0001-fixes-1424-reduce-public-link-interface.patch

J. Wienke, 06/21/2013 10:39 AM

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cpp/src/CMakeLists.txt
4 4 
SET(HEADERS)
5 5 
SET(LIBRARIES ${RSB_LIBRARIES}
6 6 
              ${RST_LIBRARIES})
7 
# List of libraries to expose in the external link interface
8 
SET(INTERFACE_LIBRARIES ${RSB_LIBRARIES}
9 
                        ${RST_LIBRARIES})
7 10 

  		




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# --- converters ---

  		




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SET(PKGCONFIG_REQUIRES)

  		




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# TODO ALImageConverter

  		




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# ALImageConverter

  		




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SET_FEATURE_INFO(ALImageConverter "Converter for images received from the humanoid robot NAO using the NAOqi API.")

  		




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IF(ALVISION_FOUND)

  		




  ......




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    SET_PROPERTY(GLOBAL APPEND PROPERTY ENABLED_FEATURES IplImageConverter)

  		




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    LIST(APPEND SOURCES "rst/converters/opencv/IplImageConverter.cpp")

  		




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    LIST(APPEND HEADERS "rst/converters/opencv/IplImageConverter.h")

  		




  
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    LIST(APPEND LIBRARIES ${OpenCV_LIBS})

  		




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ELSE()

  		




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    SET_PROPERTY(GLOBAL APPEND PROPERTY DISABLED_FEATURES IplImageConverter)

  		




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ENDIF()

  		




  ......




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                        "rst/converters/rci/PoseConverter.cpp"

  		




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                        "rst/converters/rci/PressureConverter.cpp"

  		




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                        "rst/converters/rci/TranslationConverter.cpp"

  		




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                        "rst/converters/rci/DoublesConverter.cpp"

  		




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                        )

  		




  
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                        "rst/converters/rci/DoublesConverter.cpp")

  		




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    LIST(APPEND HEADERS "rst/converters/rci/JointAnglesConverter.h"

  		




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                        "rst/converters/rci/JointImpedanceConverter.h"

  		




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                        "rst/converters/rci/JointTorquesConverter.h"

  		




  ......




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                        "rst/converters/rci/PoseConverter.h"

  		




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                        "rst/converters/rci/PressureConverter.h"

  		




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                        "rst/converters/rci/TranslationConverter.h"

  		




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                        "rst/converters/rci/DoublesConverter.h"

  		




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                        )

  		




  
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                        "rst/converters/rci/DoublesConverter.h")

  		




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    LIST(APPEND LIBRARIES ${RCI_LIBRARIES})

  		




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    LIST(APPEND PKGCONFIG_REQUIRES ", rci0.4")

  		




  ......




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ADD_LIBRARY(${RST_CONVERTERS_NAME} SHARED ${SOURCES} ${HEADERS})

  		




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TARGET_LINK_LIBRARIES(${RST_CONVERTERS_NAME} ${LIBRARIES})

  		




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# special hack for the strange opencv library list

  		




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IF(OpenCV_FOUND)

  		




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    TARGET_LINK_LIBRARIES(${RST_CONVERTERS_NAME} ${OpenCV_LIBS})

  		




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ENDIF()

  		




  
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# Restrict the link interface to the explicitly specified interface

  		




  
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TARGET_LINK_LIBRARIES(${RST_CONVERTERS_NAME} LINK_INTERFACE_LIBRARIES ${INTERFACE_LIBRARIES})

  		




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SET_TARGET_PROPERTIES(${RST_CONVERTERS_NAME}

  		




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                      PROPERTIES

  		




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                      VERSION ${SO_VERSION})

  		












  

    
      cpp/src/rst/converters/boost/TransformationPoseConverter.cpp
    
  





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#include "TransformationPoseConverter.h"

  		




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#include <boost/shared_ptr.hpp>

  		




  
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#include <boost/multi_array.hpp>

  		




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#include <rsc/runtime/TypeStringTools.h>

  		




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typedef ::boost::multi_array<double, 2> DoubleMatrix;

  		




  
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#define IS_ZERO(a) (abs(a) < 1e-6)

  		




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using namespace std;

  		












  

    
      cpp/src/rst/converters/boost/TransformationPoseConverter.h
    
  





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#include <string>

  		




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#include <boost/multi_array.hpp>

  		




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#include <rsb/converter/Converter.h>

  		




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#include <rsb/converter/ProtocolBufferConverter.h>

  		




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  ......




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namespace converters {

  		




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namespace boost {

  		




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typedef ::boost::multi_array<double, 2> DoubleMatrix;

  		




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/**

  		




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 * Converter for 4x4 transformation matrix to PoseMessage type.

