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llvm-3.4.patch
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Authored By
Martijn Berger (juicyfruit)
Nov 13 2013, 5:10 PM
Size
18 KB
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None
llvm-3.4.patch
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Index: intern/itasc/kdl/frameacc.hpp
===================================================================
--- intern/itasc/kdl/frameacc.hpp (revision 58364)
+++ intern/itasc/kdl/frameacc.hpp (working copy)
@@ -78,9 +78,9 @@
IMETHOD friend VectorAcc operator / (const VectorAcc& r2,const doubleAcc& r1);
- IMETHOD friend bool Equal(const VectorAcc& r1,const VectorAcc& r2,double eps=epsilon);
- IMETHOD friend bool Equal(const Vector& r1,const VectorAcc& r2,double eps=epsilon);
- IMETHOD friend bool Equal(const VectorAcc& r1,const Vector& r2,double eps=epsilon);
+ IMETHOD friend bool Equal(const VectorAcc& r1,const VectorAcc& r2,double eps);
+ IMETHOD friend bool Equal(const Vector& r1,const VectorAcc& r2,double eps);
+ IMETHOD friend bool Equal(const VectorAcc& r1,const Vector& r2,double eps);
IMETHOD friend VectorAcc operator - (const VectorAcc& r);
IMETHOD friend doubleAcc dot(const VectorAcc& lhs,const VectorAcc& rhs);
IMETHOD friend doubleAcc dot(const VectorAcc& lhs,const Vector& rhs);
@@ -132,9 +132,9 @@
IMETHOD friend RotationAcc operator* (const RotationAcc& r1,const RotationAcc& r2);
IMETHOD friend RotationAcc operator* (const Rotation& r1,const RotationAcc& r2);
IMETHOD friend RotationAcc operator* (const RotationAcc& r1,const Rotation& r2);
- IMETHOD friend bool Equal(const RotationAcc& r1,const RotationAcc& r2,double eps=epsilon);
- IMETHOD friend bool Equal(const Rotation& r1,const RotationAcc& r2,double eps=epsilon);
- IMETHOD friend bool Equal(const RotationAcc& r1,const Rotation& r2,double eps=epsilon);
+ IMETHOD friend bool Equal(const RotationAcc& r1,const RotationAcc& r2,double eps);
+ IMETHOD friend bool Equal(const Rotation& r1,const RotationAcc& r2,double eps);
+ IMETHOD friend bool Equal(const RotationAcc& r1,const Rotation& r2,double eps);
IMETHOD TwistAcc Inverse(const TwistAcc& arg) const;
IMETHOD TwistAcc Inverse(const Twist& arg) const;
IMETHOD TwistAcc operator * (const TwistAcc& arg) const;
@@ -170,9 +170,9 @@
IMETHOD friend FrameAcc operator * (const FrameAcc& f1,const FrameAcc& f2);
IMETHOD friend FrameAcc operator * (const Frame& f1,const FrameAcc& f2);
IMETHOD friend FrameAcc operator * (const FrameAcc& f1,const Frame& f2);
- IMETHOD friend bool Equal(const FrameAcc& r1,const FrameAcc& r2,double eps=epsilon);
- IMETHOD friend bool Equal(const Frame& r1,const FrameAcc& r2,double eps=epsilon);
- IMETHOD friend bool Equal(const FrameAcc& r1,const Frame& r2,double eps=epsilon);
+ IMETHOD friend bool Equal(const FrameAcc& r1,const FrameAcc& r2,double eps);
+ IMETHOD friend bool Equal(const Frame& r1,const FrameAcc& r2,double eps);
+ IMETHOD friend bool Equal(const FrameAcc& r1,const Frame& r2,double eps);
IMETHOD TwistAcc Inverse(const TwistAcc& arg) const;
IMETHOD TwistAcc Inverse(const Twist& arg) const;
@@ -226,9 +226,9 @@
// the new point.
