diff --git a/CMakeLists.txt b/CMakeLists.txt
index 014301b90cbaedfd83b424632d8f689d0033d1a0..0f1f954826e1e28c068a9483a7819758b0b1ece5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -153,7 +153,7 @@ SET(${PROJECT_NAME}_MULTIBODY_JOINT_HEADERS
multibody/joint/joint-free-flyer.hpp
multibody/joint/joint-variant.hpp
multibody/joint/joint-generic.hpp
- multibody/joint/joint-accessor.hpp
+ multibody/joint/joint.hpp
multibody/joint/joint-basic-visitors.hpp
multibody/joint/joint-basic-visitors.hxx
)
@@ -168,7 +168,6 @@ SET(${PROJECT_NAME}_MULTIBODY_HEADERS
multibody/constraint.hpp
multibody/force-set.hpp
multibody/frame.hpp
- multibody/joint.hpp
multibody/model.hpp
multibody/model.hxx
multibody/visitor.hpp
@@ -209,7 +208,7 @@ IF(BUILD_PYTHON_INTERFACE)
python/inertia.hpp
python/joints-models.hpp
python/joints-variant.hpp
- python/joint-accessor.hpp
+ python/joint.hpp
python/joint-derived.hpp
python/frame.hpp
python/model.hpp
diff --git a/benchmark/timings-geometry.cpp b/benchmark/timings-geometry.cpp
index e2973853105f7afa069b112f48e19b5202e9dfd4..66bc7073e131db99231d8c7dcbf6032b89dc2743 100644
--- a/benchmark/timings-geometry.cpp
+++ b/benchmark/timings-geometry.cpp
@@ -17,7 +17,6 @@
#include "pinocchio/spatial/fwd.hpp"
#include "pinocchio/spatial/se3.hpp"
-#include "pinocchio/multibody/joint.hpp"
#include "pinocchio/multibody/visitor.hpp"
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/algorithm/crba.hpp"
diff --git a/benchmark/timings.cpp b/benchmark/timings.cpp
index 31835fc452382cb83c052c9aedfa0b1eaa4a9e24..e23c37c6544f500db82ba33ebe65929e1e109fc9 100644
--- a/benchmark/timings.cpp
+++ b/benchmark/timings.cpp
@@ -17,7 +17,6 @@
#include "pinocchio/spatial/fwd.hpp"
#include "pinocchio/spatial/se3.hpp"
-#include "pinocchio/multibody/joint.hpp"
#include "pinocchio/multibody/visitor.hpp"
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/algorithm/crba.hpp"
diff --git a/src/algorithm/aba.hxx b/src/algorithm/aba.hxx
index 3ef1b88d0b1d19e443011760e238ebf1a3992f76..9ecb9c4c9c4a2130cae4cbaa855adf709300d1dd 100644
--- a/src/algorithm/aba.hxx
+++ b/src/algorithm/aba.hxx
@@ -36,7 +36,7 @@ namespace se3
template<typename JointModel>
static void algo(const se3::JointModelBase<JointModel> & jmodel,
- se3::JointDataBase<typename JointModel::JointData> & jdata,
+ se3::JointDataBase<typename JointModel::JointDataDerived> & jdata,
const se3::Model & model,
se3::Data & data,
const Eigen::VectorXd & q,
@@ -75,7 +75,7 @@ namespace se3
template<typename JointModel>
static void algo(const JointModelBase<JointModel> & jmodel,
- JointDataBase<typename JointModel::JointData> & jdata,
+ JointDataBase<typename JointModel::JointDataDerived> & jdata,
const Model & model,
Data & data)
{
@@ -171,7 +171,7 @@ namespace se3
template<typename JointModel>
static void algo(const se3::JointModelBase<JointModel> & jmodel,
- se3::JointDataBase<typename JointModel::JointData> & jdata,
+ se3::JointDataBase<typename JointModel::JointDataDerived> & jdata,
const se3::Model & model,
se3::Data & data)
{
diff --git a/src/algorithm/center-of-mass.hxx b/src/algorithm/center-of-mass.hxx
index 72c6e2a6accb3c52aab79a9f481e4e0a5ef846a4..10571588a4db128cc4a19ca073f170d74be17479 100644
--- a/src/algorithm/center-of-mass.hxx
+++ b/src/algorithm/center-of-mass.hxx
@@ -208,7 +208,7 @@ namespace se3
template<typename JointModel>
static void algo(const se3::JointModelBase<JointModel> & jmodel,
- se3::JointDataBase<typename JointModel::JointData> & jdata,
+ se3::JointDataBase<typename JointModel::JointDataDerived> & jdata,
const se3::Model& model,
se3::Data& data,
const bool computeSubtreeComs )
diff --git a/src/algorithm/compute-all-terms.hpp b/src/algorithm/compute-all-terms.hpp
index f8da568b078deef5b88998806e0ed1a2b4d33146..ec83b54340c1135cecf1d319831ae5c363e01381 100644
--- a/src/algorithm/compute-all-terms.hpp
+++ b/src/algorithm/compute-all-terms.hpp
@@ -68,7 +68,7 @@ namespace se3
template<typename JointModel>
static void algo(const se3::JointModelBase<JointModel> & jmodel,
- se3::JointDataBase<typename JointModel::JointData> & jdata,
+ se3::JointDataBase<typename JointModel::JointDataDerived> & jdata,
const se3::Model & model,
se3::Data & data,
const Eigen::VectorXd & q,
@@ -128,7 +128,7 @@ namespace se3
template<typename JointModel>
static void algo(const JointModelBase<JointModel> & jmodel,
- JointDataBase<typename JointModel::JointData> & jdata,
+ JointDataBase<typename JointModel::JointDataDerived> & jdata,
const Model & model,
Data & data)
{
diff --git a/src/algorithm/crba.hxx b/src/algorithm/crba.hxx
index 33ac8ebf9e1894e0cb0ef97a04770ff39f772f8e..e92988db59f2dc83abe2f9b0f3e84470cbeae5ab 100644
--- a/src/algorithm/crba.hxx
+++ b/src/algorithm/crba.hxx
@@ -37,7 +37,7 @@ namespace se3
template<typename JointModel>
static void algo(const se3::JointModelBase<JointModel> & jmodel,
- se3::JointDataBase<typename JointModel::JointData> & jdata,
+ se3::JointDataBase<typename JointModel::JointDataDerived> & jdata,
const se3::Model & model,
se3::Data & data,
const Eigen::VectorXd & q)
@@ -60,7 +60,7 @@ namespace se3
template<typename JointModel>
static void algo(const JointModelBase<JointModel> & jmodel,
- JointDataBase<typename JointModel::JointData> & jdata,
+ JointDataBase<typename JointModel::JointDataDerived> & jdata,
const Model & model,
Data & data)
{
@@ -128,7 +128,7 @@ namespace se3
template<typename JointModel>
static void algo(const se3::JointModelBase<JointModel> & jmodel,
- se3::JointDataBase<typename JointModel::JointData> & jdata,
+ se3::JointDataBase<typename JointModel::JointDataDerived> & jdata,
const se3::Model & model,
se3::Data & data,
const Eigen::VectorXd & q)
@@ -157,7 +157,7 @@ namespace se3
template<typename JointModel>
static void algo(const se3::JointModelBase<JointModel> & jmodel,
- se3::JointDataBase<typename JointModel::JointData> & jdata,
+ se3::JointDataBase<typename JointModel::JointDataDerived> & jdata,
const se3::Model & model,
se3::Data & data)
{
diff --git a/src/algorithm/jacobian.hxx b/src/algorithm/jacobian.hxx
index b3a54e8ff51d7084a5610684ee0da89f471732e2..f5fcbf3670bee0e68155323d744877722fe7e158 100644
--- a/src/algorithm/jacobian.hxx
+++ b/src/algorithm/jacobian.hxx
@@ -35,7 +35,7 @@ namespace se3
template<typename JointModel>
static void algo(const se3::JointModelBase<JointModel> & jmodel,
- se3::JointDataBase<typename JointModel::JointData> & jdata,
+ se3::JointDataBase<typename JointModel::JointDataDerived> & jdata,
const se3::Model & model,
se3::Data & data,
const Eigen::VectorXd & q)
@@ -101,7 +101,7 @@ namespace se3
template<typename JointModel>
static void algo(const se3::JointModelBase<JointModel> & jmodel,
- se3::JointDataBase<typename JointModel::JointData> & jdata,
+ se3::JointDataBase<typename JointModel::JointDataDerived> & jdata,
const se3::Model & model,
se3::Data & data,
const Eigen::VectorXd & q)
diff --git a/src/algorithm/kinematics.hxx b/src/algorithm/kinematics.hxx
index d61d1c1123e7ac6c5e0149d20882f654989c3104..eb2446dd07e32b36534a3f4451799904da32c5b5 100644
--- a/src/algorithm/kinematics.hxx
+++ b/src/algorithm/kinematics.hxx
@@ -33,7 +33,7 @@ namespace se3
template<typename JointModel>
static void algo(const se3::JointModelBase<JointModel> &,
- se3::JointDataBase<typename JointModel::JointData> &,
+ se3::JointDataBase<typename JointModel::JointDataDerived> &,
const se3::Model &,
se3::Data &)
{ // do nothing
@@ -64,7 +64,7 @@ namespace se3
template<typename JointModel>
static void algo(const se3::JointModelBase<JointModel> & jmodel,
- se3::JointDataBase<typename JointModel::JointData> & jdata,
+ se3::JointDataBase<typename JointModel::JointDataDerived> & jdata,
const se3::Model & model,
se3::Data & data,
const Eigen::VectorXd & q)
@@ -111,7 +111,7 @@ namespace se3
template<typename JointModel>
static void algo(const se3::JointModelBase<JointModel> & jmodel,
- se3::JointDataBase<typename JointModel::JointData> & jdata,
+ se3::JointDataBase<typename JointModel::JointDataDerived> & jdata,
const se3::Model & model,
se3::Data & data,
const Eigen::VectorXd & q,
@@ -166,7 +166,7 @@ namespace se3
template<typename JointModel>
static void algo(const se3::JointModelBase<JointModel> & jmodel,
- se3::JointDataBase<typename JointModel::JointData> & jdata,
+ se3::JointDataBase<typename JointModel::JointDataDerived> & jdata,
const se3::Model & model,
se3::Data & data,
const Eigen::VectorXd & q,
diff --git a/src/algorithm/rnea.hxx b/src/algorithm/rnea.hxx
index d0d098aa639b813b3c37402cda3d1a57f67a07f4..fe31feac12f14f1a7cb1e965b10f99840c6d8faa 100644
--- a/src/algorithm/rnea.hxx
+++ b/src/algorithm/rnea.hxx
@@ -37,7 +37,7 @@ namespace se3
template<typename JointModel>
static void algo(const se3::JointModelBase<JointModel> & jmodel,
- se3::JointDataBase<typename JointModel::JointData> & jdata,
+ se3::JointDataBase<typename JointModel::JointDataDerived> & jdata,
const se3::Model & model,
se3::Data & data,
const Eigen::VectorXd & q,
@@ -72,7 +72,7 @@ namespace se3
template<typename JointModel>
static void algo(const JointModelBase<JointModel> & jmodel,
- JointDataBase<typename JointModel::JointData> & jdata,
+ JointDataBase<typename JointModel::JointDataDerived> & jdata,
const Model & model,
Data & data)
{
@@ -120,7 +120,7 @@ namespace se3
template<typename JointModel>
static void algo(const se3::JointModelBase<JointModel> & jmodel,
- se3::JointDataBase<typename JointModel::JointData> & jdata,
+ se3::JointDataBase<typename JointModel::JointDataDerived> & jdata,
const se3::Model & model,
se3::Data & data,
const Eigen::VectorXd & q,
@@ -154,7 +154,7 @@ namespace se3
template<typename JointModel>
static void algo(const JointModelBase<JointModel> & jmodel,
- JointDataBase<typename JointModel::JointData> & jdata,
+ JointDataBase<typename JointModel::JointDataDerived> & jdata,
const Model & model,
Data & data)
{
diff --git a/src/multibody/joint.hpp b/src/multibody/joint.hpp
deleted file mode 100644
index cf8303790c6289b2496d2f2652792a739d8ec392..0000000000000000000000000000000000000000
--- a/src/multibody/joint.hpp
+++ /dev/null
@@ -1,39 +0,0 @@
-//
-// Copyright (c) 2015 CNRS
-//
-// This file is part of Pinocchio
-// Pinocchio is free software: you can redistribute it
-// and/or modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation, either version
-// 3 of the License, or (at your option) any later version.
