[feature-pose] Make it work on clang.

Author: olivier-stasse

include/sot/core/feature-pose.hh

@@ -161,6 +161,10 @@ private:
   /// \todo Intermediate variables for internal computations
 };
 
+template < typename T >
+Vector6d convertVelocity(const MatrixHomogeneous &M,
+                                const MatrixHomogeneous &Mdes,
+                                const Vector &faNufafbDes);
 #if __cplusplus >= 201103L
 extern template class SOT_CORE_DLLAPI FeaturePose<SE3Representation>;
 extern template class SOT_CORE_DLLAPI FeaturePose<R3xSO3Representation>;

include/sot/core/feature-pose.hxx

@@ -50,7 +50,7 @@ template <Representation_t representation> struct LG_t {
 static const MatrixHomogeneous Id(MatrixHomogeneous::Identity());
 
 template <Representation_t representation>
-FeaturePose<representation>::FeaturePose(const string &pointName)
+FeaturePose<representation>::FeaturePose(const std::string &pointName)
     : FeatureAbstract(pointName),
       oMja(NULL, CLASS_NAME + "(" + name + ")::input(matrixHomo)::oMja"),
       jaMfa(NULL, CLASS_NAME + "(" + name + ")::input(matrixHomo)::jaMfa"),
@@ -128,7 +128,7 @@ static inline void check(const FeaturePose<representation> &ft) {
 template <Representation_t representation>
 unsigned int &FeaturePose<representation>::getDimension(unsigned int &dim,
                                                         int time) {
-  sotDEBUG(25) << "# In {" << endl;
+  sotDEBUG(25) << "# In {" << std::endl;
 
   const Flags &fl = selectionSIN.access(time);
 
@@ -137,7 +137,7 @@ unsigned int &FeaturePose<representation>::getDimension(unsigned int &dim,
     if (fl(i))
       dim++;
 
-  sotDEBUG(25) << "# Out }" << endl;
+  sotDEBUG(25) << "# Out }" << std::endl;
   return dim;
 }
 
@@ -259,8 +259,8 @@ Vector &FeaturePose<representation>::computeError(Vector &error, int time) {
 // This function is responsible of converting the input velocity expressed with
 // SE(3) convention onto a velocity expressed with the convention of this
 // feature (R^3xSO(3) or SE(3)), in the right frame.
-template <typename internal::LG_t>
-Vector6d convertVelocity(const MatrixHomogeneous &M,
+template <>
+Vector6d convertVelocity<SE3_t>(const MatrixHomogeneous &M,
                          const MatrixHomogeneous &Mdes,
                          const Vector &faNufafbDes) {
   (void)M;

tests/features/test_feature_generic.cpp

@@ -32,11 +32,28 @@
 #include <sot/core/feature-abstract.hh>
 #include <sot/core/feature-generic.hh>
 #include <sot/core/feature-pose.hh>
-#include <sot/core/feature-pose.hxx>
 #include <sot/core/gain-adaptive.hh>
 #include <sot/core/sot.hh>
 #include <sot/core/task.hh>
 
+namespace dynamicgraph {
+namespace sot {
+
+typedef pinocchio::CartesianProductOperation<
+    pinocchio::VectorSpaceOperationTpl<3, double>,
+    pinocchio::SpecialOrthogonalOperationTpl<3, double> >
+    R3xSO3_t;
+typedef pinocchio::SpecialEuclideanOperationTpl<3, double> SE3_t;
+
+namespace internal {
+template <Representation_t representation> struct LG_t {
+  typedef typename boost::mpl::if_c<representation == SE3Representation, SE3_t,
+                                    R3xSO3_t>::type type;
+};
+}
+}
+}
+
 using namespace std;
 using namespace dynamicgraph::sot;
 using namespace dynamicgraph;
@@ -291,7 +308,7 @@ Vector toVector(const std::vector<MultiBound> &in) {
 template <Representation_t representation>
 class TestFeaturePose : public FeatureTestBase {
 public:
-  typedef typename LG_t<representation>::type LieGroup_t;
+  typedef typename dg::sot::internal::LG_t<representation>::type LieGroup_t;
   FeaturePose<representation> feature_;
   bool relative_;
   pinocchio::Model model_;