Commit 03ab74eb authored by jcarpent's avatar jcarpent
Browse files

[Algo] Struct naming fix

parent 0e96972d
......@@ -24,14 +24,14 @@
namespace se3
{
struct computeGeneralizedGravityDerivariveForwardStep : public fusion::JointVisitor<computeGeneralizedGravityDerivariveForwardStep>
struct computeGeneralizedGravityDerivativeForwardStep : public fusion::JointVisitor<computeGeneralizedGravityDerivativeForwardStep>
{
typedef boost::fusion::vector< const se3::Model &,
se3::Data &,
const Eigen::VectorXd &
> ArgsType;
JOINT_VISITOR_INIT(computeGeneralizedGravityDerivariveForwardStep);
JOINT_VISITOR_INIT(computeGeneralizedGravityDerivativeForwardStep);
template<typename JointModel>
static void algo(const se3::JointModelBase<JointModel> & jmodel,
......@@ -139,8 +139,8 @@ namespace se3
for(Model::JointIndex i=1; i<(Model::JointIndex) model.njoints; ++i)
{
computeGeneralizedGravityDerivariveForwardStep::run(model.joints[i],data.joints[i],
computeGeneralizedGravityDerivariveForwardStep::ArgsType(model,data,q));
computeGeneralizedGravityDerivativeForwardStep::run(model.joints[i],data.joints[i],
computeGeneralizedGravityDerivativeForwardStep::ArgsType(model,data,q));
}
for(size_t i=(size_t) (model.njoints-1);i>0;--i)
......
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