Commit 00a99d1e authored by Joseph Mirabel's avatar Joseph Mirabel
Browse files

Update to Pinocchio 2.1.5

parent 844f1f48
......@@ -28,6 +28,7 @@
#include "pinocchio/multibody/joint/joint-planar.hpp"
#include "pinocchio/multibody/joint/joint-prismatic.hpp"
#include "pinocchio/multibody/joint/joint-revolute-unaligned.hpp"
#include "pinocchio/multibody/joint/joint-revolute-unbounded-unaligned.hpp"
#include "pinocchio/multibody/joint/joint-prismatic-unaligned.hpp"
#include "pinocchio/multibody/joint/joint-revolute.hpp"
#include "pinocchio/multibody/joint/joint-revolute-unbounded.hpp"
......@@ -56,7 +57,10 @@ namespace hpp {
typedef ::pinocchio::JointModelRevoluteUnboundedTpl<Scalar,Options,0> JointModelRUBX;
typedef ::pinocchio::JointModelRevoluteUnboundedTpl<Scalar,Options,1> JointModelRUBY;
typedef ::pinocchio::JointModelRevoluteUnboundedTpl<Scalar,Options,2> JointModelRUBZ;
// Joint Revolute Unbounded Unaligned
typedef ::pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar,Options> JointModelRevoluteUnboundedUnaligned;
// Joint Prismatic
typedef ::pinocchio::JointModelPrismaticTpl<Scalar,Options,0> JointModelPX;
typedef ::pinocchio::JointModelPrismaticTpl<Scalar,Options,1> JointModelPY;
......@@ -88,6 +92,7 @@ namespace hpp {
JointModelRX, JointModelRY, JointModelRZ
, JointModelFreeFlyer, JointModelPlanar
, JointModelRevoluteUnaligned
, JointModelRevoluteUnboundedUnaligned
, JointModelPX, JointModelPY, JointModelPZ
, JointModelPrismaticUnaligned
, JointModelTranslation
......@@ -107,6 +112,9 @@ namespace hpp {
typedef ::pinocchio::JointDataRevoluteUnboundedTpl<Scalar,Options,0> JointDataRUBX;
typedef ::pinocchio::JointDataRevoluteUnboundedTpl<Scalar,Options,1> JointDataRUBY;
typedef ::pinocchio::JointDataRevoluteUnboundedTpl<Scalar,Options,2> JointDataRUBZ;
// Joint Revolute Unbounded Unaligned
typedef ::pinocchio::JointDataRevoluteUnboundedUnalignedTpl<Scalar,Options> JointDataRevoluteUnboundedUnaligned;
// Joint Prismatic
typedef ::pinocchio::JointDataPrismaticTpl<Scalar,Options,0> JointDataPX;
......@@ -139,6 +147,7 @@ namespace hpp {
JointDataRX, JointDataRY, JointDataRZ
, JointDataFreeFlyer, JointDataPlanar
, JointDataRevoluteUnaligned
, JointDataRevoluteUnboundedUnaligned
, JointDataPX, JointDataPY, JointDataPZ
, JointDataPrismaticUnaligned
, JointDataTranslation
......
......@@ -29,6 +29,8 @@
namespace hpp {
namespace pinocchio {
typedef ::pinocchio::JointModelCompositeTpl<value_type, 0, JointCollectionTpl> JointModelComposite;
/// This class maps at compile time a joint type to a lie group type.
