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[Personalrobots-commit] SF.net SVN: personalrobots:[19582] pkg/trunk
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From: <ge...@us...> - 2009-07-24 17:59:08
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Revision: 19582
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=19582&view=rev
Author: gerkey
Date: 2009-07-24 17:58:52 +0000 (Fri, 24 Jul 2009)
Log Message:
-----------
Some OSX build fixes.
Modified Paths:
--------------
pkg/trunk/3rdparty/toro/fPIC.patch
pkg/trunk/sandbox/voxel3d/src/voxel3d.cpp
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/CMakeLists.txt
pkg/trunk/util/pr2_ik/src/pr2_ik.cpp
Modified: pkg/trunk/3rdparty/toro/fPIC.patch
===================================================================
--- pkg/trunk/3rdparty/toro/fPIC.patch 2009-07-24 17:49:15 UTC (rev 19581)
+++ pkg/trunk/3rdparty/toro/fPIC.patch 2009-07-24 17:58:52 UTC (rev 19582)
@@ -1,3 +1,122 @@
+Index: trunk/treeoptimizer3_iteration.cpp
+===================================================================
+--- trunk/treeoptimizer3_iteration.cpp (revision 23)
++++ trunk/treeoptimizer3_iteration.cpp (working copy)
+@@ -87,7 +87,7 @@
+
+
+ void TreeOptimizer3::computePreconditioner(){
+- for (uint i=0; i<M.size(); i++){
++ for (unsigned int i=0; i<M.size(); i++){
+ M[i][0]=0;
+ M[i][1]=0;
+ }
+@@ -107,7 +107,7 @@
+ for (int dir=0; dir<2; dir++){
+ Vertex* n = (dir==0)? e->v1 : e->v2;
+ while (n!=top){
+- uint i=n->id;
++ unsigned int i=n->id;
+ double rW=min3(W[0][0], W[1][1], W[2][2]);
+ double tW=min3(W[3][3], W[4][4], W[5][5]);
+ M[i][0]+=rW;
+@@ -121,7 +121,7 @@
+ }
+
+ if (verboseLevel>1){
+- for (uint i=0; i<M.size(); i++){
++ for (unsigned int i=0; i<M.size(); i++){
+ cerr << "M[" << i << "]=" << M[i][0] << " " << M[i][1] << endl;
+ }
+ }
+Index: trunk/posegraph2.cpp
+===================================================================
+--- trunk/posegraph2.cpp (revision 23)
++++ trunk/posegraph2.cpp (working copy)
+@@ -109,7 +109,7 @@
+ if (!is)
+ return false;
+ EdgeList suppressed;
+- uint equivCount=0;
++ unsigned int equivCount=0;
+ while (is){
+ char buf[LINESIZE];
+ is.getline(buf, LINESIZE);
+Index: trunk/posegraph3.cpp
+===================================================================
+--- trunk/posegraph3.cpp (revision 23)
++++ trunk/posegraph3.cpp (working copy)
+@@ -154,7 +154,7 @@
+ if (!is)
+ return false;
+ EdgeList suppressed;
+- uint equivCount=0;
++ unsigned int equivCount=0;
+ while (is){
+ char buf[LINESIZE];
+ is.getline(buf, LINESIZE);
+Index: trunk/treeoptimizer2.cpp
+===================================================================
+--- trunk/treeoptimizer2.cpp (revision 23)
++++ trunk/treeoptimizer2.cpp (working copy)
+@@ -106,7 +106,7 @@
+ void TreeOptimizer2::computePreconditioner(){
+ gamma[0] = gamma[1] = gamma[2] = numeric_limits<double>::max();
+
+- for (uint i=0; i<M.size(); i++)
++ for (unsigned int i=0; i<M.size(); i++)
+ M[i]=Pose(0.,0.,0.);
+
+ int edgeCount=0;
+@@ -138,7 +138,7 @@
+ for (int dir=0; dir<2; dir++){
+ Vertex* n = (dir==0)? e->v1 : e->v2;
+ while (n!=top){
+- uint i=n->id;
++ unsigned int i=n->id;
+ M[i].values[0]+=W.values[0][0];
+ M[i].values[1]+=W.values[1][1];
+ M[i].values[2]+=W.values[2][2];
+@@ -151,7 +151,7 @@
+ }
+
+ if (verboseLevel>1){
+- for (uint i=0; i<M.size(); i++){
++ for (unsigned int i=0; i<M.size(); i++){
