Verified Commit 6ddc020a authored by Justin Carpentier's avatar Justin Carpentier
Browse files

liegroup: revert renaming of deep algos

parent 615da8e2
......@@ -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);
}
/**
......
......@@ -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)
{
......
......@@ -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;
......
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