Commit 802d9885 authored by jcarpent's avatar jcarpent
Browse files

[All] Split data and model files

parent 5a5ab0bb
...@@ -224,6 +224,8 @@ SET(${PROJECT_NAME}_MULTIBODY_HEADERS ...@@ -224,6 +224,8 @@ SET(${PROJECT_NAME}_MULTIBODY_HEADERS
multibody/frame.hpp multibody/frame.hpp
multibody/model.hpp multibody/model.hpp
multibody/model.hxx multibody/model.hxx
multibody/data.hpp
multibody/data.hxx
multibody/visitor.hpp multibody/visitor.hpp
) )
......
...@@ -19,6 +19,7 @@ ...@@ -19,6 +19,7 @@
#include "pinocchio/spatial/se3.hpp" #include "pinocchio/spatial/se3.hpp"
#include "pinocchio/multibody/visitor.hpp" #include "pinocchio/multibody/visitor.hpp"
#include "pinocchio/multibody/model.hpp" #include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/algorithm/crba.hpp" #include "pinocchio/algorithm/crba.hpp"
#include "pinocchio/algorithm/aba.hpp" #include "pinocchio/algorithm/aba.hpp"
#include "pinocchio/algorithm/cholesky.hpp" #include "pinocchio/algorithm/cholesky.hpp"
......
...@@ -19,6 +19,7 @@ ...@@ -19,6 +19,7 @@
#include "pinocchio/spatial/se3.hpp" #include "pinocchio/spatial/se3.hpp"
#include "pinocchio/multibody/visitor.hpp" #include "pinocchio/multibody/visitor.hpp"
#include "pinocchio/multibody/model.hpp" #include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/algorithm/joint-configuration.hpp" #include "pinocchio/algorithm/joint-configuration.hpp"
#include "pinocchio/algorithm/rnea-derivatives.hpp" #include "pinocchio/algorithm/rnea-derivatives.hpp"
#include "pinocchio/algorithm/aba-derivatives.hpp" #include "pinocchio/algorithm/aba-derivatives.hpp"
......
// //
// Copyright (c) 2015-2016 CNRS // Copyright (c) 2015-2018 CNRS
// //
// This file is part of Pinocchio // This file is part of Pinocchio
// Pinocchio is free software: you can redistribute it // Pinocchio is free software: you can redistribute it
...@@ -19,6 +19,7 @@ ...@@ -19,6 +19,7 @@
#include "pinocchio/spatial/se3.hpp" #include "pinocchio/spatial/se3.hpp"
#include "pinocchio/multibody/visitor.hpp" #include "pinocchio/multibody/visitor.hpp"
#include "pinocchio/multibody/model.hpp" #include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/algorithm/crba.hpp" #include "pinocchio/algorithm/crba.hpp"
#include "pinocchio/algorithm/rnea.hpp" #include "pinocchio/algorithm/rnea.hpp"
#include "pinocchio/algorithm/cholesky.hpp" #include "pinocchio/algorithm/cholesky.hpp"
......
...@@ -19,6 +19,7 @@ ...@@ -19,6 +19,7 @@
#include "pinocchio/spatial/se3.hpp" #include "pinocchio/spatial/se3.hpp"
#include "pinocchio/multibody/visitor.hpp" #include "pinocchio/multibody/visitor.hpp"
#include "pinocchio/multibody/model.hpp" #include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/algorithm/crba.hpp" #include "pinocchio/algorithm/crba.hpp"
#include "pinocchio/algorithm/aba.hpp" #include "pinocchio/algorithm/aba.hpp"
#include "pinocchio/algorithm/rnea.hpp" #include "pinocchio/algorithm/rnea.hpp"
......
// //
// Copyright (c) 2015-2017 CNRS // Copyright (c) 2015-2018 CNRS
// //
// This file is part of Pinocchio // This file is part of Pinocchio
// Pinocchio is free software: you can redistribute it // Pinocchio is free software: you can redistribute it
...@@ -18,7 +18,7 @@ ...@@ -18,7 +18,7 @@
#ifndef __se3_python_data_hpp__ #ifndef __se3_python_data_hpp__
#define __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/memory.hpp>
#include <eigenpy/eigenpy.hpp> #include <eigenpy/eigenpy.hpp>
......
...@@ -23,6 +23,7 @@ ...@@ -23,6 +23,7 @@
#include <boost/python/overloads.hpp> #include <boost/python/overloads.hpp>
#include <eigenpy/memory.hpp> #include <eigenpy/memory.hpp>
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/model.hpp" #include "pinocchio/multibody/model.hpp"
#include "pinocchio/algorithm/check.hpp" #include "pinocchio/algorithm/check.hpp"
#include "pinocchio/parsers/sample-models.hpp" #include "pinocchio/parsers/sample-models.hpp"
......
...@@ -19,6 +19,7 @@ ...@@ -19,6 +19,7 @@
#define __se3_aba_derivatives_hpp__ #define __se3_aba_derivatives_hpp__
#include "pinocchio/multibody/model.hpp" #include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
namespace se3 namespace se3
{ {
......
...@@ -19,6 +19,7 @@ ...@@ -19,6 +19,7 @@
#define __se3_aba_hpp__ #define __se3_aba_hpp__
#include "pinocchio/multibody/model.hpp" #include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/algorithm/check.hpp" #include "pinocchio/algorithm/check.hpp"
namespace se3 namespace se3
......
...@@ -20,6 +20,7 @@ ...@@ -20,6 +20,7 @@
#include "pinocchio/multibody/visitor.hpp" #include "pinocchio/multibody/visitor.hpp"
#include "pinocchio/multibody/model.hpp" #include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/algorithm/kinematics.hpp" #include "pinocchio/algorithm/kinematics.hpp"
namespace se3 namespace se3
......