-//
-// Pinocchio is distributed in the hope that it will be
-// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
-// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
-// General Lesser Public License for more details. You should have
-// received a copy of the GNU Lesser General Public License along with
-// Pinocchio If not, see
-// <http://www.gnu.org/licenses/>.
-
-#ifndef __se3_joint_hpp__
-#define __se3_joint_hpp__
-
-#include "pinocchio/multibody/joint/joint-base.hpp"
-#include "pinocchio/multibody/joint/joint-dense.hpp"
-#include "pinocchio/multibody/joint/joint-free-flyer.hpp"
-#include "pinocchio/multibody/joint/joint-planar.hpp"
-#include "pinocchio/multibody/joint/joint-prismatic.hpp"
-#include "pinocchio/multibody/joint/joint-prismatic-unaligned.hpp"
-#include "pinocchio/multibody/joint/joint-revolute-unaligned.hpp"
-#include "pinocchio/multibody/joint/joint-revolute.hpp"
-#include "pinocchio/multibody/joint/joint-spherical-ZYX.hpp"
-#include "pinocchio/multibody/joint/joint-spherical.hpp"
-#include "pinocchio/multibody/joint/joint-translation.hpp"
-// #include "pinocchio/multibody/joint/joint-variant.hpp"
-
-namespace se3
-{
- enum { MAX_JOINT_NV = 6 };
-}
-
-#endif // ifndef __se3_joint_hpp__
diff --git a/src/multibody/joint/joint-base.hpp b/src/multibody/joint/joint-base.hpp
index ca145109836e5c0a4fe15787919bff476713cecb..9a251fad2c0f3e954f09d9c871bf1cce8bbb557d 100644
--- a/src/multibody/joint/joint-base.hpp
+++ b/src/multibody/joint/joint-base.hpp
@@ -68,22 +68,22 @@ namespace se3
#define SE3_JOINT_TYPEDEF_ARG(prefix) \
typedef int Index; \
- typedef prefix traits<Joint>::JointData JointData; \
- typedef prefix traits<Joint>::JointModel JointModel; \
- typedef prefix traits<Joint>::Constraint_t Constraint_t; \
- typedef prefix traits<Joint>::Transformation_t Transformation_t; \
- typedef prefix traits<Joint>::Motion_t Motion_t; \
- typedef prefix traits<Joint>::Bias_t Bias_t; \
- typedef prefix traits<Joint>::F_t F_t; \
- typedef prefix traits<Joint>::U_t U_t; \
- typedef prefix traits<Joint>::D_t D_t; \
- typedef prefix traits<Joint>::UD_t UD_t; \
+ typedef prefix traits<JointDerived>::JointDataDerived JointDataDerived; \
+ typedef prefix traits<JointDerived>::JointModelDerived JointModelDerived; \
+ typedef prefix traits<JointDerived>::Constraint_t Constraint_t; \
+ typedef prefix traits<JointDerived>::Transformation_t Transformation_t; \
+ typedef prefix traits<JointDerived>::Motion_t Motion_t; \
+ typedef prefix traits<JointDerived>::Bias_t Bias_t; \
+ typedef prefix traits<JointDerived>::F_t F_t; \
+ typedef prefix traits<JointDerived>::U_t U_t; \
+ typedef prefix traits<JointDerived>::D_t D_t; \
+ typedef prefix traits<JointDerived>::UD_t UD_t; \
enum { \
- NQ = traits<Joint>::NQ, \
- NV = traits<Joint>::NV \
+ NQ = traits<JointDerived>::NQ, \
+ NV = traits<JointDerived>::NV \
}; \
- typedef prefix traits<Joint>::ConfigVector_t ConfigVector_t; \
- typedef prefix traits<Joint>::TangentVector_t TangentVector_t
+ typedef prefix traits<JointDerived>::ConfigVector_t ConfigVector_t; \
+ typedef prefix traits<JointDerived>::TangentVector_t TangentVector_t
#define SE3_JOINT_TYPEDEF SE3_JOINT_TYPEDEF_ARG()
#define SE3_JOINT_TYPEDEF_TEMPLATE SE3_JOINT_TYPEDEF_ARG(typename)
@@ -92,41 +92,41 @@ namespace se3
#define SE3_JOINT_TYPEDEF_NOARG() \
typedef int Index; \
- typedef traits<Joint>::JointData JointData; \
- typedef traits<Joint>::JointModel JointModel; \
- typedef traits<Joint>::Constraint_t Constraint_t; \
- typedef traits<Joint>::Transformation_t Transformation_t; \
- typedef traits<Joint>::Motion_t Motion_t; \
- typedef traits<Joint>::Bias_t Bias_t; \
- typedef traits<Joint>::F_t F_t; \
- typedef traits<Joint>::U_t U_t; \
- typedef traits<Joint>::D_t D_t; \
- typedef traits<Joint>::UD_t UD_t; \
+ typedef traits<JointDerived>::JointDataDerived JointDataDerived; \
+ typedef traits<JointDerived>::JointModelDerived JointModelDerived; \
+ typedef traits<JointDerived>::Constraint_t Constraint_t; \
+ typedef traits<JointDerived>::Transformation_t Transformation_t; \
+ typedef traits<JointDerived>::Motion_t Motion_t; \
+ typedef traits<JointDerived>::Bias_t Bias_t; \
+ typedef traits<JointDerived>::F_t F_t; \
+ typedef traits<JointDerived>::U_t U_t; \
+ typedef traits<JointDerived>::D_t D_t; \
+ typedef traits<JointDerived>::UD_t UD_t; \
enum { \
- NQ = traits<Joint>::NQ, \
- NV = traits<Joint>::NV \
+ NQ = traits<JointDerived>::NQ, \
+ NV = traits<JointDerived>::NV \
}; \
- typedef traits<Joint>::ConfigVector_t ConfigVector_t; \
- typedef traits<Joint>::TangentVector_t TangentVector_t
+ typedef traits<JointDerived>::ConfigVector_t ConfigVector_t; \
+ typedef traits<JointDerived>::TangentVector_t TangentVector_t
#define SE3_JOINT_TYPEDEF_ARG(prefix) \
typedef int Index; \
- typedef prefix traits<Joint>::JointData JointData; \
- typedef prefix traits<Joint>::JointModel JointModel; \
- typedef prefix traits<Joint>::Constraint_t Constraint_t; \
- typedef prefix traits<Joint>::Transformation_t Transformation_t; \
- typedef prefix traits<Joint>::Motion_t Motion_t; \
- typedef prefix traits<Joint>::Bias_t Bias_t; \
- typedef prefix traits<Joint>::F_t F_t; \
- typedef prefix traits<Joint>::U_t U_t; \
- typedef prefix traits<Joint>::D_t D_t; \
- typedef prefix traits<Joint>::UD_t UD_t; \
+ typedef prefix traits<JointDerived>::JointDataDerived JointDataDerived; \
+ typedef prefix traits<JointDerived>::JointModelDerived JointModelDerived; \
+ typedef prefix traits<JointDerived>::Constraint_t Constraint_t; \
+ typedef prefix traits<JointDerived>::Transformation_t Transformation_t; \
+ typedef prefix traits<JointDerived>::Motion_t Motion_t; \
+ typedef prefix traits<JointDerived>::Bias_t Bias_t; \
+ typedef prefix traits<JointDerived>::F_t F_t; \
+ typedef prefix traits<JointDerived>::U_t U_t; \
+ typedef prefix traits<JointDerived>::D_t D_t; \
+ typedef prefix traits<JointDerived>::UD_t UD_t; \
enum { \
- NQ = traits<Joint>::NQ, \
- NV = traits<Joint>::NV \
+ NQ = traits<JointDerived>::NQ, \
+ NV = traits<JointDerived>::NV \
}; \
- typedef prefix traits<Joint>::ConfigVector_t ConfigVector_t; \
- typedef prefix traits<Joint>::TangentVector_t TangentVector_t
+ typedef prefix traits<JointDerived>::ConfigVector_t ConfigVector_t; \
+ typedef prefix traits<JointDerived>::TangentVector_t TangentVector_t
#define SE3_JOINT_TYPEDEF SE3_JOINT_TYPEDEF_NOARG()
#define SE3_JOINT_TYPEDEF_TEMPLATE SE3_JOINT_TYPEDEF_ARG(typename)
@@ -135,22 +135,22 @@ namespace se3
#define SE3_JOINT_TYPEDEF_ARG() \
typedef int Index; \
- typedef typename traits<Joint>::JointData JointData; \
- typedef typename traits<Joint>::JointModel JointModel; \
- typedef typename traits<Joint>::Constraint_t Constraint_t; \
- typedef typename traits<Joint>::Transformation_t Transformation_t; \
- typedef typename traits<Joint>::Motion_t Motion_t; \
- typedef typename traits<Joint>::Bias_t Bias_t; \
- typedef typename traits<Joint>::F_t F_t; \
- typedef typename traits<Joint>::U_t U_t; \
- typedef typename traits<Joint>::D_t D_t; \
- typedef typename traits<Joint>::UD_t UD_t; \
+ typedef typename traits<JointDerived>::JointDataDerived JointDataDerived; \
+ typedef typename traits<JointDerived>::JointModelDerived JointModelDerived; \
+ typedef typename traits<JointDerived>::Constraint_t Constraint_t; \
+ typedef typename traits<JointDerived>::Transformation_t Transformation_t; \
+ typedef typename traits<JointDerived>::Motion_t Motion_t; \
+ typedef typename traits<JointDerived>::Bias_t Bias_t; \
+ typedef typename traits<JointDerived>::F_t F_t; \
+ typedef typename traits<JointDerived>::U_t U_t; \
+ typedef typename traits<JointDerived>::D_t D_t; \
+ typedef typename traits<JointDerived>::UD_t UD_t; \
enum { \
- NQ = traits<Joint>::NQ, \
- NV = traits<Joint>::NV \
+ NQ = traits<JointDerived>::NQ, \
+ NV = traits<JointDerived>::NV \
}; \
- typedef typename traits<Joint>::ConfigVector_t ConfigVector_t; \
- typedef typename traits<Joint>::TangentVector_t TangentVector_t
+ typedef typename traits<JointDerived>::ConfigVector_t ConfigVector_t; \
+ typedef typename traits<JointDerived>::TangentVector_t TangentVector_t
#define SE3_JOINT_TYPEDEF SE3_JOINT_TYPEDEF_ARG()
#define SE3_JOINT_TYPEDEF_TEMPLATE SE3_JOINT_TYPEDEF_ARG()
@@ -158,7 +158,7 @@ namespace se3
#endif
#define SE3_JOINT_USE_INDEXES \
- typedef JointModelBase<JointModel> Base; \
+ typedef JointModelBase<JointModelDerived> Base; \
using Base::idx_q; \
