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Stack Of Tasks
pinocchio
Commits
09c1461c
Verified
Commit
09c1461c
authored
Nov 08, 2018
by
Justin Carpentier
Browse files
all: change namespace from se3 to pinocchio
The previous se3 namespace is now deprecated but can still be used
parent
f4138cce
Changes
251
Hide whitespace changes
Inline
Side-by-side
benchmark/timings-cg.cpp
View file @
09c1461c
...
...
@@ -37,7 +37,7 @@
int
main
(
int
argc
,
const
char
**
argv
)
{
using
namespace
Eigen
;
using
namespace
se3
;
using
namespace
pinocchio
;
PinocchioTicToc
timer
(
PinocchioTicToc
::
US
);
#ifdef NDEBUG
...
...
@@ -47,7 +47,7 @@ int main(int argc, const char ** argv)
std
::
cout
<<
"(the time score in debug mode is not relevant) "
<<
std
::
endl
;
#endif
se3
::
Model
model
;
pinocchio
::
Model
model
;
std
::
string
filename
=
PINOCCHIO_SOURCE_DIR
"/models/simple_humanoid.urdf"
;
if
(
argc
>
1
)
filename
=
argv
[
1
];
...
...
@@ -61,18 +61,18 @@ int main(int argc, const char ** argv)
}
if
(
filename
==
"H"
)
se3
::
buildModels
::
humanoidRandom
(
model
,
true
);
pinocchio
::
buildModels
::
humanoidRandom
(
model
,
true
);
else
if
(
with_ff
)
se3
::
urdf
::
buildModel
(
filename
,
JointModelFreeFlyer
(),
model
);
pinocchio
::
urdf
::
buildModel
(
filename
,
JointModelFreeFlyer
(),
model
);
else
se3
::
urdf
::
buildModel
(
filename
,
model
);
pinocchio
::
urdf
::
buildModel
(
filename
,
model
);
std
::
cout
<<
"nq = "
<<
model
.
nq
<<
std
::
endl
;
std
::
cout
<<
"nv = "
<<
model
.
nv
<<
std
::
endl
;
std
::
cout
<<
"--"
<<
std
::
endl
;
se3
::
Data
data
(
model
);
pinocchio
::
Data
data
(
model
);
CodeGenRNEA
<
double
>
rnea_code_gen
(
model
);
rnea_code_gen
.
initLib
();
...
...
@@ -98,10 +98,10 @@ int main(int argc, const char ** argv)
aba_derivatives_code_gen
.
initLib
();
aba_derivatives_code_gen
.
loadLib
();
se3
::
container
::
aligned_vector
<
VectorXd
>
qs
(
NBT
);
se3
::
container
::
aligned_vector
<
VectorXd
>
qdots
(
NBT
);
se3
::
container
::
aligned_vector
<
VectorXd
>
qddots
(
NBT
);
se3
::
container
::
aligned_vector
<
VectorXd
>
taus
(
NBT
);
pinocchio
::
container
::
aligned_vector
<
VectorXd
>
qs
(
NBT
);
pinocchio
::
container
::
aligned_vector
<
VectorXd
>
qdots
(
NBT
);
pinocchio
::
container
::
aligned_vector
<
VectorXd
>
qddots
(
NBT
);
pinocchio
::
container
::
aligned_vector
<
VectorXd
>
taus
(
NBT
);
for
(
size_t
i
=
0
;
i
<
NBT
;
++
i
)
{
...
...
benchmark/timings-cholesky.cpp
View file @
09c1461c
...
...
@@ -36,7 +36,7 @@ EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::VectorXd)
int
main
(
int
argc
,
const
char
**
argv
)
{
using
namespace
Eigen
;
using
namespace
se3
;
using
namespace
pinocchio
;
PinocchioTicToc
timer
(
PinocchioTicToc
::
US
);
#ifdef NDEBUG
...
...
