Verified Commit 9a67b738 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

joints: add addtional cleaning

parent 5c89133e
......@@ -157,22 +157,6 @@ namespace pinocchio
{
typedef _Scalar Scalar;
enum { Options = _Options };
typedef Eigen::Matrix<Scalar,3,1,Options> Vector3;
typedef Eigen::Matrix<Scalar,4,1,Options> Vector4;
typedef Eigen::Matrix<Scalar,6,1,Options> Vector6;
typedef Eigen::Matrix<Scalar,3,3,Options> Matrix3;
typedef Eigen::Matrix<Scalar,4,4,Options> Matrix4;
typedef Eigen::Matrix<Scalar,6,6,Options> Matrix6;
typedef Matrix3 Angular_t;
typedef Vector3 Linear_t;
typedef const Matrix3 ConstAngular_t;
typedef const Vector3 ConstLinear_t;
typedef Matrix6 ActionMatrix_t;
typedef Eigen::Quaternion<Scalar,Options> Quaternion_t;
typedef SE3Tpl<Scalar,Options> SE3;
typedef ForceTpl<Scalar,Options> Force;
typedef MotionTpl<Scalar,Options> Motion;
typedef Symmetric3Tpl<Scalar,Options> Symmetric3;
enum {
LINEAR = 0,
ANGULAR = 3
......@@ -185,16 +169,16 @@ namespace pinocchio
}; // traits ConstraintPrismaticUnaligned
template<typename _Scalar, int _Options>
struct ConstraintPrismaticUnaligned : ConstraintBase< ConstraintPrismaticUnaligned<_Scalar,_Options> >
struct ConstraintPrismaticUnaligned
: ConstraintBase< ConstraintPrismaticUnaligned<_Scalar,_Options> >
{
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
SPATIAL_TYPEDEF_TEMPLATE(ConstraintPrismaticUnaligned);
enum { NV = 1, Options = _Options };
PINOCCHIO_CONSTRAINT_TYPEDEF_TPL(ConstraintPrismaticUnaligned)
typedef typename traits<ConstraintPrismaticUnaligned>::JointMotion JointMotion;
typedef typename traits<ConstraintPrismaticUnaligned>::JointForce JointForce;
typedef typename traits<ConstraintPrismaticUnaligned>::DenseBase DenseBase;
enum { NV = 1, Options = _Options };
typedef Eigen::Matrix<Scalar,3,1,Options> Vector3;
ConstraintPrismaticUnaligned() {}
template<typename Vector3Like>
......@@ -210,9 +194,9 @@ namespace pinocchio
}
template<typename S1, int O1>
Vector6 se3Action(const SE3Tpl<S1,O1> & m) const
DenseBase se3Action(const SE3Tpl<S1,O1> & m) const
{
Vector6 res;
DenseBase res;
res.template head<3>().noalias() = m.rotation()*axis;
res.template tail<3>().setZero();
return res;
......@@ -222,10 +206,6 @@ namespace pinocchio
struct TransposeConst
{
typedef typename traits<ConstraintPrismaticUnaligned>::Scalar Scalar;
typedef typename traits<ConstraintPrismaticUnaligned>::Force Force;
typedef typename traits<ConstraintPrismaticUnaligned>::Vector6 Vector6;
const ConstraintPrismaticUnaligned & ref;
TransposeConst(const ConstraintPrismaticUnaligned & ref) : ref(ref) {}
......
......@@ -171,22 +171,6 @@ namespace pinocchio
{
typedef _Scalar Scalar;
enum { Options = _Options };
typedef Eigen::Matrix<Scalar,3,1,Options> Vector3;
typedef Eigen::Matrix<Scalar,4,1,Options> Vector4;
typedef Eigen::Matrix<Scalar,6,1,Options> Vector6;
typedef Eigen::Matrix<Scalar,3,3,Options> Matrix3;
typedef Eigen::Matrix<Scalar,4,4,Options> Matrix4;
typedef Eigen::Matrix<Scalar,6,6,Options> Matrix6;
typedef Matrix3 Angular_t;
typedef Vector3 Linear_t;
typedef const Matrix3 ConstAngular_t;
typedef const Vector3 ConstLinear_t;
typedef Matrix6 ActionMatrix_t;
typedef Eigen::Quaternion<Scalar,Options> Quaternion_t;
typedef SE3Tpl<Scalar,Options> SE3;
typedef ForceTpl<Scalar,Options> Force;
typedef MotionTpl<Scalar,Options> Motion;
typedef Symmetric3Tpl<Scalar,Options> Symmetric3;
enum {
LINEAR = 0,
ANGULAR = 3
......@@ -203,12 +187,11 @@ namespace pinocchio
: ConstraintBase< ConstraintRevoluteUnalignedTpl<_Scalar,_Options> >
{
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
SPATIAL_TYPEDEF_TEMPLATE(ConstraintRevoluteUnalignedTpl);
PINOCCHIO_CONSTRAINT_TYPEDEF_TPL(ConstraintRevoluteUnalignedTpl)
enum { NV = 1, Options = _Options };
typedef typename traits<ConstraintRevoluteUnalignedTpl>::JointMotion JointMotion;
typedef typename traits<ConstraintRevoluteUnalignedTpl>::JointForce JointForce;
typedef typename traits<ConstraintRevoluteUnalignedTpl>::DenseBase DenseBase;
typedef Eigen::Matrix<Scalar,3,1,Options> Vector3;
ConstraintRevoluteUnalignedTpl() {}
......
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