using Base::idx_v
@@ -173,25 +173,25 @@ namespace se3
typedef _JointData Derived;
typedef JointDataBase<_JointData> Base;
- typedef typename traits<_JointData>::Joint Joint;
+ typedef typename traits<_JointData>::JointDerived JointDerived;
SE3_JOINT_TYPEDEF_TEMPLATE;
- JointData& derived() { return *static_cast<JointData*>(this); }
- const JointData& derived() const { return *static_cast<const JointData*>(this); }
+ JointDataDerived& derived() { return *static_cast<JointDataDerived*>(this); }
+ const JointDataDerived& derived() const { return *static_cast<const JointDataDerived*>(this); }
- const Constraint_t & S() const { return static_cast<const JointData*>(this)->S; }
- const Transformation_t & M() const { return static_cast<const JointData*>(this)->M; }
- const Motion_t & v() const { return static_cast<const JointData*>(this)->v; }
- const Bias_t & c() const { return static_cast<const JointData*>(this)->c; }
- F_t & F() { return static_cast< JointData*>(this)->F; }
+ const Constraint_t & S() const { return static_cast<const JointDataDerived*>(this)->S; }
+ const Transformation_t & M() const { return static_cast<const JointDataDerived*>(this)->M; }
+ const Motion_t & v() const { return static_cast<const JointDataDerived*>(this)->v; }
+ const Bias_t & c() const { return static_cast<const JointDataDerived*>(this)->c; }
+ F_t & F() { return static_cast< JointDataDerived*>(this)->F; }
// [ABA CCRBA]
- const U_t & U() const { return static_cast<const JointData*>(this)->U; }
- U_t & U() { return static_cast<JointData*>(this)->U; }
- const D_t & Dinv() const { return static_cast<const JointData*>(this)->Dinv; }
- const UD_t & UDinv() const { return static_cast<const JointData*>(this)->UDinv; }
+ const U_t & U() const { return static_cast<const JointDataDerived*>(this)->U; }
+ U_t & U() { return static_cast<JointDataDerived*>(this)->U; }
+ const D_t & Dinv() const { return static_cast<const JointDataDerived*>(this)->Dinv; }
+ const UD_t & UDinv() const { return static_cast<const JointDataDerived*>(this)->UDinv; }
- JointDataDense<NQ, NV> toDense() const { return static_cast<const JointData*>(this)->toDense_impl(); }
+ JointDataDense<NQ, NV> toDense() const { return static_cast<const JointDataDerived*>(this)->toDense_impl(); }
}; // struct JointDataBase
@@ -233,25 +233,25 @@ namespace se3
{
typedef _JointModel Derived;
typedef JointModelBase<_JointModel> Base;
- typedef typename traits<_JointModel>::Joint Joint;
+ typedef typename traits<_JointModel>::JointDerived JointDerived;
SE3_JOINT_TYPEDEF_TEMPLATE;
- JointModel& derived() { return *static_cast<Derived*>(this); }
- const JointModel& derived() const { return *static_cast<const Derived*>(this); }
+ JointModelDerived& derived() { return *static_cast<Derived*>(this); }
+ const JointModelDerived& derived() const { return *static_cast<const Derived*>(this); }
- JointData createData() const { return derived().createData(); }
+ JointDataDerived createData() const { return derived().createData(); }
- void calc(JointData& data,
+ void calc(JointDataDerived& data,
const Eigen::VectorXd & qs ) const
{ derived().calc(data,qs); }
- void calc(JointData& data,
+ void calc(JointDataDerived& data,
const Eigen::VectorXd & qs,
const Eigen::VectorXd & vs ) const
{ derived().calc(data,qs,vs); }
- void calc_aba(JointData & data,
+ void calc_aba(JointDataDerived & data,
Inertia::Matrix6 & I,
const bool update_I = false) const
{ derived().calc_aba(data, I, update_I); }
diff --git a/src/multibody/joint/joint-basic-visitors.hxx b/src/multibody/joint/joint-basic-visitors.hxx
index 27741f1f16d1e173091d07110981807eb5ca15d7..fe490d7cee75df105802fc91359bfa2058654bed 100644
--- a/src/multibody/joint/joint-basic-visitors.hxx
+++ b/src/multibody/joint/joint-basic-visitors.hxx
@@ -59,7 +59,7 @@ namespace se3
template<typename JointModel>
static void algo(const se3::JointModelBase<JointModel> & jmodel,
- se3::JointDataBase<typename JointModel::JointData> & jdata,
+ se3::JointDataBase<typename JointModel::JointDataDerived> & jdata,
const Eigen::VectorXd & q
)
{
@@ -85,7 +85,7 @@ namespace se3
template<typename JointModel>
static void algo(const se3::JointModelBase<JointModel> & jmodel,
- se3::JointDataBase<typename JointModel::JointData> & jdata,
+ se3::JointDataBase<typename JointModel::JointDataDerived> & jdata,
const Eigen::VectorXd & q,
const Eigen::VectorXd & v
)
@@ -113,7 +113,7 @@ namespace se3
template<typename JointModel>
static void algo(const se3::JointModelBase<JointModel> & jmodel,
- se3::JointDataBase<typename JointModel::JointData> & jdata,
+ se3::JointDataBase<typename JointModel::JointDataDerived> & jdata,
Inertia::Matrix6 & I,
const bool update_I
)
diff --git a/src/multibody/joint/joint-dense.hpp b/src/multibody/joint/joint-dense.hpp
index 41a7bee2acc850302f5d7f938b1d1ce9062c9e8d..cc53c0070b672c78f425fa191e9c0f8852af25f2 100644
--- a/src/multibody/joint/joint-dense.hpp
+++ b/src/multibody/joint/joint-dense.hpp
@@ -30,8 +30,8 @@ namespace se3
NQ = _NQ, // pb
NV = _NV
};
- typedef JointDataDense<_NQ, _NV> JointData;
- typedef JointModelDense<_NQ, _NV> JointModel;
+ typedef JointDataDense<_NQ, _NV> JointDataDerived;
+ typedef JointModelDense<_NQ, _NV> JointModelDerived;
typedef ConstraintXd Constraint_t;
typedef SE3 Transformation_t;
typedef Motion Motion_t;
@@ -47,13 +47,13 @@ namespace se3
typedef Eigen::Matrix<double,NV,1> TangentVector_t;
};
- template<int _NQ, int _NV> struct traits< JointDataDense<_NQ, _NV > > { typedef JointDense<_NQ,_NV > Joint; };
- template<int _NQ, int _NV> struct traits< JointModelDense<_NQ, _NV > > { typedef JointDense<_NQ,_NV > Joint; };
+ template<int _NQ, int _NV> struct traits< JointDataDense<_NQ, _NV > > { typedef JointDense<_NQ,_NV > JointDerived; };
+ template<int _NQ, int _NV> struct traits< JointModelDense<_NQ, _NV > > { typedef JointDense<_NQ,_NV > JointDerived; };
template <int _NQ, int _NV>
struct JointDataDense : public JointDataBase< JointDataDense<_NQ, _NV > >
{
- typedef JointDense<_NQ, _NV > Joint;
+ typedef JointDense<_NQ, _NV > JointDerived;
typedef JointDataBase< JointDataDense<_NQ,_NV> > Base;
typedef JointDataDense<_NQ,_NV> Derived;
SE3_JOINT_TYPEDEF_TEMPLATE;
@@ -109,7 +109,7 @@ namespace se3
template <int _NQ, int _NV>
struct JointModelDense : public JointModelBase< JointModelDense<_NQ, _NV > >
{
- typedef JointDense<_NQ, _NV > Joint;
+ typedef JointDense<_NQ, _NV > JointDerived;
typedef JointModelBase<JointModelDense<_NQ, _NV > > Base;
SE3_JOINT_TYPEDEF_TEMPLATE;
@@ -123,25 +123,25 @@ namespace se3
int nv_dyn,nq_dyn;
- JointData createData() const
+ JointDataDerived createData() const
{
//assert(false && "JointModelDense is read-only, should not createData");
- return JointData();
+ return JointDataDerived();
}
- void calc(JointData &,
+ void calc(JointDataDerived &,
const Eigen::VectorXd &) const
{
assert(false && "JointModelDense is read-only, should not perform any calc");
}
- void calc(JointData &,
+ void calc(JointDataDerived &,
const Eigen::VectorXd &,
const Eigen::VectorXd &) const
{
assert(false && "JointModelDense is read-only, should not perform any calc");
}
- void calc_aba(JointData &,
+ void calc_aba(JointDataDerived &,
Inertia::Matrix6 &,
const bool) const
{
diff --git a/src/multibody/joint/joint-free-flyer.hpp b/src/multibody/joint/joint-free-flyer.hpp
index a405f2ffdf91365bd8dbb4234204e28427002bbd..69c4b8d0f2ea804d3ba4d28cddedb4b74112e793 100644
--- a/src/multibody/joint/joint-free-flyer.hpp
+++ b/src/multibody/joint/joint-free-flyer.hpp
@@ -142,8 +142,8 @@ namespace se3
NQ = 7,
NV = 6
};
- typedef JointDataFreeFlyer JointData;
- typedef JointModelFreeFlyer JointModel;
+ typedef JointDataFreeFlyer JointDataDerived;
+ typedef JointModelFreeFlyer JointModelDerived;
typedef ConstraintIdentity Constraint_t;
typedef SE3 Transformation_t;
typedef Motion Motion_t;
@@ -158,12 +158,12 @@ namespace se3
typedef Eigen::Matrix<double,NQ,1> ConfigVector_t;
typedef Eigen::Matrix<double,NV,1> TangentVector_t;
};
- template<> struct traits<JointDataFreeFlyer> { typedef JointFreeFlyer Joint; };
- template<> struct traits<JointModelFreeFlyer> { typedef JointFreeFlyer Joint; };
+ template<> struct traits<JointDataFreeFlyer> { typedef JointFreeFlyer JointDerived; };
+ template<> struct traits<JointModelFreeFlyer> { typedef JointFreeFlyer JointDerived; };
struct JointDataFreeFlyer : public JointDataBase<JointDataFreeFlyer>
{
- typedef JointFreeFlyer Joint;
+ typedef JointFreeFlyer JointDerived;
