all: replace deprecated humanoidSimple by humanoidRandom

benchmark/timings-cholesky.cpp

@@ -51,7 +51,7 @@ int main(int argc, const char ** argv)
   std::string filename = PINOCCHIO_SOURCE_DIR"/models/simple_humanoid.urdf";
   if(argc>1) filename = argv[1];
   if( filename == "HS") 
-    se3::buildModels::humanoidSimple(model,true);
+    se3::buildModels::humanoidRandom(model,true);
   else if( filename == "H2" )
     se3::buildModels::humanoid2d(model);
   else

benchmark/timings-derivatives.cpp

@@ -151,7 +151,7 @@ int main(int argc, const char ** argv)
   }
     
   if( filename == "HS") 
-    buildModels::humanoidSimple(model,true);
+    buildModels::humanoidRandom(model,true);
   else if( filename == "H2" )
     buildModels::humanoid2d(model);
   else

benchmark/timings.cpp

@@ -57,7 +57,7 @@ int main(int argc, const char ** argv)
   std::string filename = PINOCCHIO_SOURCE_DIR"/models/simple_humanoid.urdf";
   if(argc>1) filename = argv[1];
   if( filename == "HS") 
-    se3::buildModels::humanoidSimple(model,true);
+    se3::buildModels::humanoidRandom(model,true);
   else if( filename == "H2" )
     se3::buildModels::humanoid2d(model);
   else

unittest/aba-derivatives.cpp

@@ -41,7 +41,7 @@ BOOST_AUTO_TEST_CASE(test_aba)
   using namespace se3;
   
   Model model;
-  buildModels::humanoidSimple(model);
+  buildModels::humanoidRandom(model);
   
   Data data(model), data_ref(model);
   
@@ -139,7 +139,7 @@ BOOST_AUTO_TEST_CASE(test_aba_minimal_argument)
   using namespace se3;
   
   Model model;
-  buildModels::humanoidSimple(model);
+  buildModels::humanoidRandom(model);
   
   Data data(model), data_ref(model);
   

unittest/aba.cpp

@@ -141,7 +141,7 @@ BOOST_AUTO_TEST_CASE ( test_aba_simple )
   using namespace Eigen;
   using namespace se3;
 
-  se3::Model model; buildModels::humanoidSimple(model);
+  se3::Model model; buildModels::humanoidRandom(model);
   
   se3::Data data(model);
   se3::Data data_ref(model);
@@ -167,7 +167,7 @@ BOOST_AUTO_TEST_CASE ( test_aba_with_fext )
   using namespace Eigen;
   using namespace se3;
   
-  se3::Model model; buildModels::humanoidSimple(model);
+  se3::Model model; buildModels::humanoidRandom(model);
   
   se3::Data data(model);
   
@@ -202,7 +202,7 @@ BOOST_AUTO_TEST_CASE ( test_aba_vs_rnea )
   using namespace Eigen;
   using namespace se3;
   
-  se3::Model model; buildModels::humanoidSimple(model);
+  se3::Model model; buildModels::humanoidRandom(model);
   
   se3::Data data(model);
   se3::Data data_ref(model);
@@ -234,7 +234,7 @@ BOOST_AUTO_TEST_CASE ( test_computeMinverse )
   using namespace se3;
   
   se3::Model model;
-  buildModels::humanoidSimple(model);
+  buildModels::humanoidRandom(model);
   model.gravity.setZero();
   
   se3::Data data(model);

unittest/algo-check.cpp

@@ -42,7 +42,7 @@ BOOST_AUTO_TEST_CASE ( test_check )
 {
   using namespace boost::fusion;
 
-  se3::Model model; buildModels::humanoidSimple(model);
+  se3::Model model; buildModels::humanoidRandom(model);
   
   BOOST_CHECK(model.check (Check1()));
   BOOST_CHECK(model.check (CRBAChecker()));

unittest/centroidal.cpp

@@ -69,7 +69,7 @@ BOOST_AUTO_TEST_SUITE( BOOST_TEST_MODULE )
 BOOST_AUTO_TEST_CASE (test_ccrba)
 {
   se3::Model model;
-  se3::buildModels::humanoidSimple(model);
+  se3::buildModels::humanoidRandom(model);
   se3::Data data(model), data_ref(model);
   
