Verified Commit 09c1461c authored by Justin Carpentier's avatar 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
......@@ -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)
{
......
......@@ -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);
......
......@@ -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;
......
......@@ -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()));
}
......
......@@ -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);
......
......@@ -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__
......@@ -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
......@@ -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
......@@ -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
......@@ -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
......@@ -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
......@@ -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
......@@ -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
......@@ -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
......@@ -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
......@@ -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
......@@ -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
......@@ -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
......@@ -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
......@@ -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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