Verified Commit 847252e7 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

all: rename JointVisitorBase into JointUnaryVisitorBase

parent 6e35342c
......@@ -30,7 +30,7 @@ namespace pinocchio
{
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
struct EmptyForwardStep
: fusion::JointVisitorBase< EmptyForwardStep<Scalar,Options,JointCollectionTpl> >
: fusion::JointUnaryVisitorBase< EmptyForwardStep<Scalar,Options,JointCollectionTpl> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......
......@@ -14,7 +14,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
struct ComputeABADerivativesForwardStep1
: public fusion::JointVisitorBase< ComputeABADerivativesForwardStep1<Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType> >
: public fusion::JointUnaryVisitorBase< ComputeABADerivativesForwardStep1<Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......@@ -70,7 +70,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename MatrixType>
struct ComputeABADerivativesBackwardStep1
: public fusion::JointVisitorBase< ComputeABADerivativesBackwardStep1<Scalar,Options,JointCollectionTpl,MatrixType> >
: public fusion::JointUnaryVisitorBase< ComputeABADerivativesBackwardStep1<Scalar,Options,JointCollectionTpl,MatrixType> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......@@ -144,7 +144,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename MatrixType>
struct ComputeABADerivativesForwardStep2
: public fusion::JointVisitorBase< ComputeABADerivativesForwardStep2<Scalar,Options,JointCollectionTpl,MatrixType> >
: public fusion::JointUnaryVisitorBase< ComputeABADerivativesForwardStep2<Scalar,Options,JointCollectionTpl,MatrixType> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......@@ -237,7 +237,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
struct ComputeABADerivativesBackwardStep2
: public fusion::JointVisitorBase< ComputeABADerivativesBackwardStep2<Scalar,Options,JointCollectionTpl> >
: public fusion::JointUnaryVisitorBase< ComputeABADerivativesBackwardStep2<Scalar,Options,JointCollectionTpl> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......
......@@ -19,7 +19,7 @@ namespace pinocchio
{
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
struct AbaForwardStep1
: public fusion::JointVisitorBase< AbaForwardStep1<Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType> >
: public fusion::JointUnaryVisitorBase< AbaForwardStep1<Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......@@ -147,7 +147,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
struct AbaBackwardStep
: public fusion::JointVisitorBase< AbaBackwardStep<Scalar,Options,JointCollectionTpl> >
: public fusion::JointUnaryVisitorBase< AbaBackwardStep<Scalar,Options,JointCollectionTpl> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......@@ -187,7 +187,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
struct AbaForwardStep2
: public fusion::JointVisitorBase< AbaForwardStep2<Scalar,Options,JointCollectionTpl> >
: public fusion::JointUnaryVisitorBase< AbaForwardStep2<Scalar,Options,JointCollectionTpl> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......@@ -305,7 +305,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
struct ComputeMinverseForwardStep1
: public fusion::JointVisitorBase< ComputeMinverseForwardStep1<Scalar,Options,JointCollectionTpl,ConfigVectorType> >
: public fusion::JointUnaryVisitorBase< ComputeMinverseForwardStep1<Scalar,Options,JointCollectionTpl,ConfigVectorType> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......@@ -346,7 +346,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
struct ComputeMinverseBackwardStep
: public fusion::JointVisitorBase< ComputeMinverseBackwardStep<Scalar,Options,JointCollectionTpl> >
: public fusion::JointUnaryVisitorBase< ComputeMinverseBackwardStep<Scalar,Options,JointCollectionTpl> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......@@ -409,7 +409,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
struct ComputeMinverseForwardStep2
: public fusion::JointVisitorBase< ComputeMinverseForwardStep2<Scalar,Options,JointCollectionTpl> >
: public fusion::JointUnaryVisitorBase< ComputeMinverseForwardStep2<Scalar,Options,JointCollectionTpl> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......