   Eigen::VectorXd q = Eigen::VectorXd::Ones(model.nq);
@@ -100,7 +100,7 @@ BOOST_AUTO_TEST_CASE (test_dccrb)
 {
   using namespace se3;
   Model model;
-  buildModels::humanoidSimple(model);
+  buildModels::humanoidRandom(model);
   addJointAndBody(model,JointModelSpherical(),"larm6_joint","larm7");
   Data data(model), data_ref(model);
   

unittest/cholesky.cpp

@@ -48,7 +48,7 @@ BOOST_AUTO_TEST_CASE ( test_cholesky )
   using namespace se3;
 
   se3::Model model;
-  se3::buildModels::humanoidSimple(model,true);
+  se3::buildModels::humanoidRandom(model,true);
   se3::Data data(model);
   
   model.lowerPositionLimit.head<3>().fill(-1.);
@@ -113,7 +113,7 @@ BOOST_AUTO_TEST_CASE ( test_timings )
   using namespace se3;
 
   se3::Model model;
-  se3::buildModels::humanoidSimple(model,true);
+  se3::buildModels::humanoidRandom(model,true);
   se3::Data data(model);
   
   model.lowerPositionLimit.head<3>().fill(-1.);
@@ -234,7 +234,7 @@ BOOST_AUTO_TEST_CASE ( test_timings )
     using namespace se3;
     
     se3::Model model;
-    se3::buildModels::humanoidSimple(model,true);
+    se3::buildModels::humanoidRandom(model,true);
     se3::Data data(model);
     
     model.lowerPositionLimit.head<3>().fill(-1.);

unittest/com.cpp

@@ -37,7 +37,7 @@ BOOST_AUTO_TEST_CASE ( test_com )
   using namespace se3;
 
   se3::Model model;
-  se3::buildModels::humanoidSimple(model);
+  se3::buildModels::humanoidRandom(model);
   se3::Data data(model);
 
   VectorXd q = VectorXd::Ones(model.nq);
@@ -96,7 +96,7 @@ BOOST_AUTO_TEST_CASE ( test_com )
 //  using namespace se3;
 //
 //  se3::Model model;
-//  se3::buildModels::humanoidSimple(model);
+//  se3::buildModels::humanoidRandom(model);
 //  se3::Data data(model);
 //
 //  long flag = BOOST_BINARY(1111);

unittest/compute-all-terms.cpp

@@ -45,7 +45,7 @@ BOOST_AUTO_TEST_CASE ( test_against_algo )
   using namespace Eigen;
   using namespace se3;
 
-  se3::Model model; buildModels::humanoidSimple(model);
+  se3::Model model; buildModels::humanoidRandom(model);
   se3::Data data(model); data.M.fill (0.);
   se3::Data data_other(model); data_other.M.fill (0.);
 

unittest/crba.cpp

@@ -77,7 +77,7 @@ BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE )
 BOOST_AUTO_TEST_CASE ( test_crba )
 {
   se3::Model model;
-  se3::buildModels::humanoidSimple(model);
+  se3::buildModels::humanoidRandom(model);
   se3::Data data(model);
   
   #ifdef NDEBUG
@@ -138,7 +138,7 @@ BOOST_AUTO_TEST_CASE ( test_crba )
 BOOST_AUTO_TEST_CASE(test_minimal_crba)
 {
   se3::Model model;
-  se3::buildModels::humanoidSimple(model);
+  se3::buildModels::humanoidRandom(model);
   se3::Data data(model), data_ref(model);
   
   model.lowerPositionLimit.head<7>().fill(-1.);

unittest/dynamics.cpp

@@ -36,7 +36,7 @@ BOOST_AUTO_TEST_CASE ( test_FD )
   using namespace se3;
   
   se3::Model model;
-  se3::buildModels::humanoidSimple(model,true);
+  se3::buildModels::humanoidRandom(model,true);
   se3::Data data(model);
   
   VectorXd q = VectorXd::Ones(model.nq);
@@ -100,7 +100,7 @@ BOOST_AUTO_TEST_CASE ( test_FD_with_damping )
   using namespace se3;
   
   se3::Model model;
-  se3::buildModels::humanoidSimple(model,true);
+  se3::buildModels::humanoidRandom(model,true);
   se3::Data data(model);
   
   VectorXd q = VectorXd::Ones(model.nq);
@@ -155,7 +155,7 @@ BOOST_AUTO_TEST_CASE ( test_ID )
   using namespace se3;
   
   se3::Model model;
-  se3::buildModels::humanoidSimple(model,true);
+  se3::buildModels::humanoidRandom(model,true);
   se3::Data data(model);
   
