[Model] Change naming of rotor inertia

bindings/python/multibody/model.hpp

 //
-// Copyright (c) 2015-2017 CNRS
+// Copyright (c) 2015-2018 CNRS
 // Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
 //
 // This file is part of Pinocchio
@@ -98,14 +98,14 @@ namespace se3
                       make_getter(&Model::neutralConfiguration, bp::return_value_policy<bp::return_by_value>()),
                       make_setter(&Model::neutralConfiguration, bp::return_value_policy<bp::return_by_value>()),
                       "Joint's neutral configurations.")
-        .add_property("rotorMass",
-                      make_getter(&Model::rotorMass, bp::return_value_policy<bp::return_by_value>()),
-                      make_setter(&Model::rotorMass, bp::return_value_policy<bp::return_by_value>()),
-                      "Joint rotor masses.")
+        .add_property("rotorInertia",
+                      make_getter(&Model::rotorInertia, bp::return_value_policy<bp::return_by_value>()),
+                      make_setter(&Model::rotorInertia, bp::return_value_policy<bp::return_by_value>()),
+                      "Vector of rotor inertia parameters.")
         .add_property("rotorGearRatio",
                       make_getter(&Model::rotorGearRatio, bp::return_value_policy<bp::return_by_value>()),
                       make_setter(&Model::rotorGearRatio, bp::return_value_policy<bp::return_by_value>()),
-                      "Joint rotor gear ratios.")       
+                      "Vector of rotor gear ratio parameters.")       
         .add_property("effortLimit",
                       make_getter(&Model::effortLimit, bp::return_value_policy<bp::return_by_value>()),
                       make_setter(&Model::effortLimit, bp::return_value_policy<bp::return_by_value>()),

bindings/python/parsers/parsers.hpp

-      //
-// Copyright (c) 2015-2016 CNRS
+//
+// Copyright (c) 2015-2018 CNRS
 //
 // This file is part of Pinocchio
 // Pinocchio is free software: you can redistribute it
@@ -201,8 +201,10 @@ namespace se3
               "Get the neutral configuration of a given model associated to a SRDF file");
 
       bp::def("loadRotorParamsFromSrdf",loadRotorParamsFromSrdf,
-              bp::args("Model for which we are loading the rotor parameters","srdf filename (string)", "verbosity"),
-              "Load the rotor parameters of a given model from an SRDF file. Results are stored in model.rotorMass and model.rotorGearRatio.");
+              bp::args("Model for which we are loading the rotor parameters",
+                       "srdf filename (string)", "verbosity"),
+              "Load the rotor parameters of a given model from an SRDF file.\n"
+              "Results are stored in model.rotorInertia and model.rotorGearRatio.");
     }
     
   }

src/multibody/model.hpp

@@ -78,10 +78,10 @@ namespace se3
     /// \brief Vector of joint's neutral configurations
     Eigen::VectorXd neutralConfiguration;
 
-    /// \brief Vector of rotor masses
-    Eigen::VectorXd rotorMass;
+    /// \brief Vector of rotor inertia parameters
+    Eigen::VectorXd rotorInertia;
     
-    /// \brief Vector of rotor gear ratios
+    /// \brief Vector of rotor gear ratio parameters
     Eigen::VectorXd rotorGearRatio;
     
     /// \brief Vector of maximal joint torques

src/multibody/model.hxx

 //
-// Copyright (c) 2015-2016 CNRS
+// Copyright (c) 2015-2018 CNRS
 // Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
 //
 // This file is part of Pinocchio
@@ -95,10 +95,10 @@ namespace se3
     neutralConfiguration.conservativeResize(nq);
     neutralConfiguration.tail(joint_model.nq()) = joint_model.neutralConfiguration();
 
-    rotorMass.conservativeResize(nv);
+    rotorInertia.conservativeResize(nv);
     rotorGearRatio.conservativeResize(nv);
 
-    rotorMass.tail(joint_model.nv()).setZero();
+    rotorInertia.tail(joint_model.nv()).setZero();
     rotorGearRatio.tail(joint_model.nv()).setZero();
     
     // Init and add joint index to its parent subtrees.

src/parsers/srdf.cpp

 //
-// Copyright (c) 2017 CNRS
+// Copyright (c) 2017-2018 CNRS
 //
 // This file is part of Pinocchio
 // Pinocchio is free software: you can redistribute it
@@ -192,7 +192,7 @@ namespace se3
               {
                 const JointModel & joint = model.joints[joint_id];
                 assert(joint.nv()==1);
-                model.rotorMass(joint.idx_v()) = rotor_mass;
+                model.rotorInertia(joint.idx_v()) = rotor_mass;
                 model.rotorGearRatio(joint.idx_v()) = rotor_gr;  // joint with 1 dof
               }
               else

unittest/srdf.cpp

 //
-// Copyright (c) 2016 CNRS
+// Copyright (c) 2016-2018 CNRS
 //
 // This file is part of Pinocchio
 // Pinocchio is free software: you can redistribute it
@@ -81,7 +81,7 @@ BOOST_AUTO_TEST_CASE(readRotorParams)
 
   loadRotorParamsFromSrdf(model,srdf_filename,false);
   
-  BOOST_CHECK(model.rotorMass(model.joints[model.getJointId("HeadPitch")].idx_v())==1.0);
+  BOOST_CHECK(model.rotorInertia(model.joints[model.getJointId("HeadPitch")].idx_v())==1.0);
   BOOST_CHECK(model.rotorGearRatio(model.joints[model.getJointId("HeadRoll")].idx_v())==1.0);
 }