From 5f3a5388dfcc45ec2066833071b3082e0a4914c5 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Tue, 2 Aug 2016 12:00:03 +0200
Subject: [PATCH] [Minor] Rename ref into model in Data constructor
---
src/multibody/model.hxx | 80 ++++++++++++++++++++---------------------
1 file changed, 40 insertions(+), 40 deletions(-)
diff --git a/src/multibody/model.hxx b/src/multibody/model.hxx
index eb4efeaf9..cee1244d4 100644
--- a/src/multibody/model.hxx
+++ b/src/multibody/model.hxx
@@ -237,58 +237,58 @@ namespace se3
}
- inline Data::Data (const Model & ref)
+ inline Data::Data (const Model & model)
:joints(0)
- ,a((std::size_t)ref.njoint)
- ,a_gf((std::size_t)ref.njoint)
- ,v((std::size_t)ref.njoint)
- ,f((std::size_t)ref.njoint)
- ,oMi((std::size_t)ref.njoint)
- ,liMi((std::size_t)ref.njoint)
- ,tau(ref.nv)
- ,nle(ref.nv)
- ,oMf((std::size_t)ref.nFrames)
- ,Ycrb((std::size_t)ref.njoint)
- ,M(ref.nv,ref.nv)
- ,ddq(ref.nv)
- ,Yaba((std::size_t)ref.njoint)
- ,u(ref.nv)
- ,Ag(6,ref.nv)
- ,Fcrb((std::size_t)ref.njoint)
- ,lastChild((std::size_t)ref.njoint)
- ,nvSubtree((std::size_t)ref.njoint)
- ,U(ref.nv,ref.nv)
- ,D(ref.nv)
- ,tmp(ref.nv)
- ,parents_fromRow((std::size_t)ref.nv)
- ,nvSubtree_fromRow((std::size_t)ref.nv)
- ,J(6,ref.nv)
- ,iMf((std::size_t)ref.njoint)
- ,com((std::size_t)ref.njoint)
- ,vcom((std::size_t)ref.njoint)
- ,acom((std::size_t)ref.njoint)
- ,mass((std::size_t)ref.njoint)
- ,Jcom(3,ref.nv)
+ ,a((std::size_t)model.njoint)
+ ,a_gf((std::size_t)model.njoint)
+ ,v((std::size_t)model.njoint)
+ ,f((std::size_t)model.njoint)
+ ,oMi((std::size_t)model.njoint)
+ ,liMi((std::size_t)model.njoint)
+ ,tau(model.nv)
+ ,nle(model.nv)
+ ,oMf((std::size_t)model.nFrames)
+ ,Ycrb((std::size_t)model.njoint)
+ ,M(model.nv,model.nv)
+ ,ddq(model.nv)
+ ,Yaba((std::size_t)model.njoint)
+ ,u(model.nv)
+ ,Ag(6,model.nv)
+ ,Fcrb((std::size_t)model.njoint)
+ ,lastChild((std::size_t)model.njoint)
+ ,nvSubtree((std::size_t)model.njoint)
+ ,U(model.nv,model.nv)
+ ,D(model.nv)
+ ,tmp(model.nv)
+ ,parents_fromRow((std::size_t)model.nv)
+ ,nvSubtree_fromRow((std::size_t)model.nv)
+ ,J(6,model.nv)
+ ,iMf((std::size_t)model.njoint)
+ ,com((std::size_t)model.njoint)
+ ,vcom((std::size_t)model.njoint)
+ ,acom((std::size_t)model.njoint)
+ ,mass((std::size_t)model.njoint)
+ ,Jcom(3,model.nv)
,JMinvJt()
,llt_JMinvJt()
,lambda_c()
- ,sDUiJt(ref.nv,ref.nv)
- ,torque_residual(ref.nv)
- ,dq_after(ref.nv)
+ ,sDUiJt(model.nv,model.nv)
+ ,torque_residual(model.nv)
+ ,dq_after(model.nv)
,impulse_c()
{
/* Create data strcture associated to the joints */
- for(Model::Index i=0;i<(Model::JointIndex)(ref.njoint);++i)
- joints.push_back(CreateJointData::run(ref.joints[i]));
+ for(Model::Index i=0;i<(Model::JointIndex)(model.njoint);++i)
+ joints.push_back(CreateJointData::run(model.joints[i]));
/* Init for CRBA */
M.fill(0);
- for(Model::Index i=0;i<(Model::Index)(ref.njoint);++i ) { Fcrb[i].resize(6,ref.nv); }
- computeLastChild(ref);
+ for(Model::Index i=0;i<(Model::Index)(model.njoint);++i ) { Fcrb[i].resize(6,model.nv); }
+ computeLastChild(model);
/* Init for Cholesky */
U.setIdentity();
- computeParents_fromRow(ref);
+ computeParents_fromRow(model);
/* Init Jacobian */
J.setZero();
@@ -298,7 +298,7 @@ namespace se3
a[0].setZero();
v[0].setZero();
- a_gf[0] = -ref.gravity;
+ a_gf[0] = -model.gravity;
f[0].setZero();
oMi[0].setIdentity();
liMi[0].setIdentity();
--
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