2011/1/6 Steven Bellens <steven [dot] bellens [..] ...>:
> Hey,
>
> Writing a component in Orocos 2.2, I have problems reading and writing
> a SymmetricMatrix Property from / to a file. The most recent
> bfl_typekit (and kdl_typekit) is loaded:
>
> "> .types
> Available data types:  ColumnVector ColumnVectors ConnPolicy
> FlowStatus Frame Frames JntArray Matrix Matrixs ProbabiliertyBag
> Rotation Rotations RowVector RowVectors SampleColumnVector
> SampleColumnVectors SampleDouble SampleDoubles SampdHandle SendStatus
> SymmetricMatrix SymmetricMatrixs TaskContext Twist Twists Vector
> Vectors WeightedSampleColumnVectornVectors WeightedSampleDouble
> WeightedSampleDoubles WeightedSampleInt WeightedSampleInts Wrench
> Wrenches array bool bole[] float int ints rt_string string strings
> uint void"
>
> I succesfully read in a ColumnVector property, but writing out the
> SymmetricMatrix property returns:
>
>> marshalling.writeProperty ("sysNoiseCovariance","cpf/test.cpf")
> 35.738 [ Warning][PropertyLoader::save] Don't know type
> SymmetricMatrix of sysNoiseCovariance and could not convert or
> decompose it. Dropping it.
>  = true
>
> The deployer does not complain when reading in the Property, but the
> Property values do _not_ get updated.
>
> I expect this to be a difference in decomposing different BFL types in
> the BFL typekit?

Others might be interested in the solution I just found. The BFL
typekit used the 'convertType' method workaround for Matrices (which
apparently does not work with rtt 2.2). Replacing the convertType
method with the decomposeTypeImpl from the original (1.10) bfl typekit
however works again (a little tweaking for some method calls is
required). Matrix types can now be written to xml and get decomposed
fine when reporting them.

@Tinne: patch is in appendix, tested for a symmetricMatrix type.

Steven

> regards,
>
> Steven
>