Merge pull request RobotLocomotion#575 from tkoolen/win-compatibility

DrakeGradientUtil, DrakeGeometryUtil, DrakeJoint, and RigidBodyManipulator.geometricJacobian on Windows

systems/plants/CMakeLists.txt

@@ -16,10 +16,8 @@ if (eigen3_FOUND)
   # todo: check eigen version.  3.1.0 didn't work for clang.  3.2.0 did.
  add_library(drakeRBM SHARED RigidBodyManipulator.cpp RigidBody.cpp)
  target_link_libraries(drakeRBM drakeCollision)
-if (NOT WIN32) 
  include_directories( joints )
  target_link_libraries(drakeRBM drakeJoints)
-endif(NOT WIN32)
 
   pods_install_libraries(drakeRBM)
   pods_install_headers(RigidBodyManipulator.h RigidBody.h RigidBodyFrame.h KinematicPath.h DESTINATION drake)
@@ -30,10 +28,7 @@ endif(NOT WIN32)
 
   add_subdirectory(collision)
   add_subdirectory(constraint)
-
-if (NOT WIN32)
   add_subdirectory(joints)
-endif(NOT WIN32)
 
   if (Boost_FOUND)
     add_library(drakeRBMurdf URDFRigidBodyManipulator.cpp)
@@ -66,9 +61,7 @@ endif(NOT WIN32)
   add_rbm_mex(allCollisionsmex)
   add_rbm_mex(getCMMmex)
   add_rbm_mex(findKinematicPathmex)
-  if (NOT MSVC)
-    add_rbm_mex(geometricJacobianmex) # todo: pull this out
-  endif()
+  add_rbm_mex(geometricJacobianmex)
 
   add_library(drakeIKoptions SHARED IKoptions.cpp)
   target_link_libraries(drakeIKoptions drakeRBM drakeUtil)

systems/plants/IKoptions.h

@@ -4,12 +4,15 @@
 #include <Eigen/Dense>
 using namespace Eigen;
 
+#undef drakeIKoptions_DLLEXPORT
 #if defined(WIN32) || defined(WIN64)
   #if defined(drakeIKoptions_EXPORTS)
     #define drakeIKoptions_DLLEXPORT __declspec( dllexport )
+  #elif defined(drakeIK_EXPORTS) // because this gets built in both the drakeIKoptions target and the drakeIK target...
+    #define drakeIKoptions_DLLEXPORT __declspec( dllexport )
   #else
     #define drakeIKoptions_DLLEXPORT __declspec( dllimport )
-  #endif
+  #endif  
 #else
   #define drakeIKoptions_DLLEXPORT
 #endif

systems/plants/KinematicPath.h

@@ -4,9 +4,6 @@
 #include <vector>
 #include <memory>
 
-class DrakeJoint;
-class RigidBody;
-
 struct KinematicPath
 {
   std::vector<int> joint_path;

systems/plants/RigidBody.cpp

@@ -26,8 +26,6 @@ void RigidBody::setN(int n) {
 }
 
 
-#if !defined(_WIN32) && !defined(_WIN64)
-
 void RigidBody::setJoint(std::unique_ptr<DrakeJoint> joint)
 {
   this->joint = move(joint);
@@ -42,7 +40,6 @@ const DrakeJoint& RigidBody::getJoint() const
     throw runtime_error("Joint is not initialized");
   }
 }
-#endif
 
 void RigidBody::computeAncestorDOFs(RigidBodyManipulator* model)
 {

systems/plants/RigidBody.h

@@ -6,8 +6,9 @@
 #include <set>
 #include <Eigen/StdVector>
 #include <memory>
+#include "DrakeJoint.h"
 
-class DLLEXPORT IndexRange {
+class DLLEXPORT_RBM IndexRange {
  public:
   int start;
   int length;
@@ -21,22 +22,18 @@ class RigidBodyManipulator;
 
 using namespace Eigen;
 
-class DLLEXPORT RigidBody {
-#if !defined(_WIN32) && !defined(_WIN64)
+class DLLEXPORT_RBM RigidBody {
 private:
   std::unique_ptr<DrakeJoint> joint;
-#endif
 
 public:
   RigidBody();
 
   void setN(int n);
   void computeAncestorDOFs(RigidBodyManipulator* model);
 
