Address comments, fix build issues.

beamiter · Sep 20, 2016 · 9acc420 · 9acc420
1 parent 40d23ed
commit 9acc420
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Showing 3 changed files with 23 additions and 8 deletions.
diff --git a/drake/util/CMakeLists.txt b/drake/util/CMakeLists.txt
@@ -49,6 +49,7 @@ if(lcm_FOUND)
   add_library_with_exports(LIB_NAME drakeLCMUtil SOURCE_FILES lcmUtil.cpp)
   add_dependencies(drakeLCMUtil drake_lcmtypes_hpp)
   target_link_libraries(drakeLCMUtil drakeTrajectories)
+  target_include_directories(drakeLCMUtil SYSTEM BEFORE PUBLIC ${lcm_headers_dir}) # TODO(#3352)
   drake_install_headers(lcmUtil.h)
   pods_install_libraries(drakeLCMUtil)
   pods_install_pkg_config_file(drake-lcm-util

diff --git a/drake/util/drakeUtil.h b/drake/util/drakeUtil.h
@@ -57,8 +57,14 @@ void eigenToCArrayOfArrays(const Eigen::MatrixBase<Derived>& source,
 
 // note for if/when we split off all Matlab related stuff into a different file:
 // this function is not Matlab related
-// can only be used when the dimension information of the array is known at
-// compile time
+/** Copies the elements of a (row or column) Eigen vector to an array.
+ *
+ * Can only be used when the dimension information of the array is known at compile time.
+ * Note that the scalar type of @p source need not match the scalar type of @p destination (@p DestScalar). A static_cast will be performed to convert to elements of @p source to @p DestScalar.
+ *
+ * @param[in] source Eigen vector source
+ * @param[out] destination std::vector destination
+ */
 template <typename DestScalar, size_t Size, typename Derived>
 void eigenVectorToCArray(const Eigen::MatrixBase<Derived>& source,
                          DestScalar(&destination)[Size]) {
@@ -71,13 +77,20 @@ void eigenVectorToCArray(const Eigen::MatrixBase<Derived>& source,
 
 // note for if/when we split off all Matlab related stuff into a different file:
 // this function is not Matlab related
+/** Copies the elements of a (row or column) Eigen vector to a std::vector
+ *
+ * Note that the scalar type of @p source need not match the scalar type of @p destination (@p DestScalar). A static_cast will be performed to convert to elements of @p source to @p DestScalar.
+ *
+ * @param[in] source Eigen vector source
+ * @param[out] destination std::vector destination
+ */
 template <typename DestScalar, typename Derived>
-static void eigenVectorToStdVector(const Eigen::MatrixBase<Derived>& source,
+void eigenVectorToStdVector(const Eigen::MatrixBase<Derived>& source,
                                    std::vector<DestScalar>& destination) {
   DRAKE_ASSERT(source.rows() == 1 || source.cols() == 1);
   destination.resize(static_cast<size_t>(source.size()));
   for (Eigen::Index i = 0; i < source.size(); i++) {
-    destination[static_cast<size_t>(i)] = static_cast<DestScalar>(source[i]);
+    destination[static_cast<size_t>(i)] = static_cast<DestScalar>(source(i));
   }
 }
 

diff --git a/drake/util/test/testLCMUtil.cpp b/drake/util/test/testLCMUtil.cpp
@@ -60,7 +60,7 @@ GTEST_TEST(TestLcmUtil, testPiecewisePolynomial) {
 
 GTEST_TEST(TestLcmUtil, testVector3d) {
   const int kVectorSize = 3;
-  Eigen::Vector3d vec = Vector3d::LinSpaced(Sequential, 0, kVectorSize);
+  const Eigen::Vector3d vec = Vector3d::LinSpaced(Sequential, 0, kVectorSize);
   bot_core::vector_3d_t msg;
   EncodeVector3d(vec, msg);
   Eigen::Vector3d vec_back = DecodeVector3d(msg);
@@ -70,7 +70,7 @@ GTEST_TEST(TestLcmUtil, testVector3d) {
 GTEST_TEST(TestLcmUtil, testQuaternion) {
   default_random_engine generator;
   generator.seed(0);
-  auto quaternion = drake::math::UniformlyRandomQuat(generator);
+  const auto quaternion = drake::math::UniformlyRandomQuat(generator);
   bot_core::quaternion_t msg;
   EncodeQuaternion(quaternion, msg);
   auto quat_back = DecodeQuaternion(msg);
@@ -85,15 +85,16 @@ GTEST_TEST(TestLcmUtil, testPose) {
   pose.linear() = drake::math::UniformlyRandomRotmat(generator);
   pose.translation().setLinSpaced(0, drake::kSpaceDimension);
   pose.makeAffine();
+  const Eigen::Isometry3d& const_pose = pose;
   bot_core::position_3d_t msg;
-  EncodePose(pose, msg);
+  EncodePose(const_pose, msg);
   Eigen::Isometry3d pose_back = DecodePose(msg);
   EXPECT_TRUE(CompareMatrices(pose.matrix(), pose_back.matrix(), 1e-12,
                               MatrixCompareType::absolute));
 }
 
 GTEST_TEST(TestLcmUtil, testTwist) {
-  drake::TwistVector<double> twist =
+  const drake::TwistVector<double> twist =
       drake::TwistVector<double>::LinSpaced(Sequential, 0, drake::kTwistSize);
   bot_core::twist_t msg;
   EncodeTwist(twist, msg);