@@ -46,19 +46,19 @@ int main(int argc, const char ** argv)
std
::
cout
<<
"(the time score in debug mode is not relevant) "
<<
std
::
endl
;
#endif
se3
::
Model
model
;
pinocchio
::
Model
model
;
std
::
string
filename
=
PINOCCHIO_SOURCE_DIR
"/models/simple_humanoid.urdf"
;
if
(
argc
>
1
)
filename
=
argv
[
1
];
if
(
filename
==
"HS"
)
se3
::
buildModels
::
humanoidRandom
(
model
,
true
);
pinocchio
::
buildModels
::
humanoidRandom
(
model
,
true
);
else
if
(
filename
==
"H2"
)
se3
::
buildModels
::
humanoid2d
(
model
);
pinocchio
::
buildModels
::
humanoid2d
(
model
);
else
se3
::
urdf
::
buildModel
(
filename
,
JointModelFreeFlyer
(),
model
);
pinocchio
::
urdf
::
buildModel
(
filename
,
JointModelFreeFlyer
(),
model
);
std
::
cout
<<
"nq = "
<<
model
.
nq
<<
std
::
endl
;
se3
::
Data
data
(
model
);
pinocchio
::
Data
data
(
model
);
VectorXd
q
=
VectorXd
::
Random
(
model
.
nq
);
VectorXd
qdot
=
VectorXd
::
Random
(
model
.
nv
);
VectorXd
qddot
=
VectorXd
::
Random
(
model
.
nv
);
...
...
benchmark/timings-derivatives.cpp
View file @
09c1461c
...
...
@@ -33,7 +33,7 @@
#include
"pinocchio/utils/timer.hpp"
template
<
typename
Matrix1
,
typename
Matrix2
,
typename
Matrix3
>
void
rnea_fd
(
const
se3
::
Model
&
model
,
se3
::
Data
&
data_fd
,
void
rnea_fd
(
const
pinocchio
::
Model
&
model
,
pinocchio
::
Data
&
data_fd
,
const
Eigen
::
VectorXd
&
q
,
const
Eigen
::
VectorXd
&
v
,
const
Eigen
::
VectorXd
&
a
,
...
...
@@ -82,13 +82,13 @@ void rnea_fd(const se3::Model & model, se3::Data & data_fd,
}
void
aba_fd
(
const
se3
::
Model
&
model
,
se3
::
Data
&
data_fd
,
void
aba_fd
(
const
pinocchio
::
Model
&
model
,
pinocchio
::
Data
&
data_fd
,
const
Eigen
::
VectorXd
&
q
,
const
Eigen
::
VectorXd
&
v
,
const
Eigen
::
VectorXd
&
tau
,
Eigen
::
MatrixXd
&
daba_dq
,
Eigen
::
MatrixXd
&
daba_dv
,
se3
::
Data
::
RowMatrixXs
&
daba_dtau
)
pinocchio
::
Data
::
RowMatrixXs
&
daba_dtau
)
{
using
namespace
Eigen
;
VectorXd
v_eps
(
VectorXd
::
Zero
(
model
.
nv
));
...
...
@@ -127,7 +127,7 @@ void aba_fd(const se3::Model & model, se3::Data & data_fd,
int
main
(
int
argc
,
const
char
**
argv
)
{
using
namespace
Eigen
;
using
namespace
se3
;
using
namespace
pinocchio
;
PinocchioTicToc
timer
(
PinocchioTicToc
::
US
);
#ifdef NDEBUG
...
...
@@ -154,10 +154,10 @@ int main(int argc, const char ** argv)
buildModels
::
humanoidRandom
(
model
,
true
);
else
if
(
with_ff
)
se3
::
urdf
::
buildModel
(
filename
,
JointModelFreeFlyer
(),
model
);
//
se3
::urdf::buildModel(filename,JointModelRX(),model);
pinocchio
::
urdf
::
buildModel
(
filename
,
JointModelFreeFlyer
(),
model
);
//
pinocchio
::urdf::buildModel(filename,JointModelRX(),model);
else
se3
::
urdf
::
buildModel
(
filename
,
model
);
pinocchio
::
urdf
::
buildModel
(
filename
,
model
);
std
::
cout
<<
"nq = "
<<
model
.
nq
<<
std
::
endl
;
std
::
cout
<<
"nv = "
<<
model
.
nv
<<
std
::
endl
;
...
