Commit 342baae9 authored by Jean-Baptiste Mouret's avatar Jean-Baptiste Mouret
Browse files

put some space in templates to make non-compliant c++11 compiler happier

parent d1e4a233
......@@ -63,13 +63,13 @@ namespace tsid
}
inline void append_eq (double num, std::shared_ptr<math::ConstraintEquality> i){
m_std_const.push_back(solvers::make_pair<double, std::shared_ptr<math::ConstraintBase>>(num, i));
m_std_const.push_back(solvers::make_pair<double, std::shared_ptr<math::ConstraintBase> >(num, i));
}
inline void append_ineq (double num, std::shared_ptr<math::ConstraintInequality> i){
m_std_const.push_back(solvers::make_pair<double, std::shared_ptr<math::ConstraintBase>>(num, i));
m_std_const.push_back(solvers::make_pair<double, std::shared_ptr<math::ConstraintBase> >(num, i));
}
inline void append_bound (double num, std::shared_ptr<math::ConstraintBound> i){
m_std_const.push_back(solvers::make_pair<double, std::shared_ptr<math::ConstraintBase>>(num, i));
m_std_const.push_back(solvers::make_pair<double, std::shared_ptr<math::ConstraintBase> >(num, i));
}
private:
ConstraintLevel m_std_const;
......
......@@ -150,10 +150,10 @@ namespace tsid
Data m_data;
HQPData m_hqpData;
std::vector<std::shared_ptr<TaskLevel>> m_taskMotions;
std::vector<std::shared_ptr<TaskLevel>> m_taskContactForces;
std::vector<std::shared_ptr<TaskLevel>> m_taskActuations;
std::vector<std::shared_ptr<ContactLevel>> m_contacts;
std::vector<std::shared_ptr<TaskLevel> > m_taskMotions;
std::vector<std::shared_ptr<TaskLevel> > m_taskContactForces;
std::vector<std::shared_ptr<TaskLevel> > m_taskActuations;
std::vector<std::shared_ptr<ContactLevel> > m_contacts;
double m_t; /// time
unsigned int m_k; /// number of contact-force variables
unsigned int m_v; /// number of acceleration variables
......@@ -168,7 +168,7 @@ namespace tsid
Vector m_f;
Vector m_tau;
std::vector<std::shared_ptr<ContactTransitionInfo>> m_contactTransitions;
std::vector<std::shared_ptr<ContactTransitionInfo> > m_contactTransitions;
};
}
......
......@@ -83,8 +83,8 @@ namespace tsid
{ return aligned_pair<T1,T2>(t1,t2); }
typedef pinocchio::container::aligned_vector< aligned_pair<double, std::shared_ptr<math::ConstraintBase>> > ConstraintLevel;
typedef pinocchio::container::aligned_vector< aligned_pair<double, std::shared_ptr<const math::ConstraintBase>>> ConstConstraintLevel;
typedef pinocchio::container::aligned_vector< aligned_pair<double, std::shared_ptr<math::ConstraintBase> > > ConstraintLevel;
typedef pinocchio::container::aligned_vector< aligned_pair<double, std::shared_ptr<const math::ConstraintBase> > > ConstConstraintLevel;
typedef pinocchio::container::aligned_vector<ConstraintLevel> HQPData;
typedef pinocchio::container::aligned_vector<ConstConstraintLevel> ConstHQPData;
......
......@@ -55,7 +55,7 @@ InverseDynamicsFormulationAccForce::InverseDynamicsFormulationAccForce(const std
m_in = 0;
m_hqpData.resize(2);
m_Jc.setZero(m_k, m_v);
m_hqpData[0].push_back(solvers::make_pair<double, std::shared_ptr<ConstraintBase>>(1.0, m_baseDynamics));
m_hqpData[0].push_back(solvers::make_pair<double, std::shared_ptr<ConstraintBase> >(1.0, m_baseDynamics));
}
......@@ -116,7 +116,7 @@ void InverseDynamicsFormulationAccForce::addTask(std::shared_ptr<TaskLevel> tl,
// don't use bounds for now because EiQuadProg doesn't exploit them anyway
// else
// tl->constraint = new ConstraintBound(c.name(), m_v+m_k);
m_hqpData[priorityLevel].push_back(make_pair<double, std::shared_ptr<ConstraintBase>>(weight, tl->constraint));
m_hqpData[priorityLevel].push_back(make_pair<double, std::shared_ptr<ConstraintBase> >(weight, tl->constraint));
}
......@@ -202,7 +202,7 @@ bool InverseDynamicsFormulationAccForce::addActuationTask(TaskActuation & task,
m_in += c.rows();
}
m_hqpData[priorityLevel].push_back(make_pair<double, std::shared_ptr<ConstraintBase>>(weight, tl->constraint));
m_hqpData[priorityLevel].push_back(make_pair<double, std::shared_ptr<ConstraintBase> >(weight, tl->constraint));
return true;
}
......@@ -240,15 +240,15 @@ bool InverseDynamicsFormulationAccForce::addRigidContact(ContactBase & contact,
const ConstraintBase & motionConstr = contact.getMotionConstraint();
cl->motionConstraint = std::make_shared<ConstraintEquality>(contact.name()+"_motion_task", motionConstr.rows(), m_v+m_k);
m_hqpData[motionPriorityLevel].push_back(solvers::make_pair<double, std::shared_ptr<ConstraintBase>>(motion_weight, cl->motionConstraint));
m_hqpData[motionPriorityLevel].push_back(solvers::make_pair<double, std::shared_ptr<ConstraintBase> >(motion_weight, cl->motionConstraint));
const ConstraintInequality & forceConstr = contact.getForceConstraint();
cl->forceConstraint = std::make_shared<ConstraintInequality>(contact.name()+"_force_constraint", forceConstr.rows(), m_v+m_k);
m_hqpData[0].push_back(solvers::make_pair<double, std::shared_ptr<ConstraintBase>>(1.0, cl->forceConstraint));
m_hqpData[0].push_back(solvers::make_pair<double, std::shared_ptr<ConstraintBase> >(1.0, cl->forceConstraint));
const ConstraintEquality & forceRegConstr = contact.getForceRegularizationTask();
cl->forceRegTask = std::make_shared<ConstraintEquality>(contact.name()+"_force_reg_task", forceRegConstr.rows(), m_v+m_k);
m_hqpData[1].push_back(solvers::make_pair<double, std::shared_ptr<ConstraintBase>>(force_regularization_weight, cl->forceRegTask));
m_hqpData[1].push_back(solvers::make_pair<double, std::shared_ptr<ConstraintBase> >(force_regularization_weight, cl->forceRegTask));
m_eq += motionConstr.rows();
m_in += forceConstr.rows();
......
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