Commit 330578fe authored by stevet's avatar stevet
Browse files

[API] LieGroupTpl => LieGroupMap

parent a134b02b
build*/* build*/*
Xcode/* Xcode/*
*.swp *.swp
*.user
...@@ -62,7 +62,7 @@ namespace hpp { ...@@ -62,7 +62,7 @@ namespace hpp {
ConfigurationIn_t configuration, ConfigurationIn_t configuration,
vectorIn_t velocity, ConfigurationOut_t result); vectorIn_t velocity, ConfigurationOut_t result);
/// Same as integrate<true, se3::LieGroupTpl> /// Same as integrate<true, hpp::pinocchio::LieGroupTpl>
void integrate (const DevicePtr_t& robot, void integrate (const DevicePtr_t& robot,
ConfigurationIn_t configuration, ConfigurationIn_t configuration,
vectorIn_t velocity, ConfigurationOut_t result); vectorIn_t velocity, ConfigurationOut_t result);
......
...@@ -116,11 +116,11 @@ namespace hpp { ...@@ -116,11 +116,11 @@ namespace hpp {
ConfigurationIn_t configuration, ConfigurationIn_t configuration,
vectorIn_t velocity, ConfigurationOut_t result); vectorIn_t velocity, ConfigurationOut_t result);
// TODO remove me. This is kept for backward compatibility // TODO remove me. This is kept for backward compatibility
template void integrate<true, se3::LieGroupTpl> template void integrate<true, se3::LieGroupMap>
(const DevicePtr_t& robot, (const DevicePtr_t& robot,
ConfigurationIn_t configuration, ConfigurationIn_t configuration,
vectorIn_t velocity, ConfigurationOut_t result); vectorIn_t velocity, ConfigurationOut_t result);
template void integrate<false, se3::LieGroupTpl> template void integrate<false, se3::LieGroupMap>
(const DevicePtr_t& robot, (const DevicePtr_t& robot,
ConfigurationIn_t configuration, ConfigurationIn_t configuration,
vectorIn_t velocity, ConfigurationOut_t result); vectorIn_t velocity, ConfigurationOut_t result);
...@@ -150,7 +150,7 @@ namespace hpp { ...@@ -150,7 +150,7 @@ namespace hpp {
const value_type& u, const value_type& u,
ConfigurationOut_t result); ConfigurationOut_t result);
// TODO remove me. This is kept for backward compatibility // TODO remove me. This is kept for backward compatibility
template void interpolate<se3::LieGroupTpl> (const DevicePtr_t& robot, template void interpolate<se3::LieGroupMap> (const DevicePtr_t& robot,
ConfigurationIn_t q0, ConfigurationIn_t q0,
ConfigurationIn_t q1, ConfigurationIn_t q1,
const value_type& u, const value_type& u,
...@@ -179,7 +179,7 @@ namespace hpp { ...@@ -179,7 +179,7 @@ namespace hpp {
ConfigurationIn_t q2, ConfigurationIn_t q2,
vectorOut_t result); vectorOut_t result);
// TODO remove me. This is kept for backward compatibility // TODO remove me. This is kept for backward compatibility
template void difference <se3::LieGroupTpl> (const DevicePtr_t& robot, template void difference <se3::LieGroupMap> (const DevicePtr_t& robot,
ConfigurationIn_t q1, ConfigurationIn_t q1,
ConfigurationIn_t q2, ConfigurationIn_t q2,
vectorOut_t result); vectorOut_t result);
...@@ -193,7 +193,7 @@ namespace hpp { ...@@ -193,7 +193,7 @@ namespace hpp {
bool isApprox (const DevicePtr_t& robot, ConfigurationIn_t q1, bool isApprox (const DevicePtr_t& robot, ConfigurationIn_t q1,
ConfigurationIn_t q2, value_type eps) ConfigurationIn_t q2, value_type eps)
{ {
if (!se3::isSameConfiguration<se3::LieGroupTpl>(robot->model(), q1, q2, eps)) return false; if (!se3::isSameConfiguration<se3::LieGroupMap>(robot->model(), q1, q2, eps)) return false;
const size_type& dim = robot->extraConfigSpace().dimension(); const size_type& dim = robot->extraConfigSpace().dimension();
return q2.tail (dim).isApprox (q1.tail (dim), eps); return q2.tail (dim).isApprox (q1.tail (dim), eps);
} }
...@@ -201,7 +201,7 @@ namespace hpp { ...@@ -201,7 +201,7 @@ namespace hpp {
value_type distance (const DevicePtr_t& robot, ConfigurationIn_t q1, value_type distance (const DevicePtr_t& robot, ConfigurationIn_t q1,
ConfigurationIn_t q2) ConfigurationIn_t q2)
{ {
vector_t dist = se3::squaredDistance<se3::LieGroupTpl>(robot->model(), q1, q2); vector_t dist = se3::squaredDistance<se3::LieGroupMap>(robot->model(), q1, q2);
const size_type& dim = robot->extraConfigSpace().dimension(); const size_type& dim = robot->extraConfigSpace().dimension();
if (dim == 0) return sqrt(dist.sum()); if (dim == 0) return sqrt(dist.sum());
else return sqrt (dist.sum() + (q2.tail (dim) - q1.tail (dim)).squaredNorm ()); else return sqrt (dist.sum() + (q2.tail (dim) - q1.tail (dim)).squaredNorm ());
......
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