all: remove previous references to Eigen::Tensor

src/algorithm/kinematics-derivatives.hpp

@@ -200,7 +200,7 @@ namespace pinocchio
                            const DataTpl<Scalar,Options,JointCollectionTpl> & data,
                            const Model::JointIndex joint_id,
                            const ReferenceFrame rf,
-                           Eigen::Tensor<Scalar,3,Options> & kinematic_hessian);
+                           Tensor<Scalar,3,Options> & kinematic_hessian);
 
   ///
   /// \brief Retrieves the kinematic Hessian of a given joint according to the values aleardy computed by computeJointKinematicHessians
@@ -224,13 +224,13 @@ namespace pinocchio
   ///          Please refer to getJointKinematicHessian for a version without dynamic memory allocation.
   ///
   template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
-  inline Eigen::Tensor<Scalar,3,Options>
+  inline Tensor<Scalar,3,Options>
   getJointKinematicHessian(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                            const DataTpl<Scalar,Options,JointCollectionTpl> & data,
                            const Model::JointIndex joint_id,
                            const ReferenceFrame rf)
   {
-    typedef Eigen::Tensor<Scalar,3,Options> ReturnType;
+    typedef Tensor<Scalar,3,Options> ReturnType;
     ReturnType res(6,model.nv,model.nv); res.setZero();
     getJointKinematicHessian(model,data,joint_id,rf,res);
     return res;

src/algorithm/kinematics-derivatives.hxx

@@ -412,7 +412,7 @@ namespace pinocchio
     typedef MotionRef<MapVector6> MotionOut;
     
     const typename Data::Matrix6x & J = data.J;
-    typename Data::Tensor3 & kinematic_hessians = data.kinematic_hessians;
+    typename Data::Tensor3x & kinematic_hessians = data.kinematic_hessians;
     const Eigen::DenseIndex slice_matrix_size = 6 * model.nv;
     
     for(size_t joint_id = 1; joint_id < (size_t)model.njoints; ++joint_id)
@@ -508,7 +508,7 @@ namespace pinocchio
                            const DataTpl<Scalar,Options,JointCollectionTpl> & data,
                            const JointIndex joint_id,
                            const ReferenceFrame rf,
-                           Eigen::Tensor<Scalar,3,Options> & kinematic_hessian)
+                           Tensor<Scalar,3,Options> & kinematic_hessian)
   {
     assert(model.check(data) && "data is not consistent with model.");
     assert(joint_id < model.joints.size() && joint_id > 0 && "joint_id is outside the valid index for a joint in model.joints");
@@ -518,7 +518,7 @@ namespace pinocchio
     typedef typename Data::Motion Motion;
     
     const typename Data::Matrix6x & J = data.J;
-    const typename Data::Tensor3 & kinematic_hessians = data.kinematic_hessians;
+    const typename Data::Tensor3x & kinematic_hessians = data.kinematic_hessians;
     
     // Allocate memory
     assert(kinematic_hessian.dimension(0) == 6 && "The result tensor is not of the right dimension.");

src/multibody/data.hpp

@@ -6,6 +6,8 @@
 #ifndef __pinocchio_data_hpp__
 #define __pinocchio_data_hpp__
 
+#include "pinocchio/math/tensor.hpp"
+
 #include "pinocchio/spatial/fwd.hpp"
 #include "pinocchio/spatial/se3.hpp"
 #include "pinocchio/spatial/force.hpp"
@@ -17,7 +19,6 @@
 
 #include <iostream>
 #include <Eigen/Cholesky>
-#include <unsupported/Eigen/CXX11/Tensor>
 
 namespace pinocchio
 {
@@ -76,7 +77,7 @@ namespace pinocchio
     typedef Eigen::Matrix<Scalar,6,10,Options> BodyRegressorType;
     
     /// \brief The type of Tensor for Kinematics and Dynamics second order derivatives
-    typedef Eigen::Tensor<Scalar,3,Options> Tensor3;
+    typedef Tensor<Scalar,3,Options> Tensor3x;
 
     /// \brief Vector of pinocchio::JointData associated to the pinocchio::JointModel stored in model, 
     /// encapsulated in JointDataAccessor.
@@ -352,7 +353,7 @@ namespace pinocchio
     MatrixXs jointTorqueRegressor;
     
     /// \brief Tensor containing the kinematic Hessian of all the joints.
-    Tensor3 kinematic_hessians;
+    Tensor3x kinematic_hessians;
     
     ///
     /// \brief Default constructor of pinocchio::Data from a pinocchio::Model.