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Stack Of Tasks
pinocchio
Commits
6ded221b
Verified
Commit
6ded221b
authored
Oct 08, 2019
by
Justin Carpentier
Browse files
core: improvide effiency of visitor
parent
46060474
Changes
1
Hide whitespace changes
Inline
Side-by-side
src/multibody/visitor.hpp
View file @
6ded221b
...
...
@@ -126,7 +126,7 @@ namespace pinocchio
ReturnType
operator
()(
const
JointModelBase
<
JointModelDerived
>
&
jmodel
)
const
{
return
bf
::
invoke
(
&
JointVisitorDerived
::
template
algo
<
JointModelDerived
>,
bf
::
append2
(
boost
::
ref
(
jmodel
),
bf
::
append2
(
boost
::
ref
(
jmodel
.
derived
()
),
boost
::
ref
(
boost
::
get
<
typename
JointModelBase
<
JointModelDerived
>::
JointDataDerived
>
(
jdata
)),
args
));
}
...
...
@@ -151,7 +151,7 @@ namespace pinocchio
ReturnType
operator
()(
const
JointModelBase
<
JointModelDerived
>
&
jmodel
)
const
{
return
bf
::
invoke
(
&
JointVisitorDerived
::
template
algo
<
JointModelDerived
>,
bf
::
make_vector
(
boost
::
ref
(
jmodel
),
bf
::
make_vector
(
boost
::
ref
(
jmodel
.
derived
()
),
boost
::
ref
(
boost
::
get
<
typename
JointModelBase
<
JointModelDerived
>::
JointDataDerived
>
(
jdata
)))
);
}
...
...
@@ -170,7 +170,7 @@ namespace pinocchio
ReturnType
operator
()(
const
JointModelBase
<
JointModelDerived
>
&
jmodel
)
const
{
return
bf
::
invoke
(
&
JointVisitorDerived
::
template
algo
<
JointModelDerived
>,
bf
::
append
(
boost
::
ref
(
jmodel
),
bf
::
append
(
boost
::
ref
(
jmodel
.
derived
()
),
args
));
}
...
...
@@ -188,7 +188,7 @@ namespace pinocchio
template
<
typename
JointModelDerived
>
ReturnType
operator
()(
const
JointModelBase
<
JointModelDerived
>
&
jmodel
)
const
{
return
JointVisitorDerived
::
template
algo
<
JointModelDerived
>(
jmodel
);
return
JointVisitorDerived
::
template
algo
<
JointModelDerived
>(
jmodel
.
derived
()
);
}
};
...
...
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