  		




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 *

  		












  

    
      cpp/src/rst/converters/boost/TwoDPoseConverter.cpp
    
  





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#include "TwoDPoseConverter.h"

  		




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#include <boost/shared_ptr.hpp>

  		




  
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#include <boost/multi_array.hpp>

  		




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#include <rsc/runtime/TypeStringTools.h>

  		




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typedef ::boost::multi_array<double, 1> DoubleVector;

  		




  
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#define IS_NONZERO(a) (a > 0.5)

  		




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#define IS_ZERO(a) (abs(a) < 1e-6)

  		




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      cpp/src/rst/converters/boost/TwoDPoseConverter.h
    
  





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#include <string>

  		




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#include <boost/multi_array.hpp>

  		




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#include <rsb/converter/Converter.h>

  		




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#include <rsb/converter/ProtocolBufferConverter.h>

  		




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  ......




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namespace converters {

  		




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namespace boost {

  		




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typedef ::boost::multi_array<double, 1> DoubleVector;

  		




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/**

  		




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 * Converter for 3 vector to PoseMessage type.

  		




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 *

  		












  

    
      cpp/src/rst/converters/naoqi/ALImageConverter.cpp
    
  





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#include <rsc/misc/langutils.h>

  		




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#include <alvisiondefinitions.h>

  		




  
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#include <alimage.h>

  		




  
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using namespace std;

  		




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using namespace AL;

  		




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      cpp/src/rst/converters/naoqi/ALImageConverter.h
    
  





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#include <rsb/converter/ProtocolBufferConverter.h>

  		




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#include <alvisiondefinitions.h>

  		




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#include <alimage.h>

  		




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#include <rst/vision/Image.pb.h>

  		




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#include "rst/rstconvertersexports.h"

  		












  

    
      cpp/src/rst/converters/rci/DoublesConverter.cpp
    
  





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#include <rst/math/VectorDouble.pb.h>

  		




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#include <rci/dto/Doubles.h>

  		




  
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using namespace std;

  		




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using namespace nemo;

  		




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using namespace rci;

  		












  

    
      cpp/src/rst/converters/rci/DoublesConverter.h
    
  





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#include <rsb/converter/Converter.h>

  		




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#include <rci/dto/Doubles.h>

  		




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#include "rst/rstconvertersexports.h"

  		




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namespace rst {

  		












  

    
      cpp/src/rst/converters/rci/JointAnglesConverter.cpp
    
  





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#include <rst/kinematics/JointAngles.pb.h>

  		




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#include <rci/dto/JointAngles.h>

  		




  
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using namespace std;

  		




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using namespace nemo;

  		




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using namespace rci;

  		












  

    
      cpp/src/rst/converters/rci/JointAnglesConverter.h
    
  





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#include <rsb/converter/Converter.h>

  		




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#include <rci/dto/JointAngles.h>

  		




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#include "rst/rstconvertersexports.h"

  		




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namespace rst {

  		












  

    
      cpp/src/rst/converters/rci/JointImpedanceConverter.cpp
    
  





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#include <rst/dynamics/JointImpedance.pb.h>

  		




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#include <rci/dto/JointImpedance.h>

  		




  
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using namespace std;

  		




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using namespace nemo;

  		




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using namespace rci;

  		












  

    
      cpp/src/rst/converters/rci/JointImpedanceConverter.h
    
  





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#include <rsb/converter/Converter.h>

  		




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#include <rci/dto/JointImpedance.h>

  		




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#include "rst/rstconvertersexports.h"

  		




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namespace rst {

  		












  

    
      cpp/src/rst/converters/rci/JointTorquesConverter.cpp
    
  





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#include <rst/dynamics/JointTorques.pb.h>

  		




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#include <rci/dto/JointTorques.h>

  		




  
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using namespace std;

  		




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using namespace nemo;

  		




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using namespace rci;

  		












  

    
      cpp/src/rst/converters/rci/JointTorquesConverter.h
    
  





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#include <rsb/converter/Converter.h>

  		




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#include <rci/dto/JointTorques.h>

  		




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#include "rst/rstconvertersexports.h"

  		




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namespace rst {

  		












  

    
      cpp/src/rst/converters/rci/LengthConverter.cpp
    
  





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#include <rst/geometry/Length.pb.h>

  		




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#include <rci/dto/Length.h>

  		




  
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using namespace std;

  		




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using namespace nemo;

  		




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using namespace rci;

  		












  

    
      cpp/src/rst/converters/rci/LengthConverter.h
    
  





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#include <rsb/converter/Converter.h>

  		




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#include <rci/dto/Length.h>

  		




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#include "rst/rstconvertersexports.h"

  		




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namespace rst {

  		












  

    
      cpp/src/rst/converters/rci/PhaseConverter.cpp
    
  





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#include <rst/InstantaneousPhase.pb.h>

  		




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#include <rci/dto/Phase.h>

  		




  
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using namespace std;

  		




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using namespace nemo;

  		




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      cpp/src/rst/converters/rci/PhaseConverter.h
    
  





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#include <rsb/converter/Converter.h>

  		




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#include <rci/dto/Phase.h>

  		




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#include "rst/rstconvertersexports.h"

  		




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namespace rst {

  		












  

    
      cpp/src/rst/converters/rci/PoseConverter.cpp
    
  





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#include <rsb/converter/SerializationException.h>

  		




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#include <rsb/converter/ProtocolBufferConverter.h>

  		




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#include <rci/dto/CartesianPose.h>

  		




  
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using namespace std;

  		




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using namespace nemo;

  		




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  ......




