From e3eea62ca19e66f58b6d24e6fbfe9309e5362290 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Thu, 5 Dec 2024 23:53:27 +0100
Subject: [PATCH] Transform3f -> Transform3s
---
include/hpp/manipulation/device.hh | 2 +-
include/hpp/manipulation/fwd.hh | 2 +-
include/hpp/manipulation/handle.hh | 10 +++++-----
src/device.cc | 4 ++--
src/handle.cc | 4 ++--
5 files changed, 11 insertions(+), 11 deletions(-)
diff --git a/include/hpp/manipulation/device.hh b/include/hpp/manipulation/device.hh
index c4691642..62c3d68f 100644
--- a/include/hpp/manipulation/device.hh
+++ b/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;
diff --git a/include/hpp/manipulation/fwd.hh b/include/hpp/manipulation/fwd.hh
index 516b7b78..e7033b9e 100644
--- a/include/hpp/manipulation/fwd.hh
+++ b/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;
diff --git a/include/hpp/manipulation/handle.hh b/include/hpp/manipulation/handle.hh
index 04291ace..617f1afb 100644
--- a/include/hpp/manipulation/handle.hh
+++ b/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
diff --git a/src/device.cc b/src/device.cc
index 2cb2d749..36d28645 100644
--- a/src/device.cc
+++ b/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]];
diff --git a/src/handle.cc b/src/handle.cc
index 6cb59a76..e7fdf038 100644
--- a/src/handle.cc
+++ b/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(
--
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