data: change field name

src/multibody/data.hpp

@@ -235,7 +235,7 @@ namespace pinocchio
     std::vector<int> nvSubtree;
     
     /// \brief Starting index of the Joint motion subspace
-    std::vector<int> idx_v_fromRow;
+    std::vector<int> start_idx_v_fromRow;
 
     /// \brief Joint space intertia matrix square root (upper trianglular part) computed with a Cholesky Decomposition.
     MatrixXs U;

src/multibody/data.hxx

@@ -63,7 +63,7 @@ namespace pinocchio
   , Fcrb((std::size_t)model.njoints)
   , lastChild((std::size_t)model.njoints)
   , nvSubtree((std::size_t)model.njoints)
-  , idx_v_fromRow((std::size_t)model.nv)
+  , start_idx_v_fromRow((std::size_t)model.nv)
   , U(model.nv,model.nv)
   , D(model.nv)
   , Dinv(model.nv)
@@ -175,12 +175,12 @@ namespace pinocchio
       else         parents_fromRow[(size_t)idx_vj] = -1;
       nvSubtree_fromRow[(size_t)idx_vj] = nvSubtree[joint];
       
-      idx_v_fromRow[(size_t)idx_vj] = idx_vj;
+      start_idx_v_fromRow[(size_t)idx_vj] = idx_vj;
       for(int row=1;row<nvj;++row)
       {
         parents_fromRow[(size_t)(idx_vj+row)] = idx_vj+row-1;
         nvSubtree_fromRow[(size_t)(idx_vj+row)] = nvSubtree[joint]-row;
-        idx_v_fromRow[(size_t)(idx_vj+row)] = idx_vj;
+        start_idx_v_fromRow[(size_t)(idx_vj+row)] = start_idx_v_fromRow[(size_t)idx_vj];
       }
     }
   }

unittest/data.cpp

@@ -14,7 +14,7 @@ using namespace pinocchio;
 BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE )
 
 
-  BOOST_AUTO_TEST_CASE(test_data_idx_v_fromRow)
+  BOOST_AUTO_TEST_CASE(test_data_start_idx_v_fromRow)
    {
      Model model;
      buildModels::humanoidRandom(model);
@@ -27,7 +27,7 @@ BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE )
        const int idx_joint = model.joints[joint_id].idx_v();
        
        for(int k = 0; k < nv_joint; ++k)
-         BOOST_CHECK(data.idx_v_fromRow[(size_t)(idx_joint+k)] == idx_joint);
+         BOOST_CHECK(data.start_idx_v_fromRow[(size_t)(idx_joint+k)] == idx_joint);
      }
    }