joints: add init of JointData fields related to ABA

src/multibody/joint/joint-free-flyer.hpp

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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(); }