Switching nuget mathnet (#61)

* Removing downloaded MathNet library.

* Removing downloaded MathNet library and replacing with Nuget package

* Updating installer ini file

* Adding installer

INSTALL/Install.iss

@@ -22,6 +22,9 @@
 AppId={{E43E85A9-071D-430A-91B2-84B7AB923170}
 AppName={#MyAppName}
 AppVersion={#CommitVersion}
+VersionInfoVersion={#BuildVersion}
+VersionInfoCopyright=2019
+VersionInfoProductName={#MyAppName}
 ;AppVerName={#MyAppName} {#MyAppVersion}
 AppPublisher={#MyAppPublisher}
 AppPublisherURL={#MyAppURL}

SW2URDF/AssemblyInfo.cs

@@ -47,7 +47,7 @@ THE SOFTWARE.
 // You can specify all the values or you can default the Revision and Build Numbers
 // by using the '*' as shown below:
 
-[assembly: AssemblyVersion("1.4.*")]
+[assembly: AssemblyVersion("1.5.*")]
 //
 // In order to sign your assembly you must specify a key to use. Refer to the
 // Microsoft .NET Framework documentation for more information on assembly signing.

SW2URDF/SW2URDF.csproj

@@ -230,9 +230,8 @@
     <Reference Include="log4net">
       <HintPath>lib\log4net.dll</HintPath>
     </Reference>
-    <Reference Include="MathNet.Numerics, Version=2011.4.17.0, Culture=neutral, PublicKeyToken=cd8b63ad3d691a37, processorArchitecture=MSIL">
-      <SpecificVersion>False</SpecificVersion>
-      <HintPath>MathNet.Numerics\lib\Net40\MathNet.Numerics.dll</HintPath>
+    <Reference Include="MathNet.Numerics, Version=4.7.0.0, Culture=neutral, PublicKeyToken=cd8b63ad3d691a37, processorArchitecture=MSIL">
+      <HintPath>..\packages\MathNet.Numerics.Signed.4.7.0\lib\net40\MathNet.Numerics.dll</HintPath>
     </Reference>
     <Reference Include="Microsoft.CSharp" />
     <Reference Include="Microsoft.VisualBasic" />

SW2URDF/Test/SW2URDFTest.cs

@@ -1,7 +1,6 @@
 using SolidWorks.Interop.sldworks;
 using SolidWorks.Interop.swconst;
 using System.IO;
-using System.Reflection;
 using Xunit;
 
 namespace SW2URDF.Test

SW2URDF/Test/TestCommon.cs

@@ -1,7 +1,6 @@
 using SolidWorks.Interop.sldworks;
 using SW2URDF.URDF;
 using SW2URDF.URDFExport;
-using System;
 using System.Collections.Generic;
 using System.Linq;
 using Xunit;

SW2URDF/Test/TestMathOps.cs

@@ -1,5 +1,5 @@
-using MathNet.Numerics.LinearAlgebra.Double;
-using MathNet.Numerics.LinearAlgebra.Generic;
+using MathNet.Numerics.LinearAlgebra;
+using MathNet.Numerics.LinearAlgebra.Double;
 using SolidWorks.Interop.sldworks;
 using SW2URDF.Utilities;
 using System;
@@ -270,7 +270,7 @@ public void TestGetRPYMathTransform(double[] matrixData, double[] expected)
             new double[] { 0, 1, 0, 0, -1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1 })]
         public void TestGetRotation(double[] rpy, double[] expected)
         {
-            double[] result = MathOps.GetRotation(rpy).ToColumnWiseArray();
+            double[] result = MathOps.GetRotation(rpy).AsColumnMajorArray();
             for (int i = 0; i < expected.Length; i++)
             {
                 Assert.Equal(expected[i], result[i], 10);
@@ -284,7 +284,7 @@ public void TestGetRotation(double[] rpy, double[] expected)
             new double[] { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 1, 2, 3, 1 })]
         public void TestGetTranslation(double[] xyz, double[] expected)
         {
-            double[] result = MathOps.GetTranslation(xyz).ToColumnWiseArray();
+            double[] result = MathOps.GetTranslation(xyz).AsColumnMajorArray();
             for (int i = 0; i < expected.Length; i++)
             {
                 Assert.Equal(expected[i], result[i], 10);
@@ -314,7 +314,7 @@ public void TestGetTranslation(double[] xyz, double[] expected)
             new double[] { 0, 1, 0, 0, -1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1 })]
         public void TestGetTransformationFromXYZRPY(double[] xyz, double[] rpy, double[] expected)
         {
-            double[] result = MathOps.GetTransformation(xyz, rpy).ToColumnWiseArray();
+            double[] result = MathOps.GetTransformation(xyz, rpy).AsColumnMajorArray();
             for (int i = 0; i < expected.Length; i++)
             {
                 Assert.Equal(expected[i], result[i], 10);
@@ -347,7 +347,7 @@ public void TestGetRotationMatrixFromMathTransform(double[] mathTransformData, d
             MathUtility util = SwApp.GetMathUtility();
             MathTransform transform = util.CreateTransform((object)mathTransformData);
 
