Merge pull request #529 from erwincoumans/master

[InverseDynamics] 4-spaces->tabs for src/BulletInverseDynamics, Add custom namespaces per configuration

src/BulletInverseDynamics/IDConfig.hpp

@@ -8,6 +8,7 @@
 #define BT_ID_POW(a,b) std::pow(a,b)
 #define BT_ID_SNPRINTF snprintf
 #define BT_ID_PI M_PI
+#define BT_ID_USE_DOUBLE_PRECISION
 #else
 #define BT_ID_POW(a,b) btPow(a,b)
 #define BT_ID_PI SIMD_PI
@@ -24,11 +25,18 @@
 #define INVDYN_INCLUDE_HELPER_2(x) #x
 #define INVDYN_INCLUDE_HELPER(x) INVDYN_INCLUDE_HELPER_2(x)
 #include INVDYN_INCLUDE_HELPER(BT_CUSTOM_INVERSE_DYNAMICS_CONFIG_H)
+#ifndef btInverseDynamics 
+#error "custom inverse dynamics config, but no custom namespace defined"
+#endif
 #else
+#define btInverseDynamics btInverseDynamicsBullet3
 // Use default configuration with bullet's types
 // Use the same scalar type as rest of bullet library
 #include "LinearMath/btScalar.h"
 typedef btScalar idScalar;
+#ifdef BT_USE_DOUBLE_PRECISION
+#define BT_ID_USE_DOUBLE_PRECISION
+#endif
 // use bullet types for arrays and array indices
 #include "Bullet3Common/b3AlignedObjectArray.h"
 // this is to make it work with C++2003, otherwise we could do this:

src/BulletInverseDynamics/IDConfigBuiltin.hpp

@@ -1,6 +1,7 @@
 ///@file Configuration for Inverse Dynamics Library without external dependencies
 #ifndef INVDYNCONFIG_BUILTIN_HPP_
 #define INVDYNCONFIG_BUILTIN_HPP_
+#define btInverseDynamics btInverseDynamicsBuiltin
 #ifdef BT_USE_DOUBLE_PRECISION
 // choose double/single precision version
 typedef double idScalar;

src/BulletInverseDynamics/IDConfigEigen.hpp

@@ -1,6 +1,7 @@
 ///@file Configuration for Inverse Dynamics Library with Eigen
 #ifndef INVDYNCONFIG_EIGEN_HPP_
 #define INVDYNCONFIG_EIGEN_HPP_
+#define btInverseDynamics btInverseDynamicsEigen
 #ifdef BT_USE_DOUBLE_PRECISION
 // choose double/single precision version
 typedef double idScalar;

src/BulletInverseDynamics/MultiBodyTree.hpp

@@ -1,6 +1,7 @@
 #ifndef MULTIBODYTREE_HPP_
 #define MULTIBODYTREE_HPP_
 
+#include "IDConfig.hpp"
 #include "IDMath.hpp"
 
 namespace btInverseDynamics {
@@ -304,5 +305,4 @@ private:
 	InitCache* m_init_cache;
 };
 }  // namespace btInverseDynamics
-
 #endif  // MULTIBODYTREE_HPP_

src/BulletInverseDynamics/details/IDMatVec.hpp

@@ -4,6 +4,8 @@
 
 #include <cstdlib>
 
+#include "../IDConfig.hpp"
+
 namespace btInverseDynamics {
 class vec3;
 class vecx;

test/InverseDynamics/test_invdyn_kinematics.cpp

@@ -248,7 +248,11 @@ int calculateDifferentiationError(const MultiBodyTreeCreator& creator, idScalar
 // first test: absolute difference between numerical and numerial
 // differentiation should be small
 TEST(InvDynKinematicsDifferentiation, errorAbsolute) {
+#ifdef BT_ID_USE_DOUBLE_PRECISION
     const idScalar kDeltaT = 1e-7;
+#else
+	const idScalar kDeltaT = 1e-2;
+#endif
     const idScalar kDuration = 1e-2;
     const idScalar kAcceptableError = 1e-4;