-#if !defined(_WIN32) && !defined(_WIN64)
   void setJoint(std::unique_ptr<DrakeJoint> joint);
   const DrakeJoint& getJoint() const;
-#endif
 
 public:
   std::string linkname;

systems/plants/RigidBodyFrame.h

@@ -1,7 +1,7 @@
 #ifndef _RIGIDBODYFRAME_H_
 #define _RIGIDBODYFRAME_H_
 
-class DLLEXPORT RigidBodyFrame {
+class DLLEXPORT_RBM RigidBodyFrame {
 public:
   std::string name;
   int body_ind;

systems/plants/RigidBodyManipulator.cpp

@@ -4,6 +4,7 @@
 //#include "mex.h"
 #include "drakeGeometryUtil.h"
 #include "RigidBodyManipulator.h"
+#include "DrakeJoint.h"
 
 #include <algorithm>
 #include <string>
@@ -1292,7 +1293,6 @@ void RigidBodyManipulator::bodyKin(const int body_or_frame_id, const MatrixBase<
 
 }
 
-#if !defined(WIN32) && !defined(WIN64)
 template<typename DerivedA>
 void RigidBodyManipulator::geometricJacobian(int base_body_or_frame_ind, int end_effector_body_or_frame_ind, int expressed_in_body_or_frame_ind, PlainObjectBase<DerivedA>& J, std::vector<int>* v_indices)
 {
@@ -1342,7 +1342,6 @@ void RigidBodyManipulator::geometricJacobian(int base_body_or_frame_ind, int end
   }
   J = transformSpatialMotion(Isometry3d(T_world_to_frame), J);
 }
-#endif
 
 template <typename DerivedA, typename DerivedB>
 void RigidBodyManipulator::forwardJac(const int body_or_frame_id, const MatrixBase<DerivedA> &pts, const int rotation_type, MatrixBase<DerivedB> &J)
@@ -1748,50 +1747,48 @@ std::string RigidBodyManipulator::getBodyOrFrameName(int body_or_frame_id)
 
