This PR shows how to replace sofa::type::Mat with Eigen::Matrix. The goal was to minimize the amount of code change in the code base.
Several difficulties arise:
sofa::type::Mat initializes the values, but Eigen::Matrix don't
sofa::type::Mat relies on the [] operators from fixed_array. I tried to add the [] operators in Eigen::Matrix, but too much cases makes it difficult. Maybe not impossible.
sofa::type::Vec must also be a Eigen::Vector, but Eigen::Vector is a Eigen::Matrix, so all the methods we add in Eigen::Matrix are also available in Eigen::Vector, but sometimes it does not make sense. So conditions must be added on the availability of those methods.
Because of those difficulties, the replacement is not simple. This PR is not finished. It just show how (at least the first step).
This PR shows how to replace sofa::type::Mat with Eigen::Matrix. The goal was to minimize the amount of code change in the code base.
Several difficulties arise:
sofa::type::Matinitializes the values, butEigen::Matrixdon'tsofa::type::Matrelies on the [] operators fromfixed_array. I tried to add the [] operators inEigen::Matrix, but too much cases makes it difficult. Maybe not impossible.sofa::type::Vecmust also be aEigen::Vector, butEigen::Vectoris aEigen::Matrix, so all the methods we add inEigen::Matrixare also available inEigen::Vector, but sometimes it does not make sense. So conditions must be added on the availability of those methods.Because of those difficulties, the replacement is not simple. This PR is not finished. It just show how (at least the first step).
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