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Stack Of Tasks
pinocchio
Commits
01637494
Verified
Commit
01637494
authored
Dec 18, 2019
by
Justin Carpentier
Browse files
joints: add init of JointData fields related to ABA
parent
874e3d5b
Changes
11
Hide whitespace changes
Inline
Side-by-side
src/multibody/joint/joint-free-flyer.hpp
View file @
01637494
...
...
@@ -188,7 +188,12 @@ namespace pinocchio
D_t
Dinv
;
UD_t
UDinv
;
JointDataFreeFlyerTpl
()
:
M
(
1
),
U
(),
Dinv
(),
UDinv
(
UD_t
::
Identity
())
{}
JointDataFreeFlyerTpl
()
:
M
(
1
)
,
U
(
U_t
::
Zero
())
,
Dinv
(
D_t
::
Zero
())
,
UDinv
(
UD_t
::
Zero
())
{}
static
std
::
string
classname
()
{
return
std
::
string
(
"JointDataFreeFlyer"
);
}
std
::
string
shortname
()
const
{
return
classname
();
}
...
...
src/multibody/joint/joint-planar.hpp
View file @
01637494
...
...
@@ -448,7 +448,12 @@ namespace pinocchio
D_t
StU
;
JointDataPlanarTpl
()
:
M
(
1
),
U
(),
Dinv
(),
UDinv
()
{}
JointDataPlanarTpl
()
:
M
(
1
)
,
U
(
U_t
::
Zero
())
,
Dinv
(
D_t
::
Zero
())
,
UDinv
(
UD_t
::
Zero
())
{}
static
std
::
string
classname
()
{
return
std
::
string
(
"JointDataPlanar"
);
}
std
::
string
shortname
()
const
{
return
classname
();
}
...
...
src/multibody/joint/joint-prismatic-unaligned.hpp
View file @
01637494
...
...
@@ -451,7 +451,11 @@ namespace pinocchio
D_t
Dinv
;
UD_t
UDinv
;
JointDataPrismaticUnalignedTpl
()
{}
JointDataPrismaticUnalignedTpl
()
:
U
(
U_t
::
Zero
())
,
Dinv
(
D_t
::
Zero
())
,
UDinv
(
UD_t
::
Zero
())
{}
template
<
typename
Vector3Like
>
JointDataPrismaticUnalignedTpl
(
const
Eigen
::
MatrixBase
<
Vector3Like
>
&
axis
)
...
...
src/multibody/joint/joint-prismatic.hpp
View file @
01637494
...
...
@@ -549,7 +549,11 @@ namespace pinocchio
D_t
Dinv
;
UD_t
UDinv
;
JointDataPrismaticTpl
()
{}
JointDataPrismaticTpl
()
:
U
(
U_t
::
Zero
())
,
Dinv
(
D_t
::
Zero
())
,
UDinv
(
UD_t
::
Zero
())
{}
static
std
::
string
classname
()
{
return
std
::
string
(
"JointDataPrismatic"
);
}
std
::
string
shortname
()
const
{
return
classname
();
}
...
...
src/multibody/joint/joint-revolute-unaligned.hpp
View file @
01637494
...
...
@@ -477,7 +477,11 @@ namespace pinocchio
D_t
Dinv
;
UD_t
UDinv
;
JointDataRevoluteUnalignedTpl
()
{}
JointDataRevoluteUnalignedTpl
()
:
U
(
U_t
::
Zero
())
,
Dinv
(
D_t
::
Zero
())
,
UDinv
(
UD_t
::
Zero
())
{}
template
<
typename
Vector3Like
>
JointDataRevoluteUnalignedTpl
(
const
Eigen
::
MatrixBase
<
Vector3Like
>
&
axis
)
...
...
src/multibody/joint/joint-revolute-unbounded-unaligned.hpp
View file @
01637494
...
...