   VectorXd q = VectorXd::Ones(model.nq);
@@ -214,7 +214,7 @@ BOOST_AUTO_TEST_CASE (timings_fd_llt)
   using namespace se3;
   
   se3::Model model;
-  se3::buildModels::humanoidSimple(model,true);
+  se3::buildModels::humanoidRandom(model,true);
   se3::Data data(model);
   
 #ifdef NDEBUG

unittest/energy.cpp

@@ -32,7 +32,7 @@ BOOST_AUTO_TEST_CASE(test_kinetic_energy)
   using namespace se3;
   
   se3::Model model;
-  se3::buildModels::humanoidSimple(model);
+  se3::buildModels::humanoidRandom(model);
   se3::Data data(model);
   
   VectorXd q = VectorXd::Zero(model.nq);

unittest/finite-differences.cpp

@@ -186,7 +186,7 @@ BOOST_AUTO_TEST_CASE(increment)
   typedef double Scalar;
   
   Model model;
-  buildModels::humanoidSimple(model);
+  buildModels::humanoidRandom(model);
   
   VectorXd fd_increment(model.nv);
   fd_increment = finiteDifferenceIncrement(model);
@@ -206,7 +206,7 @@ BOOST_AUTO_TEST_CASE (test_S_finit_diff)
 BOOST_AUTO_TEST_CASE (test_jacobian_vs_finit_diff)
 {
   se3::Model model;
-  se3::buildModels::humanoidSimple(model);
+  se3::buildModels::humanoidRandom(model);
   se3::Data data(model);
   
   const VectorXd fd_increment = finiteDifferenceIncrement(model);

unittest/frames.cpp

@@ -45,7 +45,7 @@ BOOST_AUTO_TEST_CASE ( test_kinematics )
   using namespace se3;
 
   se3::Model model;
-  se3::buildModels::humanoidSimple(model);
+  se3::buildModels::humanoidRandom(model);
   Model::Index parent_idx = model.existJointName("rarm2_joint")?model.getJointId("rarm2_joint"):(Model::Index)(model.njoints-1);
   const std::string & frame_name = std::string( model.names[parent_idx]+ "_frame");
   const SE3 & framePlacement = SE3::Random();
@@ -66,7 +66,7 @@ BOOST_AUTO_TEST_CASE ( test_update_placements )
   using namespace se3;
 
   se3::Model model;
-  se3::buildModels::humanoidSimple(model);
+  se3::buildModels::humanoidRandom(model);
   Model::Index parent_idx = model.existJointName("rarm2_joint")?model.getJointId("rarm2_joint"):(Model::Index)(model.njoints-1);
   const std::string & frame_name = std::string( model.names[parent_idx]+ "_frame");
   const SE3 & framePlacement = SE3::Random();
@@ -92,7 +92,7 @@ BOOST_AUTO_TEST_CASE ( test_update_single_placement )
   using namespace se3;
 
   se3::Model model;
-  se3::buildModels::humanoidSimple(model);
+  se3::buildModels::humanoidRandom(model);
   Model::Index parent_idx = model.existJointName("rarm2_joint")?model.getJointId("rarm2_joint"):(Model::Index)(model.njoints-1);
   const std::string & frame_name = std::string( model.names[parent_idx]+ "_frame");
   const SE3 & framePlacement = SE3::Random();
@@ -118,7 +118,7 @@ BOOST_AUTO_TEST_CASE ( test_velocity )
   using namespace se3;
 
   se3::Model model;
-  se3::buildModels::humanoidSimple(model);
+  se3::buildModels::humanoidRandom(model);
   Model::Index parent_idx = model.existJointName("rarm2_joint")?model.getJointId("rarm2_joint"):(Model::Index)(model.njoints-1);
   const std::string & frame_name = std::string( model.names[parent_idx]+ "_frame");
   const SE3 & framePlacement = SE3::Random();
@@ -143,7 +143,7 @@ BOOST_AUTO_TEST_CASE ( test_acceleration )
   using namespace se3;
 
   se3::Model model;
-  se3::buildModels::humanoidSimple(model);
+  se3::buildModels::humanoidRandom(model);
   Model::Index parent_idx = model.existJointName("rarm2_joint")?model.getJointId("rarm2_joint"):(Model::Index)(model.njoints-1);
   const std::string & frame_name = std::string( model.names[parent_idx]+ "_frame");
   const SE3 & framePlacement = SE3::Random();
@@ -169,7 +169,7 @@ BOOST_AUTO_TEST_CASE ( test_jacobian )
   using namespace se3;
 
