[All] Split data and model files

CMakeLists.txt

@@ -224,6 +224,8 @@ SET(${PROJECT_NAME}_MULTIBODY_HEADERS
   multibody/frame.hpp
   multibody/model.hpp
   multibody/model.hxx
+  multibody/data.hpp
+  multibody/data.hxx
   multibody/visitor.hpp
   )
 

benchmark/timings-cholesky.cpp

@@ -19,6 +19,7 @@
 #include "pinocchio/spatial/se3.hpp"
 #include "pinocchio/multibody/visitor.hpp"
 #include "pinocchio/multibody/model.hpp"
+#include "pinocchio/multibody/data.hpp"
 #include "pinocchio/algorithm/crba.hpp"
 #include "pinocchio/algorithm/aba.hpp"
 #include "pinocchio/algorithm/cholesky.hpp"

benchmark/timings-derivatives.cpp

@@ -19,6 +19,7 @@
 #include "pinocchio/spatial/se3.hpp"
 #include "pinocchio/multibody/visitor.hpp"
 #include "pinocchio/multibody/model.hpp"
+#include "pinocchio/multibody/data.hpp"
 #include "pinocchio/algorithm/joint-configuration.hpp"
 #include "pinocchio/algorithm/rnea-derivatives.hpp"
 #include "pinocchio/algorithm/aba-derivatives.hpp"

benchmark/timings-geometry.cpp

 //
-// Copyright (c) 2015-2016 CNRS
+// Copyright (c) 2015-2018 CNRS
 //
 // This file is part of Pinocchio
 // Pinocchio is free software: you can redistribute it
@@ -19,6 +19,7 @@
 #include "pinocchio/spatial/se3.hpp"
 #include "pinocchio/multibody/visitor.hpp"
 #include "pinocchio/multibody/model.hpp"
+#include "pinocchio/multibody/data.hpp"
 #include "pinocchio/algorithm/crba.hpp"
 #include "pinocchio/algorithm/rnea.hpp"
 #include "pinocchio/algorithm/cholesky.hpp"

benchmark/timings.cpp

@@ -19,6 +19,7 @@
 #include "pinocchio/spatial/se3.hpp"
 #include "pinocchio/multibody/visitor.hpp"
 #include "pinocchio/multibody/model.hpp"
+#include "pinocchio/multibody/data.hpp"
 #include "pinocchio/algorithm/crba.hpp"
 #include "pinocchio/algorithm/aba.hpp"
 #include "pinocchio/algorithm/rnea.hpp"

bindings/python/multibody/data.hpp

 //
-// Copyright (c) 2015-2017 CNRS
+// Copyright (c) 2015-2018 CNRS
 //
 // This file is part of Pinocchio
 // Pinocchio is free software: you can redistribute it
@@ -18,7 +18,7 @@
 #ifndef __se3_python_data_hpp__
 #define __se3_python_data_hpp__
 
-#include "pinocchio/multibody/model.hpp"
+#include "pinocchio/multibody/data.hpp"
 
 #include <eigenpy/memory.hpp>
 #include <eigenpy/eigenpy.hpp>

bindings/python/multibody/model.hpp

@@ -23,6 +23,7 @@
 #include <boost/python/overloads.hpp>
 #include <eigenpy/memory.hpp>
 
+#include "pinocchio/multibody/model.hpp"
 #include "pinocchio/multibody/model.hpp"
 #include "pinocchio/algorithm/check.hpp"
 #include "pinocchio/parsers/sample-models.hpp"

src/algorithm/aba-derivatives.hpp

@@ -19,6 +19,7 @@
 #define __se3_aba_derivatives_hpp__
 
 #include "pinocchio/multibody/model.hpp"
+#include "pinocchio/multibody/data.hpp"
 
 namespace se3
 {

src/algorithm/aba.hpp

@@ -19,6 +19,7 @@
 #define __se3_aba_hpp__
 
 #include "pinocchio/multibody/model.hpp"
+#include "pinocchio/multibody/data.hpp"
 #include "pinocchio/algorithm/check.hpp"
 
 namespace se3

src/algorithm/center-of-mass.hpp

@@ -20,6 +20,7 @@
 
 #include "pinocchio/multibody/visitor.hpp"
 #include "pinocchio/multibody/model.hpp"
+#include "pinocchio/multibody/data.hpp"
 #include "pinocchio/algorithm/kinematics.hpp"
 
