Re-add getCSetting fix

Author: egordon

include/barrett/cdlbt/interp.h

@@ -75,7 +75,7 @@ enum bt_interp_type {
 
 /** This is the GSL interpolator type object to be used with
  * gsl_interp_alloc() when a bt_interp type is to be used. */
-const gsl_interp_type * bt_interp;
+extern const gsl_interp_type * bt_interp;
 
 
 /** This function is used to set the types of the two endpoints before the

include/barrett/detail/libconfig_utils.h

@@ -60,6 +60,24 @@ inline double numericToDouble(const libconfig::Setting& setting)
 
 }
 
+// Access private config_setting_t* in libconfig::Setting
+// See:
+// https://stackoverflow.com/questions/424104/can-i-access-private-members-from-outside-the-class-without-using-friends
+template <typename Tag, typename Tag::type M> struct PrivateAccess {
+	friend typename Tag::type get(Tag) { return M; }
+};
+
+// tag used to access A::member
+struct Settings_Access {
+	typedef config_setting_t *libconfig::Setting::*type;
+	friend type get(Settings_Access);
+};
+
+template struct PrivateAccess<Settings_Access, &libconfig::Setting::_setting>;
+
+inline config_setting_t *getCSetting(const libconfig::Setting &setting) {
+	return setting.*get(Settings_Access());
+}
 
 }
 }

include/barrett/math/detail/dynamics-inl.h

@@ -9,6 +9,7 @@
 
 #include <barrett/units.h>
 #include <barrett/cdlbt/dynamics.h>
+#include <barrett/detail/libconfig_utils.h>
 
 
 namespace barrett {
@@ -18,7 +19,7 @@ namespace math {
 template<size_t DOF>
 Dynamics<DOF>::Dynamics(const libconfig::Setting& setting)
 {
-	if (bt_dynamics_create(&impl, setting.getCSetting(), DOF)) {
+	if (bt_dynamics_create(&impl, barrett::detail::getCSetting(setting), DOF)) {
 		throw(std::runtime_error("(math::Dynamics::Dynamics): Couldn't initialize Dynamics struct."));
 	}
 }

include/barrett/math/detail/kinematics-inl.h

@@ -9,6 +9,7 @@
 
 #include <barrett/units.h>
 #include <barrett/cdlbt/kinematics.h>
+#include <barrett/detail/libconfig_utils.h>
 
 
 namespace barrett {
@@ -18,7 +19,7 @@ namespace math {
 template<size_t DOF>
 Kinematics<DOF>::Kinematics(const libconfig::Setting& setting)
 {
-	if (bt_kinematics_create(&impl, setting.getCSetting(), DOF)) {
+	if (bt_kinematics_create(&impl, barrett::detail::getCSetting(setting), DOF)) {
 		throw(std::runtime_error("(math::Kinematics::Kinematics): Couldn't initialize Kinematics struct."));
 	}
 }

include/barrett/systems/gravity_compensator.h

@@ -35,9 +35,10 @@
 #include <Eigen/Core>
 #include <libconfig.h++>
 
+#include <barrett/cdlbt/calgrav.h>
 #include <barrett/detail/ca_macro.h>
+#include <barrett/detail/libconfig_utils.h>
 #include <barrett/units.h>
-#include <barrett/cdlbt/calgrav.h>
 
 #include <barrett/systems/abstract/system.h>
 #include <barrett/systems/abstract/single_io.h>
@@ -60,7 +61,7 @@ class GravityCompensator : public System,
 			const std::string& sysName = "GravityCompensator") :
 		System(sysName), KinematicsInput<DOF>(this), SingleOutput<jt_type>(this), impl(NULL), data()
 	{
-		bt_calgrav_create(&impl, setting.getCSetting(), DOF);
+		bt_calgrav_create(&impl, barrett::detail::getCSetting(setting), DOF);
 	}
 
 	bool setGravity(double new_grav) {

programs/gravitycal.cpp

@@ -49,6 +49,7 @@
 #include <barrett/cdlbt/gsl.h>
 #include <barrett/cdlbt/kinematics.h>
 #include <barrett/cdlbt/calgrav.h>
+#include <barrett/detail/libconfig_utils.h>
 
 #include <barrett/config.h>
 
@@ -491,8 +492,8 @@ int wam_main(int argc, char** argv, ProductManager& pm, systems::Wam<DOF>& wam)
 		 * in torques[] and positions[] */
 
 		libconfig::Setting& setting = pm.getConfig().lookup(pm.getWamDefaultConfigPath());
-		bt_kinematics_create(&kin, setting["kinematics"].getCSetting(), n);
-		bt_calgrav_create(&grav, setting["gravity_compensation"].getCSetting(), n);
+		bt_kinematics_create(&kin, barrett::detail::getCSetting(setting["kinematics"]), n);
+		bt_calgrav_create(&grav, barrett::detail::getCSetting(setting["gravity_compensation"]), n);
 
 		/* Make the nLL matrix */
 		nLL = gsl_matrix_calloc(3 * num_poses, 3 + 2 * num_poses);

tests/systems/tool_orientation.cpp

@@ -19,6 +19,7 @@
 #include <barrett/systems/tool_orientation_controller.h>
 #include <barrett/cdlbt/dynamics.h>
 #include <barrett/cdlbt/control_cartesian_xyz_q.h>
+#include <barrett/detail/libconfig_utils.h>
 #include "exposed_io_system.h"
 
 
@@ -74,7 +75,7 @@ TEST(ToolOrientationTest, Blah2) {
 
 	struct bt_control_cartesian_xyz_q * con = NULL;
 	bt_control_cartesian_xyz_q_create(&con,
-			config.lookup("wam.control_cartesian_xyz_q").getCSetting(),
+			barrett::detail::getCSetting(config.lookup("wam.control_cartesian_xyz_q")),
 			kin.impl, NULL);
 	ASSERT_TRUE(con != NULL);