Closed sbarthelemy closed 10 years ago
I think a proper solution would be to move FloatType as a template parameter to both Robot and Spatial::* classes.
I agree with you, this does sound like the best solution.
So the current metapod::matrix3d would become metapod::Matrix3 (we could also define metapod::Matrix3d and metapod::Matrix3f).
Agreed. Could you however try to keep the two changes (template by float type and renaming) separate in terms of commits?
Thanks for all your contributions to metapod!
Fixed by commit b473121142004652f8aa7e63df2095c8c8d58c11
I'd like to let the user change the floating point precision of algorithms properly.
Currently this parameter is a typedef in metapod namespace. Changing it requires editing the file.
On could add a preprocessor option to avoid editing the file. This might be handy (especially for testing both precisions), but can led to problems at link time:
I think a proper solution would be to move FloatType as a template parameter to both Robot and Spatial::* classes.
I haven't thought about that much though. Any comment?
I would also jump on that occasion to rename linear algebra types in metapod. I think we should closely follow the Eigen conventions, and keep the first letter capital.
So the current metapod::matrix3d would become metapod::Matrix3
(we could also define metapod::Matrix3d and metapod::Matrix3f).
Any comment?