Commit 1a9a4f56 authored by Rohan Budhiraja's avatar Rohan Budhiraja
Browse files

[pinocchio 2.0] change namespace from se3 to pinocchio

parent 3ba4791d
......@@ -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");
}
};
......
......@@ -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;
......
......@@ -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
......
......@@ -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;
......
......@@ -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;
......
......@@ -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)
......
......@@ -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
......
......@@ -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);
}
......
......@@ -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);
}
......
......@@ -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) {};
......
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