[med-svn] [opensurgsim] 01/03: Fixes for eigen 3.3-alpha1 (Closes: #803145)
Paul Novotny
paulnovo-guest at moszumanska.debian.org
Mon Nov 9 21:41:48 UTC 2015
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paulnovo-guest pushed a commit to branch master
in repository opensurgsim.
commit 102afebb271b4e83b75f4f66851c84902b66bed4
Author: Paul Novotny <paul at paulnovo.us>
Date: Sat Nov 7 11:43:12 2015 -0500
Fixes for eigen 3.3-alpha1 (Closes: #803145)
---
debian/patches/fix-build-with-eigen-3-3.patch | 78 +++++++++++++++++++++++++++
debian/patches/series | 1 +
2 files changed, 79 insertions(+)
diff --git a/debian/patches/fix-build-with-eigen-3-3.patch b/debian/patches/fix-build-with-eigen-3-3.patch
new file mode 100644
index 0000000..754dad0
--- /dev/null
+++ b/debian/patches/fix-build-with-eigen-3-3.patch
@@ -0,0 +1,78 @@
+Description: Fixes failing build with Eigen 3.3-alpha1
+ The update to Eigen 3.3-alpha1 caused the build to break due to changes in the
+ Quaternion constructor Also, this tweaks a couple of epsilon values in the
+ unit tests due to changes in Eigen.
+Author: Paul Novotny <paul at paulnovo.us>
+Bug-Debian: https://bugs.debian.org/803145
+Last-Update: 2015-11-05
+
+--- a/SurgSim/Collision/UnitTests/BoxDoubleSidedPlaneContactCalculationTests.cpp
++++ b/SurgSim/Collision/UnitTests/BoxDoubleSidedPlaneContactCalculationTests.cpp
+@@ -143,8 +143,8 @@
+ SCOPED_TRACE("Intersection in front of plane, one contact, rotated plane");
+ globalQuat = SurgSim::Math::makeRotationQuaternion(-0.3257, Vector3d(-0.4575,-0.8563,0.63457).normalized());
+ double angle = -35.264389682754654315377000330019*(M_PI/180.0);
+- boxQuat = globalQuat * Quaterniond(SurgSim::Math::makeRotationMatrix(angle, Vector3d(0.0,1.0,0.0)) *
+- SurgSim::Math::makeRotationMatrix(-M_PI_4, Vector3d(0.0,0.0,1.0)));
++ boxQuat = globalQuat * SurgSim::Math::makeRotationQuaternion(angle, Vector3d(0.0,1.0,0.0)) *
++ SurgSim::Math::makeRotationQuaternion(-M_PI_4, Vector3d(0.0,0.0,1.0));
+ boxTrans = Vector3d(std::sqrt(0.75),0.0,0.0);
+ planeQuat = globalQuat * SurgSim::Math::makeRotationQuaternion(-M_PI_2, Vector3d(0.0,0.0,1.0));
+ planeTrans = boxTrans + globalQuat * Vector3d(-std::sqrt(0.75),0.0,0.0);
+@@ -159,8 +159,8 @@
+ SCOPED_TRACE("Intersection inside of plane, one contact, rotated plane");
+ globalQuat = SurgSim::Math::makeRotationQuaternion(-0.3257, Vector3d(-0.4575,-0.8563,0.63457).normalized());
+ double angle = -35.264389682754654315377000330019*(M_PI/180.0);
+- boxQuat = globalQuat * Quaterniond(SurgSim::Math::makeRotationMatrix(angle, Vector3d(0.0,1.0,0.0)) *
+- SurgSim::Math::makeRotationMatrix(-M_PI_4, Vector3d(0.0,0.0,1.0)));
++ boxQuat = globalQuat * SurgSim::Math::makeRotationQuaternion(angle, Vector3d(0.0,1.0,0.0)) *
++ SurgSim::Math::makeRotationQuaternion(-M_PI_4, Vector3d(0.0,0.0,1.0));
+ boxTrans = Vector3d(std::sqrt(0.75),0.0,0.0);
+ planeQuat = globalQuat * SurgSim::Math::makeRotationQuaternion(-M_PI_2, Vector3d(0.0,0.0,1.0));
+ planeTrans = boxTrans + globalQuat * Vector3d(-std::sqrt(0.74),0.0,0.0);