///
/// JointModelPlanar (JointModelFreeFlyer resp.) maps to
......@@ -53,7 +55,7 @@ namespace hpp {
/// \cond
//---------------- RnxSOnLieGroupMap -------------------------------//
// JointModelRevolute, JointModelRevoluteUnbounded, JointModelRevoluteUnaligned
// JointModelRevolute, JointModelRevoluteUnbounded, JointModelRevoluteUnaligned, JointModelRevoluteUnboundedUnaligned
template<typename Scalar, int Options, int Axis>
struct RnxSOnLieGroupMap::operation < ::pinocchio::JointModelRevoluteTpl<Scalar, Options, Axis> > {
typedef liegroup::VectorSpaceOperation<1, true> type;
......@@ -66,6 +68,10 @@ namespace hpp {
struct RnxSOnLieGroupMap::operation < ::pinocchio::JointModelRevoluteUnalignedTpl<Scalar, Options> > {
typedef liegroup::VectorSpaceOperation<1, true> type;
};
template<typename Scalar, int Options>
struct RnxSOnLieGroupMap::operation < ::pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar, Options> > {
typedef liegroup::SpecialOrthogonalOperation<2> type;
};
// JointModelPrismaticTpl, JointModelPrismaticUnaligned, JointModelTranslation
template<typename Scalar, int Options, int Axis>
......@@ -109,7 +115,7 @@ namespace hpp {
//---------------- DefaultLieGroupMap ------------------------------------//
// JointModelRevolute, JointModelRevoluteUnbounded, JointModelRevoluteUnaligned
// JointModelRevolute, JointModelRevoluteUnbounded, JointModelRevoluteUnaligned, JointModelRevoluteUnboundedUnaligned
template<typename Scalar, int Options, int Axis>
struct DefaultLieGroupMap::operation < ::pinocchio::JointModelRevoluteTpl<Scalar, Options, Axis> > {
typedef liegroup::VectorSpaceOperation<1, true> type;
......@@ -122,6 +128,11 @@ namespace hpp {
struct DefaultLieGroupMap::operation < ::pinocchio::JointModelRevoluteUnalignedTpl<Scalar, Options> > {
typedef liegroup::VectorSpaceOperation<1, true> type;
};
template<typename Scalar, int Options>
struct DefaultLieGroupMap::operation < ::pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar, Options> > {
typedef liegroup::SpecialOrthogonalOperation<2> type;
};
// JointModelPrismaticTpl, JointModelPrismaticUnaligned, JointModelTranslation
template<typename Scalar, int Options, int Axis>
......
......@@ -230,7 +230,7 @@ namespace hpp {
};
template<>
void IsNormalizedStep::algo< ::pinocchio::JointModelComposite>(const ::pinocchio::JointModelBase< ::pinocchio::JointModelComposite> & jmodel,
void IsNormalizedStep::algo< JointModelComposite>(const ::pinocchio::JointModelBase< JointModelComposite> & jmodel,
ConfigurationIn_t q,
const value_type & eps,
bool & ret)
......
......@@ -411,8 +411,8 @@ namespace hpp {
};
template <>
void AABBStep::algo< ::pinocchio::JointModelComposite >(
const ::pinocchio::JointModelBase< ::pinocchio::JointModelComposite > & jmodel,
void AABBStep::algo< JointModelComposite >(
const ::pinocchio::JointModelBase< JointModelComposite > & jmodel,
const Model& model,
Configuration_t q,
bool initializeAABB,
......@@ -421,7 +421,7 @@ namespace hpp {
// TODO this should for but I did not test it.
hppDout(warning, "Computing AABB of JointModelComposite should work but has never been tested");
if (initializeAABB) {
::pinocchio::JointModelComposite::JointDataDerived data = jmodel.createData();
JointModelComposite::JointDataDerived data = jmodel.createData();
jmodel.calc(data, q);
aabb = fcl::AABB(data.M.translation());
}
......
......@@ -530,7 +530,7 @@ namespace hpp {
space *= LiegroupSpace::create (LG_t());
}
static void _algo (const ::pinocchio::JointModelComposite& jmodel,
static void _algo (const JointModelComposite& jmodel,
LiegroupSpace& space)
{
::pinocchio::details::Dispatch<ConfigSpaceVisitor>::run(jmodel,
......
......@@ -40,8 +40,8 @@ namespace hpp {
};
template <>
void SetBoundStep::algo< ::pinocchio::JointModelComposite>(
const ::pinocchio::JointModelBase< ::pinocchio::JointModelComposite> & jmodel,
void SetBoundStep::algo<JointModelComposite>(
const ::pinocchio::JointModelBase<JointModelComposite> & jmodel,
ConfigurationIn_t bounds,
Configuration_t & out)
{
......
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