From 6dc09bc45bd2983dd31f583586b732289644757d Mon Sep 17 00:00:00 2001
From: Mansard <nmansard@laas.fr>
Date: Thu, 21 Jul 2016 16:43:01 +0200
Subject: [PATCH] [Minor] Remove terminal s in Model::NeutralConfigurations.
---
src/multibody/model.hpp | 2 +-
src/multibody/model.hxx | 26 ++++++++++++++++++--------
src/parsers/srdf.hpp | 4 ++--
src/python/model.hpp | 4 ++--
unittest/joint-configurations.cpp | 2 +-
5 files changed, 24 insertions(+), 14 deletions(-)
diff --git a/src/multibody/model.hpp b/src/multibody/model.hpp
index 2f7c56ace..64b413041 100644
--- a/src/multibody/model.hpp
+++ b/src/multibody/model.hpp
@@ -84,7 +84,7 @@ namespace se3
std::vector<std::string> names;
/// \brief Vector of joint's neutral configurations
- Eigen::VectorXd neutralConfigurations;
+ Eigen::VectorXd neutralConfiguration;
/// \brief Vector of maximal joint torques
Eigen::VectorXd effortLimit;
diff --git a/src/multibody/model.hxx b/src/multibody/model.hxx
index 56c592259..886bf0642 100644
--- a/src/multibody/model.hxx
+++ b/src/multibody/model.hxx
@@ -93,11 +93,21 @@ namespace se3
nq += j.nq();
nv += j.nv();
- neutralConfigurations.conservativeResize(nq);neutralConfigurations.bottomRows<D::NQ>() = j.neutralConfiguration();
- effortLimit.conservativeResize(nv);effortLimit.bottomRows<D::NV>().fill(std::numeric_limits<double>::infinity());
- velocityLimit.conservativeResize(nv);velocityLimit.bottomRows<D::NV>().fill(std::numeric_limits<double>::infinity());
- lowerPositionLimit.conservativeResize(nq);lowerPositionLimit.bottomRows<D::NQ>().fill(-std::numeric_limits<double>::infinity());
- upperPositionLimit.conservativeResize(nq);upperPositionLimit.bottomRows<D::NQ>().fill(std::numeric_limits<double>::infinity());
+ neutralConfiguration.conservativeResize(nq);
+ neutralConfiguration.bottomRows<D::NQ>() = j.neutralConfiguration();
+
+ effortLimit.conservativeResize(nv);
+ effortLimit.bottomRows<D::NV>().fill(std::numeric_limits<double>::infinity());
+
+ velocityLimit.conservativeResize(nv);
+ velocityLimit.bottomRows<D::NV>().fill(std::numeric_limits<double>::infinity());
+
+ lowerPositionLimit.conservativeResize(nq);
+ lowerPositionLimit.bottomRows<D::NQ>().fill(-std::numeric_limits<double>::infinity());
+
+ upperPositionLimit.conservativeResize(nq);
+ upperPositionLimit.bottomRows<D::NQ>().fill(std::numeric_limits<double>::infinity());
+
return idx;
}
@@ -135,15 +145,15 @@ namespace se3
// Ensure that limits are not inf
Eigen::VectorXd neutralConf((lowerPositionLimit.bottomRows<D::NQ>() + upperPositionLimit.bottomRows<D::NQ>())/2 );
- neutralConfigurations.conservativeResize(nq);
+ neutralConfiguration.conservativeResize(nq);
if ( std::isfinite(neutralConf.norm()) )
{
- neutralConfigurations.bottomRows<D::NQ>() = neutralConf;
+ neutralConfiguration.bottomRows<D::NQ>() = neutralConf;
}
else
{
assert( false && "One of the position limit is inf or NaN");
- neutralConfigurations.bottomRows<D::NQ>() = j.neutralConfiguration();
+ neutralConfiguration.bottomRows<D::NQ>() = j.neutralConfiguration();
}
addFrame((jointName!="")?jointName:random(8), idx, SE3::Identity(), JOINT);
diff --git a/src/parsers/srdf.hpp b/src/parsers/srdf.hpp
index aa82fa354..15b0bd84c 100644
--- a/src/parsers/srdf.hpp
+++ b/src/parsers/srdf.hpp
@@ -174,8 +174,8 @@ namespace se3
if (joint_id != model.joints.size()) // != model.njoints
{
- model.neutralConfigurations(joint.idx_q()) = joint_config; // joint with 1 dof
- // model.neutralConfigurations.segment(joint.idx_q(),joint.nq()) = joint_config; // joint with more than 1 dof
+ model.neutralConfiguration(joint.idx_q()) = joint_config; // joint with 1 dof
+ // model.neutralConfiguration.segment(joint.idx_q(),joint.nq()) = joint_config; // joint with more than 1 dof
}
else
{
diff --git a/src/python/model.hpp b/src/python/model.hpp
index 7d8b507dc..8d9baaf49 100644
--- a/src/python/model.hpp
+++ b/src/python/model.hpp
@@ -125,7 +125,7 @@ namespace se3
.add_property("effortLimit", bp::make_function(&ModelPythonVisitor::effortLimit), "Joint max effort")
- .add_property("neutralConfigurations", bp::make_function(&ModelPythonVisitor::neutralConfigurations), "Joint's neutral configurations")
+ .add_property("neutralConfiguration", bp::make_function(&ModelPythonVisitor::neutralConfiguration), "Joint's neutral configurations")
.add_property("velocityLimit", bp::make_function(&ModelPythonVisitor::velocityLimit), "Joint max velocity")
.add_property("lowerPositionLimit", bp::make_function(&ModelPythonVisitor::lowerPositionLimit), "Limit for joint lower position")
.add_property("upperPositionLimit", bp::make_function(&ModelPythonVisitor::upperPositionLimit), "Limit for joint upper position")
@@ -172,7 +172,7 @@ namespace se3
}
- static Eigen::VectorXd neutralConfigurations(ModelHandler & m) {return m->neutralConfigurations;}
+ static Eigen::VectorXd neutralConfiguration(ModelHandler & m) {return m->neutralConfiguration;}
static Eigen::VectorXd effortLimit(ModelHandler & m) {return m->effortLimit;}
static Eigen::VectorXd velocityLimit(ModelHandler & m) {return m->velocityLimit;}
static Eigen::VectorXd lowerPositionLimit(ModelHandler & m) {return m->lowerPositionLimit;}
diff --git a/unittest/joint-configurations.cpp b/unittest/joint-configurations.cpp
index d7941f51f..8d9b268c6 100644
--- a/unittest/joint-configurations.cpp
+++ b/unittest/joint-configurations.cpp
@@ -483,7 +483,7 @@ BOOST_AUTO_TEST_CASE ( neutral_configuration_test )
0,0,0;
- BOOST_CHECK_MESSAGE(model.neutralConfigurations.isApprox(expected, 1e-12), "neutral configurations - wrong results");
+ BOOST_CHECK_MESSAGE(model.neutralConfiguration.isApprox(expected, 1e-12), "neutral configuration - wrong results");
}
BOOST_AUTO_TEST_CASE ( uniform_sampling_test )
--
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