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Remove using namespace Eigen from public header; qualify Eigen types #7

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Merged
mmmarinho merged 1 commit into from
Sep 24, 2026
Merged

Remove using namespace Eigen from public header; qualify Eigen types #7

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7 changes: 3 additions & 4 deletions include/sas_datalogger/sas_datalogger_client.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,6 @@

#include <eigen3/Eigen/Dense>

using namespace Eigen;

namespace sas
{
Expand Down Expand Up @@ -68,12 +67,12 @@ class DataloggerClient: private sas::Object
bool is_enabled(int server_count=1) const;

/**
* @brief Log a matrix (MatrixXd) or vector (VectorXd) value under the given name.
* @brief Log a matrix (Eigen::MatrixXd) or vector (Eigen::VectorXd) value under the given name.
*
* @param name Key/name under which the value will be logged.
* @param value the Eigen::Ref<const MatrixXd> value to log.
* @param value the Eigen::Ref<const Eigen::MatrixXd> value to log.
*/
void log(const std::string& name, const Eigen::Ref<const MatrixXd>& value);
void log(const std::string& name, const Eigen::Ref<const Eigen::MatrixXd>& value);

/**
* @brief Log a std::vector<double> value under the given name.
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4 changes: 2 additions & 2 deletions src/examples/sas_datalogger_client_example.cpp
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Expand Up @@ -70,11 +70,11 @@ int main(int argc,char** argv)

for (auto i = 0; i < 5; i++)
{
MatrixXd A(3,4); A << 1,2,3,4,5,6,7,8,9,10,11,12;
Eigen::MatrixXd A(3,4); A << 1,2,3,4,5,6,7,8,9,10,11,12;
datalogger_client.log("A",A);
datalogger_client.log("two_A",A+A);

VectorXd v(5); v << 1,5,10,15,20;
Eigen::VectorXd v(5); v << 1,5,10,15,20;
datalogger_client.log("v",v);
datalogger_client.log("two_v",v+v);

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2 changes: 1 addition & 1 deletion src/sas_datalogger_client.cpp
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Expand Up @@ -38,7 +38,7 @@ bool DataloggerClient::is_enabled(int server_count) const
return (int(publisher_log_->get_subscription_count()) >= server_count);
}

void DataloggerClient::log(const std::string& name, const Eigen::Ref<const MatrixXd>& value)
void DataloggerClient::log(const std::string& name, const Eigen::Ref<const Eigen::MatrixXd>& value)
{
sas_msgs::msg::LogDatum msg;

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2 changes: 1 addition & 1 deletion src/sas_datalogger_py.cpp
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Expand Up @@ -41,7 +41,7 @@ PYBIND11_MODULE(_sas_datalogger, m) {
py::arg("server_count") = 1,
"Returns true if the client is connected to the datalogger server, false otherwise.");

dc.def("log",py::overload_cast<const std::string&, const Eigen::Ref<const MatrixXd>&>(&DC::log),"Logs a matrix or vector.");
dc.def("log",py::overload_cast<const std::string&, const Eigen::Ref<const Eigen::MatrixXd>&>(&DC::log),"Logs a matrix or vector.");
dc.def("log",py::overload_cast<const std::string&, const std::vector<double>&>(&DC::log),"Logs a vector.");
dc.def("log",py::overload_cast<const std::string&, const double&>(&DC::log),"Logs a scalar.");
dc.def("log",py::overload_cast<const std::string&, const std::string&>(&DC::log),"Logs a string.");
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