Yaml extension for Eigen::Matrix and std::unordered_map (#175)

Resolves #175

cmake/FindYamlCpp.cmake

@@ -0,0 +1,49 @@
+# Locate yaml-cpp
+#
+# This module defines
+#  YAMLCPP_FOUND - System has yaml-cpp
+#  YAMLCPP_INCLUDE_DIRS - The yaml-cpp include directories
+#  YAMLCPP_LIBRARIES - The libraries needed to use yaml-cpp
+#  YAMLCPP_DEFINITIONS - Compiler switches required for using yaml-cpp
+#  YAMLCPP_VERSION - The version of yaml-cpp
+#
+# By default, the dynamic libraries of yaml-cpp will be found. To find the
+# static ones instead, set the YAMLCPP_STATIC_LIBRARY variable to TRUE before
+# calling find_package(YamlCpp ...).
+#
+# If yaml-cpp is not installed in a standard path, you can use the YAMLCPP_DIR
+# CMake variable to tell CMake where yaml-cpp is.
+
+# Attempt to find static library first if this is set
+if(YAMLCPP_STATIC_LIBRARY)
+    set(YAMLCPP_STATIC libyaml-cpp.a)
+endif()
+
+# Set up pkg-config to find yaml-cpp.
+find_package(PkgConfig)
+pkg_check_modules(PC_YAMLCPP QUIET yaml-cpp)
+set(YAMLCPP_DEFINITIONS ${PC_YAMLCPP_CFLAGS_OTHER})
+
+# Find the yaml-cpp include directory.
+find_path(YAMLCPP_INCLUDE_DIR yaml-cpp/yaml.h
+          HINTS ${PC_YAMLCPP_INCLUDEDIR} ${PC_YAMLCPP_INCLUDE_DIRS}
+          PATHS ${YAMLCPP_DIR}/include/
+          PATH_SUFFIXES include)
+
+# Find the yaml-cpp library.
+find_library(YAMLCPP_LIBRARY NAMES ${YAMLCPP_STATIC} yaml-cpp
+             HINTS ${PC_YAMLCPP_LIBDIR} ${PC_YAMLCPP_LIBRARY_DIRS}
+             PATHS ${YAMLCPP_DIR}/lib/
+             PATH_SUFFIXES lib64 lib)
+
+set(YAMLCPP_LIBRARIES ${YAMLCPP_LIBRARY})
+set(YAMLCPP_INCLUDE_DIRS ${YAMLCPP_INCLUDE_DIR})
+
+set(YAMLCPP_VERSION ${PC_YAMLCPP_VERSION})
+
+# Handle the QUIETLY and REQUIRED arguments and set YAMLCPP_FOUND to TRUE
+# if all listed variables are TRUE.
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(YAMLCPP DEFAULT_MSG
+	                              YAMLCPP_INCLUDE_DIR YAMLCPP_LIBRARY)
+mark_as_advanced(YAMLCPP_INCLUDE_DIR YAMLCPP_LIBRARY)

cmake/version.hpp.in

@@ -1,6 +1,6 @@
-/* config.hpp. Generated by CMake for @PROJECT_NAME@. */
-#ifndef AIKIDO_CONFIG_HPP_
-#define AIKIDO_CONFIG_HPP_
+/* version.hpp. Generated by CMake for @PROJECT_NAME@. */
+#ifndef AIKIDO_VERSION_HPP_
+#define AIKIDO_VERSION_HPP_
 
 /* Version number */
 #define AIKIDO_MAJOR_VERSION @AIKIDO_MAJOR_VERSION@
@@ -27,4 +27,4 @@
   (AIKIDO_MAJOR_VERSION < x || (AIKIDO_MAJOR_VERSION <= x && \
   (AIKIDO_MINOR_VERSION < y || (AIKIDO_MINOR_VERSION <= y))))
 
-#endif // #ifndef AIKIDO_CONFIG_HPP_
+#endif // #ifndef AIKIDO_VERSION_HPP_

include/aikido/constraint/uniform/detail/RnBoxConstraint-impl.hpp

@@ -86,7 +86,7 @@ bool RnBoxConstraintSampleGenerator<N>::sample(
 {
   Vectord value(mDistributions.size());
 
-  for (size_t i = 0; i < value.size(); ++i)
+  for (size_t i = 0; i < static_cast<std::size_t>(value.size()); ++i)
     value[i] = mDistributions[i](*mRng);
 
   mSpace->setValue(static_cast<typename statespace::R<N>::State*>(_state), value);
@@ -124,15 +124,15 @@ RBoxConstraint<N>::RBoxConstraint(std::shared_ptr<statespace::R<N>> _space,
 
   const auto dimension = mSpace->getDimension();
 