SE3_JOINT_TYPEDEF;
typedef Eigen::Matrix<double,6,6> Matrix6;
@@ -192,7 +192,7 @@ namespace se3
struct JointModelFreeFlyer : public JointModelBase<JointModelFreeFlyer>
{
- typedef JointFreeFlyer Joint;
+ typedef JointFreeFlyer JointDerived;
SE3_JOINT_TYPEDEF;
using JointModelBase<JointModelFreeFlyer>::id;
@@ -202,8 +202,8 @@ namespace se3
typedef Motion::Vector3 Vector3;
typedef double Scalar_t;
- JointData createData() const { return JointData(); }
- void calc(JointData & data,
+ JointDataDerived createData() const { return JointDataDerived(); }
+ void calc(JointDataDerived & data,
const Eigen::VectorXd & qs) const
{
typedef Eigen::Map<const Motion_t::Quaternion_t> ConstQuaternionMap_t;
@@ -215,7 +215,7 @@ namespace se3
data.M.translation (q.head<3>());
}
- void calc(JointData & data,
+ void calc(JointDataDerived & data,
const Eigen::VectorXd & qs,
const Eigen::VectorXd & vs ) const
{
@@ -230,7 +230,7 @@ namespace se3
data.M.translation (q.head<3>());
}
- void calc_aba(JointData & data, Inertia::Matrix6 & I, const bool update_I) const
+ void calc_aba(JointDataDerived & data, Inertia::Matrix6 & I, const bool update_I) const
{
data.U = I;
data.Dinv = I.inverse();
diff --git a/src/multibody/joint/joint-generic.hpp b/src/multibody/joint/joint-generic.hpp
index ea5d647e58e4070e2af90e50a1ba9ca792212218..1278cf05333f2bc33666b5722f8a7a62dfc20668 100644
--- a/src/multibody/joint/joint-generic.hpp
+++ b/src/multibody/joint/joint-generic.hpp
@@ -44,12 +44,12 @@ namespace se3
NV = -1
};
};
- template<> struct traits<JointDataGeneric> { typedef JointGeneric Joint; };
- template<> struct traits<JointModelGeneric> { typedef JointGeneric Joint; };
+ template<> struct traits<JointDataGeneric> { typedef JointGeneric JointDerived; };
+ template<> struct traits<JointModelGeneric> { typedef JointGeneric JointDerived; };
struct JointDataGeneric : public JointDataBase<JointDataGeneric>
{
- typedef JointGeneric Joint;
+ typedef JointGeneric JointDerived;
SE3_JOINT_TYPEDEF;
Constraint_t S;
@@ -63,7 +63,7 @@ namespace se3
struct JointModelGeneric : public JointModelBase<JointModelGeneric>
{
- typedef JointGeneric Joint;
+ typedef JointGeneric JointDerived;
SE3_JOINT_TYPEDEF;
SE3_JOINT_USE_INDEXES;
diff --git a/src/multibody/joint/joint-planar.hpp b/src/multibody/joint/joint-planar.hpp
index 9b7667750d30f018ec2b5b3fc78919ade967e378..a7835c05d33aee34504fde485e8331f4d1ad8974 100644
--- a/src/multibody/joint/joint-planar.hpp
+++ b/src/multibody/joint/joint-planar.hpp
@@ -273,8 +273,8 @@ namespace se3
NQ = 3,
NV = 3
};
- typedef JointDataPlanar JointData;
- typedef JointModelPlanar JointModel;
+ typedef JointDataPlanar JointDataDerived;
+ typedef JointModelPlanar JointModelDerived;
typedef ConstraintPlanar Constraint_t;
typedef SE3 Transformation_t;
typedef MotionPlanar Motion_t;
@@ -289,12 +289,12 @@ namespace se3
typedef Eigen::Matrix<double,NQ,1> ConfigVector_t;
typedef Eigen::Matrix<double,NV,1> TangentVector_t;
};
- template<> struct traits<JointDataPlanar> { typedef JointPlanar Joint; };
- template<> struct traits<JointModelPlanar> { typedef JointPlanar Joint; };
+ template<> struct traits<JointDataPlanar> { typedef JointPlanar JointDerived; };
+ template<> struct traits<JointModelPlanar> { typedef JointPlanar JointDerived; };
struct JointDataPlanar : public JointDataBase<JointDataPlanar>
{
- typedef JointPlanar Joint;
+ typedef JointPlanar JointDerived;
SE3_JOINT_TYPEDEF;
Constraint_t S;
@@ -319,7 +319,7 @@ namespace se3
struct JointModelPlanar : public JointModelBase<JointModelPlanar>
{
- typedef JointPlanar Joint;
+ typedef JointPlanar JointDerived;
SE3_JOINT_TYPEDEF;
using JointModelBase<JointModelPlanar>::id;
@@ -327,9 +327,9 @@ namespace se3
using JointModelBase<JointModelPlanar>::idx_v;
using JointModelBase<JointModelPlanar>::setIndexes;
- JointData createData() const { return JointData(); }
+ JointDataDerived createData() const { return JointDataDerived(); }
- void calc (JointData & data,
+ void calc (JointDataDerived & data,
const Eigen::VectorXd & qs) const
{
Eigen::VectorXd::ConstFixedSegmentReturnType<NQ>::Type & q = qs.segment<NQ>(idx_q ());
@@ -341,7 +341,7 @@ namespace se3
}
- void calc (JointData & data,
+ void calc (JointDataDerived & data,
const Eigen::VectorXd & qs,
const Eigen::VectorXd & vs ) const
{
@@ -358,7 +358,7 @@ namespace se3
data.v.theta_dot_ = q_dot(2);
}
- void calc_aba(JointData & data, Inertia::Matrix6 & I, const bool update_I) const
+ void calc_aba(JointDataDerived & data, Inertia::Matrix6 & I, const bool update_I) const
{
data.U.leftCols<2> () = I.leftCols<2> ();
data.U.rightCols<1> () = I.rightCols<1> ();
diff --git a/src/multibody/joint/joint-prismatic-unaligned.hpp b/src/multibody/joint/joint-prismatic-unaligned.hpp
index af68a5f533146cac30ef17418e7f3c89a9f68950..45f7cb5c9c559ce2cf8cf0a63f76d382185ed84f 100644
--- a/src/multibody/joint/joint-prismatic-unaligned.hpp
+++ b/src/multibody/joint/joint-prismatic-unaligned.hpp
@@ -252,8 +252,8 @@ namespace se3
NQ = 1,
NV = 1
};
- typedef JointDataPrismaticUnaligned JointData;
- typedef JointModelPrismaticUnaligned JointModel;
+ typedef JointDataPrismaticUnaligned JointDataDerived;
+ typedef JointModelPrismaticUnaligned JointModelDerived;
typedef ConstraintPrismaticUnaligned Constraint_t;
typedef SE3 Transformation_t;
typedef MotionPrismaticUnaligned Motion_t;
@@ -269,12 +269,12 @@ namespace se3
typedef Eigen::Matrix<double,NV,1> TangentVector_t;
};
- template<> struct traits<JointDataPrismaticUnaligned> { typedef JointPrismaticUnaligned Joint; };
- template<> struct traits<JointModelPrismaticUnaligned> { typedef JointPrismaticUnaligned Joint; };
+ template<> struct traits<JointDataPrismaticUnaligned> { typedef JointPrismaticUnaligned JointDerived; };
+ template<> struct traits<JointModelPrismaticUnaligned> { typedef JointPrismaticUnaligned JointDerived; };
struct JointDataPrismaticUnaligned : public JointDataBase <JointDataPrismaticUnaligned>
{
- typedef JointPrismaticUnaligned Joint;
+ typedef JointPrismaticUnaligned JointDerived;
SE3_JOINT_TYPEDEF;
Transformation_t M;
@@ -311,7 +311,7 @@ namespace se3
struct JointModelPrismaticUnaligned : public JointModelBase <JointModelPrismaticUnaligned>
{
- typedef JointPrismaticUnaligned Joint;
+ typedef JointPrismaticUnaligned JointDerived;
SE3_JOINT_TYPEDEF;
using JointModelBase<JointModelPrismaticUnaligned>::id;
@@ -334,9 +334,9 @@ namespace se3
assert(axis.isUnitary() && "Translation axis is not unitary");
}
- JointData createData() const { return JointData(axis); }
+ JointDataDerived createData() const { return JointDataDerived(axis); }
- void calc(JointData & data, const Eigen::VectorXd & qs) const
+ void calc(JointDataDerived & data, const Eigen::VectorXd & qs) const
{
const double & q = qs[idx_q()];
@@ -346,7 +346,7 @@ namespace se3
data.M.translation() = data.S.axis * q;
}
- void calc(JointData & data,
+ void calc(JointDataDerived & data,
const Eigen::VectorXd & qs,
const Eigen::VectorXd & vs) const
{
@@ -360,7 +360,7 @@ namespace se3
data.v.v = v;
}
- void calc_aba(JointData & data, Inertia::Matrix6 & I, const bool update_I) const
+ void calc_aba(JointDataDerived & data, Inertia::Matrix6 & I, const bool update_I) const
{
data.U = I.block<6,3> (0,Inertia::LINEAR) * data.S.axis;
data.Dinv[0] = 1./data.S.axis.dot(data.U.segment <3> (Inertia::LINEAR));
diff --git a/src/multibody/joint/joint-prismatic.hpp b/src/multibody/joint/joint-prismatic.hpp
index 4f85a698b7810911feafe76343ed426774446fb8..f6e1ee47eb9caa64a01f6c2202919ef5ced7c39d 100644
--- a/src/multibody/joint/joint-prismatic.hpp
+++ b/src/multibody/joint/joint-prismatic.hpp
@@ -337,8 +337,8 @@ namespace se3
NQ = 1,
NV = 1
};
- typedef JointDataPrismatic<axis> JointData;
- typedef JointModelPrismatic<axis> JointModel;
+ typedef JointDataPrismatic<axis> JointDataDerived;
+ typedef JointModelPrismatic<axis> JointModelDerived;
typedef ConstraintPrismatic<axis> Constraint_t;
typedef SE3 Transformation_t;
typedef MotionPrismatic<axis> Motion_t;
@@ -354,13 +354,13 @@ namespace se3
typedef Eigen::Matrix<double,NV,1> TangentVector_t;
};
- template<int axis> struct traits< JointDataPrismatic<axis> > { typedef JointPrismatic<axis> Joint; };
- template<int axis> struct traits< JointModelPrismatic<axis> > { typedef JointPrismatic<axis> Joint; };
+ template<int axis> struct traits< JointDataPrismatic<axis> > { typedef JointPrismatic<axis> JointDerived; };
+ template<int axis> struct traits< JointModelPrismatic<axis> > { typedef JointPrismatic<axis> JointDerived; };
