Verified Commit 96814f89 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

algo: cosmetic change

parent c429f69e
Pipeline #11891 passed with stage
in 129 minutes and 16 seconds
...@@ -2,8 +2,8 @@ ...@@ -2,8 +2,8 @@
// Copyright (c) 2018-2020 CNRS INRIA // Copyright (c) 2018-2020 CNRS INRIA
// //
#ifndef __pinocchio_regressor_hpp__ #ifndef __pinocchio_algorithm_regressor_hpp__
#define __pinocchio_regressor_hpp__ #define __pinocchio_algorithm_regressor_hpp__
#include "pinocchio/multibody/model.hpp" #include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp" #include "pinocchio/multibody/data.hpp"
...@@ -134,7 +134,9 @@ namespace pinocchio ...@@ -134,7 +134,9 @@ namespace pinocchio
/// ///
template<typename MotionVelocity, typename MotionAcceleration, typename OutputType> template<typename MotionVelocity, typename MotionAcceleration, typename OutputType>
inline void inline void
bodyRegressor(const MotionDense<MotionVelocity> & v, const MotionDense<MotionAcceleration> & a, const Eigen::MatrixBase<OutputType> & regressor); bodyRegressor(const MotionDense<MotionVelocity> & v,
const MotionDense<MotionAcceleration> & a,
const Eigen::MatrixBase<OutputType> & regressor);
/// ///
/// \brief Computes the regressor for the dynamic parameters of a single rigid body. /// \brief Computes the regressor for the dynamic parameters of a single rigid body.
...@@ -149,7 +151,8 @@ namespace pinocchio ...@@ -149,7 +151,8 @@ namespace pinocchio
/// ///
template<typename MotionVelocity, typename MotionAcceleration> template<typename MotionVelocity, typename MotionAcceleration>
inline Eigen::Matrix<typename MotionVelocity::Scalar,6,10,PINOCCHIO_EIGEN_PLAIN_TYPE(typename MotionVelocity::Vector3)::Options> inline Eigen::Matrix<typename MotionVelocity::Scalar,6,10,PINOCCHIO_EIGEN_PLAIN_TYPE(typename MotionVelocity::Vector3)::Options>
bodyRegressor(const MotionDense<MotionVelocity> & v, const MotionDense<MotionAcceleration> & a); bodyRegressor(const MotionDense<MotionVelocity> & v,
const MotionDense<MotionAcceleration> & a);
/// ///
/// \brief Computes the regressor for the dynamic parameters of a rigid body attached to a given joint, /// \brief Computes the regressor for the dynamic parameters of a rigid body attached to a given joint,
...@@ -187,7 +190,7 @@ namespace pinocchio ...@@ -187,7 +190,7 @@ namespace pinocchio
/// \param[in] data The data structure of the rigid body system. /// \param[in] data The data structure of the rigid body system.
/// \param[in] frameId The id of the frame. /// \param[in] frameId The id of the frame.
/// ///
/// \return The regressor of the body. /// \return The dynamic regressor of the body.
/// ///
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl> template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
inline typename DataTpl<Scalar,Options,JointCollectionTpl>::BodyRegressorType & inline typename DataTpl<Scalar,Options,JointCollectionTpl>::BodyRegressorType &
...@@ -231,4 +234,4 @@ namespace pinocchio ...@@ -231,4 +234,4 @@ namespace pinocchio
/* --- Details -------------------------------------------------------------------- */ /* --- Details -------------------------------------------------------------------- */
#include "pinocchio/algorithm/regressor.hxx" #include "pinocchio/algorithm/regressor.hxx"
#endif // ifndef __pinocchio_regressor_hpp__ #endif // ifndef __pinocchio_algorithm_regressor_hpp__
...@@ -2,8 +2,8 @@ ...@@ -2,8 +2,8 @@
// Copyright (c) 2018-2020 CNRS INRIA // Copyright (c) 2018-2020 CNRS INRIA
// //
#ifndef __pinocchio_regressor_hxx__ #ifndef __pinocchio_algorithm_regressor_hxx__
#define __pinocchio_regressor_hxx__ #define __pinocchio_algorithm_regressor_hxx__
#include "pinocchio/algorithm/check.hpp" #include "pinocchio/algorithm/check.hpp"
#include "pinocchio/algorithm/kinematics.hpp" #include "pinocchio/algorithm/kinematics.hpp"
...@@ -225,7 +225,8 @@ namespace pinocchio ...@@ -225,7 +225,8 @@ namespace pinocchio
template<typename MotionVelocity, typename MotionAcceleration> template<typename MotionVelocity, typename MotionAcceleration>
inline Eigen::Matrix<typename MotionVelocity::Scalar,6,10,PINOCCHIO_EIGEN_PLAIN_TYPE(typename MotionVelocity::Vector3)::Options> inline Eigen::Matrix<typename MotionVelocity::Scalar,6,10,PINOCCHIO_EIGEN_PLAIN_TYPE(typename MotionVelocity::Vector3)::Options>
bodyRegressor(const MotionDense<MotionVelocity> & v, const MotionDense<MotionAcceleration> & a) bodyRegressor(const MotionDense<MotionVelocity> & v,
const MotionDense<MotionAcceleration> & a)
{ {
typedef typename MotionVelocity::Scalar Scalar; typedef typename MotionVelocity::Scalar Scalar;
enum { Options = PINOCCHIO_EIGEN_PLAIN_TYPE(typename MotionVelocity::Vector3)::Options }; enum { Options = PINOCCHIO_EIGEN_PLAIN_TYPE(typename MotionVelocity::Vector3)::Options };
...@@ -390,4 +391,4 @@ namespace pinocchio ...@@ -390,4 +391,4 @@ namespace pinocchio
} // namespace pinocchio } // namespace pinocchio
#endif // ifndef __pinocchio_regressor_hxx__ #endif // ifndef __pinocchio_algorithm_regressor_hxx__
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