joints: add default value for JointData constructors

src/multibody/joint/joint-composite.hpp

@@ -77,9 +77,12 @@ namespace pinocchio
 
     JointDataCompositeTpl()
     : joints()
-    , iMlast(0), pjMi(0)
+    , iMlast(0)
+    , pjMi(0)
     , S(0)
-    , M(),v(),c()
+    , M(Transformation_t::Identity())
+    , v(Motion_t::Zero())
+    , c(Motion_t::Zero())
     , U(6,0), Dinv(0,0), UDinv(6,0)
     , StU(0,0)
     {}
@@ -87,10 +90,14 @@ namespace pinocchio
     
     JointDataCompositeTpl(const JointDataVector & joint_data, const int /*nq*/, const int nv)
     : joints(joint_data), iMlast(joint_data.size()), pjMi(joint_data.size())
-    , S(nv)
-    , M(), v(), c()
-    , U(6,nv), Dinv(nv,nv), UDinv(6,nv)
-    , StU(nv,nv)
+    , S(Constraint_t::Zero(nv))
+    , M(Transformation_t::Identity())
+    , v(Motion_t::Zero())
+    , c(Motion_t::Zero())
+    , U(U_t::Zero(6,nv))
+    , Dinv(D_t::Zero(nv,nv))
+    , UDinv(UD_t::Zero(6,nv))
+    , StU(D_t::Zero(nv,nv))
     {}
     
     /// \brief Vector of joints

src/multibody/joint/joint-free-flyer.hpp

@@ -189,7 +189,8 @@ namespace pinocchio
     UD_t UDinv;
     
     JointDataFreeFlyerTpl()
-    : M(1)
+    : M(Transformation_t::Identity())
+    , v(Motion_t::Zero())
     , U(U_t::Zero())
     , Dinv(D_t::Zero())
     , UDinv(UD_t::Identity())

src/multibody/joint/joint-generic.hpp

@@ -101,7 +101,9 @@ namespace pinocchio
     D_t               Dinv()  const { return dinv_inertia(*this); }
     UD_t              UDinv() const { return udinv_inertia(*this); }
 
-    JointDataTpl() : JointDataVariant() {}
+    JointDataTpl()
+    : JointDataVariant()
+    {}
     
     JointDataTpl(const JointDataVariant & jdata_variant)
     : JointDataVariant(jdata_variant)

src/multibody/joint/joint-mimic.hpp

@@ -71,6 +71,10 @@ namespace pinocchio
     
     ScaledConstraint() {}
     
+    explicit ScaledConstraint(const Scalar & scaling_factor)
+    : m_scaling_factor(scaling_factor)
+    {}
+    
     ScaledConstraint(const Constraint & constraint,
                      const Scalar & scaling_factor)
     : m_constraint(constraint)
@@ -280,7 +284,12 @@ namespace pinocchio
     
     PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE(JointDerived);
     
-    JointDataMimic() {}
+    JointDataMimic()
+    : m_scaling((Scalar)0)
+    , m_q_transform(ConfigVector_t::Zero())
+    , m_v_transform(TangentVector_t::Zero())
+    , S((Scalar)0)
+    {}
     
     JointDataMimic(const JointDataBase<JointData> & jdata,
                    const Scalar & scaling)

src/multibody/joint/joint-planar.hpp

@@ -449,7 +449,8 @@ namespace pinocchio
     D_t StU;
 
     JointDataPlanarTpl ()
-    : M(1)
+    : M(Transformation_t::Identity())
+    , v(Motion_t::Vector3::Zero())
     , U(U_t::Zero())
     , Dinv(D_t::Zero())
     , UDinv(UD_t::Zero())

src/multibody/joint/joint-prismatic-unaligned.hpp

@@ -452,7 +452,10 @@ namespace pinocchio
     UD_t UDinv;
 
     JointDataPrismaticUnalignedTpl()
-    : U(U_t::Zero())
+    : M(Transformation_t::Vector3::Zero())
+    , S(Constraint_t::Vector3::Zero())
+    , v(Constraint_t::Vector3::Zero(),(Scalar)0)
+    , U(U_t::Zero())
     , Dinv(D_t::Zero())
     , UDinv(UD_t::Zero())
     {}

src/multibody/joint/joint-prismatic.hpp

@@ -550,7 +550,9 @@ namespace pinocchio
     UD_t UDinv;
 
     JointDataPrismaticTpl()
-    : U(U_t::Zero())
+    : M((Scalar)0)
+    , v((Scalar)0)
+    , U(U_t::Zero())
     , Dinv(D_t::Zero())
     , UDinv(UD_t::Zero())
     {}

src/multibody/joint/joint-revolute-unaligned.hpp

@@ -478,17 +478,22 @@ namespace pinocchio
     UD_t UDinv;
 
