Migrating from Eigen2 to Eigen3

CMakeLists.txt

@@ -120,9 +120,9 @@ endif()
 
 
 ## Eigen2
-find_package(Eigen2 REQUIRED)
-include_directories(${EIGEN2_INCLUDE_DIR})
-set(exported_include_dirs ${exported_include_dirs} ${EIGEN2_INCLUDE_DIR})
+find_package(Eigen3 REQUIRED)
+include_directories(${Eigen_INCLUDE_DIRS})
+set(exported_include_dirs ${exported_include_dirs} ${Eigen_INCLUDE_DIRS})
 
 
 ## curses

cmake/modules/FindEigen3.cmake

@@ -0,0 +1,41 @@
+# - Try to find Eigen3 lib
+#
+# This module supports requiring a minimum version, e.g. you can do
+#   find_package(Eigen3 3.1.2)
+# to require version 3.1.2 or newer of Eigen3.
+#
+# Once done this will define
+#
+#  Eigen_FOUND - system has eigen lib with correct version
+#  Eigen_INCLUDE_DIR - the eigen include directory
+#  Eigen_VERSION - eigen version
+
+# Copyright (c) 2006, 2007 Montel Laurent, <[email protected]>
+# Copyright (c) 2008, 2009 Gael Guennebaud, <[email protected]>
+# Copyright (c) 2009 Benoit Jacob <[email protected]>
+# Redistribution and use is allowed according to the terms of the 2-clause BSD license.
+
+find_package(PkgConfig)
+pkg_check_modules(PC_EIGEN eigen3)
+set(EIGEN_DEFINITIONS ${PC_EIGEN_CFLAGS_OTHER})
+
+find_path(EIGEN_INCLUDE_DIR Eigen/Core
+    HINTS ${PC_EIGEN_INCLUDEDIR} ${PC_EIGEN_INCLUDE_DIRS} "${EIGEN_ROOT}" "$ENV{EIGEN_ROOT}"
+    PATHS "$ENV{PROGRAMFILES}/Eigen" "$ENV{PROGRAMW6432}/Eigen"
+          "$ENV{PROGRAMFILES}/Eigen 3.0.0" "$ENV{PROGRAMW6432}/Eigen 3.0.0"
+    PATH_SUFFIXES eigen3 include/eigen3 include)
+
+set(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR})
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(Eigen DEFAULT_MSG EIGEN_INCLUDE_DIR)
+
+mark_as_advanced(EIGEN_INCLUDE_DIR)
+
+if(EIGEN_FOUND)
+  message(STATUS "Eigen found (include: ${EIGEN_INCLUDE_DIRS})")
+endif(EIGEN_FOUND)
+
+
+set(Eigen_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
+set(Eigen_FOUND ${EIGEN_FOUND})

examples/ex10_haptics.cpp

@@ -57,7 +57,7 @@ typename units::JointTorques<DOF>::type saturateJt(const typename units::JointTo
 	int index;
 	double minRatio;
 
-	minRatio = (limit.cwise() / (x.cwise().abs())).minCoeff(&index);
+	minRatio = (limit.array() / (x.cwiseAbs())).minCoeff(&index);
 	if (minRatio < 1.0) {
 		return minRatio * x;
 	} else {

include/barrett/math/detail/matrix-inl.h

@@ -209,7 +209,7 @@ inline void Matrix<R,C, Units>::copyFrom(const libconfig::Setting& setting)
 
 		if (setting[0].isNumber()) {  // if setting is a row vector
 			for (int i = 0; i < this->size(); ++i) {
-				(*this)[i] = barrett::detail::numericToDouble(setting[i]);
+				(*this)(i) = barrett::detail::numericToDouble(setting[i]);
 			}
 			return;
 		}  // else setting is a column vector or a matrix

include/barrett/math/detail/utils-inl.h

@@ -46,11 +46,11 @@ template<typename Scalar> struct CwiseSignOp {
 
 template<typename Derived>
 inline const Eigen::CwiseUnaryOp<
-	detail::CwiseSignOp<typename Eigen::ei_traits<Derived>::Scalar>,
-	Derived
+	detail::CwiseSignOp<typename Eigen::internal::traits<Derived>::Scalar>,
+	const Derived
 > sign(const Eigen::MatrixBase<Derived>& x)
 {
-	return x.unaryExpr(detail::CwiseSignOp<typename Eigen::ei_traits<Derived>::Scalar>());
+	return x.unaryExpr(detail::CwiseSignOp<typename Eigen::internal::traits<Derived>::Scalar>());
 }
 
 inline double sign(double x)
@@ -69,22 +69,22 @@ using std::abs;
 
 template<typename Derived>
 inline const Eigen::CwiseUnaryOp<
-	Eigen::ei_scalar_abs_op<typename Eigen::ei_traits<Derived>::Scalar>,
-	Derived
+	Eigen::internal::scalar_abs_op<typename Eigen::internal::traits<Derived>::Scalar>,
+	const Derived
 > abs(const Eigen::MatrixBase<Derived>& x)
 {
-	return x.cwise().abs();
+	return x.cwiseAbs();
 }
 
 
 template<typename Derived1, typename Derived2>
 inline const Eigen::CwiseBinaryOp<
-	Eigen::ei_scalar_min_op<typename Eigen::ei_traits<Derived1>::Scalar>,
-	Derived1,
-	Derived2
+	Eigen::internal::scalar_min_op<typename Eigen::internal::traits<Derived1>::Scalar>,
+	const Derived1,
+	const Derived2
 > min(const Eigen::MatrixBase<Derived1>& a, const Eigen::MatrixBase<Derived2>& b)
 {
-	return a.cwise().min(b);
+	return a.cwiseMin(b);
 }
 
