Commit 9f107b57 authored by jcarpent's avatar jcarpent
Browse files

[Data] Remove data.dtau_da reference on data.M

It seems that Python does not support at the alignment level such reference.
parent 17b856fa
......@@ -54,7 +54,7 @@ namespace se3
/// \param[out] rnea_partial_dv Partial derivative of the generalized torque vector with respect to the joint velocity.
/// \param[out] rnea_partial_da Partial derivative of the generalized torque vector with respect to the joint acceleration.
///
/// \remark rnea_partial_dq, rnea_partial_dv and rnea_partial_da must be first initialized with zeros (gravity_partial_dq.setZero).
/// \remark rnea_partial_dq, rnea_partial_dv and rnea_partial_da must be first initialized with zeros (rnea_partial_dq.setZero(),etc).
/// As for se3::crba, only the upper triangular part of rnea_partial_da is filled.
///
/// \sa se3::rnea
......@@ -78,11 +78,9 @@ namespace se3
/// \param[in] v The joint velocity vector (dim model.nv).
/// \param[in] a The joint acceleration vector (dim model.nv).
///
/// \returns The results are stored in data.dtau_dq, data.tau_dv and data.dtau_da which respectively correspond
/// \returns The results are stored in data.dtau_dq, data.M and data.dtau_da which respectively correspond
/// to the partial derivatives of the joint torque vector with respect to the joint configuration, velocity and acceleration.
/// data.dtau_da is a reference on data.M. And as for se3::crba, only the upper triangular part of data.M is filled.
///
/// \remark rnea_partial_dq and rnea_partial_dv must be first initialized with zeros (gravity_partial_dq.setZero).
/// And as for se3::crba, only the upper triangular part of data.M is filled.
///
/// \sa se3::rnea, se3::crba, se3::cholesky::decompose
///
......@@ -93,7 +91,7 @@ namespace se3
const Eigen::VectorXd & a)
{
computeRNEADerivatives(model,data,q,v,a,
data.dtau_dq, data.dtau_dv, data.dtau_da);
data.dtau_dq, data.dtau_dv, data.M);
}
......
......@@ -522,9 +522,6 @@ namespace se3
/// \brief Variation of the joint torque vector with respect to the joint velocity.
Eigen::MatrixXd dtau_dv;
/// \brief Variation of the joint torque vector with respect to the joint acceleration. This is only a reference on data.M.
Eigen::MatrixXd & dtau_da;
/// \brief Vector of joint placements wrt to algorithm end effector.
container::aligned_vector<SE3> iMf;
......
......@@ -278,7 +278,6 @@ namespace se3
,dAdv(6,model.nv)
,dtau_dq(Eigen::MatrixXd::Zero(model.nv,model.nv))
,dtau_dv(Eigen::MatrixXd::Zero(model.nv,model.nv))
,dtau_da(M)
,iMf((std::size_t)model.njoints)
,com((std::size_t)model.njoints)
,vcom((std::size_t)model.njoints)
......
......@@ -256,7 +256,7 @@ BOOST_AUTO_TEST_CASE(test_rnea_derivatives)
BOOST_CHECK(rnea_partial_dq.isApprox(data2.dtau_dq));
BOOST_CHECK(rnea_partial_dv.isApprox(data2.dtau_dv));
BOOST_CHECK(rnea_partial_da.isApprox(data2.dtau_da));
BOOST_CHECK(rnea_partial_da.isApprox(data2.M));
}
......
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