mirror of
https://git.freebsd.org/ports.git
synced 2025-07-11 22:39:16 -04:00
e08dba80e2
- Add LICENSE - Switch to new LIB_DEPENDS format - Enabling staging support - Simplify OPTION knob handling - Unbreak the build on 8.x, 10.x and CURRENT after the update of graphics/opencv and graphics/openshadinglanguage, which require llvm3.3 Supported by: tijl@, Shane Ambler <FreeBSD@ShaneWare.Biz>
89 lines
3.8 KiB
C++
89 lines
3.8 KiB
C++
--- intern/itasc/kdl/tree.hpp.orig 2012-12-15 12:15:05.000000000 +0100
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+++ intern/itasc/kdl/tree.hpp 2013-11-13 12:06:00.000000000 +0100
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@@ -60,13 +60,13 @@
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public:
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Segment segment;
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unsigned int q_nr;
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- SegmentMap::const_iterator parent;
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+ std::pair<const std::string, TreeElement> const *parent;
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std::vector<SegmentMap::const_iterator > children;
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TreeElement(const Segment& segment_in,const SegmentMap::const_iterator& parent_in,unsigned int q_nr_in)
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{
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q_nr=q_nr_in;
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segment=segment_in;
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- parent=parent_in;
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+ parent=&*parent_in;
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};
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static TreeElement Root()
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{
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--- intern/itasc/kdl/treefksolverpos_recursive.cpp.orig 2011-10-23 20:38:16.000000000 +0200
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+++ intern/itasc/kdl/treefksolverpos_recursive.cpp 2013-11-13 14:43:21.000000000 +0100
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@@ -45,12 +45,12 @@
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else if(baseit == tree.getSegments().end()) //if the base segment name is not found
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return -3;
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else{
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- p_out = recursiveFk(q_in, it, baseit);
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+ p_out = recursiveFk(q_in, &*it, &*baseit);
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return 0;
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}
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}
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- Frame TreeFkSolverPos_recursive::recursiveFk(const JntArray& q_in, const SegmentMap::const_iterator& it, const SegmentMap::const_iterator& baseit)
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+ Frame TreeFkSolverPos_recursive::recursiveFk(const JntArray& q_in, std::pair<const std::string, KDL::TreeElement> const *it, std::pair<const std::string, KDL::TreeElement> const *baseit)
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{
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//gets the frame for the current element (segment)
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const TreeElement& currentElement = it->second;
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@@ -60,8 +60,7 @@
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}
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else{
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Frame currentFrame = currentElement.segment.pose(((JntArray&)q_in)(currentElement.q_nr));
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- SegmentMap::const_iterator parentIt = currentElement.parent;
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- return recursiveFk(q_in, parentIt, baseit) * currentFrame;
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+ return recursiveFk(q_in, currentElement.parent, baseit) * currentFrame;
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}
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}
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--- intern/itasc/kdl/treefksolverpos_recursive.hpp.orig 2009-07-14 17:36:21.000000000 +0200
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+++ intern/itasc/kdl/treefksolverpos_recursive.hpp 2013-11-13 14:48:02.000000000 +0100
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@@ -45,7 +45,7 @@
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private:
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const Tree tree;
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- Frame recursiveFk(const JntArray& q_in, const SegmentMap::const_iterator& it, const SegmentMap::const_iterator& baseit);
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+ Frame recursiveFk(const JntArray& q_in, std::pair<const std::string, KDL::TreeElement> const *it, std::pair<const std::string, KDL::TreeElement> const *baseit);
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};
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}
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--- intern/itasc/kdl/treejnttojacsolver.cpp.orig 2011-10-23 20:38:16.000000000 +0200
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+++ intern/itasc/kdl/treejnttojacsolver.cpp 2013-11-13 15:04:38.000000000 +0100
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@@ -28,16 +28,16 @@
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return -1;
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//Lets search the tree-element
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- SegmentMap::const_iterator it = tree.getSegments().find(segmentname);
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+ std::pair<const std::string, KDL::TreeElement> const *it = &*tree.getSegments().find(segmentname);
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//If segmentname is not inside the tree, back out:
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- if (it == tree.getSegments().end())
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+ if (it == &*tree.getSegments().end())
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return -2;
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//Let's make the jacobian zero:
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SetToZero(jac);
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- SegmentMap::const_iterator root = tree.getSegments().find("root");
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+ std::pair<const std::string, KDL::TreeElement> const *root = &*tree.getSegments().find("root");
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Frame T_total = Frame::Identity();
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Frame T_local, T_joint;
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--- intern/itasc/Armature.cpp.orig 2013-03-18 12:44:56.000000000 +0100
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+++ intern/itasc/Armature.cpp 2013-11-13 14:21:32.000000000 +0100
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@@ -402,7 +402,7 @@
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m_armlength = 0.0;
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for (i=0; i<m_neffector; i++) {
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length = 0.0;
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- KDL::SegmentMap::const_iterator sit = m_tree.getSegment(m_effectors[i].name);
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+ std::pair<const std::string, KDL::TreeElement> const *sit = &*m_tree.getSegment(m_effectors[i].name);
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while (sit->first != "root") {
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Frame tip = sit->second.segment.pose(m_qKdl(sit->second.q_nr));
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length += tip.p.Norm();
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