14 @@
#pragma once
+#include "../VirtualRobot.h"
#include "MathForwardDefinitions.h"
-
#include "AbstractFunctionR1R3.h"
namespace math
{
- class Bezier :
+ class VIRTUAL_ROBOT_IMPORT_EXPORT Bezier :
public AbstractFunctionR1R3
{
public:
diff --git a/VirtualRobot/math/Contact.h b/VirtualRobot/math/Contact.h
index 3b6b85763b1431db55cee4ba32324e0f730db908..bdce4d61f93f91fea17aee4f39a3d379071064e1 100644
--- a/VirtualRobot/math/Contact.h
+++ b/VirtualRobot/math/Contact.h
@@ -21,6 +21,7 @@
#pragma once
+#include "../VirtualRobot.h"
#include "MathForwardDefinitions.h"
#include <sstream>
@@ -28,7 +29,7 @@
namespace math
{
- class Contact
+ class VIRTUAL_ROBOT_IMPORT_EXPORT Contact
{
public:
Contact();
diff --git a/VirtualRobot/math/ContactList.h b/VirtualRobot/math/ContactList.h
index 2a2f4e82d4c8288142613c386d3a1036ff9d0fe2..285999707349ed74b13eb39face3b509ef6c4f4c 100644
--- a/VirtualRobot/math/ContactList.h
+++ b/VirtualRobot/math/ContactList.h
@@ -20,13 +20,13 @@
*/
#pragma once
-
+#include "../VirtualRobot.h"
#include "Contact.h"
namespace math
{
- class ContactList :
+ class VIRTUAL_ROBOT_IMPORT_EXPORT ContactList :
public std::vector<Contact>
{
public:
diff --git a/VirtualRobot/math/FitPlane.h b/VirtualRobot/math/FitPlane.h
index f4ee5ed9f77feae50a1d60d0bf4f406a1220cd92..679e0bc0e03931e37d7c52c28cef9ca5ef56a8e6 100644
--- a/VirtualRobot/math/FitPlane.h
+++ b/VirtualRobot/math/FitPlane.h
@@ -21,13 +21,14 @@
#pragma once
+#include "../VirtualRobot.h"
#include "Plane.h"
#include <Eigen/Dense>
namespace math
{
- class FitPlane
+ class VIRTUAL_ROBOT_IMPORT_EXPORT FitPlane
{
public:
static Plane Fit(const std::vector<Eigen::Vector3f>& points);
diff --git a/VirtualRobot/math/GaussianImplicitSurface3D.h b/VirtualRobot/math/GaussianImplicitSurface3D.h
index c7fbb37f40836e00d22e0c7e15118008cf3f4a27..da3a2fa609bc0837e5556e13a1b0e30514eb54fb 100644
--- a/VirtualRobot/math/GaussianImplicitSurface3D.h
+++ b/VirtualRobot/math/GaussianImplicitSurface3D.h
@@ -21,6 +21,7 @@
#pragma once
+#include "../VirtualRobot.h"
#include "MathForwardDefinitions.h"
#include "DataR3R1.h"
#include "DataR3R2.h"
@@ -31,7 +32,7 @@
namespace math
{
-class GaussianImplicitSurface3D :
+class VIRTUAL_ROBOT_IMPORT_EXPORT GaussianImplicitSurface3D :
public SimpleAbstractFunctionR3R1
{
public:
diff --git a/VirtualRobot/math/GaussianImplicitSurface3DCombined.cpp b/VirtualRobot/math/GaussianImplicitSurface3DCombined.cpp
index 28b5c62e646528a192e83744423dc971290e5be9..b234a53f8fe4a1f7c36b4ffa28d78886ca572d8d 100644
--- a/VirtualRobot/math/GaussianImplicitSurface3DCombined.cpp
+++ b/VirtualRobot/math/GaussianImplicitSurface3DCombined.cpp
@@ -79,7 +79,7 @@ void GaussianImplicitSurface3DCombined::Calculate(const ContactList& normalSampl
y(i) = samples[i].Value1();
}
- for (uint i = 0; i < normalSamples.size(); i++)