......@@ -13,7 +13,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl,
typename Matrix3xOut>
struct CoMVelocityDerivativesForwardStep
: public fusion::JointVisitorBase< CoMVelocityDerivativesForwardStep<Scalar,Options,JointCollectionTpl,Matrix3xOut> >
: public fusion::JointUnaryVisitorBase< CoMVelocityDerivativesForwardStep<Scalar,Options,JointCollectionTpl,Matrix3xOut> >
{
/* Assumes that both computeForwardKinematicsDerivatives and centerOfMass (or
* equivalent methods like computeAllTerms) have been computed beforehand. */
......
......@@ -204,7 +204,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Matrix3x>
struct JacobianCenterOfMassBackwardStep
: public fusion::JointVisitorBase< JacobianCenterOfMassBackwardStep<Scalar,Options,JointCollectionTpl,Matrix3x> >
: public fusion::JointUnaryVisitorBase< JacobianCenterOfMassBackwardStep<Scalar,Options,JointCollectionTpl,Matrix3x> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......@@ -321,7 +321,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Matrix3x>
struct JacobianSubtreeCenterOfMassBackwardStep
: public fusion::JointVisitorBase< JacobianSubtreeCenterOfMassBackwardStep<Scalar,Options,JointCollectionTpl,Matrix3x> >
: public fusion::JointUnaryVisitorBase< JacobianSubtreeCenterOfMassBackwardStep<Scalar,Options,JointCollectionTpl,Matrix3x> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......
//
// Copyright (c) 2018 INRIA
// Copyright (c) 2018-2019 INRIA
//
#ifndef __pinocchio_algorithm_centroidal_derivatives_hxx__
......@@ -17,7 +17,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl,
typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2>
struct CentroidalDynDerivativesForwardStep
: public fusion::JointVisitorBase<CentroidalDynDerivativesForwardStep<Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType1,TangentVectorType2> >
: public fusion::JointUnaryVisitorBase<CentroidalDynDerivativesForwardStep<Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType1,TangentVectorType2> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......@@ -117,7 +117,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
struct CentroidalDynDerivativesBackwardStep
: public fusion::JointVisitorBase<CentroidalDynDerivativesBackwardStep<Scalar,Options,JointCollectionTpl> >
: public fusion::JointUnaryVisitorBase<CentroidalDynDerivativesBackwardStep<Scalar,Options,JointCollectionTpl> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......@@ -293,7 +293,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
struct GetCentroidalDynDerivativesBackwardStep
: public fusion::JointVisitorBase<GetCentroidalDynDerivativesBackwardStep<Scalar,Options,JointCollectionTpl> >
: public fusion::JointUnaryVisitorBase<GetCentroidalDynDerivativesBackwardStep<Scalar,Options,JointCollectionTpl> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......
//
// Copyright (c) 2015-2018 CNRS INRIA
// Copyright (c) 2015-2019 CNRS INRIA
//
#ifndef __pinocchio_centroidal_hxx__
......@@ -22,7 +22,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl,
typename ConfigVectorType, typename TangentVectorType>
struct CentroidalDynamicsForwardStep<Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType>
: public fusion::JointVisitorBase< CentroidalDynamicsForwardStep<Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType> >
: public fusion::JointUnaryVisitorBase< CentroidalDynamicsForwardStep<Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......@@ -70,7 +70,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl,
typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2>
struct CentroidalDynamicsForwardStep
: public fusion::JointVisitorBase< CentroidalDynamicsForwardStep<Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType1,TangentVectorType2> >
: public fusion::JointUnaryVisitorBase< CentroidalDynamicsForwardStep<Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType1,TangentVectorType2> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......@@ -212,7 +212,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
struct CcrbaBackwardStep
: public fusion::JointVisitorBase< CcrbaBackwardStep<Scalar,Options,JointCollectionTpl> >
: public fusion::JointUnaryVisitorBase< CcrbaBackwardStep<Scalar,Options,JointCollectionTpl> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......@@ -292,7 +292,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
struct DCcrbaBackwardStep
: public fusion::JointVisitorBase< DCcrbaBackwardStep<Scalar,Options,JointCollectionTpl> >
: public fusion::JointUnaryVisitorBase< DCcrbaBackwardStep<Scalar,Options,JointCollectionTpl> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......