+--- a/SurgSim/Collision/UnitTests/BoxPlaneContactCalculationTests.cpp
++++ b/SurgSim/Collision/UnitTests/BoxPlaneContactCalculationTests.cpp
+@@ -131,8 +131,8 @@
+ SCOPED_TRACE("Intersection in front of plane, one contact, rotated plane");
+ globalQuat = SurgSim::Math::makeRotationQuaternion(-0.3257, Vector3d(-0.4575,-0.8563,0.63457).normalized());
+ double angle = -35.264389682754654315377000330019*(M_PI/180.0);
+- boxQuat = globalQuat * Quaterniond(SurgSim::Math::makeRotationMatrix(angle, Vector3d(0.0,1.0,0.0)) *
+- SurgSim::Math::makeRotationMatrix(-M_PI_4, Vector3d(0.0,0.0,1.0)));
++ boxQuat = globalQuat * SurgSim::Math::makeRotationQuaternion(angle, Vector3d(0.0,1.0,0.0)) *
++ SurgSim::Math::makeRotationQuaternion(-M_PI_4, Vector3d(0.0,0.0,1.0));
+ boxTrans = Vector3d(std::sqrt(0.75),0.0,0.0);
+ planeQuat = globalQuat * SurgSim::Math::makeRotationQuaternion(-M_PI_2, Vector3d(0.0,0.0,1.0));
+ planeTrans = boxTrans + globalQuat * Vector3d(-std::sqrt(0.75),0.0,0.0);
+@@ -146,8 +146,8 @@
+ SCOPED_TRACE("Intersection inside of plane, one contact, rotated plane");
+ globalQuat = SurgSim::Math::makeRotationQuaternion(0.3465, Vector3d(54.4575,76.8563,43.63457).normalized());
+ double angle = -35.264389682754654315377000330019*(M_PI/180.0);
+- boxQuat = globalQuat * Quaterniond(SurgSim::Math::makeRotationMatrix(angle, Vector3d(0.0,1.0,0.0)) *
+- SurgSim::Math::makeRotationMatrix(-M_PI_4, Vector3d(0.0,0.0,1.0)));
++ boxQuat = globalQuat * SurgSim::Math::makeRotationQuaternion(angle, Vector3d(0.0,1.0,0.0)) *
++ SurgSim::Math::makeRotationQuaternion(-M_PI_4, Vector3d(0.0,0.0,1.0));
+ boxTrans = Vector3d(std::sqrt(0.73),0.0,0.0);
+ planeQuat = globalQuat * SurgSim::Math::makeRotationQuaternion(-M_PI_2, Vector3d(0.0,0.0,1.0));
+ planeTrans = boxTrans + globalQuat * Vector3d(-std::sqrt(0.75),0.0,0.0);
+--- a/SurgSim/Physics/UnitTests/Fem3DElementCorotationalTetrahedronTests.cpp
++++ b/SurgSim/Physics/UnitTests/Fem3DElementCorotationalTetrahedronTests.cpp
+@@ -30,7 +30,7 @@
+
+ namespace
+ {
+-const double epsilonAddForce = 1e-8;
++const double epsilonAddForce = 1e-7;
+ const double epsilonAddMatVec = 1e-10;
+ };
+
+--- a/SurgSim/Physics/UnitTests/RigidRepresentationTest.cpp
++++ b/SurgSim/Physics/UnitTests/RigidRepresentationTest.cpp
+@@ -446,7 +446,7 @@
+ {
+ SCOPED_TRACE("Almost Identity pose, limitted development in use");
+
+- Eigen::AngleAxisd angleAxis(0.2e-8, Vector3d(1.1, -1.4, 3.23).normalized());
++ Eigen::AngleAxisd angleAxis(5e-8, Vector3d(1.1, -1.4, 3.23).normalized());
+ Vector3d t(1.1, 2.2, 3.3);
+ RigidTransform3d transform = makeRigidTransform(Quaterniond(angleAxis), t);
+
diff --git a/debian/patches/series b/debian/patches/series
index 2171fc5..74c882e 100644
--- a/debian/patches/series
+++ b/debian/patches/series
@@ -10,3 +10,4 @@ backport-c7925c91f.patch
backport-7b1d8836f.patch
fix-epsilon-for-tests.patch
fix-fem-ply-reading.patch
+fix-build-with-eigen-3-3.patch
--
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