JointModelRevoluteTpl<NewScalar,Options,axis> cast() const
{
typedef JointModelRevoluteTpl<NewScalar,Options,axis> ReturnType;
ReturnType res;
res.setIndexes(id(),idx_q(),idx_v());
return res;
}
JointModelPlanarTpl<NewScalar,Options> cast() const
{
typedef JointModelPlanarTpl<NewScalar,Options> ReturnType;
ReturnType res;
res.setIndexes(id(),idx_q(),idx_v());
return res;
}
ReturnType operator()(Vcf::Entry const& entry) const {
auto rawvs = Vcf::RawVariant::processEntry(entry);
ReturnType rv;
for (auto i = rawvs.begin(); i != rawvs.end(); ++i) {
// if we set the region begin to the region end then
// we would be reporting only the start position.
// that is a useful option sometimes.
rv.insert(i->region());
}
// For ref-only entries:
if (rawvs.empty()) {
Region reg{entry.start(), entry.stop()};
rv.insert(reg);
}
return rv;
}
std::vector<std::list<Parameterization> > ParameterizedCommand::ExpandParameters(
unsigned int startIndex, const std::vector<IParameter::Pointer>& parameters)
{
typedef std::vector<std::list<Parameterization> > ReturnType;
const unsigned int nextIndex = startIndex + 1;
const bool noMoreParameters = (nextIndex >= parameters.size());
const IParameter::Pointer parameter(parameters[startIndex]);
ReturnType parameterizations;
if (parameter->IsOptional())
{
parameterizations.push_back(std::list<Parameterization>());
}
IParameter::ParameterValues parameterValues(parameter->GetValues());
for (IParameter::ParameterValues::iterator parameterValueItr =
parameterValues.begin(); parameterValueItr != parameterValues.end(); ++parameterValueItr)
{
std::list<Parameterization> combination;
combination.push_back(
Parameterization(parameter, parameterValueItr->second));
parameterizations.push_back(combination);
}
// Check if another iteration will produce any more names.
if (noMoreParameters)
{
// This is it, so just return the current parameterizations.
return parameterizations;
}
// Make recursive call
ReturnType suffixes(ExpandParameters(nextIndex, parameters));
if (suffixes.empty())
{
// This is it, so just return the current parameterizations.
return parameterizations;
}
ReturnType returnValue;
for (ReturnType::iterator suffixItr = suffixes.begin(); suffixItr
!= suffixes.end(); ++suffixItr)
{
for (ReturnType::iterator combinationItr = parameterizations.begin(); combinationItr
!= parameterizations.end(); ++combinationItr)
{
std::list<Parameterization> newCombination(*combinationItr);
newCombination.insert(newCombination.end(), suffixItr->begin(),
suffixItr->end());
returnValue.push_back(newCombination);
}
}
return returnValue;
}
typename internal::SE3GroupAction<TransformRevoluteTpl>::ReturnType
se3action(const SE3Tpl<S2,O2> & m) const
{
typedef typename internal::SE3GroupAction<TransformRevoluteTpl>::ReturnType ReturnType;
ReturnType res;
switch(axis)
{
case 0:
{
res.rotation().col(0) = m.rotation().col(0);
res.rotation().col(1).noalias() = m_cos * m.rotation().col(1) + m_sin * m.rotation().col(2);
res.rotation().col(2).noalias() = res.rotation().col(0).cross(res.rotation().col(1));
break;
}
case 1:
{
res.rotation().col(1) = m.rotation().col(1);
res.rotation().col(2).noalias() = m_cos * m.rotation().col(2) + m_sin * m.rotation().col(0);
res.rotation().col(0).noalias() = res.rotation().col(1).cross(res.rotation().col(2));
break;
}
case 2:
{
res.rotation().col(2) = m.rotation().col(2);
res.rotation().col(0).noalias() = m_cos * m.rotation().col(0) + m_sin * m.rotation().col(1);
res.rotation().col(1).noalias() = res.rotation().col(2).cross(res.rotation().col(0));
break;
}
default:
{
assert(false && "must nerver happened");
break;
}
}
res.translation() = m.translation();
return res;
}
uniform_kernel(GeneratorType *g, ReturnType a, ReturnType b)
: g(*g), d_real(a.real(), b.real()), d_imag(a.imag(), b.imag()) {}
static const std::string to(const ReturnType& source) {return source.string();}
QList<QList<Parameterization> > ParameterizedCommand::ExpandParameters(
unsigned int startIndex, const QList<IParameter::Pointer>& parameters)
{
typedef QList<QList<Parameterization> > ReturnType;
const int nextIndex = startIndex + 1;
const bool noMoreParameters = (nextIndex >= parameters.size());
const IParameter::Pointer parameter(parameters[startIndex]);
ReturnType parameterizations;
if (parameter->IsOptional())
{
parameterizations.push_back(QList<Parameterization>());
}
IParameterValues* values = NULL;
try
{
values = parameter->GetValues();
}
catch (const ParameterValuesException& /*e*/)
{
if (noMoreParameters)
{
return parameterizations;
}
// Make recursive call
return ExpandParameters(nextIndex, parameters);
}
const QHash<QString,QString> parameterValues = values->GetParameterValues();
for (IParameter::ParameterValues::const_iterator parameterValueItr =
parameterValues.begin(); parameterValueItr != parameterValues.end(); ++parameterValueItr)
{
QList<Parameterization> combination;
combination.push_back(
Parameterization(parameter, parameterValueItr.value()));
parameterizations.push_back(combination);
}
// Check if another iteration will produce any more names.
if (noMoreParameters)
{
// This is it, so just return the current parameterizations.
return parameterizations;
}
// Make recursive call
ReturnType suffixes(ExpandParameters(nextIndex, parameters));
if (suffixes.empty())
{
// This is it, so just return the current parameterizations.
return parameterizations;
}
ReturnType returnValue;
for (ReturnType::iterator suffixItr = suffixes.begin(); suffixItr
!= suffixes.end(); ++suffixItr)
{
for (ReturnType::iterator combinationItr = parameterizations.begin(); combinationItr
!= parameterizations.end(); ++combinationItr)
{
QList<Parameterization> newCombination(*combinationItr);
newCombination.append(*suffixItr);
returnValue.push_back(newCombination);
}
}
return returnValue;
}