 
 // explicit instantiations (required for linking):
-template DLLEXPORT void RigidBodyManipulator::getCMM(double * const, double * const, MatrixBase< Map<MatrixXd> > &, MatrixBase< Map<MatrixXd> > &);
-template DLLEXPORT void RigidBodyManipulator::getCMM(double * const, double * const, MatrixBase< MatrixXd > &, MatrixBase< MatrixXd > &);
-template DLLEXPORT void RigidBodyManipulator::getCOM(MatrixBase< Map<Vector3d> > &,const set<int> &);
-template DLLEXPORT void RigidBodyManipulator::getCOM(MatrixBase< Map<MatrixXd> > &,const set<int> &);
-template DLLEXPORT void RigidBodyManipulator::getCOMJac(MatrixBase< Map<MatrixXd> > &,const set<int> &);
-template DLLEXPORT void RigidBodyManipulator::getCOMdJac(MatrixBase< Map<MatrixXd> > &,const set<int> &);
-template DLLEXPORT void RigidBodyManipulator::getCOMJacDot(MatrixBase< Map<MatrixXd> > &,const set<int> &);
-template DLLEXPORT void RigidBodyManipulator::getCOM(MatrixBase< Vector3d > &,const set<int> &);
-template DLLEXPORT void RigidBodyManipulator::getCOM(MatrixBase< MatrixXd > &,const set<int> &);
-template DLLEXPORT void RigidBodyManipulator::getCOMJac(MatrixBase< MatrixXd > &,const set<int> &);
-template DLLEXPORT void RigidBodyManipulator::getCOMdJac(MatrixBase< MatrixXd > &,const set<int> &);
-template DLLEXPORT void RigidBodyManipulator::getCOMJacDot(MatrixBase< MatrixXd > &,const set<int> &);
-
-template DLLEXPORT void RigidBodyManipulator::getContactPositions(MatrixBase <MatrixXd > &, const set<int> &);
-template DLLEXPORT void RigidBodyManipulator::getContactPositionsJac(MatrixBase <MatrixXd > &,const set<int> &);
-template DLLEXPORT void RigidBodyManipulator::getContactPositionsJacDot(MatrixBase <MatrixXd > &,const set<int> &);
-
-template DLLEXPORT void RigidBodyManipulator::forwardKin(const int, const MatrixBase< MatrixXd >&, const int, MatrixBase< Map<MatrixXd> > &);
-template DLLEXPORT void RigidBodyManipulator::forwardKin(const int, const MatrixBase< MatrixXd >&, const int, MatrixBase< MatrixXd > &);
-template DLLEXPORT void RigidBodyManipulator::forwardKin(const int, MatrixBase< Vector4d > const&, const int, MatrixBase< Vector3d > &);
-template DLLEXPORT void RigidBodyManipulator::forwardKin(const int, MatrixBase< Vector4d > const&, const int, MatrixBase< Matrix<double,6,1> > &);
-template DLLEXPORT void RigidBodyManipulator::forwardKin(const int, MatrixBase< Vector4d > const&, const int, MatrixBase< Matrix<double,7,1> > &);
-template DLLEXPORT void RigidBodyManipulator::forwardKin(const int, MatrixBase< Map<MatrixXd> > const&, const int, MatrixBase< MatrixXd > &);
-//template DLLEXPORT void RigidBodyManipulator::forwardKin(const int, const MatrixBase< Vector4d >&, const int, MatrixBase< Vector3d > &);
-template DLLEXPORT void RigidBodyManipulator::forwardJac(const int, const MatrixBase< MatrixXd > &, const int, MatrixBase< Map<MatrixXd> > &);
-//template DLLEXPORT void RigidBodyManipulator::forwardJac(const int, MatrixBase< Map<MatrixXd> > const&, const int, MatrixBase< MatrixXd > &);
-//template DLLEXPORT void RigidBodyManipulator::forwardJac(const int, MatrixBase< MatrixXd > const&, const int, MatrixBase< MatrixXd > &);
-template DLLEXPORT void RigidBodyManipulator::forwardJac(const int, const MatrixBase< MatrixXd > &, const int, MatrixBase< MatrixXd > &);
-template DLLEXPORT void RigidBodyManipulator::forwardJac(const int, const MatrixBase< Vector4d > &, const int, MatrixBase< MatrixXd > &);
-template DLLEXPORT void RigidBodyManipulator::forwarddJac(const int, const MatrixBase< MatrixXd > &, MatrixBase< Map<MatrixXd> >&);
-template DLLEXPORT void RigidBodyManipulator::forwarddJac(const int, const MatrixBase< MatrixXd > &, MatrixBase< MatrixXd >&);
-//template DLLEXPORT void RigidBodyManipulator::forwarddJac(const int, const MatrixBase< Vector4d > &, MatrixBase< MatrixXd >&);
