[Rock-dev] FW: [rock-core/base-types] Splitted base/types to seperate cpp and hpp files (#94)
Martin Fritsche
Martin.Fritsche at dfki.de
Wed Aug 10 11:34:17 CEST 2016
Hi,
just my 2 cents:
From a performance point of view these changes go too far in my opinion.
At least the really simple one-liners should stay in the header to allow
the compiler to inline them.
Best,
Martin
Jakob Schwendner schrieb am 09.08.2016 um 10:50:
> Hey,
>
>
>
> since this is a rather big PR, touching a lot of files, it would be
> great if a few people could test this.
>
>
>
> Cheers,
>
>
>
> Jakob
>
>
>
> ---------- Forwarded message ----------
> From: *Dennis Hemker* <notifications at github.com
> <mailto:notifications at github.com>>
> Date: Tue, Aug 9, 2016 at 10:39 AM
> Subject: [rock-core/base-types] Splitted base/types to seperate cpp and
> hpp files (#94)
> To: rock-core/base-types <base-types at noreply.github.com
> <mailto:base-types at noreply.github.com>>
>
> We splitted the base-types header-only lib into a separate .cpp/.hpp
> implementation due to very long orogen parsing times. The old
> implementation needed about 8 minutes (on a SSD) to finish the orogen
> phase in base/orogen/types. With the new concept, an enhancement of
> nearly 6 minutes (parsing times around 2 minutes) can be achieved.
> Furthermore, we removed some deprecated stuff.
>
> Split Pose.hpp into implementation and header
>
> Float.hpp: Use std function, not boost ones
>
> Eigen: remove isnotnan and isfinite
>
> This is a duplicate of the buildin
> allFinite()
>
> move guaranteeSPD into TwistWithCovariance.
>
> This one includes SVD, which is a big include in the base eigen.
>
> moved Wrench.hpp to new src
>
> moved TwistWithCovariance.hpp to new lib/src
>
> moved Waypoint to new src folder
>
> re-patched new isnan interface
>
> splitted TransformWithCovariance
>
> splitted Timueout
>
> moved headers to cpp files
>
> splitted TimeMark
>
> removed inlining
>
> splitted Time
>
> splitted Temperature
>
> moved Point
>
> splitted Pressure
>
> fixed compile errors
>
> Added correct PC file for base-types, made base-lib a dummy
>
> moved CircularBuffer
>
> moved Deprecated
>
> moved JointLimitRange
>
> moved JointLimits
>
> moved JointState
>
> moved JointTransform
>
> moved JointsTrajectory
>
> moved NamedVector
>
> moved Odometry
>
> added odometry
>
> ported rest of types
>
> re-removed vector included
>
> changed dep to right lib name
>
> compile fixes
>
> ------------------------------------------------------------------------
>
>
> You can view, comment on, or merge this pull request online at:
>
> https://github.com/rock-core/base-types/pull/94
>
>
> Commit Summary
>
> * Splitted base/types to seperate cpp and hpp files
>
>
> File Changes
>
> * *M* CMakeLists.txt
> <https://github.com/rock-core/base-types/pull/94/files#diff-0> (6)
> * *D* base/JointLimitRange.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-1> (166)
> * *D* base/JointLimits.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-2> (51)
> * *D* base/JointTransform.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-3> (64)
> * *D* base/Odometry.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-4> (16)
> * *D* base/Temperature.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-5> (175)
> * *D* base/Time.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-6> (252)
> * *D* base/TimeMark.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-7> (39)
> * *D* base/TransformWithCovariance.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-8> (413)
> * *D* base/TwistWithCovariance.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-9> (286)
> * *D* base/commands/AUVMotion.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-10> (26)
> * *D* base/commands/AUVPosition.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-11> (24)
> * *D* base/samples/BodyState.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-12> (337)
> * *D* base/samples/Frame.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-13> (562)
> * *D* base/samples/Joints.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-14> (116)
> * *D* base/samples/RigidBodyState.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-15> (293)
> * *D* base/samples/SonarBeam.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-16> (103)
> * *D* base/samples/SonarScan.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-17> (398)
> * *M* bindings/ruby/CMakeLists.txt
> <https://github.com/rock-core/base-types/pull/94/files#diff-18> (2)
> * *A* src/Angle.cpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-19> (171)
> * *R* src/Angle.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-20> (192)
> * *M* src/CMakeLists.txt
> <https://github.com/rock-core/base-types/pull/94/files#diff-21> (113)
> * *R* src/CircularBuffer.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-22> (0)
> * *R* src/Deprecated.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-23> (0)
> * *R* src/Eigen.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-24> (3)
> * *R* src/Float.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-25> (11)
> * *A* src/JointLimitRange.cpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-26> (118)
> * *A* src/JointLimitRange.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-27> (79)
> * *A* src/JointLimits.cpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-28> (33)
> * *A* src/JointLimits.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-29> (23)
> * *A* src/JointState.cpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-30> (149)
> * *R* src/JointState.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-31> (104)
> * *A* src/JointTransform.cpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-32> (28)
> * *A* src/JointTransform.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-33> (39)
> * *A* src/JointsTrajectory.cpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-34> (78)
> * *R* src/JointsTrajectory.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-35> (67)
> * *R* src/NamedVector.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-36> (0)
