Verified Commit 6e8449eb authored by Justin Carpentier's avatar Justin Carpentier
Browse files

joints: add default constructor

parent f8b8501d
......@@ -73,6 +73,8 @@ namespace pinocchio
typedef typename internal::SE3GroupAction<Constraint>::ReturnType SE3ActionReturnType;
ScaledConstraint(Constraint & constraint,
ScaledConstraint() {}
const Scalar & scaling_factor)
: m_constraint(constraint)
, m_scaling_factor(scaling_factor)
......@@ -263,6 +265,8 @@ namespace pinocchio
PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE(JointDerived);
JointDataMimic() {}
JointDataMimic(const JointDataBase<JointData> & jdata,
const Scalar & scaling)
: jdata_ref(jdata.derived())
......
......@@ -201,12 +201,15 @@ namespace pinocchio
}; // struct traits ConstraintPlanarTpl
template<typename _Scalar, int _Options>
struct ConstraintPlanarTpl : ConstraintBase< ConstraintPlanarTpl<_Scalar,_Options> >
struct ConstraintPlanarTpl
: ConstraintBase< ConstraintPlanarTpl<_Scalar,_Options> >
{
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
PINOCCHIO_CONSTRAINT_TYPEDEF_TPL(ConstraintPlanarTpl)
enum { NV = 3 };
ConstraintPlanarTpl() {};
template<typename Vector3Like>
JointMotion __mult__(const Eigen::MatrixBase<Vector3Like> & vj) const
......
......@@ -284,6 +284,8 @@ namespace pinocchio
enum { NV = 1 };
typedef SpatialAxis<LINEAR+axis> Axis;
ConstraintPrismaticTpl() {};
template<typename Vector1Like>
JointMotion __mult__(const Eigen::MatrixBase<Vector1Like> & v) const
......
......@@ -355,6 +355,8 @@ namespace pinocchio
enum { NV = 1 };
typedef SpatialAxis<ANGULAR+axis> Axis;
ConstraintRevoluteTpl() {}
template<typename Vector1Like>
JointMotion __mult__(const Eigen::MatrixBase<Vector1Like> & v) const
......@@ -626,7 +628,8 @@ namespace pinocchio
};
template<typename _Scalar, int _Options, int axis>
struct JointModelRevoluteTpl : public JointModelBase< JointModelRevoluteTpl<_Scalar,_Options,axis> >
struct JointModelRevoluteTpl
: public JointModelBase< JointModelRevoluteTpl<_Scalar,_Options,axis> >
{
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
typedef JointRevoluteTpl<_Scalar,_Options,axis> JointDerived;
......@@ -640,6 +643,8 @@ namespace pinocchio
JointDataDerived createData() const { return JointDataDerived(); }
JointModelRevoluteTpl() {}
template<typename ConfigVector>
EIGEN_DONT_INLINE
void calc(JointDataDerived & data,
......
......@@ -200,6 +200,8 @@ namespace pinocchio
PINOCCHIO_CONSTRAINT_TYPEDEF_TPL(ConstraintSphericalTpl)
ConstraintSphericalTpl() {}
enum { NV = 3 };
int nv_impl() const { return NV; }
......
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