Verified Commit 01637494 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

joints: add init of JointData fields related to ABA

parent 874e3d5b
...@@ -188,7 +188,12 @@ namespace pinocchio ...@@ -188,7 +188,12 @@ namespace pinocchio
D_t Dinv; D_t Dinv;
UD_t UDinv; 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"); } static std::string classname() { return std::string("JointDataFreeFlyer"); }
std::string shortname() const { return classname(); } std::string shortname() const { return classname(); }
......
...@@ -448,7 +448,12 @@ namespace pinocchio ...@@ -448,7 +448,12 @@ namespace pinocchio
D_t StU; 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"); } static std::string classname() { return std::string("JointDataPlanar"); }
std::string shortname() const { return classname(); } std::string shortname() const { return classname(); }
......
...@@ -451,7 +451,11 @@ namespace pinocchio ...@@ -451,7 +451,11 @@ namespace pinocchio
D_t Dinv; D_t Dinv;
UD_t UDinv; UD_t UDinv;
JointDataPrismaticUnalignedTpl() {} JointDataPrismaticUnalignedTpl()
: U(U_t::Zero())
, Dinv(D_t::Zero())
, UDinv(UD_t::Zero())
{}
template<typename Vector3Like> template<typename Vector3Like>
JointDataPrismaticUnalignedTpl(const Eigen::MatrixBase<Vector3Like> & axis) JointDataPrismaticUnalignedTpl(const Eigen::MatrixBase<Vector3Like> & axis)
......
...@@ -549,7 +549,11 @@ namespace pinocchio ...@@ -549,7 +549,11 @@ namespace pinocchio
D_t Dinv; D_t Dinv;
UD_t UDinv; 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"); } static std::string classname() { return std::string("JointDataPrismatic"); }
std::string shortname() const { return classname(); } std::string shortname() const { return classname(); }
......
...@@ -477,7 +477,11 @@ namespace pinocchio ...@@ -477,7 +477,11 @@ namespace pinocchio
D_t Dinv; D_t Dinv;
UD_t UDinv; UD_t UDinv;
JointDataRevoluteUnalignedTpl() {} JointDataRevoluteUnalignedTpl()
: U(U_t::Zero())
, Dinv(D_t::Zero())
, UDinv(UD_t::Zero())
{}
template<typename Vector3Like> template<typename Vector3Like>
JointDataRevoluteUnalignedTpl(const Eigen::MatrixBase<Vector3Like> & axis) JointDataRevoluteUnalignedTpl(const Eigen::MatrixBase<Vector3Like> & axis)
......
...@@ -73,7 +73,11 @@ namespace pinocchio ...@@ -73,7 +73,11 @@ namespace pinocchio
D_t Dinv; D_t Dinv;
UD_t UDinv; UD_t UDinv;
JointDataRevoluteUnboundedUnalignedTpl() {} JointDataRevoluteUnboundedUnalignedTpl()
: U(U_t::Zero())
, Dinv(D_t::Zero())
, UDinv(UD_t::Zero())
{}
template<typename Vector3Like> template<typename Vector3Like>
JointDataRevoluteUnboundedUnalignedTpl(const Eigen::MatrixBase<Vector3Like> & axis) JointDataRevoluteUnboundedUnalignedTpl(const Eigen::MatrixBase<Vector3Like> & axis)
......
...@@ -69,7 +69,11 @@ namespace pinocchio ...@@ -69,7 +69,11 @@ namespace pinocchio
D_t Dinv; D_t Dinv;
UD_t UDinv; 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"); } static std::string classname() { return std::string("JointDataRevoluteUnbounded"); }
std::string shortname() const { return classname(); } std::string shortname() const { return classname(); }
......
...@@ -646,7 +646,11 @@ namespace pinocchio ...@@ -646,7 +646,11 @@ namespace pinocchio
D_t Dinv; D_t Dinv;
UD_t UDinv; 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"); } static std::string classname() { return std::string("JointDataRevolute"); }
std::string shortname() const { return classname(); } std::string shortname() const { return classname(); }
......
...@@ -279,7 +279,12 @@ namespace pinocchio ...@@ -279,7 +279,12 @@ namespace pinocchio
UD_t UDinv; UD_t UDinv;
D_t StU; 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"); } static std::string classname() { return std::string("JointDataSphericalZYX"); }
std::string shortname() const { return classname(); } std::string shortname() const { return classname(); }
......
...@@ -383,7 +383,12 @@ namespace pinocchio ...@@ -383,7 +383,12 @@ namespace pinocchio
D_t Dinv; D_t Dinv;
UD_t UDinv; 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"); } static std::string classname() { return std::string("JointDataSpherical"); }
std::string shortname() const { return classname(); } std::string shortname() const { return classname(); }
......
...@@ -462,7 +462,11 @@ namespace pinocchio ...@@ -462,7 +462,11 @@ namespace pinocchio
D_t Dinv; D_t Dinv;
UD_t UDinv; 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"); } static std::string classname() { return std::string("JointDataTranslation"); }
std::string shortname() const { return classname(); } std::string shortname() const { return classname(); }
......
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment