[pinocchio 2.0] change namespace from se3 to pinocchio

bindings/python/scenario/contact-sequence.hpp

@@ -79,7 +79,7 @@ namespace locomote
         
         // Expose related vector
         VectorPythonVisitor<ContactPhaseVector>::expose("ContactPhaseVector");
-        se3::python::StdAlignedVectorPythonVisitor<MSIntervalData,true>::expose("MSIntervalDataVector");
+        pinocchio::python::StdAlignedVectorPythonVisitor<MSIntervalData,true>::expose("MSIntervalDataVector");
         
       }
     };

include/locomote/geometry/linear-cone.hpp

@@ -161,7 +161,7 @@ namespace locomote
       
       typedef LinearCone<_Scalar,3,_Options> Base;
       typedef WrenchConeTpl<_Scalar,_Options> WrenchCone;
-      typedef se3::SE3Tpl<_Scalar,_Options> SE3;
+      typedef pinocchio::SE3Tpl<_Scalar,_Options> SE3;
       using typename Base::Scalar;
       enum { dim = Base::dim };
       using typename Base::MatrixDx;
@@ -259,7 +259,7 @@ namespace locomote
       
       typedef LinearCone<_Scalar,6,_Options> Base;
       typedef ForceConeTpl<_Scalar,_Options> ForceCone;
-      typedef se3::SE3Tpl<_Scalar,_Options> SE3;
+      typedef pinocchio::SE3Tpl<_Scalar,_Options> SE3;
       using typename Base::Scalar;
       enum { dim = Base::dim };
       using typename Base::MatrixDx;

include/locomote/scenario/contact-constraint-planar.hpp

@@ -38,7 +38,7 @@ namespace locomote
     struct traits< ContactConstraintPlanarTpl<_Scalar> >
     {
       typedef _Scalar Scalar;
-      typedef se3::ForceTpl<Scalar,0> Force;
+      typedef pinocchio::ForceTpl<Scalar,0> Force;
       typedef ContactModelPlanarTpl<Scalar> ContactModel;
       
       enum

include/locomote/scenario/contact-patch.hpp

@@ -44,7 +44,7 @@ namespace locomote
     {
       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
       typedef _Scalar Scalar;
-      typedef se3::SE3Tpl<Scalar,0> SE3;
+      typedef pinocchio::SE3Tpl<Scalar,0> SE3;
       typedef geometry::WrenchConeTpl<Scalar> LinearWrenchCone;
       typedef ContactModelPlanarTpl<Scalar> ContactModel;
       

include/locomote/scenario/contact-phase-humanoid.hpp

@@ -53,7 +53,7 @@ namespace locomote
       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
       typedef ContactPhaseTpl<_Scalar,4> Base;
       typedef _Scalar Scalar;
-      typedef se3::ForceTpl<Scalar> Force;
+      typedef pinocchio::ForceTpl<Scalar> Force;
       enum {
         state_dim = 9,
         control_dim = 6,
@@ -73,15 +73,15 @@ namespace locomote
       typedef Eigen::Map<StateVector> MapStateVector;
       typedef Eigen::Map<ControlVector> MapControlVector;
 
-      typedef se3::container::aligned_vector<StateVector> VectorStateVector;
+      typedef pinocchio::container::aligned_vector<StateVector> VectorStateVector;
       
-//      typedef se3::container::aligned_vector<Force> VectorForce;
+//      typedef pinocchio::container::aligned_vector<Force> VectorForce;
       typedef std::vector<Force, Eigen::aligned_allocator<Force> > VectorForce;
-      typedef se3::container::aligned_vector<ControlVector> VectorControlVector;
+      typedef pinocchio::container::aligned_vector<ControlVector> VectorControlVector;
       typedef std::vector<Scalar> VectorScalar;
       typedef VectorScalar TimeVector;
       typedef Eigen::Matrix<_Scalar,Eigen::Dynamic,1> ConfigurationVector;
-      typedef se3::container::aligned_vector<ConfigurationVector> VectorConfigurationVector;
+      typedef pinocchio::container::aligned_vector<ConfigurationVector> VectorConfigurationVector;
       
       typedef boost::array<VectorForce,4> ForceVectorArray;
       

include/locomote/scenario/contact-sequence.hpp

@@ -52,9 +52,9 @@ namespace locomote
       typedef typename ContactPhase::ConfigurationVector ConfigurationVector;
       
       typedef MSIntervalDataTpl<TimeVector,StateVector,ConfigurationVector> MSIntervalData;
-      typedef se3::container::aligned_vector<MSIntervalData> MSIntervalDataVector;
+      typedef pinocchio::container::aligned_vector<MSIntervalData> MSIntervalDataVector;
       
-      typedef se3::container::aligned_vector<ContactPhase> ContactPhaseVector;
+      typedef pinocchio::container::aligned_vector<ContactPhase> ContactPhaseVector;
 //      typedef std::vector<ContactPhase, Eigen::aligned_allocator<ContactPhase> > ContactPhaseVector;
       