+ for (size_t i = 0; i < normalSamples.size(); i++)
{
y(samples.size() + i * 4) = 0;
y(samples.size() + i * 4 + 1) = normalSamples[i].Normal().x();
diff --git a/VirtualRobot/math/GaussianImplicitSurface3DNormals.cpp b/VirtualRobot/math/GaussianImplicitSurface3DNormals.cpp
index f9f65643bdd13bf4299f413afc665731fb446404..fe2b6af74b353def38d03eb86aaaf681f624608a 100644
--- a/VirtualRobot/math/GaussianImplicitSurface3DNormals.cpp
+++ b/VirtualRobot/math/GaussianImplicitSurface3DNormals.cpp
@@ -51,7 +51,7 @@ void GaussianImplicitSurface3DNormals::Calculate(const ContactList& samples, flo
CalculateCovariance(points, R, noise, normalNoise);
Eigen::VectorXd values(samples.size() * 4);
- for (uint i = 0; i < samples.size(); i++)
+ for (unsigned int i = 0; i < samples.size(); i++)
{
values(i * 4) = 0;
values(i * 4 + 1) = samples.at(i).Normal().x();
diff --git a/VirtualRobot/math/GaussianImplicitSurface3DNormals.h b/VirtualRobot/math/GaussianImplicitSurface3DNormals.h
index 0bceb17e029c85a923646c4afbd6ca71b09d4797..93bf473ca9a0a1c06b5bc31a17618e139b8d2fd7 100644
--- a/VirtualRobot/math/GaussianImplicitSurface3DNormals.h
+++ b/VirtualRobot/math/GaussianImplicitSurface3DNormals.h
@@ -21,6 +21,7 @@
#pragma once
+#include "../VirtualRobot.h"
#include "MathForwardDefinitions.h"
#include "Contact.h"
#include "Helpers.h"
@@ -31,7 +32,7 @@
namespace math
{
-class GaussianImplicitSurface3DNormals :
+class VIRTUAL_ROBOT_IMPORT_EXPORT GaussianImplicitSurface3DNormals :
public SimpleAbstractFunctionR3R1
{
public:
diff --git a/VirtualRobot/math/GaussianObjectModel.h b/VirtualRobot/math/GaussianObjectModel.h
index 086cd299923042e25cbe8c526e80eb699b5fcdf5..1ade2ee5527a6d01ea8de1f0a9259e43cff14228 100644
--- a/VirtualRobot/math/GaussianObjectModel.h
+++ b/VirtualRobot/math/GaussianObjectModel.h
@@ -23,6 +23,7 @@
#include "MathForwardDefinitions.h"
+#include "../VirtualRobot.h"
#include "Contact.h"
#include "DataR3R1.h"
#include "GaussianImplicitSurface3D.h"
@@ -31,7 +32,7 @@
namespace math
{
- class GaussianObjectModel :
+ class VIRTUAL_ROBOT_IMPORT_EXPORT GaussianObjectModel :
public ImplicitObjectModel
{
public:
diff --git a/VirtualRobot/math/GaussianObjectModelNormals.h b/VirtualRobot/math/GaussianObjectModelNormals.h
index 6516cc33a2639d16aa1fef9e0c016a2627cd3b35..19f4f037005d0ed06182ae72402742f802ecd78f 100644
--- a/VirtualRobot/math/GaussianObjectModelNormals.h
+++ b/VirtualRobot/math/GaussianObjectModelNormals.h
@@ -21,6 +21,7 @@
#pragma once
+#include "../VirtualRobot.h"
#include "MathForwardDefinitions.h"
#include "Contact.h"
@@ -30,7 +31,7 @@
namespace math
{
- class GaussianObjectModelNormals :
+ class VIRTUAL_ROBOT_IMPORT_EXPORT GaussianObjectModelNormals :
public ImplicitObjectModel
{
public:
diff --git a/VirtualRobot/math/GridCacheFloat3.h b/VirtualRobot/math/GridCacheFloat3.h