@@ -73,7 +73,11 @@ namespace pinocchio
D_t
Dinv
;
UD_t
UDinv
;
JointDataRevoluteUnboundedUnalignedTpl
()
{}
JointDataRevoluteUnboundedUnalignedTpl
()
:
U
(
U_t
::
Zero
())
,
Dinv
(
D_t
::
Zero
())
,
UDinv
(
UD_t
::
Zero
())
{}
template
<
typename
Vector3Like
>
JointDataRevoluteUnboundedUnalignedTpl
(
const
Eigen
::
MatrixBase
<
Vector3Like
>
&
axis
)
...
...
src/multibody/joint/joint-revolute-unbounded.hpp
View file @
01637494
...
...
@@ -69,7 +69,11 @@ namespace pinocchio
D_t
Dinv
;
UD_t
UDinv
;
JointDataRevoluteUnboundedTpl
()
{}
JointDataRevoluteUnboundedTpl
()
:
U
(
U_t
::
Zero
())
,
Dinv
(
D_t
::
Zero
())
,
UDinv
(
UD_t
::
Zero
())
{}
static
std
::
string
classname
()
{
return
std
::
string
(
"JointDataRevoluteUnbounded"
);
}
std
::
string
shortname
()
const
{
return
classname
();
}
...
...
src/multibody/joint/joint-revolute.hpp
View file @
01637494
...
...
@@ -646,7 +646,11 @@ namespace pinocchio
D_t
Dinv
;
UD_t
UDinv
;
JointDataRevoluteTpl
()
{}
JointDataRevoluteTpl
()
:
U
(
U_t
::
Zero
())
,
Dinv
(
D_t
::
Zero
())
,
UDinv
(
UD_t
::
Zero
())
{}
static
std
::
string
classname
()
{
return
std
::
string
(
"JointDataRevolute"
);
}
std
::
string
shortname
()
const
{
return
classname
();
}
...
...
src/multibody/joint/joint-spherical-ZYX.hpp
View file @
01637494
...
...
@@ -279,7 +279,12 @@ namespace pinocchio
UD_t
UDinv
;
D_t
StU
;
JointDataSphericalZYXTpl
()
:
M
(
1
),
U
(),
Dinv
(),
UDinv
()
{}
JointDataSphericalZYXTpl
()
:
M
(
1
)
,
U
(
U_t
::
Zero
())
,
Dinv
(
D_t
::
Zero
())
,
UDinv
(
UD_t
::
Zero
())
{}
static
std
::
string
classname
()
{
return
std
::
string
(
"JointDataSphericalZYX"
);
}
std
::
string
shortname
()
const
{
return
classname
();
}
...
...
src/multibody/joint/joint-spherical.hpp
View file @
01637494
...
...
@@ -383,7 +383,12 @@ namespace pinocchio
D_t
Dinv
;
UD_t
UDinv
;
JointDataSphericalTpl
()
:
M
(
1
),
U
(),
Dinv
(),
UDinv
()
{}
JointDataSphericalTpl
()
:
M
(
1
)
,
U
(
U_t
::
Zero
())
,
Dinv
(
D_t
::
Zero
())
,
UDinv
(
UD_t
::
Zero
())
{}
static
std
::
string
classname
()
{
return
std
::
string
(
"JointDataSpherical"
);
}
std
::
string
shortname
()
const
{
return
classname
();
}
...
...
src/multibody/joint/joint-translation.hpp
View file @
01637494
...
...
@@ -462,7 +462,11 @@ namespace pinocchio
D_t
Dinv
;
UD_t
UDinv
;
JointDataTranslationTpl
()
{}
JointDataTranslationTpl
()
:
U
(
U_t
::
Zero
())
,
Dinv
(
D_t
::
Zero
())
,
UDinv
(
UD_t
::
Zero
())
{}
static
std
::
string
classname
()
{
return
std
::
string
(
"JointDataTranslation"
);
}
std
::
string
shortname
()
const
{
return
classname
();
}
...
...
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