Verified Commit 30613c30 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

all: remove previous references to Eigen::Tensor

parent 6e787316
......@@ -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;
......
......@@ -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.");
......
......@@ -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.
......
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