       ContactSequenceTpl(const size_t size = 0)

include/locomote/scenario/ms-interval.hpp

@@ -44,9 +44,9 @@ namespace locomote
       
       typedef _TimeVector TimeVector;
       typedef _StateVector StateVector;
-      typedef se3::container::aligned_vector<StateVector> StateVectorTrajectory;
+      typedef pinocchio::container::aligned_vector<StateVector> StateVectorTrajectory;
       typedef _ControlVector ControlVector;
-      typedef se3::container::aligned_vector<ControlVector> ControlVectorTrajectory;
+      typedef pinocchio::container::aligned_vector<ControlVector> ControlVectorTrajectory;
       
       
       /// \brief Default constructor

include/locomote/serialization/aligned-vector.hpp

@@ -36,21 +36,21 @@ namespace boost{
   namespace serialization{
     
     template <class Archive, typename T>
-    void save(Archive & ar, const se3::container::aligned_vector<T> & v, const unsigned int version)
+    void save(Archive & ar, const pinocchio::container::aligned_vector<T> & v, const unsigned int version)
     {
-      typedef typename se3::container::aligned_vector<T>::vector_base vector_base;
+      typedef typename pinocchio::container::aligned_vector<T>::vector_base vector_base;
       save(ar, *static_cast<const vector_base*>(&v), version);
     }
     
     template <class Archive, typename T>
-    void load(Archive & ar, se3::container::aligned_vector<T> & v, const unsigned int version)
+    void load(Archive & ar, pinocchio::container::aligned_vector<T> & v, const unsigned int version)
     {
-      typedef typename se3::container::aligned_vector<T>::vector_base vector_base;
+      typedef typename pinocchio::container::aligned_vector<T>::vector_base vector_base;
       load(ar, *static_cast<vector_base*>(&v), version);
     }
     
     template <class Archive, typename T>
-    void serialize(Archive & ar, se3::container::aligned_vector<T> & v, const unsigned int version)
+    void serialize(Archive & ar, pinocchio::container::aligned_vector<T> & v, const unsigned int version)
     {
       split_free(ar,v,version);
     }

include/locomote/serialization/spatial.hpp

@@ -37,41 +37,41 @@ namespace boost{
   namespace serialization{
     
     template <class Archive, typename _Scalar, int _Options>
-    void save(Archive & ar, const se3::SE3Tpl<_Scalar,_Options> & M, const unsigned int /*version*/)
+    void save(Archive & ar, const pinocchio::SE3Tpl<_Scalar,_Options> & M, const unsigned int /*version*/)
     {
       ar & make_nvp("translation",make_array(M.translation().data(),3));
       ar & make_nvp("rotation",make_array(M.rotation().data(),9));
     }
     
     template <class Archive, typename _Scalar, int _Options>
-    void load(Archive & ar, se3::SE3Tpl<_Scalar,_Options> & M, const unsigned int /*version*/)
+    void load(Archive & ar, pinocchio::SE3Tpl<_Scalar,_Options> & M, const unsigned int /*version*/)
     {
       ar >> make_nvp("translation",make_array(M.translation().data(),3));
       ar >> make_nvp("rotation",make_array(M.rotation().data(),9));
     }
     
     template <class Archive, typename _Scalar, int _Options>
-    void serialize(Archive & ar, se3::SE3Tpl<_Scalar,_Options> & M, const unsigned int version)
+    void serialize(Archive & ar, pinocchio::SE3Tpl<_Scalar,_Options> & M, const unsigned int version)
     {
       split_free(ar,M,version);
     }
     
     template <class Archive, typename _Scalar, int _Options>
-    void save(Archive & ar, const se3::ForceTpl<_Scalar,_Options> & f, const unsigned int /*version*/)
+    void save(Archive & ar, const pinocchio::ForceTpl<_Scalar,_Options> & f, const unsigned int /*version*/)
     {
       ar & make_nvp("linear",make_array(f.linear().data(),3));
       ar & make_nvp("angular",make_array(f.angular().data(),3));
     }
     
     template <class Archive, typename _Scalar, int _Options>
-    void load(Archive & ar, se3::ForceTpl<_Scalar,_Options> & f, const unsigned int /*version*/)
+    void load(Archive & ar, pinocchio::ForceTpl<_Scalar,_Options> & f, const unsigned int /*version*/)
     {
       ar >> make_nvp("linear",make_array(f.linear().data(),3));
       ar >> make_nvp("angular",make_array(f.angular().data(),3));
     }
     
     template <class Archive, typename _Scalar, int _Options>
-    void serialize(Archive & ar, se3::ForceTpl<_Scalar,_Options> & f, const unsigned int version)
+    void serialize(Archive & ar, pinocchio::ForceTpl<_Scalar,_Options> & f, const unsigned int version)
     {
       split_free(ar,f,version);
     }

unittest/scenario.cpp

@@ -37,7 +37,7 @@ using namespace locomote::scenario;
 template<typename Scalar>
 struct ATpl
 {
-  typedef se3::SE3Tpl<Scalar> SE3;
+  typedef pinocchio::SE3Tpl<Scalar> SE3;
   
   explicit ATpl() : data() {}
   explicit ATpl(const ATpl & other) : data(other.data) {};