-            double[] result = MathOps.GetRotationMatrix(transform).ToColumnWiseArray();
+            double[] result = MathOps.GetRotationMatrix(transform).AsColumnMajorArray();
             for (int i = 0; i < expected.Length; i++)
             {
                 Assert.Equal(expected[i], result[i]);
@@ -374,7 +374,7 @@ public void TestGetTransformationFromMathTransform(double[] matrixData, double[]
         {
             MathUtility util = SwApp.GetMathUtility();
             MathTransform transform = util.CreateTransform((object)matrixData);
-            double[] result = MathOps.GetTransformation(transform).ToColumnWiseArray();
+            double[] result = MathOps.GetTransformation(transform).AsColumnMajorArray();
             for (int i = 0; i < expected.Length; i++)
             {
                 Assert.Equal(expected[i], result[i]);

SW2URDF/Test/TestURDFMerge.cs

@@ -1,10 +1,4 @@
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
-
-namespace SW2URDF.Test
+namespace SW2URDF.Test
 {
     /// <summary>
     /// TODO(SIMINT-164) Implement tests covering public methods below

SW2URDF/URDFExport/ExportHelper.cs

@@ -20,7 +20,7 @@ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 THE SOFTWARE.
 */
 
-using MathNet.Numerics.LinearAlgebra.Generic;
+using MathNet.Numerics.LinearAlgebra;
 using SolidWorks.Interop.sldworks;
 using SolidWorks.Interop.swconst;
 using SW2URDF.ROS;

SW2URDF/URDFExport/ExportHelperExtension.cs

@@ -20,8 +20,8 @@ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 THE SOFTWARE.
 */
 
+using MathNet.Numerics.LinearAlgebra;
 using MathNet.Numerics.LinearAlgebra.Double;
-using MathNet.Numerics.LinearAlgebra.Generic;
 using SolidWorks.Interop.sldworks;
 using SolidWorks.Interop.swconst;
 using SW2URDF.URDF;
@@ -144,7 +144,7 @@ private void LocalizeLink(Link Link, Matrix<double> GlobalTransform)
 
             // Wait are you saying that even though the matrix was trasposed from column major
             // order, you are writing it in row-major order here. Yes, yes I am.
-            double[] moment = linkLocalMomentInertia.ToRowWiseArray();
+            double[] moment = linkLocalMomentInertia.AsRowMajorArray();
             Link.Inertial.Inertia.SetMomentMatrix(moment);
 
             Link.Collision.Origin.SetXYZ(MathOps.GetXYZ(localCollisionTransform));
@@ -702,7 +702,7 @@ private object[] AddSketchGeometry(Origin Origin)
 
             //Calculate the lines that need to be drawn
             Matrix<double> transform = MathOps.GetRotation(Origin.GetRPY());
-            Matrix<double> Axes = 0.01 * DenseMatrix.Identity(4);
+            Matrix<double> Axes = 0.01 * DenseMatrix.CreateIdentity(4);
             Matrix<double> tA = transform * Axes;
 
             // origin at X, Y, Z

SW2URDF/Utilities/MathOPS.cs

@@ -20,8 +20,8 @@ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 THE SOFTWARE.
 */
 
+using MathNet.Numerics.LinearAlgebra;
 using MathNet.Numerics.LinearAlgebra.Double;
-using MathNet.Numerics.LinearAlgebra.Generic;
 using SolidWorks.Interop.sldworks;
 using System;
 using System.Collections.Generic;
@@ -184,9 +184,9 @@ public static double[] GetRPY(MathTransform transform)
 
         public static Matrix<double> GetRotation(double[] RPY)
         {
-            Matrix<double> RX = DenseMatrix.Identity(4);
-            Matrix<double> RY = DenseMatrix.Identity(4);
-            Matrix<double> RZ = DenseMatrix.Identity(4);
+            Matrix<double> RX = DenseMatrix.CreateIdentity(4);
+            Matrix<double> RY = DenseMatrix.CreateIdentity(4);
+            Matrix<double> RZ = DenseMatrix.CreateIdentity(4);
 
             RX[1, 1] = Math.Cos(RPY[0]);
             RX[1, 2] = -Math.Sin(RPY[0]);
@@ -208,7 +208,7 @@ public static Matrix<double> GetRotation(double[] RPY)
 
         public static Matrix<double> GetTranslation(double[] XYZ)
         {
-            Matrix<double> m = DenseMatrix.Identity(4);
+            Matrix<double> m = DenseMatrix.CreateIdentity(4);
             m[0, 3] = XYZ[0]; m[1, 3] = XYZ[1]; m[2, 3] = XYZ[2];
             return m;
         }
@@ -222,7 +222,7 @@ public static Matrix<double> GetTransformation(double[] XYZ, double[] RPY)
 
         public static Matrix GetRotationMatrix(MathTransform transform)
         {
-            var rot = new DenseMatrix(3);
+            Matrix rot = new DenseMatrix(3);
             for (int i = 0; i < 3; i++)
             {
                 for (int j = 0; j < 3; j++)

SW2URDF/packages.config

@@ -2,6 +2,8 @@
 <packages>
   <package id="Castle.Core" version="4.3.1" targetFramework="net452" />
   <package id="CsvHelper" version="7.1.1" targetFramework="net45" />
+  <package id="MathNet.Numerics" version="4.7.0" targetFramework="net452" />
+  <package id="MathNet.Numerics.Signed" version="4.7.0" targetFramework="net452" />
   <package id="Microsoft.VisualStudio.TestPlatform" version="14.0.0.0" targetFramework="net452" />
   <package id="Moq" version="4.10.1" targetFramework="net452" />
   <package id="System.Runtime.CompilerServices.Unsafe" version="4.5.0" targetFramework="net452" />