index ff46c27f4d6caf83d3e079fc7bde00700172bf4a..c868ce6508aa421f0ac7f381f20b70777fdc7283 100644
--- a/VirtualRobot/math/GridCacheFloat3.h
+++ b/VirtualRobot/math/GridCacheFloat3.h
@@ -34,7 +34,6 @@ public:
float Get(int x, int y, int z);
-
private:
Array3DFloatPtr data;
Array3DBoolPtr valid;
diff --git a/VirtualRobot/math/Helpers.cpp b/VirtualRobot/math/Helpers.cpp
index b09b86c145e8dbdd603bfa015b8aca4bf650c2ab..46a12f1cab61355afeb751642be7970fca0f757c 100644
--- a/VirtualRobot/math/Helpers.cpp
+++ b/VirtualRobot/math/Helpers.cpp
@@ -231,10 +231,11 @@ Eigen::Vector3f Helpers::CreateVectorFromCylinderCoords(float r, float angle, fl
return Eigen::Vector3f(r * cos(angle), r * sin(angle), z);
}
-Eigen::Matrix4f math::Helpers::TranslatePose(Eigen::Matrix4f pose, const Eigen::Vector3f &offset)
+Eigen::Matrix4f math::Helpers::TranslatePose(const Eigen::Matrix4f &pose, const Eigen::Vector3f &offset)
{
- pose.block<3, 1>(0, 3) += offset;
- return pose;
+ Eigen::Matrix4f p = pose;
+ p.block<3, 1>(0, 3) += offset;
+ return p;
}
Eigen::Vector3f Helpers::TransformPosition(const Eigen::Matrix4f& transform, const Eigen::Vector3f& pos)
diff --git a/VirtualRobot/math/Helpers.h b/VirtualRobot/math/Helpers.h
index c87553aa9000bb16d70294acb0af4ebf4ad0b2d0..e0f3d45c57863dc3694e5e48c39e82b166597d3d 100644
--- a/VirtualRobot/math/Helpers.h
+++ b/VirtualRobot/math/Helpers.h
@@ -58,7 +58,7 @@ namespace math
static Eigen::Matrix3f GetRotationMatrix(const Eigen::Vector3f &source, const Eigen::Vector3f &target);
static Eigen::Matrix3f RotateOrientationToFitVector(const Eigen::Matrix3f& ori, const Eigen::Vector3f &localSource, const Eigen::Vector3f &globalTarget);
static Eigen::Vector3f CreateVectorFromCylinderCoords(float r, float angle, float z);
- static Eigen::Matrix4f TranslatePose(Eigen::Matrix4f pose, const Eigen::Vector3f& offset);
+ static Eigen::Matrix4f TranslatePose(const Eigen::Matrix4f &pose, const Eigen::Vector3f& offset);
static Eigen::Vector3f TransformPosition(const Eigen::Matrix4f& transform, const Eigen::Vector3f &pos);
static Eigen::Vector3f TransformDirection(const Eigen::Matrix4f& transform, const Eigen::Vector3f &dir);
static Eigen::Matrix3f TransformOrientation(const Eigen::Matrix4f& transform, const Eigen::Matrix3f &ori);
diff --git a/VirtualRobot/math/ImplicitObjectModel.h b/VirtualRobot/math/ImplicitObjectModel.h
index 6ad55998e7b98e0f6474dc2dca8136887a8a1a8b..93f160a55c97ea6fce1ba5e1a82886b96dca0f17 100644
--- a/VirtualRobot/math/ImplicitObjectModel.h
+++ b/VirtualRobot/math/ImplicitObjectModel.h
@@ -21,13 +21,14 @@
#pragma once
+#include "../VirtualRobot.h"
#include "MathForwardDefinitions.h"
#include "ContactList.h"
#include "SimpleAbstractFunctionR3R1.h"
namespace math
{
-class ImplicitObjectModel
+class VIRTUAL_ROBOT_IMPORT_EXPORT ImplicitObjectModel
{
public:
ContactListPtr Contacts() {return contacts;}
diff --git a/VirtualRobot/math/Kernels.h b/VirtualRobot/math/Kernels.h
index b44b49a8549593832edd4a9ca4802ffff09fa90a..90a5ed4d434fc95367bcb07f17df30a38b94b93f 100644
--- a/VirtualRobot/math/Kernels.h
+++ b/VirtualRobot/math/Kernels.h
@@ -21,13 +21,14 @@
#pragma once
+#include "../VirtualRobot.h"
#include "MathForwardDefinitions.h"
#include <memory>
namespace math
{
-class KernelWithDerivatives
+class VIRTUAL_ROBOT_IMPORT_EXPORT KernelWithDerivatives
{
public:
virtual float Kernel(const Eigen::Vector3f& p1, const Eigen::Vector3f& p2, float R) const = 0;
@@ -42,7 +43,7 @@ public:
void swap(float &x, float &y, float &z, int index) const;
};
-class GaussianKernel : public KernelWithDerivatives {
+class VIRTUAL_ROBOT_IMPORT_EXPORT GaussianKernel : public KernelWithDerivatives {
public:
GaussianKernel(float lengthScale);
float Kernel(const Eigen::Vector3f& p1, const Eigen::Vector3f& p2, float R) const override;
@@ -54,14 +55,14 @@ private:
float lengthScale;
};
-class WilliamsPlusKernel : public KernelWithDerivatives {
+class VIRTUAL_ROBOT_IMPORT_EXPORT WilliamsPlusKernel : public KernelWithDerivatives {
float Kernel(const Eigen::Vector3f& p1, const Eigen::Vector3f& p2, float R) const override;
float Kernel_dx(float x, float y, float z, float r, float R) const override;
float Kernel_ddx(float x, float y, float z, float r, float R) const override;
float Kernel_dxdy(float x, float y, float z, float r, float R) const override;
};
-class WilliamsMinusKernel : public KernelWithDerivatives {
+class VIRTUAL_ROBOT_IMPORT_EXPORT WilliamsMinusKernel : public KernelWithDerivatives {
float Kernel(const Eigen::Vector3f& p1, const Eigen::Vector3f& p2, float R) const override;
float Kernel_dx(float x, float y, float z, float r, float R) const override;
float Kernel_ddx(float x, float y, float z, float r, float R) const override;
diff --git a/VirtualRobot/math/MathForwardDefinitions.h b/VirtualRobot/math/MathForwardDefinitions.h
index bb386e41a6faeae4c19d28c60cf5f19e2bbb82b0..81910575e41fa9cb0283aa8ef06ab35c38cb769b 100644
--- a/VirtualRobot/math/MathForwardDefinitions.h
+++ b/VirtualRobot/math/MathForwardDefinitions.h
@@ -108,7 +108,7 @@ namespace math{
typedef boost::shared_ptr<class Bezier> BezierPtr;
typedef boost::shared_ptr<class LinearContinuedBezier> LinearContinuedBezierPtr;
typedef boost::shared_ptr<class Primitive> PrimitivePtr;
- typedef boost::shared_ptr<class Index3> Index3Ptr;
+ typedef boost::shared_ptr<struct Index3> Index3Ptr;
typedef boost::shared_ptr<class AbstractContactFeature> AbstractContactFeaturePtr;
typedef boost::shared_ptr<class BinContactFeature> BinContactFeaturePtr;
template<class T> class Array3D;
diff --git a/VirtualRobot/math/SimpleAbstractFunctionR1Ori.h b/VirtualRobot/math/SimpleAbstractFunctionR1Ori.h
