matrix-view.hh

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// Copyright (c) 2017, Joseph Mirabel
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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// DAMAGE.
 
namespace Eigen {
template <typename Derived>
typename BlockIndex::segments_t BlockIndex::fromLogicalExpression(
    const Eigen::ArrayBase<Derived>& array) {
  segments_t res;
  for (size_type i = 0; i < array.derived().size(); ++i)
    if (array.derived()[i]) res.push_back(segment_t(i, 1));
  shrink(res);
  return res;
}
}  // namespace Eigen
 
#include <hpp/pinocchio/util.hh>
 
namespace hpp {
template <int Option>
struct prettyPrint<Eigen::BlockIndex::segments_t, Option> {
  static std::ostream& run(std::ostream& os,
                           const constraints::segments_t& segs) {
    Eigen::internal::print_indices::run(os, segs);
    return os;
  }
};
}  // namespace hpp