// Complexity : 6M+6A
- IMETHOD friend bool Equal(const TwistAcc& a,const TwistAcc& b,double eps=epsilon);
- IMETHOD friend bool Equal(const Twist& a,const TwistAcc& b,double eps=epsilon);
- IMETHOD friend bool Equal(const TwistAcc& a,const Twist& b,double eps=epsilon);
+ IMETHOD friend bool Equal(const TwistAcc& a,const TwistAcc& b,double eps);
+ IMETHOD friend bool Equal(const Twist& a,const TwistAcc& b,double eps);
+ IMETHOD friend bool Equal(const TwistAcc& a,const Twist& b,double eps);
IMETHOD Twist GetTwist() const;
Index: intern/itasc/kdl/frames.cpp
===================================================================
--- intern/itasc/kdl/frames.cpp (revision 58364)
+++ intern/itasc/kdl/frames.cpp (working copy)
@@ -99,7 +99,7 @@
// makes v a unitvector and returns the norm of v.
// if v is smaller than eps, Vector(1,0,0) is returned with norm 0.
// if this is not good, check the return value of this method.
-double Vector2::Normalize(double eps) {
+double Vector2::Normalize(double eps=epsilon) {
double v = this->Norm();
if (v < eps) {
*this = Vector2(1,0);
@@ -154,7 +154,7 @@
}
-bool Equal(const Rotation& a,const Rotation& b,double eps) {
+bool Equal(const Rotation& a,const Rotation& b,double eps=epsilon) {
return (Equal(a.data[0],b.data[0],eps) &&
Equal(a.data[1],b.data[1],eps) &&
Equal(a.data[2],b.data[2],eps) &&
Index: intern/itasc/kdl/frames.hpp
===================================================================
--- intern/itasc/kdl/frames.hpp (revision 58364)
+++ intern/itasc/kdl/frames.hpp (working copy)
@@ -248,10 +248,10 @@
//! do not use operator == because the definition of Equal(.,.) is slightly
//! different. It compares whether the 2 arguments are equal in an eps-interval
- inline friend bool Equal(const Vector& a,const Vector& b,double eps=epsilon);
+ inline friend bool Equal(const Vector& a,const Vector& b,double eps);
//! return a normalized vector
- inline friend Vector Normalize(const Vector& a, double eps=epsilon);
+ inline friend Vector Normalize(const Vector& a, double eps);
//! The literal equality operator==(), also identical.
inline friend bool operator==(const Vector& a,const Vector& b);
@@ -502,7 +502,7 @@
//! do not use operator == because the definition of Equal(.,.) is slightly
//! different. It compares whether the 2 arguments are equal in an eps-interval
- friend bool Equal(const Rotation& a,const Rotation& b,double eps=epsilon);
+ friend bool Equal(const Rotation& a,const Rotation& b,double eps);
//! The literal equality operator==(), also identical.
friend bool operator==(const Rotation& a,const Rotation& b);
@@ -663,7 +663,7 @@
//! do not use operator == because the definition of Equal(.,.) is slightly
//! different. It compares whether the 2 arguments are equal in an eps-interval
- inline friend bool Equal(const Frame& a,const Frame& b,double eps=epsilon);
+ inline friend bool Equal(const Frame& a,const Frame& b,double eps);
//! The literal equality operator==(), also identical.
inline friend bool operator==(const Frame& a,const Frame& b);
@@ -735,7 +735,7 @@
//! do not use operator == because the definition of Equal(.,.) is slightly
//! different. It compares whether the 2 arguments are equal in an eps-interval
- inline friend bool Equal(const Twist& a,const Twist& b,double eps=epsilon);
+ inline friend bool Equal(const Twist& a,const Twist& b,double eps);
//! The literal equality operator==(), also identical.
inline friend bool operator==(const Twist& a,const Twist& b);
@@ -898,7 +898,7 @@
//! do not use operator == because the definition of Equal(.,.) is slightly
//! different. It compares whether the 2 arguments are equal in an eps-interval
- inline friend bool Equal(const Wrench& a,const Wrench& b,double eps=epsilon);
+ inline friend bool Equal(const Wrench& a,const Wrench& b,double eps);
//! The literal equality operator==(), also identical.
inline friend bool operator==(const Wrench& a,const Wrench& b);
@@ -957,7 +957,7 @@
* if v is smaller than eps, Vector(1,0,0) is returned with norm 0.
* if this is not good, check the return value of this method.