...
benchmark/timings-geometry.cpp
View file @
09c1461c
...
...
@@ -41,7 +41,7 @@ EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::VectorXd)
int
main
()
{
using
namespace
Eigen
;
using
namespace
se3
;
using
namespace
pinocchio
;
PinocchioTicToc
timer
(
PinocchioTicToc
::
US
);
#ifdef NDEBUG
...
...
@@ -58,9 +58,9 @@ int main()
std
::
string
romeo_meshDir
=
PINOCCHIO_SOURCE_DIR
"/models/"
;
package_dirs
.
push_back
(
romeo_meshDir
);
se3
::
Model
model
;
se3
::
urdf
::
buildModel
(
romeo_filename
,
se3
::
JointModelFreeFlyer
(),
model
);
se3
::
GeometryModel
geom_model
;
se3
::
urdf
::
buildGeom
(
model
,
romeo_filename
,
COLLISION
,
geom_model
,
package_dirs
);
pinocchio
::
Model
model
;
pinocchio
::
urdf
::
buildModel
(
romeo_filename
,
pinocchio
::
JointModelFreeFlyer
(),
model
);
pinocchio
::
GeometryModel
geom_model
;
pinocchio
::
urdf
::
buildGeom
(
model
,
romeo_filename
,
COLLISION
,
geom_model
,
package_dirs
);
#ifdef PINOCCHIO_WITH_HPP_FCL
geom_model
.
addAllCollisionPairs
();
#endif // PINOCCHIO_WITH_HPP_FCL
...
...
@@ -100,7 +100,7 @@ int main()
SMOOTH
(
NBT
)
{
updateGeometryPlacements
(
model
,
data
,
geom_model
,
geom_data
,
qs_romeo
[
_smooth
]);
for
(
std
::
vector
<
se3
::
CollisionPair
>::
iterator
it
=
geom_model
.
collisionPairs
.
begin
();
it
!=
geom_model
.
collisionPairs
.
end
();
++
it
)
for
(
std
::
vector
<
pinocchio
::
CollisionPair
>::
iterator
it
=
geom_model
.
collisionPairs
.
begin
();
it
!=
geom_model
.
collisionPairs
.
end
();
++
it
)
{
computeCollision
(
geom_model
,
geom_data
,
std
::
size_t
(
it
-
geom_model
.
collisionPairs
.
begin
()));
}
...
...
benchmark/timings.cpp
View file @
09c1461c
...
...
@@ -42,7 +42,7 @@ EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::VectorXd)
int
main
(
int
argc
,
const
char
**
argv
)
{
using
namespace
Eigen
;
using
namespace
se3
;
using
namespace
pinocchio
;
PinocchioTicToc
timer
(
PinocchioTicToc
::
US
);
#ifdef NDEBUG
...
...
@@ -52,7 +52,7 @@ int main(int argc, const char ** argv)
std
::
cout
<<
"(the time score in debug mode is not relevant) "
<<
std
::
endl
;
#endif
se3
::
Model
model
;
pinocchio
::
Model
model
;
std
::
string
filename
=
PINOCCHIO_SOURCE_DIR
"/models/simple_humanoid.urdf"
;
if
(
argc
>
1
)
filename
=
argv
[
1
];
...
...