 namespace se3

src/algorithm/check.hpp

@@ -19,6 +19,7 @@
 #define __se3_check_hpp__
 
 #include "pinocchio/multibody/model.hpp"
+#include "pinocchio/multibody/data.hpp"
 #include <boost/fusion/container/list.hpp>
 #include <boost/fusion/container/generation/make_list.hpp>
 

src/algorithm/cholesky.hpp

@@ -19,6 +19,7 @@
 #define __se3_cholesky_hpp__
 
 #include "pinocchio/multibody/model.hpp"
+#include "pinocchio/multibody/data.hpp"
   
 namespace se3
 {

src/algorithm/compute-all-terms.hpp

@@ -20,6 +20,7 @@
 
 #include "pinocchio/multibody/visitor.hpp"
 #include "pinocchio/multibody/model.hpp"
+#include "pinocchio/multibody/data.hpp"
 #include "pinocchio/spatial/act-on-set.hpp"
 #include "pinocchio/algorithm/center-of-mass.hpp"
 #include "pinocchio/algorithm/energy.hpp"

src/algorithm/copy.hpp

 //
-// Copyright (c) 2016 CNRS
+// Copyright (c) 2016-2018 CNRS
 //
 // This file is part of Pinocchio
 // Pinocchio is free software: you can redistribute it
@@ -19,6 +19,7 @@
 #define __se3_copy_hpp__
 
 #include "pinocchio/multibody/model.hpp"
+#include "pinocchio/multibody/data.hpp"
 #include "pinocchio/algorithm/check.hpp"
   
 namespace se3

src/algorithm/crba.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
@@ -19,6 +19,7 @@
 #define __se3_crba_hpp__
 
 #include "pinocchio/multibody/model.hpp"
+#include "pinocchio/multibody/data.hpp"
 #include "pinocchio/algorithm/check.hpp"
   
 namespace se3

src/algorithm/dynamics.hpp

 //
-// Copyright (c) 2016-2017 CNRS
+// Copyright (c) 2016-2018 CNRS
 //
 // This file is part of Pinocchio
 // Pinocchio is free software: you can redistribute it
@@ -19,6 +19,7 @@
 #define __se3_dynamics_hpp__
 
 #include "pinocchio/multibody/model.hpp"
+#include "pinocchio/multibody/data.hpp"
 #include "pinocchio/algorithm/compute-all-terms.hpp"
 #include "pinocchio/algorithm/cholesky.hpp"
 #include "pinocchio/algorithm/crba.hpp"

src/algorithm/energy.hpp

@@ -19,6 +19,7 @@
 #define __se3_energy_hpp__
 
 #include "pinocchio/multibody/model.hpp"
+#include "pinocchio/multibody/data.hpp"
 #include "pinocchio/algorithm/kinematics.hpp"
 #include "pinocchio/algorithm/check.hpp"
 

src/algorithm/frames.hpp

@@ -19,6 +19,7 @@
 #define __se3_frames_hpp__
 
 #include "pinocchio/multibody/model.hpp"
+#include "pinocchio/multibody/data.hpp"
 
 namespace se3
 {

src/algorithm/geometry.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
@@ -20,6 +20,7 @@
 
 #include "pinocchio/multibody/visitor.hpp"
 #include "pinocchio/multibody/model.hpp"
+#include "pinocchio/multibody/data.hpp"
 
 #include "pinocchio/algorithm/kinematics.hpp"
 #include "pinocchio/multibody/geometry.hpp"

src/algorithm/jacobian.hpp

 //
-// Copyright (c) 2015-2017 CNRS
+// Copyright (c) 2015-2018 CNRS
 //
 // This file is part of Pinocchio
 // Pinocchio is free software: you can redistribute it
@@ -20,14 +20,15 @@
 
 #include "pinocchio/multibody/fwd.hpp"
 #include "pinocchio/multibody/model.hpp"
+#include "pinocchio/multibody/data.hpp"
 
 namespace se3
 {
   ///
   /// \brief Computes the full model Jacobian, i.e. the stack of all motion subspace expressed in the world frame.
-  ///        The result is accessible through data.J.
+  ///        The result is accessible through data.J. This function computes also the forwardKinematics of the model.
   ///
-  /// \note This Jacobian does not correspond to any specific joint frame Jacobian. From this Jacobian, it is then possible to easily extract the Jacobian of a specific joint frame.
+  /// \note This Jacobian does not correspond to any specific joint frame Jacobian. From this Jacobian, it is then possible to easily extract the Jacobian of a specific joint frame. \sa se3::getJacobian for doing this specific extraction.
   ///
   /// \param[in] model The model structure of the rigid body system.
   /// \param[in] data The data structure of the rigid body system.