liegroup: revert renaming of deep algos

src/algorithm/joint-configuration.hpp

@@ -443,7 +443,7 @@ namespace pinocchio
                                   const Eigen::MatrixBase<JacobianMatrixType> & J,
                                   const ArgumentPosition arg)
   {
-    dIntegrateTransport<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType,JacobianMatrixType>(model, q.derived(), v.derived(), PINOCCHIO_EIGEN_CONST_CAST(JacobianMatrixType,J),arg);
+    dIntegrateTransportInPlace<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType,JacobianMatrixType>(model, q.derived(), v.derived(), PINOCCHIO_EIGEN_CONST_CAST(JacobianMatrixType,J),arg);
   }
 
   /**

src/algorithm/joint-configuration.hxx

@@ -211,7 +211,7 @@ namespace pinocchio
     typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
     typedef typename Model::JointIndex JointIndex;
     
-    typedef dIntegrateTransportStep<LieGroup_t,ConfigVectorType,TangentVectorType,JacobianMatrixType> Algo;
+    typedef dIntegrateTransportInPlaceStep<LieGroup_t,ConfigVectorType,TangentVectorType,JacobianMatrixType> Algo;
     typename Algo::ArgsType args(q.derived(),v.derived(),PINOCCHIO_EIGEN_CONST_CAST(JacobianMatrixType,J),arg);
     for(JointIndex i=1; i<(JointIndex)model.njoints; ++i)
     {

src/multibody/liegroup/liegroup-algo.hxx

@@ -233,11 +233,11 @@ namespace pinocchio
   PINOCCHIO_DETAILS_DISPATCH_JOINT_COMPOSITE_5(dIntegrateTransportStepAlgo);
 
 
-  template<typename Visitor, typename JointModel> struct dIntegrateTransportStepAlgo;
+  template<typename Visitor, typename JointModel> struct dIntegrateTransportInPlaceStepAlgo;
   
   template<typename LieGroup_t, typename ConfigVectorIn, typename TangentVectorIn, typename JacobianMatrixType>
-  struct dIntegrateTransportStep
-  : public fusion::JointUnaryVisitorBase< dIntegrateTransportStep<LieGroup_t,ConfigVectorIn,TangentVectorIn,JacobianMatrixType> >
+  struct dIntegrateTransportInPlaceStep
+  : public fusion::JointUnaryVisitorBase< dIntegrateTransportInPlaceStep<LieGroup_t,ConfigVectorIn,TangentVectorIn,JacobianMatrixType> >
   {
     typedef boost::fusion::vector<const ConfigVectorIn &,
                                   const TangentVectorIn &,
@@ -245,11 +245,12 @@ namespace pinocchio
                                   const ArgumentPosition &
                                   > ArgsType;
     
-    PINOCCHIO_DETAILS_VISITOR_METHOD_ALGO_4(dIntegrateTransportStepAlgo, dIntegrateTransportStep)
+    PINOCCHIO_DETAILS_VISITOR_METHOD_ALGO_4(dIntegrateTransportInPlaceStepAlgo,
+                                            dIntegrateTransportInPlaceStep)
   };
   
   template<typename Visitor, typename JointModel>
-  struct dIntegrateTransportStepAlgo
+  struct dIntegrateTransportInPlaceStepAlgo
   {
     template<typename ConfigVectorIn, typename TangentVector, typename JacobianMatrixType>
     static void run(const JointModelBase<JointModel> & jmodel,
@@ -261,14 +262,14 @@ namespace pinocchio
       typedef typename Visitor::LieGroupMap LieGroupMap;
       
       typename LieGroupMap::template operation<JointModel>::type lgo;
-      lgo.dIntegrateTransport(jmodel.jointConfigSelector  (q.derived()),
-                              jmodel.jointVelocitySelector(v.derived()),
-                              jmodel.jointRows(PINOCCHIO_EIGEN_CONST_CAST(JacobianMatrixType,mat)),
-                              arg);
+      lgo.dIntegrateTransportInPlace(jmodel.jointConfigSelector  (q.derived()),
+                                     jmodel.jointVelocitySelector(v.derived()),
+                                     jmodel.jointRows(PINOCCHIO_EIGEN_CONST_CAST(JacobianMatrixType,mat)),
+                                     arg);
     }
   };
   
-  PINOCCHIO_DETAILS_DISPATCH_JOINT_COMPOSITE_4(dIntegrateTransportStepAlgo);
+  PINOCCHIO_DETAILS_DISPATCH_JOINT_COMPOSITE_4(dIntegrateTransportInPlaceStepAlgo);
   
   template<typename Visitor, typename JointModel> struct dDifferenceStepAlgo;