[C++][Python] Rename getJointToFrameTransform to getFramePlacement

src/multibody/model.hpp

@@ -120,10 +120,9 @@ namespace se3
     bool existFrame ( const std::string & name ) const;
     const std::string & getFrameName ( const Index index ) const;
     const Index& getFrameParent( const std::string & name ) const;
-    const Index& getFrameParent( Index index ) const;
-    const SE3 & getJointToFrameTransform( const std::string & name ) const;
-    const SE3 & getJointToFrameTransform( Index index ) const;
     const Index& getFrameParent( const Index index ) const;
+    const SE3 & getFramePlacement( const std::string & name ) const;
+    const SE3 & getFramePlacement( const Index index ) const;
 
     bool addFrame ( const Frame & frame );
     bool addFrame ( const std::string & name, Index index, const SE3 & placement );

src/multibody/model.hxx

@@ -202,7 +202,7 @@ namespace se3
     return operational_frames[index].parent_id;
   }
 
-  inline const SE3 & Model::getJointToFrameTransform( const std::string & name) const
+  inline const SE3 & Model::getFramePlacement( const std::string & name) const
   {
     assert(existFrame(name) && "The Frame you requested does not exist");
     std::vector<Frame>::const_iterator it = std::find_if( operational_frames.begin()
@@ -211,10 +211,10 @@ namespace se3
                                                         );
     
     std::vector<Frame>::iterator::difference_type it_diff = it - operational_frames.begin();
-    return getJointToFrameTransform(Model::Index(it_diff));
+    return getFramePlacement(Model::Index(it_diff));
   }
 
-  inline const SE3 & Model::getJointToFrameTransform( Model::Index index ) const
+  inline const SE3 & Model::getFramePlacement( const Index index ) const
   {
     return operational_frames[index].frame_placement;
   }

src/python/model.hpp

 //
-// Copyright (c) 2015 CNRS
+// Copyright (c) 2015-2016 CNRS
 // Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
 //
 // This file is part of Pinocchio
@@ -133,9 +133,9 @@ namespace se3
       .add_property("fix_bodyNames", bp::make_function(&ModelPythonVisitor::fix_bodyNames, bp::return_internal_reference<>())  )
 
       .def("getFrameParent", &ModelPythonVisitor::getFrameParent)
-      .def("getFramePlacement", &ModelPythonVisitor::getJointToFrameTransform)
       .def("addExtraFrame", &ModelPythonVisitor::addExtraFrame)
       .add_property("operational_frames", bp::make_function(&ModelPythonVisitor::extraFrames, bp::return_internal_reference<>()) )
+      .def("getFramePlacement", &ModelPythonVisitor::getFramePlacement)
 
       .add_property("gravity",&ModelPythonVisitor::gravity,&ModelPythonVisitor::setGravity)
 	  .def("BuildEmptyModel",&ModelPythonVisitor::maker_empty)
@@ -180,8 +180,8 @@ namespace se3
       static std::vector<std::string> & fix_bodyNames ( ModelHandler & m ) { return m->fix_bodyNames; }
 
       static Model::Index  getFrameParent( ModelHandler & m, const std::string & name ) { return m->getFrameParent(name); }
-      static SE3  getJointToFrameTransform( ModelHandler & m, const std::string & name ) { return m->getJointToFrameTransform(name); }
       static void  addExtraFrame( ModelHandler & m, const std::string & frameName, Index parent, const SE3_fx & placementWrtParent )
+      static SE3  getFramePlacement( ModelHandler & m, const std::string & name ) { return m->getFramePlacement(name); }
       {
         m->addFrame(frameName, parent, placementWrtParent);
       }