Another set of UI messages fixes and tweaks! No functional changes.

GNUmakefile

 # -*- mode: gnumakefile; tab-width: 8; indent-tabs-mode: t; -*-
-# vim: tabstop=8
-# $Id: GNUmakefile 41122 2011-10-19 21:55:27Z campbellbarton $
+# vim: tabstop=4
 #
 # ##### BEGIN GPL LICENSE BLOCK #####
 #

SConstruct

 #!/usr/bin/env python
-# $Id: SConstruct 41169 2011-10-21 04:23:26Z campbellbarton $
+#
 # ***** BEGIN GPL LICENSE BLOCK *****
 #
 # This program is free software; you can redistribute it and/or
@@ -30,6 +30,8 @@
 # Then read all SConscripts and build
 #
 # TODO: fix /FORCE:MULTIPLE on windows to get proper debug builds.
+# TODO: directory copy functions are far too complicated, see:
+#       http://wiki.blender.org/index.php/User:Ideasman42/SConsNotSimpleInstallingFiles
 
 import platform as pltfrm
 

intern/itasc/ConstraintSet.cpp

@@ -80,7 +80,7 @@ void ConstraintSet::modelUpdate(Frame& _external_pose,const Timestamp& timestamp
 
 double ConstraintSet::getMaxTimestep(double& timestep)
 {
-	e_scalar maxChidot = m_chidot.cwise().abs().maxCoeff();
+	e_scalar maxChidot = m_chidot.array().abs().maxCoeff();
 	if (timestep*maxChidot > m_maxDeltaChi) {
 		timestep = m_maxDeltaChi/maxChidot;
 	}
@@ -162,9 +162,9 @@ bool ConstraintSet::closeLoop(){
         }else
             m_B.row(i) = m_U.col(i)/m_S(i);
 
-    m_Jf_inv=(m_V*m_B).lazy();
+    m_Jf_inv.noalias()=m_V*m_B;
 
-    m_chi+=(m_Jf_inv*m_tdelta).lazy();
+    m_chi.noalias()+=m_Jf_inv*m_tdelta;
     updateJacobian();
 	// m_externalPose-m_internalPose in end effector frame
 	// this is just to compare the pose, a different formula would work too

intern/itasc/ControlledObject.cpp

@@ -54,7 +54,7 @@ const e_matrix& ControlledObject::getJq(unsigned int ee) const
 
 double ControlledObject::getMaxTimestep(double& timestep)
 {
-	e_scalar maxQdot = m_qdot.cwise().abs().maxCoeff();
+	e_scalar maxQdot = m_qdot.array().abs().maxCoeff();
 	if (timestep*maxQdot > m_maxDeltaQ) {
 		timestep = m_maxDeltaQ/maxQdot;
 	}

intern/itasc/CopyPose.cpp

@@ -473,7 +473,7 @@ double CopyPose::getMaxTimestep(double& timestep)
 	// CopyPose should not have any limit on linear velocity: 
 	// in case the target is out of reach, this can be very high.
 	// We will simply limit on rotation
-	e_scalar maxChidot = m_chidot.block(3,0,3,1).cwise().abs().maxCoeff();
+	e_scalar maxChidot = m_chidot.block(3,0,3,1).array().abs().maxCoeff();
 	if (timestep*maxChidot > m_maxDeltaChi) {
 		timestep = m_maxDeltaChi/maxChidot;
 	}

intern/itasc/Scene.cpp

@@ -356,7 +356,7 @@ bool Scene::update(double timestamp, double timestep, unsigned int numsubstep, b
 					m_Uf.col(i).setConstant(0.0);
 				else
 					m_Uf.col(i)*=(1/m_Sf(i));
-			project(m_Jf_inv,cs->featurerange,cs->featurerange)=(m_Vf*m_Uf.transpose()).lazy();
+			project(m_Jf_inv,cs->featurerange,cs->featurerange).noalias()=m_Vf*m_Uf.transpose();
 
 			//Get the robotjacobian associated with this constraintset
 			//Each jacobian is expressed in robot base frame => convert to world reference
@@ -410,11 +410,11 @@ bool Scene::update(double timestamp, double timestep, unsigned int numsubstep, b
 		}
 
 	    //Calculate A
-		m_Atemp=(m_Cf*m_Jf_inv).lazy();
-		m_A = m_Cq-(m_Atemp*m_Jq).lazy();
+		m_Atemp.noalias()=m_Cf*m_Jf_inv;
+		m_A.noalias() = m_Cq-(m_Atemp*m_Jq);
 		if (m_nuTotal > 0) {
-			m_B=(m_Atemp*m_Ju).lazy();
-			m_ydot += (m_B*m_xdot).lazy();
+			m_B.noalias()=m_Atemp*m_Ju;
+			m_ydot.noalias() += m_B*m_xdot;
 		}
 
