From 7c8abb688ce4840e6a0db9933abeb70922e0f668 Mon Sep 17 00:00:00 2001
From: jcarpent <jcarpent@laas.fr>
Date: Wed, 7 Mar 2018 09:19:06 +0100
Subject: [PATCH] [Model] Change naming of rotor inertia
---
bindings/python/multibody/model.hpp | 12 ++++++------
bindings/python/parsers/parsers.hpp | 10 ++++++----
src/multibody/model.hpp | 6 +++---
src/multibody/model.hxx | 6 +++---
src/parsers/srdf.cpp | 4 ++--
unittest/srdf.cpp | 4 ++--
6 files changed, 22 insertions(+), 20 deletions(-)
diff --git a/bindings/python/multibody/model.hpp b/bindings/python/multibody/model.hpp
index 20473bf2a..95e174014 100644
--- a/bindings/python/multibody/model.hpp
+++ b/bindings/python/multibody/model.hpp
@@ -1,5 +1,5 @@
//
-// 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>()),
diff --git a/bindings/python/parsers/parsers.hpp b/bindings/python/parsers/parsers.hpp
index edef44838..9b3e53294 100644
--- a/bindings/python/parsers/parsers.hpp
+++ b/bindings/python/parsers/parsers.hpp
@@ -1,5 +1,5 @@
- //
-// 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.");
}
}
diff --git a/src/multibody/model.hpp b/src/multibody/model.hpp
index 80fd32aae..b7eedbfed 100644
--- a/src/multibody/model.hpp
+++ b/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
diff --git a/src/multibody/model.hxx b/src/multibody/model.hxx
index 398c4ba96..a533bc238 100644
--- a/src/multibody/model.hxx
+++ b/src/multibody/model.hxx
@@ -1,5 +1,5 @@
//
-// 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.
diff --git a/src/parsers/srdf.cpp b/src/parsers/srdf.cpp
index 42ef54215..22c7488db 100644
--- a/src/parsers/srdf.cpp
+++ b/src/parsers/srdf.cpp
@@ -1,5 +1,5 @@
//
-// 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
diff --git a/unittest/srdf.cpp b/unittest/srdf.cpp
index b6524f4c1..060aa0fea 100644
--- a/unittest/srdf.cpp
+++ b/unittest/srdf.cpp
@@ -1,5 +1,5 @@
//
-// 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);
}
--
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