@@ -66,17 +66,17 @@ int main(int argc, const char ** argv)
}
if
(
filename
==
"HS"
)
se3
::
buildModels
::
humanoidRandom
(
model
,
true
);
pinocchio
::
buildModels
::
humanoidRandom
(
model
,
true
);
else
if
(
with_ff
)
se3
::
urdf
::
buildModel
(
filename
,
JointModelFreeFlyer
(),
model
);
pinocchio
::
urdf
::
buildModel
(
filename
,
JointModelFreeFlyer
(),
model
);
else
se3
::
urdf
::
buildModel
(
filename
,
model
);
pinocchio
::
urdf
::
buildModel
(
filename
,
model
);
std
::
cout
<<
"nq = "
<<
model
.
nq
<<
std
::
endl
;
se3
::
Data
data
(
model
);
pinocchio
::
Data
data
(
model
);
VectorXd
q
=
VectorXd
::
Random
(
model
.
nq
);
VectorXd
qdot
=
VectorXd
::
Random
(
model
.
nv
);
VectorXd
qddot
=
VectorXd
::
Random
(
model
.
nv
);
...
...
bindings/python/algorithm/algorithms.hpp
View file @
09c1461c
...
...
@@ -21,7 +21,7 @@
#include
<boost/python.hpp>
#include
"pinocchio/bindings/python/fwd.hpp"
namespace
se3
namespace
pinocchio
{
namespace
python
{
...
...
@@ -49,7 +49,7 @@ namespace se3
void
exposeAlgorithms
();
}
// namespace python
}
// namespace
se3
}
// namespace
pinocchio
#endif // ifndef __pinocchio_python_algorithm_hpp__
bindings/python/algorithm/expose-aba-derivatives.cpp
View file @
09c1461c
...
...
@@ -18,7 +18,7 @@
#include
"pinocchio/bindings/python/algorithm/algorithms.hpp"
#include
"pinocchio/algorithm/aba-derivatives.hpp"
namespace
se3
namespace
pinocchio
{
namespace
python
{
...
...
@@ -48,4 +48,4 @@ namespace se3
}
// namespace python
}
// namespace
se3
}
// namespace
pinocchio
bindings/python/algorithm/expose-aba.cpp
View file @
09c1461c
...
...
@@ -18,7 +18,7 @@
#include
"pinocchio/bindings/python/algorithm/algorithms.hpp"
#include
"pinocchio/algorithm/aba.hpp"
namespace
se3
namespace
pinocchio
{
namespace
python
{
...
...
@@ -66,4 +66,4 @@ namespace se3
}
}
// namespace python
}
// namespace
se3
}
// namespace
pinocchio
bindings/python/algorithm/expose-algorithms.cpp
View file @
09c1461c
...
...
@@ -17,7 +17,7 @@
#include
"pinocchio/bindings/python/algorithm/algorithms.hpp"
namespace
se3
namespace
pinocchio
{
namespace
python
{
...
...
@@ -46,4 +46,4 @@ namespace se3
}
}
// namespace python
}
// namespace
se3
}
// namespace
pinocchio
bindings/python/algorithm/expose-cat.cpp
View file @
09c1461c
...
...
@@ -18,7 +18,7 @@
#include
"pinocchio/bindings/python/algorithm/algorithms.hpp"
#include
"pinocchio/algorithm/compute-all-terms.hpp"
namespace
se3
namespace
pinocchio
{
namespace
python
{
...
...
@@ -43,4 +43,4 @@ namespace se3
"in the same loop and put the results in data."
);
}
}
// namespace python
}
// namespace
se3
}
// namespace
pinocchio
bindings/python/algorithm/expose-centroidal.cpp
View file @
09c1461c
...
...
@@ -18,7 +18,7 @@
#include
"pinocchio/bindings/python/algorithm/algorithms.hpp"
#include
"pinocchio/algorithm/centroidal.hpp"
namespace
se3
namespace
pinocchio
{
namespace
python
{
...
...
@@ -46,4 +46,4 @@ namespace se3
}
}
// namespace python
}
// namespace
se3
}
// namespace
pinocchio
bindings/python/algorithm/expose-com.cpp
View file @
09c1461c
...
...
@@ -20,7 +20,7 @@
#include
<boost/python/overloads.hpp>
namespace
se3
namespace
pinocchio
{
namespace
python
{
...
...
