From 07951b2e166da38bdc8c28ff9ed3d8b553195535 Mon Sep 17 00:00:00 2001
From: jcarpent <jcarpent@laas.fr>
Date: Mon, 26 Sep 2016 18:29:59 +0200
Subject: [PATCH] [Joint] Replace vectors of Joint{Model,Data} with vectors of
Joint{Model,Data}Variant
---
bindings/python/joint.hpp | 2 +-
src/multibody/joint/joint-composite.hpp | 29 +++++++++++++++----------
src/multibody/joint/joint.hpp | 7 ++----
3 files changed, 20 insertions(+), 18 deletions(-)
diff --git a/bindings/python/joint.hpp b/bindings/python/joint.hpp
index 094bb7f02..9014d720f 100644
--- a/bindings/python/joint.hpp
+++ b/bindings/python/joint.hpp
@@ -20,7 +20,7 @@
#include <eigenpy/exception.hpp>
#include <eigenpy/eigenpy.hpp>
-#include "pinocchio/multibody/joint/joint-composite.hpp"
+#include "pinocchio/multibody/joint/joint.hpp"
namespace se3
{
diff --git a/src/multibody/joint/joint-composite.hpp b/src/multibody/joint/joint-composite.hpp
index 40228586f..4ce66486a 100644
--- a/src/multibody/joint/joint-composite.hpp
+++ b/src/multibody/joint/joint-composite.hpp
@@ -19,13 +19,11 @@
#define __se3_joint_composite_hpp__
#include "pinocchio/assert.hpp"
-#include "pinocchio/multibody/joint/joint.hpp"
+#include "pinocchio/multibody/joint/joint-variant.hpp"
+#include "pinocchio/multibody/joint/joint-basic-visitors.hpp"
#include <Eigen/StdVector>
-EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(se3::SE3)
-EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(se3::Motion)
-
namespace se3
{
@@ -67,6 +65,7 @@ namespace se3
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
typedef JointComposite Joint;
+ typedef JointDataVariant JointData;
typedef std::vector<JointData, Eigen::aligned_allocator<JointData> > JointDataVector;
SE3_JOINT_TYPEDEF;
@@ -74,7 +73,7 @@ namespace se3
int nq_composite,nv_composite;
Constraint_t S;
- std::vector<Transformation_t> ljMj;
+ std::vector<Transformation_t, Eigen::aligned_allocator<Transformation_t> > ljMj;
Transformation_t M;
Motion_t v;
Bias_t c;
@@ -110,8 +109,13 @@ namespace se3
typedef JointComposite Joint;
SE3_JOINT_TYPEDEF;
SE3_JOINT_USE_INDEXES;
+
+ typedef JointModelVariant JointModel;
typedef std::vector<JointModel, Eigen::aligned_allocator<JointModel> > JointModelVector;
+ typedef JointDataVariant JointData;
+ typedef std::vector<JointData, Eigen::aligned_allocator<JointData> > JointDataVector;
+
using JointModelBase<JointModelComposite>::id;
using JointModelBase<JointModelComposite>::setIndexes;
@@ -475,15 +479,16 @@ namespace se3
};
- inline std::ostream & operator << (std::ostream & os, const JointModelComposite & jmodel)
+ inline std::ostream & operator << (std::ostream & os, const JointModelComposite & jmodel)
+ {
+ typedef JointModelComposite::JointModelVector JointModelVector;
+ os << "JointModelComposite containing following models:\n" ;
+ for (JointModelVector::const_iterator i = jmodel.joints.begin(); i != jmodel.joints.end(); ++i)
{
- os << "JointModelComposite containing following models:\n" ;
- for (JointModelVector::const_iterator i = jmodel.joints.begin(); i != jmodel.joints.end(); ++i)
- {
- os << shortname(*i) << std::endl;
- }
- return os;
+ os << shortname(*i) << std::endl;
}
+ return os;
+ }
} // namespace se3
diff --git a/src/multibody/joint/joint.hpp b/src/multibody/joint/joint.hpp
index 34b8f2074..f5f829301 100644
--- a/src/multibody/joint/joint.hpp
+++ b/src/multibody/joint/joint.hpp
@@ -150,12 +150,9 @@ namespace se3
void setIndexes(JointIndex id,int nq,int nv) { ::se3::setIndexes(*this,id, nq, nv); }
};
- typedef std::vector<JointData> JointDataVector;
- typedef std::vector<JointModel> JointModelVector;
+ typedef std::vector<JointData, Eigen::aligned_allocator<JointData> > JointDataVector;
+ typedef std::vector<JointModel, Eigen::aligned_allocator<JointModel> > JointModelVector;
} // namespace se3
-EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(se3::JointModel)
-EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(se3::JointData)
-
#endif // ifndef __se3_joint_model_hpp__
--
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