Verified Commit 9518b555 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

data: change field name

parent 7dea3e3b
...@@ -235,7 +235,7 @@ namespace pinocchio ...@@ -235,7 +235,7 @@ namespace pinocchio
std::vector<int> nvSubtree; std::vector<int> nvSubtree;
/// \brief Starting index of the Joint motion subspace /// \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. /// \brief Joint space intertia matrix square root (upper trianglular part) computed with a Cholesky Decomposition.
MatrixXs U; MatrixXs U;
......
...@@ -63,7 +63,7 @@ namespace pinocchio ...@@ -63,7 +63,7 @@ namespace pinocchio
, Fcrb((std::size_t)model.njoints) , Fcrb((std::size_t)model.njoints)
, lastChild((std::size_t)model.njoints) , lastChild((std::size_t)model.njoints)
, nvSubtree((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) , U(model.nv,model.nv)
, D(model.nv) , D(model.nv)
, Dinv(model.nv) , Dinv(model.nv)
...@@ -175,12 +175,12 @@ namespace pinocchio ...@@ -175,12 +175,12 @@ namespace pinocchio
else parents_fromRow[(size_t)idx_vj] = -1; else parents_fromRow[(size_t)idx_vj] = -1;
nvSubtree_fromRow[(size_t)idx_vj] = nvSubtree[joint]; 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) for(int row=1;row<nvj;++row)
{ {
parents_fromRow[(size_t)(idx_vj+row)] = idx_vj+row-1; parents_fromRow[(size_t)(idx_vj+row)] = idx_vj+row-1;
nvSubtree_fromRow[(size_t)(idx_vj+row)] = nvSubtree[joint]-row; 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];
} }
} }
} }
......
...@@ -14,7 +14,7 @@ using namespace pinocchio; ...@@ -14,7 +14,7 @@ using namespace pinocchio;
BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE ) 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; Model model;
buildModels::humanoidRandom(model); buildModels::humanoidRandom(model);
...@@ -27,7 +27,7 @@ BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE ) ...@@ -27,7 +27,7 @@ BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE )
const int idx_joint = model.joints[joint_id].idx_v(); const int idx_joint = model.joints[joint_id].idx_v();
for(int k = 0; k < nv_joint; ++k) 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);
} }
} }
......
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