template<int axis>
struct JointDataPrismatic : public JointDataBase< JointDataPrismatic<axis> >
{
- typedef JointPrismatic<axis> Joint;
+ typedef JointPrismatic<axis> JointDerived;
SE3_JOINT_TYPEDEF_TEMPLATE;
Constraint_t S;
@@ -388,7 +388,7 @@ namespace se3
template<int axis>
struct JointModelPrismatic : public JointModelBase< JointModelPrismatic<axis> >
{
- typedef JointPrismatic<axis> Joint;
+ typedef JointPrismatic<axis> JointDerived;
SE3_JOINT_TYPEDEF_TEMPLATE;
using JointModelBase<JointModelPrismatic>::id;
@@ -398,15 +398,15 @@ namespace se3
typedef Motion::Vector3 Vector3;
typedef double Scalar_t;
- JointData createData() const { return JointData(); }
- void calc( JointData& data,
+ JointDataDerived createData() const { return JointDataDerived(); }
+ void calc( JointDataDerived& data,
const Eigen::VectorXd & qs ) const
{
const double & q = qs[idx_q()];
data.M.translation(JointPrismatic<axis>::cartesianTranslation(q));
}
- void calc( JointData& data,
+ void calc( JointDataDerived& data,
const Eigen::VectorXd & qs,
const Eigen::VectorXd & vs ) const
{
@@ -417,7 +417,7 @@ namespace se3
data.v.v = v;
}
- void calc_aba(JointData & data, Inertia::Matrix6 & I, const bool update_I) const
+ void calc_aba(JointDataDerived & data, Inertia::Matrix6 & I, const bool update_I) const
{
data.U = I.col(Inertia::LINEAR + axis);
data.Dinv[0] = 1./I(Inertia::LINEAR + axis, Inertia::LINEAR + axis);
diff --git a/src/multibody/joint/joint-revolute-unaligned.hpp b/src/multibody/joint/joint-revolute-unaligned.hpp
index 747a55dd04addd7a5492cfb3930d67e595b3dcb9..808323bade45ad98fd3e410f7cefa020d0ca2a3d 100644
--- a/src/multibody/joint/joint-revolute-unaligned.hpp
+++ b/src/multibody/joint/joint-revolute-unaligned.hpp
@@ -257,8 +257,8 @@ namespace se3
NV = 1
};
- typedef JointDataRevoluteUnaligned JointData;
- typedef JointModelRevoluteUnaligned JointModel;
+ typedef JointDataRevoluteUnaligned JointDataDerived;
+ typedef JointModelRevoluteUnaligned JointModelDerived;
typedef ConstraintRevoluteUnaligned Constraint_t;
typedef SE3 Transformation_t;
typedef MotionRevoluteUnaligned Motion_t;
@@ -275,12 +275,12 @@ namespace se3
};
- template<> struct traits<JointDataRevoluteUnaligned> { typedef JointRevoluteUnaligned Joint; };
- template<> struct traits<JointModelRevoluteUnaligned> { typedef JointRevoluteUnaligned Joint; };
+ template<> struct traits<JointDataRevoluteUnaligned> { typedef JointRevoluteUnaligned JointDerived; };
+ template<> struct traits<JointModelRevoluteUnaligned> { typedef JointRevoluteUnaligned JointDerived; };
struct JointDataRevoluteUnaligned : public JointDataBase< JointDataRevoluteUnaligned >
{
- typedef JointRevoluteUnaligned Joint;
+ typedef JointRevoluteUnaligned JointDerived;
SE3_JOINT_TYPEDEF;
Transformation_t M;
@@ -316,7 +316,7 @@ namespace se3
struct JointModelRevoluteUnaligned : public JointModelBase< JointModelRevoluteUnaligned >
{
- typedef JointRevoluteUnaligned Joint;
+ typedef JointRevoluteUnaligned JointDerived;
SE3_JOINT_TYPEDEF;
using JointModelBase<JointModelRevoluteUnaligned>::id;
@@ -338,8 +338,8 @@ namespace se3
assert(axis.isUnitary() && "Rotation axis is not unitary");
}
- JointData createData() const { return JointData(axis); }
- void calc( JointData& data,
+ JointDataDerived createData() const { return JointDataDerived(axis); }
+ void calc( JointDataDerived& data,
const Eigen::VectorXd & qs ) const
{
const double & q = qs[idx_q()];
@@ -351,7 +351,7 @@ namespace se3
data.M.rotation(data.angleaxis.toRotationMatrix());
}
- void calc( JointData& data,
+ void calc( JointDataDerived& data,
const Eigen::VectorXd & qs,
const Eigen::VectorXd & vs ) const
{
@@ -366,7 +366,7 @@ namespace se3
data.v.w = v;
}
- void calc_aba(JointData & data, Inertia::Matrix6 & I, const bool update_I) const
+ void calc_aba(JointDataDerived & data, Inertia::Matrix6 & I, const bool update_I) const
{
data.U = I.block<6,3> (0,Inertia::ANGULAR) * data.angleaxis.axis();
data.Dinv[0] = 1./data.angleaxis.axis().dot(data.U.segment <3> (Inertia::ANGULAR));
diff --git a/src/multibody/joint/joint-revolute.hpp b/src/multibody/joint/joint-revolute.hpp
index 8fae95fced4e922d5838a6aeb71f0d36163670f7..52a216e68b627093ed2132a542a13ccd4c8b85b8 100644
--- a/src/multibody/joint/joint-revolute.hpp
+++ b/src/multibody/joint/joint-revolute.hpp
@@ -373,8 +373,8 @@ namespace se3
NV = 1
};
- typedef JointDataRevolute<axis> JointData;
- typedef JointModelRevolute<axis> JointModel;
+ typedef JointDataRevolute<axis> JointDataDerived;
+ typedef JointModelRevolute<axis> JointModelDerived;
typedef ConstraintRevolute<axis> Constraint_t;
typedef SE3 Transformation_t;
typedef MotionRevolute<axis> Motion_t;
@@ -390,13 +390,13 @@ namespace se3
typedef Eigen::Matrix<double,NV,1> TangentVector_t;
};
- template<int axis> struct traits< JointDataRevolute<axis> > { typedef JointRevolute<axis> Joint; };
- template<int axis> struct traits< JointModelRevolute<axis> > { typedef JointRevolute<axis> Joint; };
+ template<int axis> struct traits< JointDataRevolute<axis> > { typedef JointRevolute<axis> JointDerived; };
+ template<int axis> struct traits< JointModelRevolute<axis> > { typedef JointRevolute<axis> JointDerived; };
template<int axis>
struct JointDataRevolute : public JointDataBase< JointDataRevolute<axis> >
{
- typedef JointRevolute<axis> Joint;
+ typedef JointRevolute<axis> JointDerived;
SE3_JOINT_TYPEDEF_TEMPLATE;
Constraint_t S;
@@ -422,7 +422,7 @@ namespace se3
template<int axis>
struct JointModelRevolute : public JointModelBase< JointModelRevolute<axis> >
{
- typedef JointRevolute<axis> Joint;
+ typedef JointRevolute<axis> JointDerived;
SE3_JOINT_TYPEDEF_TEMPLATE;
using JointModelBase<JointModelRevolute>::id;
@@ -432,15 +432,15 @@ namespace se3
typedef Motion::Vector3 Vector3;
typedef double Scalar_t;
- JointData createData() const { return JointData(); }
- void calc( JointData& data,
+ JointDataDerived createData() const { return JointDataDerived(); }
+ void calc( JointDataDerived& data,
const Eigen::VectorXd & qs ) const
{
const double & q = qs[idx_q()];
data.M.rotation(JointRevolute<axis>::cartesianRotation(q));
}
- void calc( JointData& data,
+ void calc( JointDataDerived& data,
const Eigen::VectorXd & qs,
const Eigen::VectorXd & vs ) const
{
@@ -451,7 +451,7 @@ namespace se3
data.v.w = v;
}
- void calc_aba(JointData & data, Inertia::Matrix6 & I, const bool update_I) const
+ void calc_aba(JointDataDerived & data, Inertia::Matrix6 & I, const bool update_I) const
{
data.U = I.col(Inertia::ANGULAR + axis);
data.Dinv[0] = 1./I(Inertia::ANGULAR + axis,Inertia::ANGULAR + axis);
diff --git a/src/multibody/joint/joint-spherical-ZYX.hpp b/src/multibody/joint/joint-spherical-ZYX.hpp
index 46fc7eb313c6504078216b01f80c8fbe103e3a1d..e57ca6db051ad13e9c6036beaebba36abccbce68 100644
--- a/src/multibody/joint/joint-spherical-ZYX.hpp
+++ b/src/multibody/joint/joint-spherical-ZYX.hpp
@@ -269,8 +269,8 @@ namespace se3
NQ = 3,
NV = 3
};
- typedef JointDataSphericalZYX JointData;
- typedef JointModelSphericalZYX JointModel;
+ typedef JointDataSphericalZYX JointDataDerived;
+ typedef JointModelSphericalZYX JointModelDerived;
typedef JointSphericalZYX::ConstraintRotationalSubspace Constraint_t;
typedef SE3 Transformation_t;
typedef JointSphericalZYX::MotionSpherical Motion_t;
@@ -285,12 +285,12 @@ namespace se3
typedef Eigen::Matrix<double,NQ,1> ConfigVector_t;
typedef Eigen::Matrix<double,NV,1> TangentVector_t;
};
- template<> struct traits<JointDataSphericalZYX> { typedef JointSphericalZYX Joint; };
- template<> struct traits<JointModelSphericalZYX> { typedef JointSphericalZYX Joint; };
+ template<> struct traits<JointDataSphericalZYX> { typedef JointSphericalZYX JointDerived; };
+ template<> struct traits<JointModelSphericalZYX> { typedef JointSphericalZYX JointDerived; };
struct JointDataSphericalZYX : public JointDataBase<JointDataSphericalZYX>
{
- typedef JointSphericalZYX Joint;
+ typedef JointSphericalZYX JointDerived;
SE3_JOINT_TYPEDEF;
typedef Motion::Scalar_t Scalar;
@@ -321,7 +321,7 @@ namespace se3
struct JointModelSphericalZYX : public JointModelBase<JointModelSphericalZYX>
{
- typedef JointSphericalZYX Joint;
+ typedef JointSphericalZYX JointDerived;
SE3_JOINT_TYPEDEF;
using JointModelBase<JointModelSphericalZYX>::id;
@@ -331,9 +331,9 @@ namespace se3
typedef Motion::Vector3 Vector3;
typedef double Scalar_t;
- JointData createData() const { return JointData(); }
