Transform3f -> Transform3s

include/hpp/manipulation/device.hh

@@ -64,7 +64,7 @@ class HPP_MANIPULATION_DLLAPI Device : public pinocchio::HumanoidRobot {
   virtual std::ostream& print(std::ostream& os) const;
 
   void setRobotRootPosition(const std::string& robotName,
-                            const Transform3f& positionWRTParentJoint);
+                            const Transform3s& positionWRTParentJoint);
 
   virtual pinocchio::DevicePtr_t clone() const;
 

include/hpp/manipulation/fwd.hh

@@ -88,7 +88,7 @@ typedef constraints::RelativeTransformationR3xSO3 RelativeTransformationR3xSO3;
 typedef constraints::RelativeTransformationPtr_t RelativeTransformationPtr_t;
 typedef core::value_type value_type;
 typedef core::size_type size_type;
-typedef core::Transform3f Transform3f;
+typedef core::Transform3s Transform3s;
 typedef core::vector_t vector_t;
 typedef core::vectorIn_t vectorIn_t;
 typedef core::vectorOut_t vectorOut_t;

include/hpp/manipulation/handle.hh

@@ -66,7 +66,7 @@ class HPP_MANIPULATION_DLLAPI Handle {
   /// \return the constraint of relative position between the handle and
   ///         the gripper.
   static HandlePtr_t create(const std::string& name,
-                            const Transform3f& localPosition,
+                            const Transform3s& localPosition,
                             const DeviceWkPtr_t& robot,
                             const JointPtr_t& joint) {
     Handle* ptr = new Handle(name, localPosition, robot, joint);
@@ -98,10 +98,10 @@ class HPP_MANIPULATION_DLLAPI Handle {
   /// \}
 
   /// Get local position in joint frame
-  const Transform3f& localPosition() const { return localPosition_; }
+  const Transform3s& localPosition() const { return localPosition_; }
 
   /// Set local position in joint frame
-  void localPosition(const Transform3f& localPosition) {
+  void localPosition(const Transform3s& localPosition) {
     localPosition_ = localPosition;
   }
 
@@ -175,7 +175,7 @@ class HPP_MANIPULATION_DLLAPI Handle {
   /// \param grasp object containing the grasp information
   /// \return the constraint of relative position between the handle and
   ///         the gripper.
-  Handle(const std::string& name, const Transform3f& localPosition,
+  Handle(const std::string& name, const Transform3s& localPosition,
          const DeviceWkPtr_t& robot, const JointPtr_t& joint)
       : name_(name),
         localPosition_(localPosition),
@@ -192,7 +192,7 @@ class HPP_MANIPULATION_DLLAPI Handle {
  private:
   std::string name_;
   /// Position of the handle in the joint frame.
-  Transform3f localPosition_;
+  Transform3s localPosition_;
   /// Joint to which the handle is linked.
   JointPtr_t joint_;
   /// Pointer to the robot

src/device.cc

@@ -50,7 +50,7 @@ pinocchio::DevicePtr_t Device::clone() const {
   return shPtr;
 }
 
-void Device::setRobotRootPosition(const std::string& rn, const Transform3f& t) {
+void Device::setRobotRootPosition(const std::string& rn, const Transform3s& t) {
   FrameIndices_t idxs = robotFrames(rn);
   if (idxs.size() == 0)
     throw std::invalid_argument("No frame for robot name " + rn);
@@ -65,7 +65,7 @@ void Device::setRobotRootPosition(const std::string& rn, const Transform3f& t) {
     return;
   }
 
-  Transform3f shift(t * rootFrame.placement.inverse());
+  Transform3s shift(t * rootFrame.placement.inverse());
   // Find all the frames that have the same parent joint.
   for (std::size_t i = 1; i < idxs.size(); ++i) {
     Frame& frame = m.frames[idxs[i]];

src/handle.cc

@@ -204,8 +204,8 @@ ImplicitPtr_t Handle::createGraspAndComplement(const GripperPtr_t& gripper,
 ImplicitPtr_t Handle::createPreGrasp(const GripperPtr_t& gripper,
                                      const value_type& shift,
                                      std::string n) const {
-  Transform3f M = gripper->objectPositionInJoint() *
-                  Transform3f(I3, vector3_t(shift, 0, 0));
+  Transform3s M = gripper->objectPositionInJoint() *
+                  Transform3s(I3, vector3_t(shift, 0, 0));
   if (n.empty())
     n = "Pregrasp_ " + maskToStr(mask_) + "_" + name() + "_" + gripper->name();
   ImplicitPtr_t result(Implicit::create(