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Stack Of Tasks
pinocchio
Commits
62c7413b
Verified
Commit
62c7413b
authored
Oct 02, 2020
by
Justin Carpentier
Browse files
core: fix types
parent
fa693f2f
Changes
1
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src/multibody/model.hpp
View file @
62c7413b
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@@ -65,6 +65,7 @@ namespace pinocchio
/// \brief Dense vectorized version of a joint configuration vector.
typedef
VectorXs
ConfigVectorType
;
/// \brief Map between a string (key) and a configuration vector
typedef
std
::
map
<
std
::
string
,
ConfigVectorType
>
ConfigVectorMap
;
/// \brief Dense vectorized version of a joint tangent vector (e.g. velocity, acceleration, etc).
...
...
@@ -117,10 +118,10 @@ namespace pinocchio
ConfigVectorMap
referenceConfigurations
;
/// \brief Vector of rotor inertia parameters
Vector
Xs
rotorInertia
;
Tangent
Vector
Type
rotorInertia
;
/// \brief Vector of rotor gear ratio parameters
Vector
Xs
rotorGearRatio
;
Tangent
Vector
Type
rotorGearRatio
;
/// \brief Vector of joint friction parameters
TangentVectorType
friction
;
...
...
@@ -135,10 +136,10 @@ namespace pinocchio
TangentVectorType
velocityLimit
;
/// \brief Lower joint configuration limit
Vector
Xs
lowerPositionLimit
;
Config
Vector
Type
lowerPositionLimit
;
/// \brief Upper joint configuration limit
Vector
Xs
upperPositionLimit
;
Config
Vector
Type
upperPositionLimit
;
/// \brief Vector of operational frames registered on the model.
FrameVector
frames
;
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...
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