+ JointDataDerived createData() const { return JointDataDerived(); }
- void calc (JointData & data,
+ void calc (JointDataDerived & data,
const Eigen::VectorXd & qs) const
{
Eigen::VectorXd::ConstFixedSegmentReturnType<NQ>::Type & q = qs.segment<NQ>(idx_q ());
@@ -355,7 +355,7 @@ namespace se3
data.S.matrix () << -s1, 0., 1., c1 * s2, c2, 0, c1 * c2, -s2, 0;
}
- void calc (JointData & data,
+ void calc (JointDataDerived & data,
const Eigen::VectorXd & qs,
const Eigen::VectorXd & vs ) const
{
@@ -386,7 +386,7 @@ namespace se3
data.c ()(2) = -s1 * c2 * q_dot (0) * q_dot (1) - c1 * s2 * q_dot (0) * q_dot (2) - c2 * q_dot (1) * q_dot (2);
}
- void calc_aba(JointData & data, Inertia::Matrix6 & I, const bool update_I) const
+ void calc_aba(JointDataDerived & data, Inertia::Matrix6 & I, const bool update_I) const
{
data.U = I.middleCols<3> (Inertia::ANGULAR) * data.S.matrix();
Inertia::Matrix3 tmp (data.S.matrix().transpose() * data.U.middleRows<3> (Inertia::ANGULAR));
diff --git a/src/multibody/joint/joint-spherical.hpp b/src/multibody/joint/joint-spherical.hpp
index 8fa9d98446970efefb050f126348041bc0ea2004..c3acc3fad6dcb30d4a29075057410d70a495d873 100644
--- a/src/multibody/joint/joint-spherical.hpp
+++ b/src/multibody/joint/joint-spherical.hpp
@@ -205,8 +205,8 @@ namespace se3
NQ = 4,
NV = 3
};
- typedef JointDataSpherical JointData;
- typedef JointModelSpherical JointModel;
+ typedef JointDataSpherical JointDataDerived;
+ typedef JointModelSpherical JointModelDerived;
typedef ConstraintRotationalSubspace Constraint_t;
typedef SE3 Transformation_t;
typedef MotionSpherical Motion_t;
@@ -221,12 +221,12 @@ namespace se3
typedef Eigen::Matrix<double,NQ,1> ConfigVector_t;
typedef Eigen::Matrix<double,NV,1> TangentVector_t;
};
- template<> struct traits<JointDataSpherical> { typedef JointSpherical Joint; };
- template<> struct traits<JointModelSpherical> { typedef JointSpherical Joint; };
+ template<> struct traits<JointDataSpherical> { typedef JointSpherical JointDerived; };
+ template<> struct traits<JointModelSpherical> { typedef JointSpherical JointDerived; };
struct JointDataSpherical : public JointDataBase<JointDataSpherical>
{
- typedef JointSpherical Joint;
+ typedef JointSpherical JointDerived;
SE3_JOINT_TYPEDEF;
typedef Eigen::Matrix<double,6,6> Matrix6;
@@ -255,7 +255,7 @@ namespace se3
struct JointModelSpherical : public JointModelBase<JointModelSpherical>
{
- typedef JointSpherical Joint;
+ typedef JointSpherical JointDerived;
SE3_JOINT_TYPEDEF;
using JointModelBase<JointModelSpherical>::id;
@@ -265,9 +265,9 @@ namespace se3
typedef Motion::Vector3 Vector3;
typedef double Scalar_t;
- JointData createData() const { return JointData(); }
+ JointDataDerived createData() const { return JointDataDerived(); }
- void calc (JointData & data,
+ void calc (JointDataDerived & data,
const Eigen::VectorXd & qs) const
{
typedef Eigen::Map<const Motion_t::Quaternion_t> ConstQuaternionMap_t;
@@ -278,7 +278,7 @@ namespace se3
data.M.rotation (quat.matrix());
}
- void calc (JointData & data,
+ void calc (JointDataDerived & data,
const Eigen::VectorXd & qs,
const Eigen::VectorXd & vs ) const
{
@@ -291,7 +291,7 @@ namespace se3
data.M.rotation (quat.matrix ());
}
- void calc_aba(JointData & data, Inertia::Matrix6 & I, const bool update_I) const
+ void calc_aba(JointDataDerived & data, Inertia::Matrix6 & I, const bool update_I) const
{
data.U = I.block<6,3> (0,Inertia::ANGULAR);
data.Dinv = I.block<3,3> (Inertia::ANGULAR,Inertia::ANGULAR).inverse();
diff --git a/src/multibody/joint/joint-translation.hpp b/src/multibody/joint/joint-translation.hpp
index 0d2f1f6416d233bce2a974404bbc1071be277c8a..61f0292a2bfb4a9286409c2246fe0077b3fd981a 100644
--- a/src/multibody/joint/joint-translation.hpp
+++ b/src/multibody/joint/joint-translation.hpp
@@ -219,8 +219,8 @@ namespace se3
NQ = 3,
NV = 3
};
- typedef JointDataTranslation JointData;
- typedef JointModelTranslation JointModel;
+ typedef JointDataTranslation JointDataDerived;
+ typedef JointModelTranslation JointModelDerived;
typedef ConstraintTranslationSubspace Constraint_t;
typedef SE3 Transformation_t;
typedef MotionTranslation Motion_t;
@@ -236,12 +236,12 @@ namespace se3
typedef Eigen::Matrix<double,NV,1> TangentVector_t;
}; // traits JointTranslation
- template<> struct traits<JointDataTranslation> { typedef JointTranslation Joint; };
- template<> struct traits<JointModelTranslation> { typedef JointTranslation Joint; };
+ template<> struct traits<JointDataTranslation> { typedef JointTranslation JointDerived; };
+ template<> struct traits<JointModelTranslation> { typedef JointTranslation JointDerived; };
struct JointDataTranslation : public JointDataBase<JointDataTranslation>
{
- typedef JointTranslation Joint;
+ typedef JointTranslation JointDerived;
SE3_JOINT_TYPEDEF;
typedef Eigen::Matrix<double,6,6> Matrix6;
@@ -270,7 +270,7 @@ namespace se3
struct JointModelTranslation : public JointModelBase<JointModelTranslation>
{
- typedef JointTranslation Joint;
+ typedef JointTranslation JointDerived;
SE3_JOINT_TYPEDEF;
using JointModelBase<JointModelTranslation>::id;
@@ -280,14 +280,14 @@ namespace se3
typedef Motion::Vector3 Vector3;
typedef double Scalar_t;
- JointData createData() const { return JointData(); }
+ JointDataDerived createData() const { return JointDataDerived(); }
- void calc (JointData & data,
+ void calc (JointDataDerived & data,
const Eigen::VectorXd & qs) const
{
data.M.translation (qs.segment<NQ>(idx_q ()));
}
- void calc (JointData & data,
+ void calc (JointDataDerived & data,
const Eigen::VectorXd & qs,
const Eigen::VectorXd & vs ) const
{
@@ -295,7 +295,7 @@ namespace se3
data.v () = vs.segment<NQ> (idx_v ());
}
- void calc_aba(JointData & data, Inertia::Matrix6 & I, const bool update_I) const
+ void calc_aba(JointDataDerived & data, Inertia::Matrix6 & I, const bool update_I) const
{
data.U = I.block<6,3> (0,Inertia::LINEAR);
data.Dinv = I.block<3,3> (Inertia::LINEAR,Inertia::LINEAR).inverse();
diff --git a/src/multibody/joint/joint-variant.hpp b/src/multibody/joint/joint-variant.hpp
index 9b0c22cb50804c38fe0c9401857b7d16e1507980..fc6b303e0f0f143bd34cac51899f724cbbabbf07 100644
--- a/src/multibody/joint/joint-variant.hpp
+++ b/src/multibody/joint/joint-variant.hpp
@@ -18,17 +18,30 @@
#ifndef __se3_joint_variant_hpp__
#define __se3_joint_variant_hpp__
-#include "pinocchio/multibody/joint.hpp"
+#include "pinocchio/multibody/joint/joint-base.hpp"
+#include "pinocchio/multibody/joint/joint-dense.hpp"
+#include "pinocchio/multibody/joint/joint-free-flyer.hpp"
+#include "pinocchio/multibody/joint/joint-planar.hpp"
+#include "pinocchio/multibody/joint/joint-prismatic.hpp"
+#include "pinocchio/multibody/joint/joint-prismatic-unaligned.hpp"
+#include "pinocchio/multibody/joint/joint-revolute-unaligned.hpp"
+#include "pinocchio/multibody/joint/joint-revolute.hpp"
+#include "pinocchio/multibody/joint/joint-spherical-ZYX.hpp"
+#include "pinocchio/multibody/joint/joint-spherical.hpp"
+#include "pinocchio/multibody/joint/joint-translation.hpp"
+
#include <Eigen/StdVector>
#include <boost/variant.hpp>
namespace se3
{
+ enum { MAX_JOINT_NV = 6 };
+
typedef boost::variant< JointModelRX, JointModelRY, JointModelRZ, JointModelRevoluteUnaligned, JointModelSpherical, JointModelSphericalZYX, JointModelPX, JointModelPY, JointModelPZ, JointModelPrismaticUnaligned, JointModelFreeFlyer, JointModelPlanar, JointModelTranslation, JointModelDense<-1,-1> > JointModelVariant;
typedef boost::variant< JointDataRX, JointDataRY, JointDataRZ, JointDataRevoluteUnaligned, JointDataSpherical, JointDataSphericalZYX, JointDataPX, JointDataPY, JointDataPZ, JointDataPrismaticUnaligned, JointDataFreeFlyer, JointDataPlanar, JointDataTranslation, JointDataDense<-1,-1> > JointDataVariant;
- typedef std::vector<JointModelVariant> JointModelVector;
- typedef std::vector<JointDataVariant> JointDataVector;
+ typedef std::vector<JointModelVariant> JointModelVariantVector;
+ typedef std::vector<JointDataVariant> JointDataVariantVector;
} // namespace se3
diff --git a/src/multibody/joint/joint-accessor.hpp b/src/multibody/joint/joint.hpp
similarity index 77%
rename from src/multibody/joint/joint-accessor.hpp
rename to src/multibody/joint/joint.hpp
index ebde21386fbaa29577d7a8c9f120aee589b2d933..43a49eedd3f6acd419c59fbe71e2c7497cdaf439 100644
--- a/src/multibody/joint/joint-accessor.hpp
+++ b/src/multibody/joint/joint.hpp
@@ -15,8 +15,8 @@
// Pinocchio If not, see
// <http://www.gnu.org/licenses/>.