...@@ -19,6 +19,7 @@ ...@@ -19,6 +19,7 @@
#define __se3_check_hpp__ #define __se3_check_hpp__
#include "pinocchio/multibody/model.hpp" #include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include <boost/fusion/container/list.hpp> #include <boost/fusion/container/list.hpp>
#include <boost/fusion/container/generation/make_list.hpp> #include <boost/fusion/container/generation/make_list.hpp>
......
...@@ -19,6 +19,7 @@ ...@@ -19,6 +19,7 @@
#define __se3_cholesky_hpp__ #define __se3_cholesky_hpp__
#include "pinocchio/multibody/model.hpp" #include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
namespace se3 namespace se3
{ {
......
...@@ -20,6 +20,7 @@ ...@@ -20,6 +20,7 @@
#include "pinocchio/multibody/visitor.hpp" #include "pinocchio/multibody/visitor.hpp"
#include "pinocchio/multibody/model.hpp" #include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/spatial/act-on-set.hpp" #include "pinocchio/spatial/act-on-set.hpp"
#include "pinocchio/algorithm/center-of-mass.hpp" #include "pinocchio/algorithm/center-of-mass.hpp"
#include "pinocchio/algorithm/energy.hpp" #include "pinocchio/algorithm/energy.hpp"
......
// //
// Copyright (c) 2016 CNRS // Copyright (c) 2016-2018 CNRS
// //
// This file is part of Pinocchio // This file is part of Pinocchio
// Pinocchio is free software: you can redistribute it // Pinocchio is free software: you can redistribute it
...@@ -19,6 +19,7 @@ ...@@ -19,6 +19,7 @@
#define __se3_copy_hpp__ #define __se3_copy_hpp__
#include "pinocchio/multibody/model.hpp" #include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/algorithm/check.hpp" #include "pinocchio/algorithm/check.hpp"
namespace se3 namespace se3
......
// //
// Copyright (c) 2015-2016 CNRS // Copyright (c) 2015-2018 CNRS
// //
// This file is part of Pinocchio // This file is part of Pinocchio
// Pinocchio is free software: you can redistribute it // Pinocchio is free software: you can redistribute it
...@@ -19,6 +19,7 @@ ...@@ -19,6 +19,7 @@
#define __se3_crba_hpp__ #define __se3_crba_hpp__
#include "pinocchio/multibody/model.hpp" #include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/algorithm/check.hpp" #include "pinocchio/algorithm/check.hpp"
namespace se3 namespace se3
......
// //
// Copyright (c) 2016-2017 CNRS // Copyright (c) 2016-2018 CNRS
// //
// This file is part of Pinocchio // This file is part of Pinocchio
// Pinocchio is free software: you can redistribute it // Pinocchio is free software: you can redistribute it
...@@ -19,6 +19,7 @@ ...@@ -19,6 +19,7 @@
#define __se3_dynamics_hpp__ #define __se3_dynamics_hpp__
#include "pinocchio/multibody/model.hpp" #include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/algorithm/compute-all-terms.hpp" #include "pinocchio/algorithm/compute-all-terms.hpp"
#include "pinocchio/algorithm/cholesky.hpp" #include "pinocchio/algorithm/cholesky.hpp"
#include "pinocchio/algorithm/crba.hpp" #include "pinocchio/algorithm/crba.hpp"
......
...@@ -19,6 +19,7 @@ ...@@ -19,6 +19,7 @@
#define __se3_energy_hpp__ #define __se3_energy_hpp__
#include "pinocchio/multibody/model.hpp" #include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/algorithm/kinematics.hpp" #include "pinocchio/algorithm/kinematics.hpp"
#include "pinocchio/algorithm/check.hpp" #include "pinocchio/algorithm/check.hpp"
......
...@@ -19,6 +19,7 @@ ...@@ -19,6 +19,7 @@
#define __se3_frames_hpp__ #define __se3_frames_hpp__
#include "pinocchio/multibody/model.hpp" #include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
namespace se3 namespace se3
{ {
......
// //
// Copyright (c) 2015-2016 CNRS // Copyright (c) 2015-2018 CNRS
// //
// This file is part of Pinocchio // This file is part of Pinocchio
// Pinocchio is free software: you can redistribute it // Pinocchio is free software: you can redistribute it
...@@ -20,6 +20,7 @@ ...@@ -20,6 +20,7 @@
#include "pinocchio/multibody/visitor.hpp" #include "pinocchio/multibody/visitor.hpp"
#include "pinocchio/multibody/model.hpp" #include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/algorithm/kinematics.hpp" #include "pinocchio/algorithm/kinematics.hpp"
#include "pinocchio/multibody/geometry.hpp" #include "pinocchio/multibody/geometry.hpp"
......
// //
// Copyright (c) 2015-2017 CNRS // Copyright (c) 2015-2018 CNRS
// //
// This file is part of Pinocchio // This file is part of Pinocchio
// Pinocchio is free software: you can redistribute it // Pinocchio is free software: you can redistribute it
...@@ -20,14 +20,15 @@ ...@@ -20,14 +20,15 @@
#include "pinocchio/multibody/fwd.hpp" #include "pinocchio/multibody/fwd.hpp"
#include "pinocchio/multibody/model.hpp" #include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
namespace se3 namespace se3
{ {
/// ///
/// \brief Computes the full model Jacobian, i.e. the stack of all motion subspace expressed in the world frame. /// \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] model The model structure of the rigid body system.
/// \param[in] data The data structure of the rigid body system. /// \param[in] data The data structure of the rigid body system.
......
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