     JointDataRevoluteUnalignedTpl()
-    : U(U_t::Zero())
+    : M(Transformation_t::Identity())
+    , S(Constraint_t::Vector3::Zero())
+    , v(Constraint_t::Vector3::Zero(),(Scalar)0)
+    , U(U_t::Zero())
     , Dinv(D_t::Zero())
     , UDinv(UD_t::Zero())
     {}
     
     template<typename Vector3Like>
     JointDataRevoluteUnalignedTpl(const Eigen::MatrixBase<Vector3Like> & axis)
-    : M(1)
+    : M(Transformation_t::Identity())
     , S(axis)
     , v(axis,(Scalar)NAN)
-    , U(), Dinv(), UDinv()
+    , U(U_t::Zero())
+    , Dinv(D_t::Zero())
+    , UDinv(UD_t::Zero())
     {}
 
     static std::string classname() { return std::string("JointDataRevoluteUnaligned"); }

src/multibody/joint/joint-revolute-unbounded-unaligned.hpp

@@ -74,17 +74,22 @@ namespace pinocchio
     UD_t UDinv;
     
     JointDataRevoluteUnboundedUnalignedTpl()
-    : U(U_t::Zero())
+    : M(Transformation_t::Identity())
+    , S(Constraint_t::Vector3::Zero())
+    , v(Constraint_t::Vector3::Zero(),(Scalar)0)
+    , U(U_t::Zero())
     , Dinv(D_t::Zero())
     , UDinv(UD_t::Zero())
     {}
     
     template<typename Vector3Like>
     JointDataRevoluteUnboundedUnalignedTpl(const Eigen::MatrixBase<Vector3Like> & axis)
-    : M(1)
+    : M(Transformation_t::Identity())
     , S(axis)
     , v(axis,(Scalar)NAN)
-    , U(), Dinv(), UDinv()
+    , U(U_t::Zero())
+    , Dinv(D_t::Zero())
+    , UDinv(UD_t::Zero())
     {}
     
     static std::string classname() { return std::string("JointDataRevoluteUnboundedUnalignedTpl"); }

src/multibody/joint/joint-revolute-unbounded.hpp

@@ -70,7 +70,9 @@ namespace pinocchio
     UD_t UDinv;
 
     JointDataRevoluteUnboundedTpl()
-    : U(U_t::Zero())
+    : M((Scalar)0,(Scalar)1)
+    , v((Scalar)0)
+    , U(U_t::Zero())
     , Dinv(D_t::Zero())
     , UDinv(UD_t::Zero())
     {}

src/multibody/joint/joint-revolute.hpp

@@ -647,7 +647,9 @@ namespace pinocchio
     UD_t UDinv;
 
     JointDataRevoluteTpl()
-    : U(U_t::Zero())
+    : M((Scalar)0,(Scalar)1)
+    , v((Scalar)0)
+    , U(U_t::Zero())
     , Dinv(D_t::Zero())
     , UDinv(UD_t::Zero())
     {}

src/multibody/joint/joint-spherical-ZYX.hpp

@@ -280,7 +280,10 @@ namespace pinocchio
     D_t StU;
 
     JointDataSphericalZYXTpl ()
-    : M(1)
+    : S(Constraint_t::Matrix3::Zero())
+    , M(Transformation_t::Identity())
+    , v(Motion_t::Vector3::Zero())
+    , c(Bias_t::Vector3::Zero())
     , U(U_t::Zero())
     , Dinv(D_t::Zero())
     , UDinv(UD_t::Zero())

src/multibody/joint/joint-spherical.hpp

@@ -384,7 +384,8 @@ namespace pinocchio
     UD_t UDinv;
 
     JointDataSphericalTpl ()
-    : M(1)
+    : M(Transformation_t::Identity())
+    , v(Motion_t::Vector3::Zero())
     , U(U_t::Zero())
     , Dinv(D_t::Zero())
     , UDinv(UD_t::Zero())

src/multibody/joint/joint-translation.hpp

@@ -207,6 +207,7 @@ namespace pinocchio
     EIGEN_MAKE_ALIGNED_OPERATOR_NEW
     PINOCCHIO_SE3_TYPEDEF_TPL(TransformTranslationTpl);
     typedef typename traits<TransformTranslationTpl>::PlainType PlainType;
+    typedef typename traits<TransformTranslationTpl>::Vector3 Vector3;
     
     TransformTranslationTpl() {}
     
@@ -463,7 +464,9 @@ namespace pinocchio
     UD_t UDinv;
 
     JointDataTranslationTpl()
-    : U(U_t::Zero())
+    : M(Transformation_t::Vector3::Zero())
+    , v(Motion_t::Vector3::Zero())
+    , U(U_t::Zero())
     , Dinv(D_t::Zero())
     , UDinv(UD_t::Zero())
     {}