ab8f16961e
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
33 lines
956 B
C++
33 lines
956 B
C++
///@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;
|
|
#else
|
|
typedef float idScalar;
|
|
#endif
|
|
|
|
// use std::vector for arrays
|
|
#include <vector>
|
|
// this is to make it work with C++2003, otherwise we could do this
|
|
// template <typename T>
|
|
// using idArray = std::vector<T>;
|
|
template <typename T>
|
|
struct idArray
|
|
{
|
|
typedef std::vector<T> type;
|
|
};
|
|
typedef std::vector<int>::size_type idArrayIdx;
|
|
// default to standard malloc/free
|
|
#include <cstdlib>
|
|
#define ID_DECLARE_ALIGNED_ALLOCATOR() EIGEN_MAKE_ALIGNED_OPERATOR_NEW
|
|
// Note on interfaces:
|
|
// Eigen::Matrix has data(), to get c-array storage
|
|
// HOWEVER: default storage is column-major!
|
|
#define ID_LINEAR_MATH_USE_EIGEN
|
|
#include "Eigen/Eigen"
|
|
#include "details/IDEigenInterface.hpp"
|
|
#endif
|