//
// Copyright (c) 2015-2018 CNRS
// Copyright (c) 2015-2019 CNRS
//
#ifndef __pinocchio_compute_all_terms_hpp__
......@@ -50,7 +50,7 @@ namespace pinocchio
{
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
struct CATForwardStep
: public fusion::JointVisitorBase< CATForwardStep<Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType> >
: public fusion::JointUnaryVisitorBase< CATForwardStep<Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......@@ -116,7 +116,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
struct CATBackwardStep
: public fusion::JointVisitorBase <CATBackwardStep<Scalar,Options,JointCollectionTpl> >
: public fusion::JointUnaryVisitorBase <CATBackwardStep<Scalar,Options,JointCollectionTpl> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......
//
// Copyright (c) 2015-2018 CNRS
// Copyright (c) 2015-2019 CNRS
//
#ifndef __pinocchio_crba_hxx__
......@@ -16,7 +16,7 @@ namespace pinocchio
{
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
struct CrbaForwardStep
: public fusion::JointVisitorBase< CrbaForwardStep<Scalar,Options,JointCollectionTpl,ConfigVectorType> >
: public fusion::JointUnaryVisitorBase< CrbaForwardStep<Scalar,Options,JointCollectionTpl,ConfigVectorType> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......@@ -46,7 +46,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
struct CrbaBackwardStep
: public fusion::JointVisitorBase< CrbaBackwardStep<Scalar,Options,JointCollectionTpl> >
: public fusion::JointUnaryVisitorBase< CrbaBackwardStep<Scalar,Options,JointCollectionTpl> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......@@ -98,7 +98,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
struct CrbaForwardStepMinimal
: public fusion::JointVisitorBase< CrbaForwardStepMinimal<Scalar,Options,JointCollectionTpl,ConfigVectorType> >
: public fusion::JointUnaryVisitorBase< CrbaForwardStepMinimal<Scalar,Options,JointCollectionTpl,ConfigVectorType> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......@@ -135,7 +135,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
struct CrbaBackwardStepMinimal
: public fusion::JointVisitorBase< CrbaBackwardStepMinimal<Scalar,Options,JointCollectionTpl> >
: public fusion::JointUnaryVisitorBase< CrbaBackwardStepMinimal<Scalar,Options,JointCollectionTpl> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......
......@@ -15,7 +15,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
struct JointJacobiansForwardStep
: public fusion::JointVisitorBase< JointJacobiansForwardStep<Scalar,Options,JointCollectionTpl,ConfigVectorType> >
: public fusion::JointUnaryVisitorBase< JointJacobiansForwardStep<Scalar,Options,JointCollectionTpl,ConfigVectorType> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......@@ -71,7 +71,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
struct JointJacobiansForwardStep2
: public fusion::JointVisitorBase< JointJacobiansForwardStep2<Scalar,Options,JointCollectionTpl> >
: public fusion::JointUnaryVisitorBase< JointJacobiansForwardStep2<Scalar,Options,JointCollectionTpl> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......@@ -201,7 +201,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename Matrix6xLike>
struct JointJacobianForwardStep
: public fusion::JointVisitorBase< JointJacobianForwardStep<Scalar,Options,JointCollectionTpl,ConfigVectorType,Matrix6xLike> >
: public fusion::JointUnaryVisitorBase< JointJacobianForwardStep<Scalar,Options,JointCollectionTpl,ConfigVectorType,Matrix6xLike> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......@@ -259,7 +259,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
struct JointJacobiansTimeVariationForwardStep
: public fusion::JointVisitorBase< JointJacobiansTimeVariationForwardStep<Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType> >
: public fusion::JointUnaryVisitorBase< JointJacobiansTimeVariationForwardStep<Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......