> * *R* src/Point.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-37> (0)
> * *A* src/Pose.cpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-38> (165)
> * *R* src/Pose.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-39> (155)
> * *A* src/Pressure.cpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-40> (46)
> * *R* src/Pressure.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-41> (36)
> * *A* src/Temperature.cpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-42> (120)
> * *A* src/Temperature.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-43> (113)
> * *A* src/Time.cpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-44> (270)
> * *A* src/Time.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-45> (108)
> * *A* src/TimeMark.cpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-46> (25)
> * *A* src/TimeMark.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-47> (29)
> * *A* src/Timeout.cpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-48> (50)
> * *R* src/Timeout.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-49> (34)
> * *A* src/Trajectory.cpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-50> (12)
> * *R* src/Trajectory.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-51> (8)
> * *A* src/TransformWithCovariance.cpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-52> (408)
> * *A* src/TransformWithCovariance.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-53> (142)
> * *A* src/TwistWithCovariance.cpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-54> (368)
> * *A* src/TwistWithCovariance.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-55> (114)
> * *A* src/Waypoint.cpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-56> (18)
> * *R* src/Waypoint.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-57> (13)
> * *R* src/Wrench.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-58> (0)
> * *R* src/base-lib.pc.in
> <https://github.com/rock-core/base-types/pull/94/files#diff-59> (4)
> * *A* src/base-types.pc.in
> <https://github.com/rock-core/base-types/pull/94/files#diff-60> (13)
> * *R* src/commands/Joints.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-61> (0)
> * *A* src/commands/Motion2D.cpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-62> (12)
> * *R* src/commands/Motion2D.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-63> (4)
> * *R* src/commands/Speed6D.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-64> (0)
> * *A* src/samples/BodyState.cpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-65> (325)
> * *A* src/samples/BodyState.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-66> (167)
> * *R* src/samples/CommandSamples.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-67> (0)
> * *A* src/samples/CompressedFrame.cpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-68> (9)
> * *R* src/samples/CompressedFrame.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-69> (12)
> * *A* src/samples/DepthMap.cpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-70> (91)
> * *R* src/samples/DepthMap.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-71> (89)
> * *A* src/samples/DistanceImage.cpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-72> (38)
> * *R* src/samples/DistanceImage.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-73> (36)
> * *A* src/samples/Frame.cpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-74> (419)
> * *A* src/samples/Frame.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-75> (283)
> * *R* src/samples/IMUSensors.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-76> (0)
> * *A* src/samples/Joints.cpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-77> (94)
> * *A* src/samples/Joints.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-78> (47)
> * *A* src/samples/LaserScan.cpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-79> (69)
> * *R* src/samples/LaserScan.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-80> (71)
> * *R* src/samples/Pointcloud.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-81> (0)
> * *A* src/samples/Pressure.cpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-82> (16)
> * *R* src/samples/Pressure.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-83> (19)
> * *A* src/samples/RigidBodyAcceleration.cpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-84> (7)
> * *R* src/samples/RigidBodyAcceleration.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-85> (5)
> * *A* src/samples/RigidBodyState.cpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-86> (306)
> * *A* src/samples/RigidBodyState.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-87> (180)
> * *A* src/samples/Sonar.cpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-88> (268)
> * *R* src/samples/Sonar.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-89> (252)
> * *A* src/samples/SonarBeam.cpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-90> (63)
> * *A* src/samples/SonarBeam.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-91> (56)
> * *A* src/samples/SonarScan.cpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-92> (310)
> * *A* src/samples/SonarScan.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-93> (164)
> * *R* src/samples/Wrench.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-94> (0)
> * *R* src/samples/Wrenches.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-95> (0)
> * *R* src/templates/TimeStamped.hpp
> <https://github.com/rock-core/base-types/pull/94/files#diff-96> (0)
> * *M* viz/CMakeLists.txt
> <https://github.com/rock-core/base-types/pull/94/files#diff-97> (2)
>
>
> Patch Links:
>
> * https://github.com/rock-core/base-types/pull/94.patch
> * https://github.com/rock-core/base-types/pull/94.diff
>
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--
Dipl.-Inf. Martin Fritsche
Unterwasserrobotik
Hauptgeschäftsstelle Standort Bremen:
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Robotics Innovation Center
Robert-Hooke-Straße 1
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