Verified Commit 62c7413b authored by Justin Carpentier's avatar Justin Carpentier
Browse files

core: fix types

parent fa693f2f
......@@ -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
VectorXs rotorInertia;
TangentVectorType rotorInertia;
/// \brief Vector of rotor gear ratio parameters
VectorXs rotorGearRatio;
TangentVectorType rotorGearRatio;
/// \brief Vector of joint friction parameters
TangentVectorType friction;
......@@ -135,10 +136,10 @@ namespace pinocchio
TangentVectorType velocityLimit;
/// \brief Lower joint configuration limit
VectorXs lowerPositionLimit;
ConfigVectorType lowerPositionLimit;
/// \brief Upper joint configuration limit
VectorXs upperPositionLimit;
ConfigVectorType upperPositionLimit;
/// \brief Vector of operational frames registered on the model.
FrameVector frames;
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