......@@ -13,7 +13,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2>
struct ForwardKinematicsDerivativesForwardStep
: public fusion::JointVisitorBase< ForwardKinematicsDerivativesForwardStep<Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType1,TangentVectorType2> >
: public fusion::JointUnaryVisitorBase< ForwardKinematicsDerivativesForwardStep<Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType1,TangentVectorType2> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......@@ -103,7 +103,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Matrix6xOut1, typename Matrix6xOut2>
struct JointVelocityDerivativesBackwardStep
: public fusion::JointVisitorBase< JointVelocityDerivativesBackwardStep<Scalar,Options,JointCollectionTpl,Matrix6xOut1,Matrix6xOut2> >
: public fusion::JointUnaryVisitorBase< JointVelocityDerivativesBackwardStep<Scalar,Options,JointCollectionTpl,Matrix6xOut1,Matrix6xOut2> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......@@ -209,7 +209,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Matrix6xOut1, typename Matrix6xOut2, typename Matrix6xOut3, typename Matrix6xOut4>
struct JointAccelerationDerivativesBackwardStep
: public fusion::JointVisitorBase< JointAccelerationDerivativesBackwardStep<Scalar,Options,JointCollectionTpl,Matrix6xOut1,Matrix6xOut2,Matrix6xOut3,Matrix6xOut4> >
: public fusion::JointUnaryVisitorBase< JointAccelerationDerivativesBackwardStep<Scalar,Options,JointCollectionTpl,Matrix6xOut1,Matrix6xOut2,Matrix6xOut3,Matrix6xOut4> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......
......@@ -33,7 +33,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
struct ForwardKinematicZeroStep
: fusion::JointVisitorBase< ForwardKinematicZeroStep<Scalar,Options,JointCollectionTpl,ConfigVectorType> >
: fusion::JointUnaryVisitorBase< ForwardKinematicZeroStep<Scalar,Options,JointCollectionTpl,ConfigVectorType> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......@@ -85,7 +85,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
struct ForwardKinematicFirstStep
: fusion::JointVisitorBase< ForwardKinematicFirstStep<Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType> >
: fusion::JointUnaryVisitorBase< ForwardKinematicFirstStep<Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......@@ -150,7 +150,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2>
struct ForwardKinematicSecondStep :
fusion::JointVisitorBase< ForwardKinematicSecondStep<Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType1,TangentVectorType2> >
fusion::JointUnaryVisitorBase< ForwardKinematicSecondStep<Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType1,TangentVectorType2> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......
//
// Copyright (c) 2019 CNRS
// Copyright (c) 2019 CNRS INRIA
//
#ifndef __pinocchio_algorithm_model_hxx__
......@@ -65,7 +65,7 @@ namespace pinocchio
}
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
struct AppendJointOfModelAlgoTpl : public fusion::JointVisitorBase< AppendJointOfModelAlgoTpl<Scalar,Options,JointCollectionTpl> >
struct AppendJointOfModelAlgoTpl : public fusion::JointUnaryVisitorBase< AppendJointOfModelAlgoTpl<Scalar,Options,JointCollectionTpl> >
{
typedef boost::fusion::vector<
const ModelTpl<Scalar,Options,JointCollectionTpl> &,
......
//
// Copyright (c) 2018 CNRS
// Copyright (c) 2018-2019 CNRS INRIA
//
#ifndef __pinocchio_regressor_hxx__
......@@ -176,7 +176,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2>
struct JointTorqueRegressorForwardStep
: public fusion::JointVisitorBase< JointTorqueRegressorForwardStep<Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType1,TangentVectorType2> >
: public fusion::JointUnaryVisitorBase< JointTorqueRegressorForwardStep<Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType1,TangentVectorType2> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......@@ -219,7 +219,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
struct JointTorqueRegressorBackwardStep
: public fusion::JointVisitorBase< JointTorqueRegressorBackwardStep<Scalar,Options,JointCollectionTpl> >
: public fusion::JointUnaryVisitorBase< JointTorqueRegressorBackwardStep<Scalar,Options,JointCollectionTpl> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......
