Skip to content

README.md

Latest commit

 

History

History
69 lines (52 loc) · 2.67 KB

README.md

File metadata and controls

69 lines (52 loc) · 2.67 KB

Eigen plugin for CoppeliaSim

Eigen plugin.

Porting from coppeliaSim's legacy matrix.lua library

This library is mostly compatible with the old matrix.lua library.

Replace:

local matrix = require 'matrix-2'

with:

local matrix = require 'simEigen'

The main difference from matrix.lua is that the functions in this library are all (or almost) implemented in C++.

In place VS. return a copy

There are both functions that operate in place (i.e.: on the current matrix) and functions that return a new matrix, so it is possible to optimize code even further, by avoiding too many memory allocations.

Added/changed/removed methods

There are a few methods that have different names and different semantics with respect to matrix.lua, or have been added/removed:

  • m:sameshape() / m:offset() not present

  • m:get() deprecated; use m:item()

  • m:set() deprecated; use m:setitem()

  • m:rowref() / m:dataref() not present (operation is anyways slow, and a vectorized operation would be preferable;

  • m:setrow() / m:setcol() work also with plain tables;

  • m:slice() not present; use m:block() or m:blockassign() which have different order of parameters and different semantics

  • m:flip() not present

  • m:droprow() / m:dropcol() not present

  • m:at() not present

  • m:repmat() / m:ones() / m:zeros() not present

  • m:applyfunc() / m:applyfunc2() / m:applyfuncidx() not present

  • m:binop() / m:fold() / m:mult() not present

  • m:random() not present

  • m:tointeger() not present

  • m:gauss() not present

  • m:inv() not present; use m:pinv()

  • m:ult() / m:power() / m:diag() not present

  • m:axis() / m:hom() / m:nonhom() not present

  • m:eq() / m:ne() / m:lt() / m:gt() / m:le() / m:ge() / m:all() / m:any() / m:isnan() / m:nonzero() / m:where() not present

  • m:t() can be also written as m.T, and m:transpose() transposes in place

  • Vector:linspace() now is in simEigen.Matrix; :logspace() / :geomspace() not present

  • classes Vector3 / Vector4 / Vector7 / Matrix3x3 / Matrix4x4 removed or replaced by Vector / Quaternion / Pose

Compiling

  1. Install required packages for simStubsGen: see simStubsGen's README
  2. Checkout, compile and install into CoppeliaSim:
$ git clone https://github.com/CoppeliaRobotics/simEigen.git
$ cd simEigen
$ git checkout coppeliasim-v4.5.0-rev0
$ mkdir -p build && cd build
$ cmake -DCMAKE_BUILD_TYPE=Release ..
$ cmake --build .
$ cmake --install .

NOTE: replace coppeliasim-v4.5.0-rev0 with the actual CoppeliaSim version you have.