Change in the API
I just updated the API of Pinocchio, to follow new function and class naming conventions as proposed by @jmirabel in stack-of-tasks/pinocchio#432.
Important change:
-
computeJacobians
->computeJointJacobians
-
getJacobian
->getJointJacobian
-
LieGroupTpl
->LieGroupMap
because it maps joint types to Lie group types, i.e.LieGroupTpl::operation<JointModelType>::type
is a class deriving fromLieGroupOperationBase
.
I will also change 'differentiate' by difference
to conclude this change in the API.
If you have any other request or feedbacks, please provide them in the flow of this discussion.