index 92eb0351fae9f88da9340deeb167d2c48359c064..d655039ced217f9b3bb425df390d0fa16403f181 100644
--- a/VirtualRobot/math/SimpleAbstractFunctionR1Ori.h
+++ b/VirtualRobot/math/SimpleAbstractFunctionR1Ori.h
@@ -21,11 +21,12 @@
#pragma once
+#include "../VirtualRobot.h"
#include "MathForwardDefinitions.h"
namespace math
{
- class SimpleAbstractFunctionR1Ori
+ class VIRTUAL_ROBOT_IMPORT_EXPORT SimpleAbstractFunctionR1Ori
{
public:
virtual Eigen::Quaternionf Get(float t) = 0;
diff --git a/VirtualRobot/math/SimpleAbstractFunctionR1R3.h b/VirtualRobot/math/SimpleAbstractFunctionR1R3.h
index 332292b2228ea49a433b7cf58a8fd2fc6445ddc7..9b500904d8eeeade13f3e8f64a579a9755337e51 100644
--- a/VirtualRobot/math/SimpleAbstractFunctionR1R3.h
+++ b/VirtualRobot/math/SimpleAbstractFunctionR1R3.h
@@ -21,14 +21,13 @@
#pragma once
+#include "../VirtualRobot.h"
#include "MathForwardDefinitions.h"
-
-
namespace math
{
- class SimpleAbstractFunctionR1R3
+ class VIRTUAL_ROBOT_IMPORT_EXPORT SimpleAbstractFunctionR1R3
{
public:
virtual Eigen::Vector3f Get(float t) = 0;
diff --git a/VirtualRobot/math/SimpleAbstractFunctionR1R6.h b/VirtualRobot/math/SimpleAbstractFunctionR1R6.h
index 90582d38ec35325161c1d2f6b81f96c1ec8ec880..aa5f98445dec3a1f8929477ff24c9704b9b11599 100644
--- a/VirtualRobot/math/SimpleAbstractFunctionR1R6.h
+++ b/VirtualRobot/math/SimpleAbstractFunctionR1R6.h
@@ -21,11 +21,12 @@
#pragma once
+#include "../VirtualRobot.h"
#include "MathForwardDefinitions.h"
namespace math
{
- class SimpleAbstractFunctionR1R6
+ class VIRTUAL_ROBOT_IMPORT_EXPORT SimpleAbstractFunctionR1R6
{
public:
virtual Eigen::Vector3f GetPosition(float t) = 0;
diff --git a/VirtualRobot/math/SimpleAbstractFunctionR2R3.h b/VirtualRobot/math/SimpleAbstractFunctionR2R3.h
index a55902ff28ee025f6ee628425198a70899e6d25e..c6cb4dafe1b8017f61fb8bb684e1308adaf65d7d 100644
--- a/VirtualRobot/math/SimpleAbstractFunctionR2R3.h
+++ b/VirtualRobot/math/SimpleAbstractFunctionR2R3.h
@@ -21,14 +21,13 @@
#pragma once
+#include "../VirtualRobot.h"
#include "MathForwardDefinitions.h"
-
-
namespace math
{
-class SimpleAbstractFunctionR2R3
+class VIRTUAL_ROBOT_IMPORT_EXPORT SimpleAbstractFunctionR2R3
{
public:
virtual Eigen::Vector3f GetPoint(float u, float v) = 0;
diff --git a/VirtualRobot/math/SimpleAbstractFunctionR3R1.h b/VirtualRobot/math/SimpleAbstractFunctionR3R1.h
index 0b5d99cc66b770c480014eb182d26112c3edb64e..68b70f1af5538c8e9e0a19f627b034a438b2babc 100644
--- a/VirtualRobot/math/SimpleAbstractFunctionR3R1.h
+++ b/VirtualRobot/math/SimpleAbstractFunctionR3R1.h
@@ -21,14 +21,13 @@
#pragma once
+#include "../VirtualRobot.h"
#include "MathForwardDefinitions.h"
-
-
namespace math
{
- class SimpleAbstractFunctionR3R1
+ class VIRTUAL_ROBOT_IMPORT_EXPORT SimpleAbstractFunctionR3R1
{
public:
virtual float Get(Eigen::Vector3f pos) = 0;