-template DLLEXPORT void RigidBodyManipulator::forwardJacDot(const int, const MatrixBase< MatrixXd > &, const int, MatrixBase< Map<MatrixXd> >&);
-template DLLEXPORT void RigidBodyManipulator::forwardJacDot(const int, const MatrixBase< MatrixXd > &, const int, MatrixBase< MatrixXd >&);
-template DLLEXPORT void RigidBodyManipulator::forwardJacDot(const int, const MatrixBase< Vector4d > &, const int, MatrixBase< MatrixXd >&);
-//template DLLEXPORT void RigidBodyManipulator::forwardJacDot(const int, const MatrixBase< Vector4d > &, MatrixBase< MatrixXd >&);
-template DLLEXPORT void RigidBodyManipulator::bodyKin(const int, const MatrixBase< MatrixXd >&, MatrixBase< Map<MatrixXd> > &, MatrixBase< Map<MatrixXd> > *, MatrixBase< Map<MatrixXd> > *);
-template DLLEXPORT void RigidBodyManipulator::bodyKin(const int, const MatrixBase< MatrixXd >&, MatrixBase< MatrixXd > &, MatrixBase< MatrixXd > *, MatrixBase< MatrixXd > *);
-
-#if !defined(WIN32) && !defined(WIN64)
-template DLLEXPORT void RigidBodyManipulator::geometricJacobian(int, int, int, PlainObjectBase< Matrix<double, 6, Dynamic> >&, std::vector<int>*);
-template DLLEXPORT void RigidBodyManipulator::geometricJacobian(int, int, int, PlainObjectBase< MatrixXd >&, std::vector<int>*);
-#endif
-
-template DLLEXPORT void RigidBodyManipulator::HandC(double* const, double * const, MatrixBase< Map<MatrixXd> > * const, MatrixBase< Map<MatrixXd> > &, MatrixBase< Map<VectorXd> > &, MatrixBase< Map<MatrixXd> > *, MatrixBase< Map<MatrixXd> > *, MatrixBase< Map<MatrixXd> > * const);
-template DLLEXPORT void RigidBodyManipulator::HandC(double* const, double * const, MatrixBase< MatrixXd > * const, MatrixBase< MatrixXd > &, MatrixBase< VectorXd > &, MatrixBase< MatrixXd > *, MatrixBase< MatrixXd > *, MatrixBase< MatrixXd > * const);
+template DLLEXPORT_RBM void RigidBodyManipulator::getCMM(double * const, double * const, MatrixBase< Map<MatrixXd> > &, MatrixBase< Map<MatrixXd> > &);
+template DLLEXPORT_RBM void RigidBodyManipulator::getCMM(double * const, double * const, MatrixBase< MatrixXd > &, MatrixBase< MatrixXd > &);
+template DLLEXPORT_RBM void RigidBodyManipulator::getCOM(MatrixBase< Map<Vector3d> > &,const set<int> &);
+template DLLEXPORT_RBM void RigidBodyManipulator::getCOM(MatrixBase< Map<MatrixXd> > &,const set<int> &);
+template DLLEXPORT_RBM void RigidBodyManipulator::getCOMJac(MatrixBase< Map<MatrixXd> > &,const set<int> &);
+template DLLEXPORT_RBM void RigidBodyManipulator::getCOMdJac(MatrixBase< Map<MatrixXd> > &,const set<int> &);
+template DLLEXPORT_RBM void RigidBodyManipulator::getCOMJacDot(MatrixBase< Map<MatrixXd> > &,const set<int> &);
+template DLLEXPORT_RBM void RigidBodyManipulator::getCOM(MatrixBase< Vector3d > &,const set<int> &);
+template DLLEXPORT_RBM void RigidBodyManipulator::getCOM(MatrixBase< MatrixXd > &,const set<int> &);
+template DLLEXPORT_RBM void RigidBodyManipulator::getCOMJac(MatrixBase< MatrixXd > &,const set<int> &);
+template DLLEXPORT_RBM void RigidBodyManipulator::getCOMdJac(MatrixBase< MatrixXd > &,const set<int> &);
+template DLLEXPORT_RBM void RigidBodyManipulator::getCOMJacDot(MatrixBase< MatrixXd > &,const set<int> &);
+
+template DLLEXPORT_RBM void RigidBodyManipulator::getContactPositions(MatrixBase <MatrixXd > &, const set<int> &);
+template DLLEXPORT_RBM void RigidBodyManipulator::getContactPositionsJac(MatrixBase <MatrixXd > &,const set<int> &);
+template DLLEXPORT_RBM void RigidBodyManipulator::getContactPositionsJacDot(MatrixBase <MatrixXd > &,const set<int> &);
+
+template DLLEXPORT_RBM void RigidBodyManipulator::forwardKin(const int, const MatrixBase< MatrixXd >&, const int, MatrixBase< Map<MatrixXd> > &);