 inline double min(double a, double b)
@@ -95,12 +95,12 @@ inline double min(double a, double b)
 
 template<typename Derived1, typename Derived2>
 inline const Eigen::CwiseBinaryOp<
-	Eigen::ei_scalar_max_op<typename Eigen::ei_traits<Derived1>::Scalar>,
-	Derived1,
-	Derived2
+	Eigen::internal::scalar_max_op<typename Eigen::internal::traits<Derived1>::Scalar>,
+	const Derived1,
+	const Derived2
 > max(const Eigen::MatrixBase<Derived1>& a, const Eigen::MatrixBase<Derived2>& b)
 {
-	return a.cwise().max(b);
+	return a.cwiseMax(b);
 }
 
 inline double max(double a, double b)
@@ -129,21 +129,21 @@ template<typename Scalar> struct CwiseBinarySaturateOp {
 
 template<typename Derived>
 inline const Eigen::CwiseUnaryOp<
-	detail::CwiseUnarySaturateOp<typename Eigen::ei_traits<Derived>::Scalar>,
-	Derived
+	detail::CwiseUnarySaturateOp<typename Eigen::internal::traits<Derived>::Scalar>,
+	const Derived
 > saturate(const Eigen::MatrixBase<Derived>& x, double limit)
 {
-	return x.unaryExpr(detail::CwiseUnarySaturateOp<typename Eigen::ei_traits<Derived>::Scalar>(-limit, limit));
+	return x.unaryExpr(detail::CwiseUnarySaturateOp<typename Eigen::internal::traits<Derived>::Scalar>(-limit, limit));
 }
 
 template<typename Derived1, typename Derived2>
 inline const Eigen::CwiseBinaryOp<
-	detail::CwiseBinarySaturateOp<typename Eigen::ei_traits<Derived1>::Scalar>,
-	Derived1,
-	Derived2
+	detail::CwiseBinarySaturateOp<typename Eigen::internal::traits<Derived1>::Scalar>,
+	const Derived1,
+	const Derived2
 > saturate(const Eigen::MatrixBase<Derived1>& x, const Eigen::MatrixBase<Derived2>& limit)
 {
-	return x.binaryExpr(limit, detail::CwiseBinarySaturateOp<typename Eigen::ei_traits<Derived1>::Scalar>());
+	return x.binaryExpr(limit, detail::CwiseBinarySaturateOp<typename Eigen::internal::traits<Derived1>::Scalar>());
 }
 
 inline double saturate(double x, double limit)
@@ -154,11 +154,11 @@ inline double saturate(double x, double limit)
 
 template<typename Derived>
 inline const Eigen::CwiseUnaryOp<
-	detail::CwiseUnarySaturateOp<typename Eigen::ei_traits<Derived>::Scalar>,
-	Derived
+	detail::CwiseUnarySaturateOp<typename Eigen::internal::traits<Derived>::Scalar>,
+	const Derived
 > saturate(const Eigen::MatrixBase<Derived>& x, double lowerLimit, double upperLimit)
 {
-	return x.unaryExpr(detail::CwiseUnarySaturateOp<typename Eigen::ei_traits<Derived>::Scalar>(lowerLimit, upperLimit));
+	return x.unaryExpr(detail::CwiseUnarySaturateOp<typename Eigen::internal::traits<Derived>::Scalar>(lowerLimit, upperLimit));
 }
 
 inline double saturate(double x, double lowerLimit, double upperLimit)
@@ -195,21 +195,21 @@ template<typename Scalar> struct CwiseBinaryDeadbandOp {
 
 template<typename Derived>
 inline const Eigen::CwiseUnaryOp<
-	detail::CwiseUnaryDeadbandOp<typename Eigen::ei_traits<Derived>::Scalar>,
-	Derived
+	detail::CwiseUnaryDeadbandOp<typename Eigen::internal::traits<Derived>::Scalar>,
+	const Derived
 > deadband(const Eigen::MatrixBase<Derived>& x, double cutoff)
 {
-	return x.unaryExpr(detail::CwiseUnaryDeadbandOp<typename Eigen::ei_traits<Derived>::Scalar>(cutoff));
+	return x.unaryExpr(detail::CwiseUnaryDeadbandOp<typename Eigen::internal::traits<Derived>::Scalar>(cutoff));
 }
 
 template<typename Derived1, typename Derived2>
 inline const Eigen::CwiseBinaryOp<
-	detail::CwiseBinaryDeadbandOp<typename Eigen::ei_traits<Derived1>::Scalar>,
-	Derived1,
-	Derived2
+	detail::CwiseBinaryDeadbandOp<typename Eigen::internal::traits<Derived1>::Scalar>,
+	const Derived1,
+	const Derived2
 > deadband(const Eigen::MatrixBase<Derived1>& x, const Eigen::MatrixBase<Derived2>& cutoff)
 {
-	return x.binaryExpr(cutoff, detail::CwiseBinaryDeadbandOp<typename Eigen::ei_traits<Derived1>::Scalar>());
+	return x.binaryExpr(cutoff, detail::CwiseBinaryDeadbandOp<typename Eigen::internal::traits<Derived1>::Scalar>());
 }
 
 inline double deadband(double x, double cutoff)