all: change namespace from se3 to pinocchio

The previous se3 namespace is now deprecated but can still be used

benchmark/timings-cg.cpp

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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