+template DLLEXPORT_RBM void RigidBodyManipulator::forwardKin(const int, const MatrixBase< MatrixXd >&, const int, MatrixBase< MatrixXd > &);
+template DLLEXPORT_RBM void RigidBodyManipulator::forwardKin(const int, MatrixBase< Vector4d > const&, const int, MatrixBase< Vector3d > &);
+template DLLEXPORT_RBM void RigidBodyManipulator::forwardKin(const int, MatrixBase< Vector4d > const&, const int, MatrixBase< Matrix<double,6,1> > &);
+template DLLEXPORT_RBM void RigidBodyManipulator::forwardKin(const int, MatrixBase< Vector4d > const&, const int, MatrixBase< Matrix<double,7,1> > &);
+template DLLEXPORT_RBM void RigidBodyManipulator::forwardKin(const int, MatrixBase< Map<MatrixXd> > const&, const int, MatrixBase< MatrixXd > &);
+//template DLLEXPORT_RBM void RigidBodyManipulator::forwardKin(const int, const MatrixBase< Vector4d >&, const int, MatrixBase< Vector3d > &);
+template DLLEXPORT_RBM void RigidBodyManipulator::forwardJac(const int, const MatrixBase< MatrixXd > &, const int, MatrixBase< Map<MatrixXd> > &);
+//template DLLEXPORT_RBM void RigidBodyManipulator::forwardJac(const int, MatrixBase< Map<MatrixXd> > const&, const int, MatrixBase< MatrixXd > &);
+//template DLLEXPORT_RBM void RigidBodyManipulator::forwardJac(const int, MatrixBase< MatrixXd > const&, const int, MatrixBase< MatrixXd > &);
+template DLLEXPORT_RBM void RigidBodyManipulator::forwardJac(const int, const MatrixBase< MatrixXd > &, const int, MatrixBase< MatrixXd > &);
+template DLLEXPORT_RBM void RigidBodyManipulator::forwardJac(const int, const MatrixBase< Vector4d > &, const int, MatrixBase< MatrixXd > &);
+template DLLEXPORT_RBM void RigidBodyManipulator::forwarddJac(const int, const MatrixBase< MatrixXd > &, MatrixBase< Map<MatrixXd> >&);
+template DLLEXPORT_RBM void RigidBodyManipulator::forwarddJac(const int, const MatrixBase< MatrixXd > &, MatrixBase< MatrixXd >&);
+//template DLLEXPORT_RBM void RigidBodyManipulator::forwarddJac(const int, const MatrixBase< Vector4d > &, MatrixBase< MatrixXd >&);
+template DLLEXPORT_RBM void RigidBodyManipulator::forwardJacDot(const int, const MatrixBase< MatrixXd > &, const int, MatrixBase< Map<MatrixXd> >&);
+template DLLEXPORT_RBM void RigidBodyManipulator::forwardJacDot(const int, const MatrixBase< MatrixXd > &, const int, MatrixBase< MatrixXd >&);
+template DLLEXPORT_RBM void RigidBodyManipulator::forwardJacDot(const int, const MatrixBase< Vector4d > &, const int, MatrixBase< MatrixXd >&);
+//template DLLEXPORT_RBM void RigidBodyManipulator::forwardJacDot(const int, const MatrixBase< Vector4d > &, MatrixBase< MatrixXd >&);
+template DLLEXPORT_RBM void RigidBodyManipulator::bodyKin(const int, const MatrixBase< MatrixXd >&, MatrixBase< Map<MatrixXd> > &, MatrixBase< Map<MatrixXd> > *, MatrixBase< Map<MatrixXd> > *);
+template DLLEXPORT_RBM void RigidBodyManipulator::bodyKin(const int, const MatrixBase< MatrixXd >&, MatrixBase< MatrixXd > &, MatrixBase< MatrixXd > *, MatrixBase< MatrixXd > *);
+
+template DLLEXPORT_RBM void RigidBodyManipulator::geometricJacobian(int, int, int, PlainObjectBase< Matrix<double, 6, Dynamic> >&, std::vector<int>*);
+template DLLEXPORT_RBM void RigidBodyManipulator::geometricJacobian(int, int, int, PlainObjectBase< MatrixXd >&, std::vector<int>*);
+
+template DLLEXPORT_RBM void RigidBodyManipulator::HandC(double* const, double * const, MatrixBase< Map<MatrixXd> > * const, MatrixBase< Map<MatrixXd> > &, MatrixBase< Map<VectorXd> > &, MatrixBase< Map<MatrixXd> > *, MatrixBase< Map<MatrixXd> > *, MatrixBase< Map<MatrixXd> > * const);
+template DLLEXPORT_RBM void RigidBodyManipulator::HandC(double* const, double * const, MatrixBase< MatrixXd > * const, MatrixBase< MatrixXd > &, MatrixBase< VectorXd > &, MatrixBase< MatrixXd > *, MatrixBase< MatrixXd > *, MatrixBase< MatrixXd > * const);
 