*/
- double Normalize(double eps=epsilon);
+ double Normalize(double eps);
//! @return the norm of the vector
inline double Norm() const;
@@ -979,7 +979,7 @@
//! do not use operator == because the definition of Equal(.,.) is slightly
//! different. It compares whether the 2 arguments are equal in an eps-interval
- inline friend bool Equal(const Vector2& a,const Vector2& b,double eps=epsilon);
+ inline friend bool Equal(const Vector2& a,const Vector2& b,double eps);
friend class Rotation2;
};
@@ -1026,7 +1026,7 @@
//! do not use operator == because the definition of Equal(.,.) is slightly
//! different. It compares whether the 2 arguments are equal in an eps-interval
- inline friend bool Equal(const Rotation2& a,const Rotation2& b,double eps=epsilon);
+ inline friend bool Equal(const Rotation2& a,const Rotation2& b,double eps);
};
//! A 2D frame class, for further documentation see the Frames class
@@ -1067,7 +1067,7 @@
tmp.SetIdentity();
return tmp;
}
- inline friend bool Equal(const Frame2& a,const Frame2& b,double eps=epsilon);
+ inline friend bool Equal(const Frame2& a,const Frame2& b,double eps);
};
IMETHOD Vector diff(const Vector& a,const Vector& b,double dt=1);
Index: intern/itasc/kdl/frames.inl
===================================================================
--- intern/itasc/kdl/frames.inl (revision 58364)
+++ intern/itasc/kdl/frames.inl (working copy)
@@ -167,7 +167,7 @@
return data[index];
}
-IMETHOD Vector Normalize(const Vector& a, double eps)
+IMETHOD Vector Normalize(const Vector& a, double eps=epsilon)
{
double l=a.Norm();
return (l<eps) ? Vector(0.0,0.0,0.0) : a/l;
@@ -1065,38 +1065,38 @@
-IMETHOD bool Equal(const Vector& a,const Vector& b,double eps) {
+IMETHOD bool Equal(const Vector& a,const Vector& b,double eps=epsilon) {
return (Equal(a.data[0],b.data[0],eps)&&
Equal(a.data[1],b.data[1],eps)&&
Equal(a.data[2],b.data[2],eps) );
}
-IMETHOD bool Equal(const Frame& a,const Frame& b,double eps) {
+IMETHOD bool Equal(const Frame& a,const Frame& b,double eps=epsilon) {
return (Equal(a.p,b.p,eps)&&
Equal(a.M,b.M,eps) );
}
-IMETHOD bool Equal(const Wrench& a,const Wrench& b,double eps) {
+IMETHOD bool Equal(const Wrench& a,const Wrench& b,double eps=epsilon) {
return (Equal(a.force,b.force,eps)&&
Equal(a.torque,b.torque,eps) );
}
-IMETHOD bool Equal(const Twist& a,const Twist& b,double eps) {
+IMETHOD bool Equal(const Twist& a,const Twist& b,double eps=epsilon) {
return (Equal(a.rot,b.rot,eps)&&
Equal(a.vel,b.vel,eps) );
}
-IMETHOD bool Equal(const Vector2& a,const Vector2& b,double eps) {
+IMETHOD bool Equal(const Vector2& a,const Vector2& b,double eps=epsilon) {
return (Equal(a.data[0],b.data[0],eps)&&
Equal(a.data[1],b.data[1],eps) );
}
-IMETHOD bool Equal(const Rotation2& a,const Rotation2& b,double eps) {
+IMETHOD bool Equal(const Rotation2& a,const Rotation2& b,double eps=epsilon) {
return ( Equal(a.c,b.c,eps) && Equal(a.s,b.s,eps) );
}
-IMETHOD bool Equal(const Frame2& a,const Frame2& b,double eps) {
+IMETHOD bool Equal(const Frame2& a,const Frame2& b,double eps=epsilon) {
return (Equal(a.p,b.p,eps)&&
Equal(a.M,b.M,eps) );
}
Index: intern/itasc/kdl/framevel.hpp
===================================================================
--- intern/itasc/kdl/framevel.hpp (revision 58364)
+++ intern/itasc/kdl/framevel.hpp (working copy)
@@ -110,9 +110,9 @@
IMETHOD friend void SetToZero(VectorVel& v);
- IMETHOD friend bool Equal(const VectorVel& r1,const VectorVel& r2,double eps=epsilon);
