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Cleanup: Remove unused Boost uBLAS header from iTaSC, we use Eigen

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Brecht Van Lommel 2024-12-19 00:54:47 +01:00
parent 8ce5356522
commit 871242d65d
2 changed files with 0 additions and 84 deletions
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1
intern/itasc/CMakeLists.txt
View file

@ -369,7 +369,6 @@ set(SRC
WSDLSSolver.cpp
WorldObject.cpp
eigen_types.cpp
ublas_types.hpp
kdl/chain.cpp
kdl/chainfksolverpos_recursive.cpp

83
intern/itasc/ublas_types.hpp
View file

@ -1,83 +0,0 @@
/* SPDX-FileCopyrightText: 2009 Ruben Smits
*
* SPDX-License-Identifier: LGPL-2.1-or-later */
/** \file
* \ingroup intern_itasc
*/
#ifndef UBLAS_TYPES_HPP_
#define UBLAS_TYPES_HPP_
#include <boost/numeric/ublas/matrix.hpp>
#include <boost/numeric/ublas/vector.hpp>
#include <boost/numeric/ublas/matrix_proxy.hpp>
#include <boost/numeric/ublas/vector_proxy.hpp>
#include "kdl/frames.hpp"
#include "kdl/tree.hpp"
#include "kdl/chain.hpp"
#include "kdl/jacobian.hpp"
#include "kdl/jntarray.hpp"
namespace iTaSC{
namespace ublas = boost::numeric::ublas;
using KDL::Twist;
using KDL::Frame;
using KDL::Joint;
using KDL::Inertia;
using KDL::SegmentMap;
using KDL::Tree;
using KDL::JntArray;
using KDL::Jacobian;
using KDL::Segment;
using KDL::Rotation;
using KDL::Vector;
using KDL::Chain;
#define u_scalar double
#define u_vector ublas::vector<u_scalar>
#define u_zero_vector ublas::zero_vector<u_scalar>
#define u_matrix ublas::matrix<u_scalar>
#define u_matrix6 ublas::matrix<u_scalar,6,6>
#define u_identity_matrix ublas::identity_matrix<u_scalar>
#define u_scalar_vector ublas::scalar_vector<u_scalar>
#define u_zero_matrix ublas::zero_matrix<u_scalar>
#define u_vector6 ublas::bounded_vector<u_scalar,6>
inline static int changeBase(const u_matrix& J_in, const Frame& T, u_matrix& J_out) {
if (J_out.size1() != 6 || J_in.size1() != 6 || J_in.size2() != J_out.size2())
return -1;
for (unsigned int j = 0; j < J_in.size2(); ++j) {
ublas::matrix_column<const u_matrix > Jj_in = column(J_in,j);
ublas::matrix_column<u_matrix > Jj_out = column(J_out,j);
Twist arg;
for(unsigned int i=0;i<6;++i)
arg(i)=Jj_in(i);
Twist tmp(T*arg);
for(unsigned int i=0;i<6;++i)
Jj_out(i)=tmp(i);
}
return 0;
}
inline static int changeBase(const ublas::matrix_range<u_matrix >& J_in, const Frame& T, ublas::matrix_range<u_matrix >& J_out) {
if (J_out.size1() != 6 || J_in.size1() != 6 || J_in.size2() != J_out.size2())
return -1;
for (unsigned int j = 0; j < J_in.size2(); ++j) {
ublas::matrix_column<const ublas::matrix_range<u_matrix > > Jj_in = column(J_in,j);
ublas::matrix_column<ublas::matrix_range<u_matrix > > Jj_out = column(J_out,j);
Twist arg;
for(unsigned int i=0;i<6;++i)
arg(i)=Jj_in(i);
Twist tmp(T*arg);
for(unsigned int i=0;i<6;++i)
Jj_out(i)=tmp(i);
}
return 0;
}
}
#endif /* UBLAS_TYPES_HPP_ */