Commit 380452c1 authored by jcarpent's avatar jcarpent
Browse files

[Algo] Use data.ov instead of local variable

parent 3b0c2e0b
......@@ -300,8 +300,7 @@ namespace se3
J_cols = data.oMi[i].act(jdata.S());
ColsBlock dJ_cols = jmodel.jointCols(data.dJ);
const Motion ov(data.oMi[i].act(v));
motionSet::motionAction(ov,J_cols,dJ_cols);
motionSet::motionAction(data.ov[i],J_cols,dJ_cols);
data.oYo[parent] += Y;
if(parent > 0)
......@@ -365,8 +364,8 @@ namespace se3
for(Model::Index i=1;i<(Model::Index)(model.njoints);++i)
{
data.oYo[i] = data.oMi[i].act(model.inertias[i]);
const Motion ov(data.oMi[i].act(data.v[i])); // v_i expressed in the world frame
data.doYo[i] = data.oYo[i].variation(ov);
data.ov[i] = data.oMi[i].act(data.v[i]); // v_i expressed in the world frame
data.doYo[i] = data.oYo[i].variation(data.ov[i]);
}
for(Model::Index i=(Model::Index)(model.njoints-1);i>0;--i)
......
......@@ -182,13 +182,13 @@ namespace se3
jmodel.jointCols(data.J) = oMi.act(jdata.S());
// Spatial velocity of joint i expressed in the global frame o
const Motion ov(oMi.act(vJ));
data.ov[i] = oMi.act(vJ);
typedef typename SizeDepType<JointModel::NV>::template ColsReturn<Data::Matrix6x>::Type ColsBlock;
ColsBlock dJcols = jmodel.jointCols(data.dJ);
ColsBlock Jcols = jmodel.jointCols(data.J);
motionSet::motionAction(ov,Jcols,dJcols);
motionSet::motionAction(data.ov[i],Jcols,dJcols);
}
};
......
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