[C++] Fix to new API

src/algorithm/operational-frames.hpp

@@ -89,7 +89,7 @@ inline void  framesForwardKinematic(const Model & model,
   for (Model::Index i=0; i < (Model::Index) model.nOperationalFrames; ++i)
   {
     const Model::Index & parent = model.operational_frames[i].parent_id;
-    data.oMof[i] = (data.oMi[parent] * model.operational_frames[i].frame_placement);
+    data.oMof[i] = (data.oMi[parent] * model.operational_frames[i].framePlacement);
   }
 }
 
@@ -119,7 +119,7 @@ inline void getFrameJacobian(const Model & model, const Data& data,
   
   int colRef = nv(model.joints[parent])+idx_v(model.joints[parent])-1;
 
-  SE3::Vector3 lever(data.oMi[parent].rotation() * (model.operational_frames[frame_id].frame_placement.translation()));
+  SE3::Vector3 lever(data.oMi[parent].rotation() * (model.operational_frames[frame_id].framePlacement.translation()));
 
   if (!localFrame) getJacobian<localFrame>(model, data, parent, J);
   for(int j=colRef;j>=0;j=data.parents_fromRow[(Model::Index)j])

src/multibody/model.hxx

@@ -216,7 +216,7 @@ namespace se3
 
   inline const SE3 & Model::getFramePlacement( const Index index ) const
   {
-    return operational_frames[index].frame_placement;
+    return operational_frames[index].framePlacement;
   }
 
   inline bool Model::addFrame ( const Frame & frame )

unittest/operational-frames.cpp

@@ -41,15 +41,15 @@ BOOST_AUTO_TEST_CASE ( test_kinematics )
   se3::buildModels::humanoidSimple(model);
   Model::Index parent_idx = model.existJointName("rarm2_joint")?model.getJointId("rarm2_joint"):(Model::Index)(model.nbody-1);
   const std::string & frame_name = std::string( model.getJointName(parent_idx)+ "_frame");
-  const SE3 & frame_placement = SE3::Random();
-  model.addFrame(frame_name, parent_idx, frame_placement);
+  const SE3 & framePlacement = SE3::Random();
+  model.addFrame(frame_name, parent_idx, framePlacement);
   se3::Data data(model);
 
   VectorXd q = VectorXd::Ones(model.nq);
   q.middleRows<4> (3).normalize();
   framesForwardKinematic(model, data, q);
 
-  BOOST_CHECK(data.oMof[model.getFrameId(frame_name)].isApprox(data.oMi[parent_idx]*frame_placement));
+  BOOST_CHECK(data.oMof[model.getFrameId(frame_name)].isApprox(data.oMi[parent_idx]*framePlacement));
 
 }
 
@@ -64,8 +64,8 @@ BOOST_AUTO_TEST_CASE ( test_jacobian )
   se3::buildModels::humanoidSimple(model);
   Model::Index parent_idx = model.existJointName("rarm2_joint")?model.getJointId("rarm2_joint"):(Model::Index)(model.nbody-1);
   const std::string & frame_name = std::string( model.getJointName(parent_idx)+ "_frame");
-  const SE3 & frame_placement = SE3::Random();
-  model.addFrame(frame_name, parent_idx, frame_placement);
+  const SE3 & framePlacement = SE3::Random();
+  model.addFrame(frame_name, parent_idx, framePlacement);
   se3::Data data(model);
 
   VectorXd q = VectorXd::Ones(model.nq);
@@ -90,7 +90,7 @@ BOOST_AUTO_TEST_CASE ( test_jacobian )
   Motion nu_joint(Joj*q_dot);
 
   Motion nu_frame_from_nu_joint(nu_joint);
-  nu_frame_from_nu_joint.linear() -= (data.oMi[parent_idx].rotation() *frame_placement.translation()).cross(nu_joint.angular());
+  nu_frame_from_nu_joint.linear() -= (data.oMi[parent_idx].rotation() *framePlacement.translation()).cross(nu_joint.angular());
 
 
   BOOST_CHECK(nu_frame.toVector().isApprox(nu_frame_from_nu_joint.toVector(), 1e-12));
@@ -106,7 +106,7 @@ BOOST_AUTO_TEST_CASE ( test_jacobian )
   nu_frame = Jff*q_dot;
   nu_joint = Jjj*q_dot;
 
-  BOOST_CHECK(nu_frame.toVector().isApprox(frame_placement.actInv(nu_joint).toVector(), 1e-12));
+  BOOST_CHECK(nu_frame.toVector().isApprox(framePlacement.actInv(nu_joint).toVector(), 1e-12));
 }
 
 BOOST_AUTO_TEST_SUITE_END ()