Verified Commit 9575797e authored by Justin Carpentier's avatar Justin Carpentier
Browse files

algo/frames: mark framesForwardKinematics as depracated

parent 460614fb
......@@ -19,7 +19,7 @@ namespace pinocchio
* @param[in] model The kinematic model.
* @param data Data associated to model.
*
* @warning One of the algorithms forwardKinematics should have been called first
* @warning One of the algorithms forwardKinematics should have been called first.
*/
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
inline void updateFramePlacements(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
......@@ -59,6 +59,26 @@ namespace pinocchio
DataTpl<Scalar,Options,JointCollectionTpl> & data,
const Eigen::MatrixBase<ConfigVectorType> & q);
/**
* @brief Updates the position of each frame contained in the model.
* This function is now deprecated and has been renamed updateFramePlacements.
*
* @tparam JointCollection Collection of Joint types.
*
* @param[in] model The kinematic model.
* @param data Data associated to model.
*
* @warning One of the algorithms forwardKinematics should have been called first.
*/
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
PINOCCHIO_DEPRECATED
inline void framesForwardKinematics(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data)
{
updateFramePlacements(model,data);
}
/**
* @brief Returns the spatial velocity of the frame expressed in the LOCAL frame coordinate system.
......
......@@ -51,14 +51,6 @@ namespace pinocchio
return data.oMf[frame_id];
}
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
inline void framesForwardKinematics(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data)
{
updateFramePlacements(model,data);
}
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
inline void framesForwardKinematics(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data,
......
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