-#ifndef __se3_joint_accessor_hpp__
-#define __se3_joint_accessor_hpp__
+#ifndef __se3_joint_model_hpp__
+#define __se3_joint_model_hpp__
#include "pinocchio/assert.hpp"
#include "pinocchio/multibody/joint/joint-variant.hpp"
@@ -25,20 +25,20 @@
namespace se3
{
- struct JointAccessor;
- struct JointModelAccessor;
- struct JointDataAccessor;
+ struct Joint;
+ struct JointModel;
+ struct JointData;
template<>
- struct traits<JointAccessor>
+ struct traits<Joint>
{
enum {
NQ = -1, // Dynamic because unknown at compilation
NV = -1
};
- typedef JointDataAccessor JointData;
- typedef JointModelAccessor JointModel;
+ typedef JointData JointDataDerived;
+ typedef JointModel JointModelDerived;
typedef ConstraintXd Constraint_t;
typedef SE3 Transformation_t;
typedef Motion Motion_t;
@@ -53,14 +53,14 @@ namespace se3
typedef Eigen::Matrix<double,Eigen::Dynamic,1> ConfigVector_t;
typedef Eigen::Matrix<double,Eigen::Dynamic,1> TangentVector_t;
};
- template<> struct traits<JointDataAccessor> { typedef JointAccessor Joint; };
- template<> struct traits<JointModelAccessor> { typedef JointAccessor Joint; };
+ template<> struct traits<JointData> { typedef Joint JointDerived; };
+ template<> struct traits<JointModel> { typedef Joint JointDerived; };
- struct JointDataAccessor : public JointDataBase<JointDataAccessor> , JointDataVariant
+ struct JointData : public JointDataBase<JointData> , JointDataVariant
{
typedef JointDataVariant JointDataBoostVariant;
- typedef JointAccessor Joint;
+ typedef Joint JointDerived;
SE3_JOINT_TYPEDEF;
JointDataVariant& toVariant() { return *static_cast<JointDataVariant*>(this); }
@@ -78,20 +78,20 @@ namespace se3
const UD_t UDinv() const { return udinv_inertia(*this); }
- JointDataAccessor() : JointDataBoostVariant() {}
- JointDataAccessor(const JointDataVariant & jdata ) : JointDataBoostVariant(jdata){}
+ JointData() : JointDataBoostVariant() {}
+ JointData(const JointDataVariant & jdata ) : JointDataBoostVariant(jdata){}
};
- struct JointModelAccessor : public JointModelBase<JointModelAccessor> , JointModelVariant
+ struct JointModel : public JointModelBase<JointModel> , JointModelVariant
{
typedef JointModelVariant JointModelBoostVariant;
- typedef JointAccessor Joint;
+ typedef Joint JointDerived;
SE3_JOINT_TYPEDEF;
SE3_JOINT_USE_INDEXES;
- using JointModelBase<JointModelAccessor>::id;
- using JointModelBase<JointModelAccessor>::setIndexes;
+ using JointModelBase<JointModel>::id;
+ using JointModelBase<JointModel>::setIndexes;
JointModelVariant& toVariant() { return *static_cast<JointModelVariant*>(this); }
const JointModelVariant& toVariant() const { return *static_cast<const JointModelVariant*>(this); }
@@ -146,18 +146,18 @@ namespace se3
return ::se3::distance(*this, q0, q1);
}
- JointModelAccessor() : JointModelBoostVariant() {}
- JointModelAccessor( const JointModelVariant & model_variant ) : JointModelBoostVariant(model_variant)
+ JointModel() : JointModelBoostVariant() {}
+ JointModel( const JointModelVariant & model_variant ) : JointModelBoostVariant(model_variant)
{}
- JointModelAccessor& operator=( const JointModelAccessor& other)
+ JointModel& operator=( const JointModel& other)
{
*this = other;
return *this;
}
- JointModelAccessor& operator=( const JointModelVariant& other)
+ JointModel& operator=( const JointModelVariant& other)
{
*this = other;
return *this;
@@ -169,7 +169,7 @@ namespace se3
return false;
}
- bool operator == (const JointModelBase<JointModelAccessor> & jmodel) const
+ bool operator == (const JointModelBase<JointModel> & jmodel) const
{
return jmodel.id() == id()
&& jmodel.idx_q() == idx_q()
@@ -192,10 +192,10 @@ namespace se3
}
};
- typedef std::vector<JointDataAccessor> JointDataAccessorVector;
- typedef std::vector<JointModelAccessor> JointModelAccessorVector;
+ typedef std::vector<JointData> JointDataVector;
+ typedef std::vector<JointModel> JointModelVector;
} // namespace se3
-#endif // ifndef __se3_joint_accessor_hpp__
+#endif // ifndef __se3_joint_model_hpp__
diff --git a/src/multibody/model.hpp b/src/multibody/model.hpp
index 31c0d630b20e454b8e969f77c9f5a4534a6f0d7e..a1ef547b4201722f367705aa2890058bf52ce255 100644
--- a/src/multibody/model.hpp
+++ b/src/multibody/model.hpp
@@ -26,7 +26,7 @@
#include "pinocchio/spatial/inertia.hpp"
#include "pinocchio/multibody/fwd.hpp"
#include "pinocchio/multibody/frame.hpp"
-#include "pinocchio/multibody/joint/joint-accessor.hpp"
+#include "pinocchio/multibody/joint/joint.hpp"
#include "pinocchio/tools/string-generator.hpp"
#include <iostream>
#include <Eigen/Cholesky>
@@ -75,7 +75,7 @@ namespace se3
std::vector<SE3> jointPlacements;
/// \brief Model of joint <i>, encapsulated in a JointModelAccessor.
- JointModelAccessorVector joints;
+ JointModelVector joints;
/// \brief Joint parent of joint <i>, denoted <li> (li==parents[i]).
std::vector<JointIndex> parents;
@@ -393,7 +393,7 @@ namespace se3
const Model & model;
/// \brief Vector of se3::JointData associated to the se3::JointModel stored in model, encapsulated in JointDataAccessor.
- JointDataAccessorVector joints;
+ JointDataVector joints;
/// \brief Vector of joint accelerations.
std::vector<Motion> a;
diff --git a/src/multibody/model.hxx b/src/multibody/model.hxx
index 1373073d09d176e043ec58001eed8191cc460595..93510925818dc384d524fa56c18f097287c2951b 100644
--- a/src/multibody/model.hxx
+++ b/src/multibody/model.hxx
@@ -83,7 +83,7 @@ namespace se3
Model::JointIndex idx = (Model::JointIndex) (njoint ++);
- joints .push_back(JointModelAccessor(j.derived()));
+ joints .push_back(JointModel(j.derived()));
boost::get<D>(joints.back()).setIndexes(idx,nq,nv);
inertias .push_back(Inertia::Zero());
@@ -115,7 +115,7 @@ namespace se3
Model::JointIndex idx = (Model::JointIndex) (njoint ++);
- joints .push_back(JointModelAccessor(j.derived()));
+ joints .push_back(JointModel(j.derived()));
boost::get<D>(joints.back()).setIndexes(idx,nq,nv);
inertias .push_back(Inertia::Zero());
diff --git a/src/multibody/visitor.hpp b/src/multibody/visitor.hpp
index c7b14f23f0e45459d762da2dd77fe79b37895aae..fb768442d7f2c3c932541fbd2465a8d34f2a0a9a 100644
--- a/src/multibody/visitor.hpp
+++ b/src/multibody/visitor.hpp
@@ -54,7 +54,7 @@ namespace se3
bf::invoke(&Visitor::template algo<D>,
bf::append2(jmodel,
- boost::ref(boost::get<typename D::JointData>(jdataSpec)),
+ boost::ref(boost::get<typename D::JointDataDerived>(jdataSpec)),
static_cast<const Visitor*>(this)->args));
}
diff --git a/src/python/joint-accessor.hpp b/src/python/joint-accessor.hpp
deleted file mode 100644
index 19b2bd9875d5fd0347049b986d961a0719475a45..0000000000000000000000000000000000000000
--- a/src/python/joint-accessor.hpp
+++ /dev/null
@@ -1,102 +0,0 @@
-//
-// Copyright (c) 2015 CNRS
-//
-// This file is part of Pinocchio
-// Pinocchio is free software: you can redistribute it
-// and/or modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation, either version
-// 3 of the License, or (at your option) any later version.
-//
-// Pinocchio is distributed in the hope that it will be
-// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
-// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
-// General Lesser Public License for more details. You should have
-// received a copy of the GNU Lesser General Public License along with
-// Pinocchio If not, see
-// <http://www.gnu.org/licenses/>.
-
-#ifndef __se3_python_joint_accessor_hpp__
-#define __se3_python_joint_accessor_hpp__
-
-#include <eigenpy/exception.hpp>
-#include <eigenpy/eigenpy.hpp>
-#include "pinocchio/multibody/joint/joint-accessor.hpp"
-
-
-// namespace eigenpy
-// {
-// template<>
-// struct UnalignedEquivalentTypes<se3::JointModelAccessor>
-// {
-// typedef Eigen::Matrix<double, -1, 1, Eigen::DontAlign> MatrixNQd_fx;
-// typedef Eigen::Matrix<double, -1, 1, Eigen::DontAlign> MatrixNVd_fx;
-// };
-// } // namespace eigenpy
-
-namespace se3
-{
- namespace python
- {
- namespace bp = boost::python;
-
- struct JointModelAccessorPythonVisitor
- : public boost::python::def_visitor< JointModelAccessorPythonVisitor >
- {
- // typedef eigenpy::UnalignedEquivalentTypes<JointModelAccessor>::MatrixNQd_fx MatrixNQd_fx;
- // typedef eigenpy::UnalignedEquivalentTypes<JointModelAccessor>::MatrixNVd_fx MatrixNVd_fx;
-
- public:
-
- static PyObject* convert(JointModelAccessor const& jm)
- {
- return boost::python::incref(boost::python::object(jm).ptr());
- }
-
- template<class PyClass>
- void visit(PyClass& cl) const
- {
- cl
- .def(bp::init<>())
- // All are add_properties cause ReadOnly
- .add_property("id",&JointModelAccessorPythonVisitor::getId)
- .add_property("idx_q",&JointModelAccessorPythonVisitor::getIdx_q)
- .add_property("idx_v",&JointModelAccessorPythonVisitor::getIdx_v)
- .add_property("nq",&JointModelAccessorPythonVisitor::getNq)
- .add_property("nv",&JointModelAccessorPythonVisitor::getNv)
-
- .def("setIndexes",&JointModelAccessor::setIndexes)
- ;
- }
-
- static JointIndex getId( const JointModelAccessor & self ) { return self.id(); }
- static int getIdx_q(const JointModelAccessor & self) {return self.idx_q();}
- static int getIdx_v(const JointModelAccessor & self) {return self.idx_v();}
- static int getNq(const JointModelAccessor & self) {return self.nq();}
- static int getNv(const JointModelAccessor & self) {return self.nv();}
-
- // static void setIndexes(JointModelAccessor & self, JointIndex id,
- // int idx_q, int idx_v)
- // {
- // self.setIndexes(id, idx_q, idx_v);
- // }
-
- static void expose()
- {
- bp::class_<JointModelAccessor>("JointModelAccessor",
- "Generic Joint Model",
- bp::no_init)
- .def(bp::init<se3::JointModelVariant>())
- .def(JointModelAccessorPythonVisitor())