-  if (mLowerLimits.size() != dimension)
+  if (static_cast<std::size_t>(mLowerLimits.size()) != dimension)
   {
     std::stringstream msg;
     msg << "Lower limits have incorrect dimension: expected "
         << mSpace->getDimension() << ", got " << mLowerLimits.size() << ".";
     throw std::invalid_argument(msg.str());
   }
 
-  if (mUpperLimits.size() != dimension)
+  if (static_cast<std::size_t>(mUpperLimits.size()) != dimension)
   {
     std::stringstream msg;
     msg << "Upper limits have incorrect dimension: expected "
@@ -184,7 +184,7 @@ bool RBoxConstraint<N>::isSatisfied(
   const auto value = mSpace->getValue(
     static_cast<const typename statespace::R<N>::State*>(state));
 
-  for (size_t i = 0; i < value.size(); ++i)
+  for (size_t i = 0; i < static_cast<std::size_t>(value.size()); ++i)
   {
     if (value[i] < mLowerLimits[i] || value[i] > mUpperLimits[i])
       return false;
@@ -201,7 +201,7 @@ bool RBoxConstraint<N>::project(
   Vectord value = mSpace->getValue(
     static_cast<const typename statespace::R<N>::State*>(_s));
 
-  for (size_t i = 0; i < value.size(); ++i)
+  for (size_t i = 0; i < static_cast<std::size_t>(value.size()); ++i)
   {
     if (value[i] < mLowerLimits[i])
       value[i] = mLowerLimits[i];
@@ -250,7 +250,7 @@ void RBoxConstraint<N>::getJacobian(
   const size_t dimension = mSpace->getDimension();
   _out = Eigen::MatrixXd::Zero(dimension, dimension);
 
-  for (size_t i = 0; i < _out.rows(); ++i)
+  for (size_t i = 0; i < static_cast<std::size_t>(_out.rows()); ++i)
   {
     if (stateValue[i] < mLowerLimits[i])
       _out(i, i) = -1.;

include/aikido/perception/AprilTagsModule.hpp

@@ -8,9 +8,9 @@
 #include <tf/transform_listener.h>
 #include <dart/dart.hpp>
 #include <aikido/util/CatkinResourceRetriever.hpp>
+#include <aikido/util/yaml.hpp>
 #include <aikido/perception/AprilTagsDatabase.hpp>
 #include <aikido/perception/PerceptionModule.hpp>
-#include <yaml-cpp/yaml.h>
 #include <memory>
 
 

include/aikido/perception/YamlAprilTagsDatabase.hpp

@@ -2,8 +2,8 @@
 #define AIKIDO_PERCEPTION_YAML_APRILTAGS_DATABASE_H
 
 #include "yaml-cpp/yaml.h"
-#include <aikido/perception/eigen_yaml.hpp>
 #include <aikido/util/CatkinResourceRetriever.hpp>
+#include <aikido/util/yaml.hpp>
 #include <dart/common/LocalResourceRetriever.hpp>
 #include <dart/dart.hpp>
 #include <Eigen/Geometry>

include/aikido/statespace/detail/Rn-impl.hpp

@@ -147,7 +147,7 @@ template <int N>
 void R<N>::setValue(State *_state, const typename R<N>::Vectord &_value) const
 {
   // TODO: Skip this check in release mode.
-  if (_value.size() != getDimension()) {
+  if (static_cast<std::size_t>(_value.size()) != getDimension()) {
     std::stringstream msg;
     msg << "Value has incorrect size: expected " << getDimension() << ", got "
         << _value.size() << ".";
@@ -245,7 +245,7 @@ template <int N>
 void R<N>::expMap(const Eigen::VectorXd&_tangent, StateSpace::State *_out) const
 {
   // TODO: Skip this check in release mode.
-  if (_tangent.size() != getDimension()) {
+  if (static_cast<std::size_t>(_tangent.size()) != getDimension()) {
     std::stringstream msg;
     msg << "Tangent vector has incorrect size: expected " << getDimension()
         << ", got " << _tangent.size() << ".";
@@ -260,7 +260,7 @@ void R<N>::expMap(const Eigen::VectorXd&_tangent, StateSpace::State *_out) const
 template <int N>
 void R<N>::logMap(const StateSpace::State *_in, Eigen::VectorXd& _tangent) const
 {
-  if (_tangent.size() != getDimension())
+  if (static_cast<std::size_t>(_tangent.size()) != getDimension())
     _tangent.resize(getDimension());
 
   auto in = static_cast<const State *>(_in);