//
// Copyright (c) 2017-2019 CNRS, INRIA
// Copyright (c) 2017-2019 CNRS INRIA
//
#ifndef __pinocchio_rnea_derivatives_hxx__
......@@ -13,7 +13,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
struct ComputeGeneralizedGravityDerivativeForwardStep
: public fusion::JointVisitorBase< ComputeGeneralizedGravityDerivativeForwardStep<Scalar,Options,JointCollectionTpl,ConfigVectorType> >
: public fusion::JointUnaryVisitorBase< ComputeGeneralizedGravityDerivativeForwardStep<Scalar,Options,JointCollectionTpl,ConfigVectorType> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......@@ -59,7 +59,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ReturnMatrixType>
struct ComputeGeneralizedGravityDerivativeBackwardStep
: public fusion::JointVisitorBase< ComputeGeneralizedGravityDerivativeBackwardStep<Scalar,Options,JointCollectionTpl,ReturnMatrixType> >
: public fusion::JointUnaryVisitorBase< ComputeGeneralizedGravityDerivativeBackwardStep<Scalar,Options,JointCollectionTpl,ReturnMatrixType> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......@@ -155,7 +155,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2>
struct ComputeRNEADerivativesForwardStep
: public fusion::JointVisitorBase< ComputeRNEADerivativesForwardStep<Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType1,TangentVectorType2> >
: public fusion::JointUnaryVisitorBase< ComputeRNEADerivativesForwardStep<Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType1,TangentVectorType2> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......@@ -255,7 +255,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename MatrixType1, typename MatrixType2, typename MatrixType3>
struct ComputeRNEADerivativesBackwardStep
: public fusion::JointVisitorBase<ComputeRNEADerivativesBackwardStep<Scalar,Options,JointCollectionTpl,MatrixType1,MatrixType2,MatrixType3> >
: public fusion::JointUnaryVisitorBase<ComputeRNEADerivativesBackwardStep<Scalar,Options,JointCollectionTpl,MatrixType1,MatrixType2,MatrixType3> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......
//
// Copyright (c) 2015-2018 CNRS
// Copyright (c) 2015-2019 CNRS INRIA
//
#ifndef __pinocchio_rnea_hxx__
......@@ -14,7 +14,7 @@ namespace pinocchio
{
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2>
struct RneaForwardStep
: public fusion::JointVisitorBase< RneaForwardStep<Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType1,TangentVectorType2> >
: public fusion::JointUnaryVisitorBase< RneaForwardStep<Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType1,TangentVectorType2> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......@@ -67,7 +67,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
struct RneaBackwardStep
: public fusion::JointVisitorBase< RneaBackwardStep<Scalar,Options,JointCollectionTpl> >
: public fusion::JointUnaryVisitorBase< RneaBackwardStep<Scalar,Options,JointCollectionTpl> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......@@ -172,7 +172,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
struct NLEForwardStep
: public fusion::JointVisitorBase< NLEForwardStep<Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType> >
: public fusion::JointUnaryVisitorBase< NLEForwardStep<Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......@@ -213,7 +213,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
struct NLEBackwardStep
: public fusion::JointVisitorBase< NLEBackwardStep<Scalar,Options,JointCollectionTpl> >
: public fusion::JointUnaryVisitorBase< NLEBackwardStep<Scalar,Options,JointCollectionTpl> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......@@ -274,7 +274,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
struct ComputeGeneralizedGravityForwardStep
: public fusion::JointVisitorBase< ComputeGeneralizedGravityForwardStep<Scalar,Options,JointCollectionTpl,ConfigVectorType> >
: public fusion::JointUnaryVisitorBase< ComputeGeneralizedGravityForwardStep<Scalar,Options,JointCollectionTpl,ConfigVectorType> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......@@ -308,7 +308,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
struct ComputeGeneralizedGravityBackwardStep
: public fusion::JointVisitorBase< ComputeGeneralizedGravityBackwardStep<Scalar,Options,JointCollectionTpl> >
: public fusion::JointUnaryVisitorBase< ComputeGeneralizedGravityBackwardStep<Scalar,Options,JointCollectionTpl> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......@@ -366,7 +366,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
struct CoriolisMatrixForwardStep
: public fusion::JointVisitorBase< CoriolisMatrixForwardStep<Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType> >
: public fusion::JointUnaryVisitorBase< CoriolisMatrixForwardStep<Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......@@ -421,7 +421,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
struct CoriolisMatrixBackwardStep
: public fusion::JointVisitorBase< CoriolisMatrixBackwardStep<Scalar,Options,JointCollectionTpl> >
: public fusion::JointUnaryVisitorBase< CoriolisMatrixBackwardStep<Scalar,Options,JointCollectionTpl> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
......