- IMETHOD friend bool Equal(const Vector& r1,const VectorVel& r2,double eps=epsilon);
- IMETHOD friend bool Equal(const VectorVel& r1,const Vector& r2,double eps=epsilon);
+ IMETHOD friend bool Equal(const VectorVel& r1,const VectorVel& r2,double eps);
+ IMETHOD friend bool Equal(const Vector& r1,const VectorVel& r2,double eps);
+ IMETHOD friend bool Equal(const VectorVel& r1,const Vector& r2,double eps);
IMETHOD friend VectorVel operator - (const VectorVel& r);
IMETHOD friend doubleVel dot(const VectorVel& lhs,const VectorVel& rhs);
IMETHOD friend doubleVel dot(const VectorVel& lhs,const Vector& rhs);
@@ -166,9 +166,9 @@
IMETHOD friend RotationVel operator* (const RotationVel& r1,const RotationVel& r2);
IMETHOD friend RotationVel operator* (const Rotation& r1,const RotationVel& r2);
IMETHOD friend RotationVel operator* (const RotationVel& r1,const Rotation& r2);
- IMETHOD friend bool Equal(const RotationVel& r1,const RotationVel& r2,double eps=epsilon);
- IMETHOD friend bool Equal(const Rotation& r1,const RotationVel& r2,double eps=epsilon);
- IMETHOD friend bool Equal(const RotationVel& r1,const Rotation& r2,double eps=epsilon);
+ IMETHOD friend bool Equal(const RotationVel& r1,const RotationVel& r2,double eps);
+ IMETHOD friend bool Equal(const Rotation& r1,const RotationVel& r2,double eps);
+ IMETHOD friend bool Equal(const RotationVel& r1,const Rotation& r2,double eps);
IMETHOD TwistVel Inverse(const TwistVel& arg) const;
IMETHOD TwistVel Inverse(const Twist& arg) const;
@@ -220,9 +220,9 @@
IMETHOD friend FrameVel operator * (const FrameVel& f1,const FrameVel& f2);
IMETHOD friend FrameVel operator * (const Frame& f1,const FrameVel& f2);
IMETHOD friend FrameVel operator * (const FrameVel& f1,const Frame& f2);
- IMETHOD friend bool Equal(const FrameVel& r1,const FrameVel& r2,double eps=epsilon);
- IMETHOD friend bool Equal(const Frame& r1,const FrameVel& r2,double eps=epsilon);
- IMETHOD friend bool Equal(const FrameVel& r1,const Frame& r2,double eps=epsilon);
+ IMETHOD friend bool Equal(const FrameVel& r1,const FrameVel& r2,double eps);
+ IMETHOD friend bool Equal(const Frame& r1,const FrameVel& r2,double eps);
+ IMETHOD friend bool Equal(const FrameVel& r1,const Frame& r2,double eps);
IMETHOD TwistVel Inverse(const TwistVel& arg) const;
IMETHOD TwistVel Inverse(const Twist& arg) const;
@@ -292,9 +292,9 @@
// = Equality operators
// do not use operator == because the definition of Equal(.,.) is slightly
// different. It compares whether the 2 arguments are equal in an eps-interval
- IMETHOD friend bool Equal(const TwistVel& a,const TwistVel& b,double eps=epsilon);
- IMETHOD friend bool Equal(const Twist& a,const TwistVel& b,double eps=epsilon);
- IMETHOD friend bool Equal(const TwistVel& a,const Twist& b,double eps=epsilon);
+ IMETHOD friend bool Equal(const TwistVel& a,const TwistVel& b,double eps);
+ IMETHOD friend bool Equal(const Twist& a,const TwistVel& b,double eps);
+ IMETHOD friend bool Equal(const TwistVel& a,const Twist& b,double eps);
// = Conversion to other entities
IMETHOD Twist GetTwist() const;
Index: intern/itasc/kdl/jacobian.cpp
===================================================================
--- intern/itasc/kdl/jacobian.cpp (revision 58364)
+++ intern/itasc/kdl/jacobian.cpp (working copy)
@@ -110,15 +110,15 @@
bool Jacobian::operator ==(const Jacobian& arg)
{
- return Equal((*this),arg);
+ return Equal((*this),arg, epsilon);
}
