Commit 091630db authored by Joseph Mirabel's avatar Joseph Mirabel
Browse files

Fix compatibility with previous Pinocchio versions.

parent 00a99d1e
......@@ -28,7 +28,9 @@
#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"
#if PINOCCHIO_VERSION_AT_LEAST(2,1,5)
# include "pinocchio/multibody/joint/joint-revolute-unbounded-unaligned.hpp"
#endif
#include "pinocchio/multibody/joint/joint-prismatic-unaligned.hpp"
#include "pinocchio/multibody/joint/joint-revolute.hpp"
#include "pinocchio/multibody/joint/joint-revolute-unbounded.hpp"
......@@ -58,8 +60,10 @@ namespace hpp {
typedef ::pinocchio::JointModelRevoluteUnboundedTpl<Scalar,Options,1> JointModelRUBY;
typedef ::pinocchio::JointModelRevoluteUnboundedTpl<Scalar,Options,2> JointModelRUBZ;
#if PINOCCHIO_VERSION_AT_LEAST(2,1,5)
// Joint Revolute Unbounded Unaligned
typedef ::pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar,Options> JointModelRevoluteUnboundedUnaligned;
#endif
// Joint Prismatic
typedef ::pinocchio::JointModelPrismaticTpl<Scalar,Options,0> JointModelPX;
......@@ -92,7 +96,9 @@ namespace hpp {
JointModelRX, JointModelRY, JointModelRZ
, JointModelFreeFlyer, JointModelPlanar
, JointModelRevoluteUnaligned
#if PINOCCHIO_VERSION_AT_LEAST(2,1,5)
, JointModelRevoluteUnboundedUnaligned
#endif
, JointModelPX, JointModelPY, JointModelPZ
, JointModelPrismaticUnaligned
, JointModelTranslation
......@@ -113,8 +119,10 @@ namespace hpp {
typedef ::pinocchio::JointDataRevoluteUnboundedTpl<Scalar,Options,1> JointDataRUBY;
typedef ::pinocchio::JointDataRevoluteUnboundedTpl<Scalar,Options,2> JointDataRUBZ;
#if PINOCCHIO_VERSION_AT_LEAST(2,1,5)
// Joint Revolute Unbounded Unaligned
typedef ::pinocchio::JointDataRevoluteUnboundedUnalignedTpl<Scalar,Options> JointDataRevoluteUnboundedUnaligned;
#endif
// Joint Prismatic
typedef ::pinocchio::JointDataPrismaticTpl<Scalar,Options,0> JointDataPX;
......@@ -147,7 +155,9 @@ namespace hpp {
JointDataRX, JointDataRY, JointDataRZ
, JointDataFreeFlyer, JointDataPlanar
, JointDataRevoluteUnaligned
#if PINOCCHIO_VERSION_AT_LEAST(2,1,5)
, JointDataRevoluteUnboundedUnaligned
#endif
, JointDataPX, JointDataPY, JointDataPZ
, JointDataPrismaticUnaligned
, JointDataTranslation
......
......@@ -68,10 +68,12 @@ namespace hpp {
struct RnxSOnLieGroupMap::operation < ::pinocchio::JointModelRevoluteUnalignedTpl<Scalar, Options> > {
typedef liegroup::VectorSpaceOperation<1, true> type;
};
#if PINOCCHIO_VERSION_AT_LEAST(2,1,5)
template<typename Scalar, int Options>
struct RnxSOnLieGroupMap::operation < ::pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar, Options> > {
typedef liegroup::SpecialOrthogonalOperation<2> type;
};
#endif
// JointModelPrismaticTpl, JointModelPrismaticUnaligned, JointModelTranslation
template<typename Scalar, int Options, int Axis>
......@@ -128,10 +130,12 @@ namespace hpp {
struct DefaultLieGroupMap::operation < ::pinocchio::JointModelRevoluteUnalignedTpl<Scalar, Options> > {
typedef liegroup::VectorSpaceOperation<1, true> type;
};
#if PINOCCHIO_VERSION_AT_LEAST(2,1,5)
template<typename Scalar, int Options>
struct DefaultLieGroupMap::operation < ::pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar, Options> > {
typedef liegroup::SpecialOrthogonalOperation<2> type;
};
#endif
// JointModelPrismaticTpl, JointModelPrismaticUnaligned, JointModelTranslation
......
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