From 95a37f3414f4baee18a48337f7f878bf7614d74e Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Mon, 9 Dec 2019 00:16:07 +0100
Subject: [PATCH] algo/centroidal: renaming
---
bindings/python/algorithm/expose-centroidal.cpp | 8 ++++----
src/algorithm/centroidal.hpp | 4 ++--
src/algorithm/centroidal.hxx | 4 ++--
unittest/centroidal.cpp | 4 ++--
4 files changed, 10 insertions(+), 10 deletions(-)
diff --git a/bindings/python/algorithm/expose-centroidal.cpp b/bindings/python/algorithm/expose-centroidal.cpp
index 60fe9265d..2460b7a70 100644
--- a/bindings/python/algorithm/expose-centroidal.cpp
+++ b/bindings/python/algorithm/expose-centroidal.cpp
@@ -52,8 +52,8 @@ namespace pinocchio
"For the same price, it also computes the total joint jacobians (data.J).",
bp::return_value_policy<bp::return_by_value>());
- bp::def("computeCentroidalMapping",
- &computeCentroidalMapping<double,0,JointCollectionDefaultTpl,VectorXd>,
+ bp::def("computeCentroidalMap",
+ &computeCentroidalMap<double,0,JointCollectionDefaultTpl,VectorXd>,
bp::args("Model","Data",
"Joint configuration q (size Model::nq)"),
"Computes the centroidal mapping, puts the result in Data.Ag and returns the centroidal mapping.\n"
@@ -70,8 +70,8 @@ namespace pinocchio
"and the related joint jacobians time derivative (data.dJ)",
bp::return_value_policy<bp::return_by_value>());
- bp::def("computeCentroidalMappingTimeVariation",
- computeCentroidalMappingTimeVariation<double,0,JointCollectionDefaultTpl,VectorXd,VectorXd>,
+ bp::def("computeCentroidalMapTimeVariation",
+ computeCentroidalMapTimeVariation<double,0,JointCollectionDefaultTpl,VectorXd,VectorXd>,
bp::args("Model","Data",
"Joint configuration q (size Model::nq)",
"Joint velocity v (size Model::nv)"),
diff --git a/src/algorithm/centroidal.hpp b/src/algorithm/centroidal.hpp
index 067fd8e69..0fb727c2c 100644
--- a/src/algorithm/centroidal.hpp
+++ b/src/algorithm/centroidal.hpp
@@ -186,7 +186,7 @@ namespace pinocchio
///
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x &
- computeCentroidalMapping(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
+ computeCentroidalMap(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data,
const Eigen::MatrixBase<ConfigVectorType> & q);
@@ -233,7 +233,7 @@ namespace pinocchio
///
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x &
- computeCentroidalMappingTimeVariation(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
+ computeCentroidalMapTimeVariation(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data,
const Eigen::MatrixBase<ConfigVectorType> & q,
const Eigen::MatrixBase<TangentVectorType> & v);
diff --git a/src/algorithm/centroidal.hxx b/src/algorithm/centroidal.hxx
index 0bf6d4922..d023b2f51 100644
--- a/src/algorithm/centroidal.hxx
+++ b/src/algorithm/centroidal.hxx
@@ -183,7 +183,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x &
- computeCentroidalMapping(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
+ computeCentroidalMap(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data,
const Eigen::MatrixBase<ConfigVectorType> & q)
{
@@ -324,7 +324,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x &
- computeCentroidalMappingTimeVariation(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
+ computeCentroidalMapTimeVariation(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data,
const Eigen::MatrixBase<ConfigVectorType> & q,
const Eigen::MatrixBase<TangentVectorType> & v)
diff --git a/unittest/centroidal.cpp b/unittest/centroidal.cpp
index 91c688dec..026975a99 100644
--- a/unittest/centroidal.cpp
+++ b/unittest/centroidal.cpp
@@ -95,7 +95,7 @@ BOOST_AUTO_TEST_CASE(test_centroidal_mapping)
Eigen::VectorXd q = randomConfiguration(model);
Eigen::VectorXd v = Eigen::VectorXd::Zero(model.nv);
- computeCentroidalMapping(model, data, q);
+ computeCentroidalMap(model, data, q);
ccrba(model,data_ref,q,v);
BOOST_CHECK(data.J.isApprox(data_ref.J));
@@ -271,7 +271,7 @@ BOOST_AUTO_TEST_CASE(test_centroidal_mapping_time_derivative)
Eigen::VectorXd q = randomConfiguration(model);
Eigen::VectorXd v = Eigen::VectorXd::Zero(model.nv);
- computeCentroidalMappingTimeVariation(model, data, q, v);
+ computeCentroidalMapTimeVariation(model, data, q, v);
dccrba(model,data_ref,q,v);
BOOST_CHECK(data.J.isApprox(data_ref.J));
--
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