Commit 01637494 authored by Justin Carpentier's avatar Justin Carpentier

joints: add init of JointData fields related to ABA

parent 874e3d5b
......@@ -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(); }
......
......@@ -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(); }
......
......@@ -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)
......
......@@ -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(); }
......
......@@ -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)
......
......@@ -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)
......
......@@ -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(); }
......
......@@ -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(); }
......
......@@ -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(); }
......
......@@ -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(); }
......
......@@ -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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