   Model model;
-  buildModels::humanoidSimple(model);
+  buildModels::humanoidRandom(model);
   Model::Index parent_idx = model.existJointName("rarm2_joint")?model.getJointId("rarm2_joint"):(Model::Index)(model.njoints-1);
   const std::string & frame_name = std::string( model.names[parent_idx]+ "_frame");
   const SE3 & framePlacement = SE3::Random();
@@ -212,7 +212,7 @@ BOOST_AUTO_TEST_CASE ( test_frame_jacobian_time_variation )
   using namespace se3;
   
   se3::Model model;
-  se3::buildModels::humanoidSimple(model);
+  se3::buildModels::humanoidRandom(model);
   Model::Index parent_idx = model.existJointName("rarm2_joint")?model.getJointId("rarm2_joint"):(Model::Index)(model.njoints-1);
   const std::string & frame_name = std::string( model.names[parent_idx]+ "_frame");
   const SE3 & framePlacement = SE3::Random();

unittest/jacobian.cpp

@@ -44,7 +44,7 @@ BOOST_AUTO_TEST_CASE ( test_jacobian )
   using namespace se3;
 
   se3::Model model;
-  se3::buildModels::humanoidSimple(model);
+  se3::buildModels::humanoidRandom(model);
   se3::Data data(model);
 
   VectorXd q = VectorXd::Zero(model.nq);
@@ -87,7 +87,7 @@ BOOST_AUTO_TEST_CASE ( test_jacobian_time_variation )
   using namespace se3;
   
   se3::Model model;
-  se3::buildModels::humanoidSimple(model);
+  se3::buildModels::humanoidRandom(model);
   se3::Data data(model);
   se3::Data data_ref(model);
   
@@ -162,7 +162,7 @@ BOOST_AUTO_TEST_CASE ( test_timings )
   using namespace se3;
 
   se3::Model model;
-  se3::buildModels::humanoidSimple(model);
+  se3::buildModels::humanoidRandom(model);
   se3::Data data(model);
 
   long flag = BOOST_BINARY(1111);

unittest/kinematics-derivatives.cpp

@@ -36,7 +36,7 @@ BOOST_AUTO_TEST_CASE(test_kinematics_derivatives_all)
   using namespace se3;
 
   Model model;
-  buildModels::humanoidSimple(model);
+  buildModels::humanoidRandom(model);
   
   Data data(model), data_ref(model);
   
@@ -71,7 +71,7 @@ BOOST_AUTO_TEST_CASE(test_kinematics_derivatives_velocity)
   using namespace se3;
   
   Model model;
-  buildModels::humanoidSimple(model);
+  buildModels::humanoidRandom(model);
   
   Data data(model), data_ref(model);
   
@@ -167,7 +167,7 @@ BOOST_AUTO_TEST_CASE(test_kinematics_derivatives_acceleration)
   using namespace se3;
   
   Model model;
-  buildModels::humanoidSimple(model);
+  buildModels::humanoidRandom(model);
   
   Data data(model), data_ref(model);
   

unittest/model.cpp

@@ -29,7 +29,7 @@ BOOST_AUTO_TEST_CASE(test_model_subtree)
 {
   Model model;
   std::cout << "build model" << std::endl;
-  buildModels::humanoidSimple(model);
+  buildModels::humanoidRandom(model);
   
   Model::JointIndex idx_larm1 = model.getJointId("larm1_joint");
   BOOST_CHECK(idx_larm1<(Model::JointIndex)model.njoints);

unittest/regressor.cpp

@@ -33,7 +33,7 @@ BOOST_AUTO_TEST_CASE(test_static_regressor)
   using namespace Eigen;
   using namespace se3;
   
-  se3::Model model; buildModels::humanoidSimple(model);
+  se3::Model model; buildModels::humanoidRandom(model);
   
   se3::Data data(model);
   se3::Data data_ref(model);

unittest/rnea-derivatives.cpp

@@ -39,7 +39,7 @@ BOOST_AUTO_TEST_CASE(test_generalized_gravity_derivatives)
   using namespace se3;
 
   Model model;
-  buildModels::humanoidSimple(model);
+  buildModels::humanoidRandom(model);
   
   Data data(model), data_fd(model);
   
@@ -81,7 +81,7 @@ BOOST_AUTO_TEST_CASE(test_rnea_derivatives)
   using namespace se3;
   
   Model model;
-  buildModels::humanoidSimple(model);
+  buildModels::humanoidRandom(model);
   
   Data data(model), data_fd(model), data_ref(model);