 		//Call the solver with A, Wq, Wy, ydot to solver qdot:
@@ -435,13 +435,13 @@ bool Scene::update(double timestamp, double timestep, unsigned int numsubstep, b
 			//Calculate the twist of the world reference frame due to the robots (Jq*qdot+Ju*chiudot):
 			e_vector6 external_vel = e_zero_vector(6);
 			if (ob1->jointrange.count > 0)
-				external_vel += (project(m_Jq,cs->featurerange,ob1->jointrange)*project(m_qdot,ob1->jointrange)).lazy();
+				external_vel.noalias() += (project(m_Jq,cs->featurerange,ob1->jointrange)*project(m_qdot,ob1->jointrange));
 			if (ob2->jointrange.count > 0)
-				external_vel += (project(m_Jq,cs->featurerange,ob2->jointrange)*project(m_qdot,ob2->jointrange)).lazy();
+				external_vel.noalias() += (project(m_Jq,cs->featurerange,ob2->jointrange)*project(m_qdot,ob2->jointrange));
 			if (ob1->coordinaterange.count > 0)
-				external_vel += (project(m_Ju,cs->featurerange,ob1->coordinaterange)*project(m_xdot,ob1->coordinaterange)).lazy();
+				external_vel.noalias() += (project(m_Ju,cs->featurerange,ob1->coordinaterange)*project(m_xdot,ob1->coordinaterange));
 			if (ob2->coordinaterange.count > 0)
-				external_vel += (project(m_Ju,cs->featurerange,ob2->coordinaterange)*project(m_xdot,ob2->coordinaterange)).lazy();
+				external_vel.noalias() += (project(m_Ju,cs->featurerange,ob2->coordinaterange)*project(m_xdot,ob2->coordinaterange));
 			//the twist caused by the constraint must be opposite because of the closed loop
 			//estimate the velocity of the joints using the inverse jacobian
 			e_vector6 estimated_chidot = project(m_Jf_inv,cs->featurerange,cs->featurerange)*(-external_vel);

intern/itasc/WDLSSolver.cpp

@@ -65,10 +65,10 @@ bool WDLSSolver::solve(const e_matrix& A, const e_vector& Wy, const e_vector& yd
     if(ret<0)
         return false;
 
-    m_WqV = (Wq*m_V).lazy();
+    m_WqV.noalias() = Wq*m_V;
 
     //Wy*ydot
-	m_Wy_ydot = Wy.cwise() * ydot;
+	m_Wy_ydot = Wy.array() * ydot.array();
     //S^-1*U'*Wy*ydot
 	e_scalar maxDeltaS = e_scalar(0.0);
 	e_scalar prevS = e_scalar(0.0);
@@ -85,7 +85,7 @@ bool WDLSSolver::solve(const e_matrix& A, const e_vector& Wy, const e_vector& yd
 		}
 		lambda = (S < m_epsilon) ? (e_scalar(1.0)-KDL::sqr(S/m_epsilon))*m_lambda*m_lambda : e_scalar(0.0);
 		alpha = m_U.col(i).dot(m_Wy_ydot)*S/(S*S+lambda);
-		vmax = m_WqV.col(i).cwise().abs().maxCoeff();
+		vmax = m_WqV.col(i).array().abs().maxCoeff();
 		norm = fabs(alpha*vmax);
 		if (norm > m_qmax) {
 			qdot += m_WqV.col(i)*(alpha*m_qmax/norm);

intern/itasc/WSDLSSolver.cpp

@@ -60,7 +60,7 @@ bool WSDLSSolver::solve(const e_matrix& A, const e_vector& Wy, const e_vector& y
 	e_scalar N, M;
 
 	// Create the Weighted jacobian
-    m_AWq = (A*Wq).lazy();
+    m_AWq.noalias() = A*Wq;
 	for (i=0; i<m_nc; i++)
 		m_WyAWq.row(i) = Wy(i)*m_AWq.row(i);
 
@@ -75,8 +75,8 @@ bool WSDLSSolver::solve(const e_matrix& A, const e_vector& Wy, const e_vector& y
     if(ret<0)
         return false;
 
-	m_Wy_ydot = Wy.cwise() * ydot;
-    m_WqV = (Wq*m_V).lazy();
+	m_Wy_ydot = Wy.array() * ydot.array();
+    m_WqV.noalias() = Wq*m_V;
 	qdot.setZero();
 	e_scalar maxDeltaS = e_scalar(0.0);
 	e_scalar prevS = e_scalar(0.0);
@@ -121,7 +121,7 @@ bool WSDLSSolver::solve(const e_matrix& A, const e_vector& Wy, const e_vector& y
 		M *= Sinv;
 		alpha = m_U.col(i).dot(m_Wy_ydot);
 		_qmax = (N < M) ? m_qmax*N/M : m_qmax;
-		vmax = m_WqV.col(i).cwise().abs().maxCoeff();
+		vmax = m_WqV.col(i).array().abs().maxCoeff();
 		norm = fabs(Sinv*alpha*vmax);
 		if (norm > _qmax) {
 			damp = Sinv*alpha*_qmax/norm;