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namespace converters {

  		




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namespace rci {

  		




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void rstToDomain(const rst::geometry::Pose& rst,

  		




  
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                 ::rci::Pose& domain) {

  		




  
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    domain.setValue(0, rst.translation().x());

  		




  
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    domain.setValue(1, rst.translation().y());

  		




  
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    domain.setValue(2, rst.translation().z());

  		




  
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    domain.setValue(3, rst.rotation().qw());

  		




  
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    domain.setValue(4, rst.rotation().qx());

  		




  
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    domain.setValue(5, rst.rotation().qy());

  		




  
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    domain.setValue(6, rst.rotation().qz());

  		




  
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}

  		




  
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void domainToRST(const ::rci::Pose& domain,

  		




  
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                 rst::geometry::Pose& rst) {

  		




  
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    //    1. reserve()

  		




  
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    //    2. std::copy(begin, begin+n) // oder memcpy

  		




  
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    rst.mutable_translation()->set_x(domain.x());

  		




  
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    rst.mutable_translation()->set_y(domain.y());

  		




  
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    rst.mutable_translation()->set_z(domain.z());

  		




  
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    rst.mutable_rotation()->set_qw(domain.q0()); // Check semantics

  		




  
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    rst.mutable_rotation()->set_qx(domain.q1());

  		




  
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    rst.mutable_rotation()->set_qy(domain.q2());

  		




  
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    rst.mutable_rotation()->set_qz(domain.q3());

  		




  
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}

  		




  
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PoseConverter::PoseConverter() :

  		




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        rsb::converter::Converter<string>(

  		




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                rsc::runtime::typeName<rst::geometry::Pose>(),

  		




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    return rsb::AnnotatedData(getDataType(), domain);

  		




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}

  		




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void PoseConverter::rstToDomain(const rst::geometry::Pose& rst,

  		




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        ::rci::Pose& domain) {

  		




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    domain.setValue(0, rst.translation().x());

  		




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    domain.setValue(1, rst.translation().y());

  		




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    domain.setValue(2, rst.translation().z());

  		




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    domain.setValue(3, rst.rotation().qw());

  		




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    domain.setValue(4, rst.rotation().qx());

  		




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    domain.setValue(5, rst.rotation().qy());

  		




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    domain.setValue(6, rst.rotation().qz());

  		




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}

  		




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void PoseConverter::domainToRST(const ::rci::Pose& domain,

  		




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        rst::geometry::Pose& rst) {

  		




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    //    1. reserve()

  		




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    //    2. std::copy(begin, begin+n) // oder memcpy

  		




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    rst.mutable_translation()->set_x(domain.x());

  		




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    rst.mutable_translation()->set_y(domain.y());

  		




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    rst.mutable_translation()->set_z(domain.z());

  		




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    rst.mutable_rotation()->set_qw(domain.q0()); // Check semantics

  		




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    rst.mutable_rotation()->set_qx(domain.q1());

  		




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    rst.mutable_rotation()->set_qy(domain.q2());

  		




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    rst.mutable_rotation()->set_qz(domain.q3());

  		




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}

  		




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}

  		




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}

  		




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}

  		












  

    
      cpp/src/rst/converters/rci/PoseConverter.h
    
  





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#include <rsb/converter/Converter.h>

  		




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#include <rci/dto/CartesianPose.h>

  		




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#include <rst/geometry/Pose.pb.h>

  		




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#include "rst/rstconvertersexports.h"

  		




  ......




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    rsb::AnnotatedData deserialize(const std::string &wireType,

  		




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            const std::string &wire);

  		




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    static void rstToDomain(const rst::geometry::Pose& rst,

  		




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                            ::rci::Pose&               domain);

  		




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    static void domainToRST(const ::rci::Pose&   domain,

  		




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                            rst::geometry::Pose& rst);

  		




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private:

  		




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    boost::shared_ptr<rsb::converter::Converter<std::string> > converter;

  		












  

    
      cpp/src/rst/converters/rci/PressureConverter.cpp
    
  





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#include <rst/dynamics/Pressure.pb.h>

  		




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#include <rci/dto/Pressure.h>

  		




  
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using namespace std;

  		




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using namespace nemo;

  		




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using namespace rci;

  		












  

    
      cpp/src/rst/converters/rci/PressureConverter.h
    
  





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#include <rsb/converter/Converter.h>

  		




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#include <rci/dto/Pressure.h>

  		




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#include "rst/rstconvertersexports.h"

  		




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namespace rst {

  		












  

    
      cpp/src/rst/converters/rci/TranslationConverter.cpp
    
  





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#include <rst/geometry/Translation.pb.h>

  		




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#include <rci/dto/CartesianPose.h>

  		




  
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using namespace std;

  		




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using namespace nemo;

  		




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      cpp/src/rst/converters/rci/TranslationConverter.h
    
  





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#include <rsb/converter/Converter.h>

  		




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#include <rci/dto/CartesianPose.h>

  		




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#include "rst/rstconvertersexports.h"

  		




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namespace rst {

  		




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