From 1bf9b51ab1a487d6e396e12bc3287eb5e8fd42f7 Mon Sep 17 00:00:00 2001
From: Antoine Hoarau <hoarau@isir.upmc.fr>
Date: Sun, 4 Sep 2016 22:37:26 +0200
Subject: [PATCH] add use case to show eigen3.3 bug #2

---
 test/CMakeLists.txt        | 14 +++++--
 test/cmake/FindEigen.cmake | 81 --------------------------------------
 test/test_lgsm.cpp         | 22 +++++++++--
 3 files changed, 29 insertions(+), 88 deletions(-)
 delete mode 100644 test/cmake/FindEigen.cmake

diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index caa8ddf..003a458 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -1,11 +1,17 @@
 
-set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
+set(CMAKE_CXX_FLAGS "-std=c++11 -Wall")
 
-find_package(Eigen REQUIRED)
+find_package(Eigen3 REQUIRED)
+
+message("
+
+Eigen dir : ${EIGEN3_INCLUDE_DIRS}
+
+")
 
 include_directories(
-	${Eigen_INCLUDE_DIRS}
+	${EIGEN3_INCLUDE_DIRS}
 	${PROJECT_SOURCE_DIR}/unsupported/
 )
-add_executable(lgsm test_lgsm.cpp)
 
+add_executable(lgsm test_lgsm.cpp)
diff --git a/test/cmake/FindEigen.cmake b/test/cmake/FindEigen.cmake
deleted file mode 100644
index 8587367..0000000
--- a/test/cmake/FindEigen.cmake
+++ /dev/null
@@ -1,81 +0,0 @@
-###############################################################################
-# 
-# CMake script for finding the Eigen library.
-# 
-# http://eigen.tuxfamily.org/index.php?title=Main_Page
-# 
-# Copyright (c) 2006, 2007 Montel Laurent, <montel@kde.org>
-# Copyright (c) 2008, 2009 Gael Guennebaud, <g.gael@free.fr>
-# Copyright (c) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-# Redistribution and use is allowed according to the terms of the 2-clause BSD
-# license.
-# 
-# 
-# Input variables:
-# 
-# - Eigen_ROOT_DIR (optional): When specified, header files and libraries
-#   will be searched for in `${Eigen_ROOT_DIR}/include` and
-#   `${Eigen_ROOT_DIR}/libs` respectively, and the default CMake search order
-#   will be ignored. When unspecified, the default CMake search order is used.
-#   This variable can be specified either as a CMake or environment variable.
-#   If both are set, preference is given to the CMake variable.
-#   Use this variable for finding packages installed in a nonstandard location,
-#   or for enforcing that one of multiple package installations is picked up.
-# 
-# Cache variables (not intended to be used in CMakeLists.txt files)
-# 
-# - Eigen_INCLUDE_DIR: Absolute path to package headers.
-# 
-# 
-# Output variables:
-# 
-# - Eigen_FOUND: Boolean that indicates if the package was found
-# - Eigen_INCLUDE_DIRS: Paths to the necessary header files
-# - Eigen_VERSION: Version of Eigen library found
-# - Eigen_DEFINITIONS: Definitions to be passed on behalf of eigen
-# 
-# 
-# Example usage:
-# 
-#   # Passing the version means Eigen_FOUND will only be TRUE if a
-#   # version >= the provided version is found.
-#   find_package(Eigen 3.1.2)
-#   if(NOT Eigen_FOUND)
-#     # Error handling
-#   endif()
-#   ...
-#   add_definitions(${Eigen_DEFINITIONS})
-#   ...
-#   include_directories(${Eigen_INCLUDE_DIRS} ...)
-# 
-###############################################################################
-
-find_package(PkgConfig)
-pkg_check_modules(PC_EIGEN eigen3)
-set(EIGEN_DEFINITIONS ${PC_EIGEN_CFLAGS_OTHER})
-
-
-find_path(EIGEN_INCLUDE_DIR Eigen/Core
-    HINTS ${PC_EIGEN_INCLUDEDIR} ${PC_EIGEN_INCLUDE_DIRS}
-          "${Eigen_ROOT_DIR}" "$ENV{EIGEN_ROOT_DIR}"
-          "${EIGEN_ROOT}" "$ENV{EIGEN_ROOT}"  # Backwards Compatibility
-    PATHS "$ENV{PROGRAMFILES}/Eigen" "$ENV{PROGRAMW6432}/Eigen"
-          "$ENV{PROGRAMFILES}/Eigen 3.0.0" "$ENV{PROGRAMW6432}/Eigen 3.0.0"
-    PATH_SUFFIXES eigen3 include/eigen3 include)
-
-set(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR})
-
-include(FindPackageHandleStandardArgs)
-find_package_handle_standard_args(Eigen DEFAULT_MSG EIGEN_INCLUDE_DIR)
-
-mark_as_advanced(EIGEN_INCLUDE_DIR)
-
-if(EIGEN_FOUND)
-  message(STATUS "Eigen found (include: ${EIGEN_INCLUDE_DIRS})")
-endif(EIGEN_FOUND)
-
-
-set(Eigen_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
-set(Eigen_FOUND ${EIGEN_FOUND})
-set(Eigen_VERSION ${EIGEN_VERSION})
-set(Eigen_DEFINITIONS ${EIGEN_DEFINITIONS})
diff --git a/test/test_lgsm.cpp b/test/test_lgsm.cpp
index 7676376..8fdab0c 100644
--- a/test/test_lgsm.cpp
+++ b/test/test_lgsm.cpp
@@ -1,7 +1,23 @@
-#include <Eigen/Dense>
 #include <Eigen/Lgsm>
+#include <iostream>
 
 int main(int argc, char ** argv)
 {
-	return 0;
-}
\ No newline at end of file
+    // Eigen::Displacementd a,b;
+    Eigen::Twistd c;
+    Eigen::Wrenchd d;
+    //
+    //Eigen::Vector3d test = d.getTorque();
+    std::cout << c.getAngularVelocity() << std::endl;
+    // // std::cout << d.getTorque() << std::endl;
+    // // std::cout << d.getForce() << std::endl;
+    // //
+    // // std::cout << a.adjoint() << std::endl;
+    // auto e = a*b;
+    //
+    // std::cout << "a : " << a << std::endl;
+    // std::cout << "b : " << b << std::endl;
+    // std::cout << "a*b : " << e << std::endl;
+
+    return 0;
+}