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 @@
// Copyright (c) 2018-2020 CNRS INRIA
//
#ifndef __pinocchio_regressor_hpp__
#define __pinocchio_regressor_hpp__
#ifndef __pinocchio_algorithm_regressor_hpp__
#define __pinocchio_algorithm_regressor_hpp__
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
......@@ -134,7 +134,9 @@ namespace pinocchio
///
template<typename MotionVelocity, typename MotionAcceleration, typename OutputType>
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.
......@@ -149,7 +151,8 @@ namespace pinocchio
///
template<typename MotionVelocity, typename MotionAcceleration>
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,
......@@ -187,7 +190,7 @@ namespace pinocchio
/// \param[in] data The data structure of the rigid body system.
/// \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>
inline typename DataTpl<Scalar,Options,JointCollectionTpl>::BodyRegressorType &
......@@ -231,4 +234,4 @@ namespace pinocchio
/* --- Details -------------------------------------------------------------------- */
#include "pinocchio/algorithm/regressor.hxx"
#endif // ifndef __pinocchio_regressor_hpp__
#endif // ifndef __pinocchio_algorithm_regressor_hpp__
......@@ -2,8 +2,8 @@
// Copyright (c) 2018-2020 CNRS INRIA
//
#ifndef __pinocchio_regressor_hxx__
#define __pinocchio_regressor_hxx__
#ifndef __pinocchio_algorithm_regressor_hxx__
#define __pinocchio_algorithm_regressor_hxx__
#include "pinocchio/algorithm/check.hpp"
#include "pinocchio/algorithm/kinematics.hpp"
......@@ -225,7 +225,8 @@ namespace pinocchio
template<typename MotionVelocity, typename MotionAcceleration>
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;
enum { Options = PINOCCHIO_EIGEN_PLAIN_TYPE(typename MotionVelocity::Vector3)::Options };
......@@ -390,4 +391,4 @@ namespace pinocchio
} // namespace pinocchio
#endif // ifndef __pinocchio_regressor_hxx__
#endif // ifndef __pinocchio_algorithm_regressor_hxx__
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