bool Jacobian::operator!=(const Jacobian& arg)
{
- return !Equal((*this),arg);
+ return !Equal((*this),arg, epsilon);
}
- bool Equal(const Jacobian& a,const Jacobian& b,double eps)
+ bool Equal(const Jacobian& a,const Jacobian& b,double eps=epsilon)
{
if(a.rows()==b.rows()&&a.columns()==b.columns()){
bool rc=true;
Index: intern/itasc/kdl/jacobian.hpp
===================================================================
--- intern/itasc/kdl/jacobian.hpp (revision 58364)
+++ intern/itasc/kdl/jacobian.hpp (working copy)
@@ -45,7 +45,7 @@
bool operator ==(const Jacobian& arg);
bool operator !=(const Jacobian& arg);
- friend bool Equal(const Jacobian& a,const Jacobian& b,double eps=epsilon);
+ friend bool Equal(const Jacobian& a,const Jacobian& b,double eps);
~Jacobian();
Index: intern/itasc/kdl/jntarray.cpp
===================================================================
--- intern/itasc/kdl/jntarray.cpp (revision 58364)
+++ intern/itasc/kdl/jntarray.cpp (working copy)
@@ -143,7 +143,7 @@
array.data[i]=0;
}
- bool Equal(const JntArray& src1, const JntArray& src2,double eps)
+ bool Equal(const JntArray& src1, const JntArray& src2,double eps=epsilon)
{
assert(src1.size==src2.size);
bool ret = true;
@@ -152,7 +152,7 @@
return ret;
}
- bool operator==(const JntArray& src1,const JntArray& src2){return Equal(src1,src2);};
+ bool operator==(const JntArray& src1,const JntArray& src2){return Equal(src1,src2,epsilon);};
//bool operator!=(const JntArray& src1,const JntArray& src2){return Equal(src1,src2);};
}
Index: intern/itasc/kdl/jntarray.hpp
===================================================================
--- intern/itasc/kdl/jntarray.hpp (revision 58364)
+++ intern/itasc/kdl/jntarray.hpp (working copy)
@@ -209,7 +209,7 @@
* @return true if each element of src1 is within eps of the same
* element in src2, or if both src1 and src2 have no data (ie 0==rows())
*/
- friend bool Equal(const JntArray& src1,const JntArray& src2,double eps=epsilon);
+ friend bool Equal(const JntArray& src1,const JntArray& src2,double eps);
friend bool operator==(const JntArray& src1,const JntArray& src2);
//friend bool operator!=(const JntArray& src1,const JntArray& src2);
Index: intern/itasc/kdl/jntarrayacc.hpp
===================================================================
--- intern/itasc/kdl/jntarrayacc.hpp (revision 58364)
+++ intern/itasc/kdl/jntarrayacc.hpp (working copy)
@@ -58,7 +58,7 @@
friend void Divide(const JntArrayAcc& src,const doubleVel& factor,JntArrayAcc& dest);
friend void Divide(const JntArrayAcc& src,const doubleAcc& factor,JntArrayAcc& dest);
friend void SetToZero(JntArrayAcc& array);
- friend bool Equal(const JntArrayAcc& src1,const JntArrayAcc& src2,double eps=epsilon);
+ friend bool Equal(const JntArrayAcc& src1,const JntArrayAcc& src2,double eps);
};
}
Index: intern/itasc/kdl/jntarrayvel.hpp
===================================================================
--- intern/itasc/kdl/jntarrayvel.hpp (revision 58364)
+++ intern/itasc/kdl/jntarrayvel.hpp (working copy)
@@ -51,7 +51,7 @@
friend void Divide(const JntArrayVel& src,const double& factor,JntArrayVel& dest);
friend void Divide(const JntArrayVel& src,const doubleVel& factor,JntArrayVel& dest);
friend void SetToZero(JntArrayVel& array);
- friend bool Equal(const JntArrayVel& src1,const JntArrayVel& src2,double eps=epsilon);
+ friend bool Equal(const JntArrayVel& src1,const JntArrayVel& src2,double eps);
};
}
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