- ;
-
- // bp::to_python_converter< JointModelAccessor,JointModelAccessorPythonVisitor >();
- }
-
- };
-
-
-
- }} // namespace se3::python
-
-#endif // ifndef __se3_python_joint_accessor_hpp__
-
diff --git a/src/python/joint.hpp b/src/python/joint.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..55a1b76c192b380e9d121c43176ee3ea754d2c8d
--- /dev/null
+++ b/src/python/joint.hpp
@@ -0,0 +1,82 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
+#ifndef __se3_python_joint_hpp__
+#define __se3_python_joint_hpp__
+
+#include <eigenpy/exception.hpp>
+#include <eigenpy/eigenpy.hpp>
+#include "pinocchio/multibody/joint/joint.hpp"
+
+
+
+namespace se3
+{
+ namespace python
+ {
+ namespace bp = boost::python;
+
+ struct JointModelPythonVisitor
+ : public boost::python::def_visitor< JointModelPythonVisitor >
+ {
+
+ public:
+
+ static PyObject* convert(JointModel const& jm)
+ {
+ return boost::python::incref(boost::python::object(jm).ptr());
+ }
+
+ template<class PyClass>
+ void visit(PyClass& cl) const
+ {
+ cl
+ .def(bp::init<>())
+ // All are add_properties cause ReadOnly
+ .add_property("id",&JointModelPythonVisitor::getId)
+ .add_property("idx_q",&JointModelPythonVisitor::getIdx_q)
+ .add_property("idx_v",&JointModelPythonVisitor::getIdx_v)
+ .add_property("nq",&JointModelPythonVisitor::getNq)
+ .add_property("nv",&JointModelPythonVisitor::getNv)
+
+ .def("setIndexes",&JointModel::setIndexes)
+ ;
+ }
+
+ static JointIndex getId( const JointModel & self ) { return self.id(); }
+ static int getIdx_q(const JointModel & self) {return self.idx_q();}
+ static int getIdx_v(const JointModel & self) {return self.idx_v();}
+ static int getNq(const JointModel & self) {return self.nq();}
+ static int getNv(const JointModel & self) {return self.nv();}
+
+ static void expose()
+ {
+ bp::class_<JointModel>("JointModel",
+ "Generic Joint Model",
+ bp::no_init)
+ .def(bp::init<se3::JointModelVariant>())
+ .def(JointModelPythonVisitor())
+ ;
+
+ // bp::to_python_converter< JointModel,JointModelPythonVisitor >();
+ }
+
+ };
+
+}} // namespace se3::python
+
+#endif // ifndef __se3_python_joint_hpp__
diff --git a/src/python/model.hpp b/src/python/model.hpp
index cd5e8f24b97d6823611f3385bb05c1fbbc4a7a28..3fae0c002db9917fbb0f6f1e3811e129c3a76aca 100644
--- a/src/python/model.hpp
+++ b/src/python/model.hpp
@@ -155,7 +155,7 @@ namespace se3
static int nbody( ModelHandler & m ) { return m->nbody; }
static std::vector<Inertia> & inertias( ModelHandler & m ) { return m->inertias; }
static std::vector<SE3> & jointPlacements( ModelHandler & m ) { return m->jointPlacements; }
- static JointModelAccessorVector & joints( ModelHandler & m ) { return m->joints; }
+ static JointModelVector & joints( ModelHandler & m ) { return m->joints; }
static std::vector<Model::JointIndex> & parents( ModelHandler & m ) { return m->parents; }
static std::vector<std::string> & names ( ModelHandler & m ) { return m->names; }
diff --git a/src/python/python.cpp b/src/python/python.cpp
index ed62970bd6e7ccc4ab550e1cbf42438f9fa1336f..6586e0f1937397e1acdd0248207d59160284dc77 100644
--- a/src/python/python.cpp
+++ b/src/python/python.cpp
@@ -23,7 +23,7 @@
#include "pinocchio/python/inertia.hpp"
#include "pinocchio/python/joint-derived.hpp"
#include "pinocchio/python/joints-variant.hpp"
-#include "pinocchio/python/joint-accessor.hpp"
+#include "pinocchio/python/joint.hpp"
#include "pinocchio/python/frame.hpp"
#include "pinocchio/python/model.hpp"
@@ -65,9 +65,9 @@ namespace se3
void exposeJoints()
{
exposeVariants();
- JointModelAccessorPythonVisitor::expose();
- bp::class_< JointModelAccessorVector >("StdVec_JointModelAccessorVector")
- .def(bp::vector_indexing_suite< JointModelAccessorVector, true >());
+ JointModelPythonVisitor::expose();
+ bp::class_< JointModelVector >("StdVec_JointModelVector")
+ .def(bp::vector_indexing_suite< JointModelVector, true >());
}
void exposeModel()
{
diff --git a/unittest/CMakeLists.txt b/unittest/CMakeLists.txt
index a59f1d911062129a17098941e36bfe480df502aa..7435edfd3c989d919c75560ed771a326b0edf18e 100644
--- a/unittest/CMakeLists.txt
+++ b/unittest/CMakeLists.txt
@@ -99,5 +99,4 @@ ADD_UNIT_TEST(compute-all-terms eigen3)
ADD_UNIT_TEST(energy eigen3)
ADD_UNIT_TEST(frames eigen3)
ADD_UNIT_TEST(joint-configurations eigen3)
-ADD_UNIT_TEST(joint-accessor eigen3)
-
+ADD_UNIT_TEST(joint eigen3)
diff --git a/unittest/aba.cpp b/unittest/aba.cpp
index 88c1309a2b0a39eed73d827e0bf371e167205f1e..c5c60e6a97c48577a3c5af530ec85a2ca7d4f6c0 100644
--- a/unittest/aba.cpp
+++ b/unittest/aba.cpp
@@ -18,7 +18,6 @@
#include "pinocchio/spatial/fwd.hpp"
#include "pinocchio/spatial/se3.hpp"
-#include "pinocchio/multibody/joint.hpp"
#include "pinocchio/multibody/visitor.hpp"
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/algorithm/aba.hpp"
diff --git a/unittest/compute-all-terms.cpp b/unittest/compute-all-terms.cpp
index bb687809b4a2c58724a8b6b776cc3677ae88333b..6577cdbd1a1468b07d8b10313b38138623eb0dc5 100644
--- a/unittest/compute-all-terms.cpp
+++ b/unittest/compute-all-terms.cpp
@@ -24,7 +24,6 @@
#include "pinocchio/spatial/fwd.hpp"
#include "pinocchio/spatial/se3.hpp"
-#include "pinocchio/multibody/joint.hpp"
#include "pinocchio/multibody/visitor.hpp"
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/algorithm/crba.hpp"
diff --git a/unittest/joint-accessor.cpp b/unittest/joint.cpp
similarity index 87%
rename from unittest/joint-accessor.cpp
rename to unittest/joint.cpp
index 9a31d174c02e743e1307b94dd06c76702d51fad0..8f1724f73137c43864e1a2b72b7702babdd1cef9 100644
--- a/unittest/joint-accessor.cpp
+++ b/unittest/joint.cpp
@@ -25,17 +25,17 @@
#include "pinocchio/multibody/parser/sample-models.hpp"
#include "pinocchio/tools/timer.hpp"
-#include "pinocchio/multibody/joint/joint-accessor.hpp"
+#include "pinocchio/multibody/joint/joint.hpp"
#include <iostream>
#define BOOST_TEST_DYN_LINK
-#define BOOST_TEST_MODULE JointAccessorTest
+#define BOOST_TEST_MODULE JointTest
#include <boost/test/unit_test.hpp>
#include <boost/utility/binary.hpp>
template <typename T>
-void test_joint_methods (T & jmodel, typename T::JointData & jdata)
+void test_joint_methods (T & jmodel, typename T::JointDataDerived & jdata)
{
Eigen::VectorXd q1(Eigen::VectorXd::Random (jmodel.nq()));
Eigen::VectorXd q1_dot(Eigen::VectorXd::Random (jmodel.nv()));
@@ -49,14 +49,14 @@ void test_joint_methods (T & jmodel, typename T::JointData & jdata)
- se3::JointModelAccessor jma(jmodel);
- se3::JointDataAccessor jda(jdata);
+ se3::JointModel jma(jmodel);
+ se3::JointData jda(jdata);
jma.calc(jda, q1, q1_dot);
jma.calc_aba(jda, Ia, update_I);
- std::string error_prefix("Joint Model Accessor on " + T::shortname());
+ std::string error_prefix("JointModel on " + T::shortname());
BOOST_CHECK_MESSAGE(jmodel.nq() == jma.nq() ,std::string(error_prefix + " - nq "));
BOOST_CHECK_MESSAGE(jmodel.nv() == jma.nv() ,std::string(error_prefix + " - nv "));
@@ -85,14 +85,14 @@ void test_joint_methods (T & jmodel, typename T::JointData & jdata)
BOOST_CHECK_MESSAGE((jda.UDinv()).isApprox(jdata.UDinv),std::string(error_prefix + " - Joint UDInv inertia matrix decomposition "));
}
-struct TestJointAccessor{
+struct TestJoint{
template <typename T>
void operator()(const T ) const
{
T jmodel;
jmodel.setIndexes(0,0,0);
- typename T::JointData jdata = jmodel.createData();
+ typename T::JointDataDerived jdata = jmodel.createData();
test_joint_methods(jmodel, jdata);
}
@@ -107,7 +107,7 @@ struct TestJointAccessor{
{
se3::JointModelRevoluteUnaligned jmodel(1.5, 1., 0.);
jmodel.setIndexes(0,0,0);
- se3::JointModelRevoluteUnaligned::JointData jdata = jmodel.createData();
+ se3::JointModelRevoluteUnaligned::JointDataDerived jdata = jmodel.createData();
test_joint_methods(jmodel, jdata);
}
@@ -116,7 +116,7 @@ struct TestJointAccessor{
{
se3::JointModelPrismaticUnaligned jmodel(1.5, 1., 0.);
jmodel.setIndexes(0,0,0);
- se3::JointModelPrismaticUnaligned::JointData jdata = jmodel.createData();
+ se3::JointModelPrismaticUnaligned::JointDataDerived jdata = jmodel.createData();
test_joint_methods(jmodel, jdata);
}
@@ -124,7 +124,7 @@ struct TestJointAccessor{
};
-BOOST_AUTO_TEST_SUITE ( JointAccessorTest)
+BOOST_AUTO_TEST_SUITE ( JointTest)
BOOST_AUTO_TEST_CASE ( test_all_joints )
{
@@ -136,9 +136,8 @@ BOOST_AUTO_TEST_CASE ( test_all_joints )
se3::Data data(model);
- boost::mpl::for_each<JointModelVariant::types>(TestJointAccessor());
+ boost::mpl::for_each<JointModelVariant::types>(TestJoint());
}
-BOOST_AUTO_TEST_SUITE_END ()
-
+BOOST_AUTO_TEST_SUITE_END ()
\ No newline at end of file
diff --git a/unittest/joints.cpp b/unittest/joints.cpp
index fe09c9a2d3adccf3e0a0624d62e9da96cf180688..ec1b05ab363da07bb2bd255aab25c9f9bd7bdc5c 100644
--- a/unittest/joints.cpp
+++ b/unittest/joints.cpp
@@ -635,8 +635,8 @@ BOOST_AUTO_TEST_CASE ( toJointDataDense )
JointDataRX jdata = jmodel.createData();
- JointDataDense< JointDataBase<JointModelRX::JointData>::NQ,
- JointDataBase<JointModelRX::JointData>::NV
+ JointDataDense< JointDataBase<JointModelRX::JointDataDerived>::NQ,
+ JointDataBase<JointModelRX::JointDataDerived>::NV
> jdd = jdata.toDense();
BOOST_CHECK(ConstraintXd(jdata.S).matrix().isApprox(jdd.S.matrix()));
diff --git a/unittest/rnea.cpp b/unittest/rnea.cpp
index a4150436995e92c0cc6f5d1c1f36bd597ae85fae..7a6e0075730a3ddf6800f41ce31fa3f596f121f0 100644
--- a/unittest/rnea.cpp
+++ b/unittest/rnea.cpp
@@ -24,7 +24,6 @@
#include "pinocchio/spatial/fwd.hpp"
#include "pinocchio/spatial/se3.hpp"
-#include "pinocchio/multibody/joint.hpp"
#include "pinocchio/multibody/visitor.hpp"
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/algorithm/rnea.hpp"