@@ -89,4 +89,4 @@ namespace se3
}
}
// namespace python
}
// namespace
se3
}
// namespace
pinocchio
bindings/python/algorithm/expose-crba.cpp
View file @
09c1461c
...
...
@@ -18,7 +18,7 @@
#include
"pinocchio/bindings/python/algorithm/algorithms.hpp"
#include
"pinocchio/algorithm/crba.hpp"
namespace
se3
namespace
pinocchio
{
namespace
python
{
...
...
@@ -42,4 +42,4 @@ namespace se3
}
}
// namespace python
}
// namespace
se3
}
// namespace
pinocchio
bindings/python/algorithm/expose-dynamics.cpp
View file @
09c1461c
...
...
@@ -18,7 +18,7 @@
#include
"pinocchio/bindings/python/algorithm/algorithms.hpp"
#include
"pinocchio/algorithm/dynamics.hpp"
namespace
se3
namespace
pinocchio
{
namespace
python
{
...
...
@@ -72,4 +72,4 @@ namespace se3
}
}
// namespace python
}
// namespace
se3
}
// namespace
pinocchio
bindings/python/algorithm/expose-energy.cpp
View file @
09c1461c
...
...
@@ -18,7 +18,7 @@
#include
"pinocchio/bindings/python/algorithm/algorithms.hpp"
#include
"pinocchio/algorithm/energy.hpp"
namespace
se3
namespace
pinocchio
{
namespace
python
{
...
...
@@ -48,4 +48,4 @@ namespace se3
}
}
// namespace python
}
// namespace
se3
}
// namespace
pinocchio
bindings/python/algorithm/expose-frames.cpp
View file @
09c1461c
...
...
@@ -18,7 +18,7 @@
#include
"pinocchio/bindings/python/algorithm/algorithms.hpp"
#include
"pinocchio/algorithm/frames.hpp"
namespace
se3
namespace
pinocchio
{
namespace
python
{
...
...
@@ -175,4 +175,4 @@ namespace se3
}
}
// namespace python
}
// namespace
se3
}
// namespace
pinocchio
bindings/python/algorithm/expose-geometry.cpp
View file @
09c1461c
...
...
@@ -18,7 +18,7 @@
#include
"pinocchio/bindings/python/algorithm/algorithms.hpp"
#include
"pinocchio/algorithm/geometry.hpp"
namespace
se3
namespace
pinocchio
{
namespace
python
{
...
...
@@ -82,4 +82,4 @@ namespace se3
#endif // PINOCCHIO_WITH_HPP_FCL
}
}
// namespace python
}
// namespace
se3
}
// namespace
pinocchio
bindings/python/algorithm/expose-jacobian.cpp
View file @
09c1461c
...
...
@@ -18,7 +18,7 @@
#include
"pinocchio/bindings/python/algorithm/algorithms.hpp"
#include
"pinocchio/algorithm/jacobian.hpp"
namespace
se3
namespace
pinocchio
{
namespace
python
{
...
...
@@ -121,4 +121,4 @@ namespace se3
}
}
// namespace python
}
// namespace
se3
}
// namespace
pinocchio
bindings/python/algorithm/expose-joints.cpp
View file @
09c1461c
...
...
@@ -18,7 +18,7 @@
#include
"pinocchio/bindings/python/algorithm/algorithms.hpp"
#include
"pinocchio/algorithm/joint-configuration.hpp"
namespace
se3
namespace
pinocchio
{
namespace
python
{
...
...
@@ -104,4 +104,4 @@ namespace se3
}
}
// namespace python
}
// namespace
se3
}
// namespace
pinocchio
bindings/python/algorithm/expose-kinematics-derivatives.cpp
View file @
09c1461c
...
...
@@ -20,7 +20,7 @@
#include
<boost/python/tuple.hpp>
namespace
se3
namespace
pinocchio
{
namespace
python
{
...
...
@@ -101,4 +101,4 @@ namespace se3
}
// namespace python
}
// namespace
se3
}
// namespace
pinocchio
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