+ cerr << "M[" << i << "]=" << M[i].x() << " " << M[i].y() << " " << M[i].theta() <<endl;
+ }
+ }
+@@ -224,7 +224,7 @@
+ for (int dir=0; dir<2; dir++) {
+ Vertex* n = (dir==0)? v1 : v2;
+ while (n!=top){
+- uint i=n->id;
++ unsigned int i=n->id;
+ tw[0]+=1./M[i].values[0];
+ tw[1]+=1./M[i].values[1];
+ tw[2]+=1./M[i].values[2];
+@@ -244,7 +244,7 @@
+ Vertex* n = (dir==0)? v1 : v2;
+ double sign=(dir==0)? -1. : 1.;
+ while (n!=top){
+- uint i=n->id;
++ unsigned int i=n->id;
+ assert(M[i].values[0]>0);
+ assert(M[i].values[1]>0);
+ assert(M[i].values[2]>0);
+Index: trunk/treeoptimizer3.cpp
+===================================================================
+--- trunk/treeoptimizer3.cpp (revision 23)
++++ trunk/treeoptimizer3.cpp (working copy)
+@@ -95,7 +95,7 @@
+ maxRotationalErrors.push_back(mre);
+ int interval=3;
+ if ((int)maxRotationalErrors.size()>=interval){
+- uint s=maxRotationalErrors.size();
++ unsigned int s=maxRotationalErrors.size();
+ double re0 = maxRotationalErrors[s-interval];
+ double re1 = maxRotationalErrors[s-1];
+
Index: trunk/Makefile
===================================================================
--- trunk/Makefile (revision 23)
Modified: pkg/trunk/sandbox/voxel3d/src/voxel3d.cpp
===================================================================
--- pkg/trunk/sandbox/voxel3d/src/voxel3d.cpp 2009-07-24 17:49:15 UTC (rev 19581)
+++ pkg/trunk/sandbox/voxel3d/src/voxel3d.cpp 2009-07-24 17:58:52 UTC (rev 19582)
@@ -38,7 +38,9 @@
//#endif
#include <cmath>
-#include <malloc.h>
+#if ! defined(__APPLE__)
+ #include <malloc.h>
+#endif
#include <string.h> // for memset(3)
#include "visualization_msgs/MarkerArray.h"
@@ -61,7 +63,11 @@
// Constructs the kernel
//kernel_.resize(16*17*17);
+#if defined(__APPLE__)
+ kernel_ = (unsigned char*)malloc(16*17*17);
+#else
kernel_ = (unsigned char*)memalign(16, 16*17*17);
+#endif
for (int k = 0; k < 17; ++k) {
for (int j = 0; j < 17; ++j) {
for (int i = 0; i < 16; ++i) {
Modified: pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/CMakeLists.txt
===================================================================
--- pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/CMakeLists.txt 2009-07-24 17:49:15 UTC (rev 19581)
+++ pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/CMakeLists.txt 2009-07-24 17:58:52 UTC (rev 19582)
@@ -17,6 +17,7 @@
rospack_add_library (normal_estimation_in_proc src/normal_estimation_in_proc.cpp)
rospack_add_openmp_flags (normal_estimation_in_proc)
+target_link_libraries(normal_estimation_in_proc cloud_geometry)
rospack_add_executable (bin/planar_fit_node src/planar_fit.cpp)
target_link_libraries (bin/planar_fit_node cloud_geometry cloud_kdtree sample_consensus)
Modified: pkg/trunk/util/pr2_ik/src/pr2_ik.cpp
===================================================================
--- pkg/trunk/util/pr2_ik/src/pr2_ik.cpp 2009-07-24 17:49:15 UTC (rev 19581)
+++ pkg/trunk/util/pr2_ik/src/pr2_ik.cpp 2009-07-24 17:58:52 UTC (rev 19582)
@@ -351,7 +351,7 @@
#ifdef DEBUG
std::cout << "t4 " << t4 << std::endl;
#endif
- if(isnan(t4))
+ if(std::isnan(t4))
continue;
if(!checkJointLimits(t4,3))
@@ -567,7 +567,7 @@
#ifdef DEBUG
std::cout << "t4 " << t4 << std::endl;
#endif
- if(isnan(t4))
+ if(std::isnan(t4))
continue;
at = cos(t3)*sin(t4)*(ap_[1]-ap_[3]);
bt = (ap_[0]-ap_[1]+(ap_[1]-ap_[3])*cos(t4));
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