......@@ -43,7 +43,7 @@ namespace pinocchio
*/
template<typename ConfigVectorType>
struct JointCalcZeroOrderVisitor
: fusion::JointVisitorBase< JointCalcZeroOrderVisitor<ConfigVectorType> >
: fusion::JointUnaryVisitorBase< JointCalcZeroOrderVisitor<ConfigVectorType> >
{
typedef boost::fusion::vector<const ConfigVectorType &> ArgsType;
......@@ -73,7 +73,7 @@ namespace pinocchio
*/
template<typename ConfigVectorType, typename TangentVectorType>
struct JointCalcFirstOrderVisitor
: fusion::JointVisitorBase< JointCalcFirstOrderVisitor<ConfigVectorType,TangentVectorType> >
: fusion::JointUnaryVisitorBase< JointCalcFirstOrderVisitor<ConfigVectorType,TangentVectorType> >
{
typedef boost::fusion::vector<const ConfigVectorType &,
const TangentVectorType &> ArgsType;
......@@ -108,7 +108,7 @@ namespace pinocchio
template<typename Matrix6Type>
struct JointCalcAbaVisitor
: fusion::JointVisitorBase< JointCalcAbaVisitor<Matrix6Type> >
: fusion::JointUnaryVisitorBase< JointCalcAbaVisitor<Matrix6Type> >
{
typedef boost::fusion::vector<Matrix6Type &,
......@@ -281,7 +281,7 @@ namespace pinocchio
template<typename NewScalar, typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
struct JointCastVisitor
: fusion::JointVisitorBase< JointCastVisitor<NewScalar,Scalar,Options,JointCollectionTpl>, typename CastType< NewScalar,JointModelTpl<Scalar,Options,JointCollectionTpl> >::type >
: fusion::JointUnaryVisitorBase< JointCastVisitor<NewScalar,Scalar,Options,JointCollectionTpl>, typename CastType< NewScalar,JointModelTpl<Scalar,Options,JointCollectionTpl> >::type >
{
typedef fusion::NoArg ArgsType;
......
//
// Copyright (c) 2016,2018 CNRS
// Copyright (c) 2016-2019 CNRS INRIA
//
#ifndef __pinocchio_joint_composite_hxx__
......@@ -12,7 +12,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl, typename ConfigVectorType>
struct JointCompositeCalcZeroOrderStep
: fusion::JointVisitorBase< JointCompositeCalcZeroOrderStep<Scalar,Options,JointCollectionTpl,ConfigVectorType> >
: fusion::JointUnaryVisitorBase< JointCompositeCalcZeroOrderStep<Scalar,Options,JointCollectionTpl,ConfigVectorType> >
{
typedef JointModelCompositeTpl<Scalar,Options,JointCollectionTpl> JointModelComposite;
typedef JointDataCompositeTpl<Scalar,Options,JointCollectionTpl> JointDataComposite;
......@@ -74,7 +74,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
struct JointCompositeCalcFirstOrderStep
: public fusion::JointVisitorBase< JointCompositeCalcFirstOrderStep<Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType> >
: public fusion::JointUnaryVisitorBase< JointCompositeCalcFirstOrderStep<Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType> >
{
typedef JointModelCompositeTpl<Scalar,Options,JointCollectionTpl> JointModelComposite;
typedef JointDataCompositeTpl<Scalar,Options,JointCollectionTpl> JointDataComposite;
......
//
// Copyright (c) 2018-2019 CNRS, INRIA