systems/plants/RigidBodyManipulator.h

@@ -9,21 +9,17 @@
 #include "collision/DrakeCollision.h"
 #include "KinematicPath.h"
 
-#undef DLLEXPORT
+#undef DLLEXPORT_RBM
 #if defined(WIN32) || defined(WIN64)
   #if defined(drakeRBM_EXPORTS)
-    #define DLLEXPORT __declspec( dllexport )
+    #define DLLEXPORT_RBM __declspec( dllexport )
   #else
-    #define DLLEXPORT __declspec( dllimport )
+    #define DLLEXPORT_RBM __declspec( dllimport )
   #endif
 #else
-  #define DLLEXPORT
+  #define DLLEXPORT_RBM
 #endif
 
-#if defined(WIN32) || defined(WIN64)
-#else
-  #include "DrakeJoint.h"  // todo: move this out of here
-#endif
 
 #include "RigidBody.h"
 #include "RigidBodyFrame.h"
@@ -34,7 +30,7 @@ using namespace Eigen;
 
 //extern std::set<int> emptyIntSet;  // was const std:set<int> emptyIntSet, but valgrind said I was leaking memory
 
-class DLLEXPORT RigidBodyManipulator 
+class DLLEXPORT_RBM RigidBodyManipulator 
 {
 public:
   RigidBodyManipulator(int num_dof, int num_featherstone_bodies=-1, int num_rigid_body_objects=-1, int num_rigid_body_frames=0);
@@ -90,10 +86,8 @@ class DLLEXPORT RigidBodyManipulator
   template <typename DerivedA, typename DerivedB, typename DerivedC, typename DerivedD>
   void bodyKin(const int body_ind, const MatrixBase<DerivedA>& pts, MatrixBase<DerivedB> &x, MatrixBase<DerivedC> *J=NULL, MatrixBase<DerivedD> *P=NULL);
 
-#if !defined(WIN32) && !defined(WIN64)
   template<typename DerivedA>
   void geometricJacobian(int base_body_or_frame_ind, int end_effector_body_or_frame_ind, int expressed_in_body_or_frame_ind, PlainObjectBase<DerivedA>& J, std::vector<int>* v_indices);
-#endif
 
   template <typename DerivedA, typename DerivedB, typename DerivedC, typename DerivedD, typename DerivedE, typename DerivedF>
   void HandC(double* const q, double * const qd, MatrixBase<DerivedA> * const f_ext, MatrixBase<DerivedB> &H, MatrixBase<DerivedC> &C, MatrixBase<DerivedD> *dH=NULL, MatrixBase<DerivedE> *dC=NULL, MatrixBase<DerivedF> * const df_ext=NULL);
@@ -256,7 +250,7 @@ class DLLEXPORT RigidBodyManipulator
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
-// The following was required for building w/ DLLEXPORT on windows (due to the unique_ptrs).  See
+// The following was required for building w/ DLLEXPORT_RBM on windows (due to the unique_ptrs).  See
 // http://stackoverflow.com/questions/8716824/cannot-access-private-member-error-only-when-class-has-export-linkage
 private:
   RigidBodyManipulator(const RigidBodyManipulator&) {}

systems/plants/constructModelmex.cpp

@@ -5,9 +5,7 @@
 #include "RigidBodyManipulator.h"
 #include <stdexcept>
 
-#if !defined(WIN32) && !defined(WIN64)
-  #include "joints/drakeJointUtil.h"
-#endif
+#include "joints/drakeJointUtil.h"
 
 using namespace Eigen;
 using namespace std;
@@ -146,10 +144,8 @@ void mexFunction( int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[] )
 
       double pitch = mxGetScalar(mxGetProperty(pBodies, i, "pitch"));
 
-#if !defined(WIN32) && !defined(WIN64)
       model->bodies[i]->setJoint(createJoint(jointname, Ttree, floating, joint_axis, pitch));
 //      mexPrintf((model->bodies[i]->getJoint().getName() + "\n").c_str());
-#endif
     }
     {
       pm = mxGetProperty(pBodies,i,"jointname");

systems/plants/geometricJacobianmex.cpp

@@ -15,13 +15,13 @@ using namespace std;
  */
 
 // TODO: stop copying these functions everywhere and find a good place for them
-template<int RowsAtCompileTime, int ColsAtCompileTime>
-mxArray* eigenToMatlab(Eigen::Matrix<double, RowsAtCompileTime, ColsAtCompileTime> &m)
+template <typename DerivedA>
+mxArray* eigenToMatlab(const DerivedA &m)
 {
-  mxArray* pm = mxCreateDoubleMatrix(m.rows(), m.cols(), mxREAL);
-  if (m.rows() * m.cols() > 0)
-    memcpy(mxGetPr(pm), m.data(), sizeof(double) * m.rows() * m.cols());
-  return pm;
+ mxArray* pm = mxCreateDoubleMatrix(static_cast<int>(m.rows()),static_cast<int>(m.cols()),mxREAL);
+ if (m.rows()*m.cols()>0)
+   memcpy(mxGetPr(pm),m.data(),sizeof(double)*m.rows()*m.cols());
+ return pm;
 }
 
 mxArray* stdVectorToMatlab(const std::vector<int>& vec) {