[C++] Renamed member in Frame class

src/algorithm/operational-frames.hpp

@@ -82,8 +82,8 @@ namespace se3
   {
     for (Model::FrameIndex i=0; i < (Model::FrameIndex) model.nOperationalFrames; ++i)
     {
-      const Model::JointIndex & parent = model.operational_frames[i].parent_id;
-      data.oMof[i] = (data.oMi[parent] * model.operational_frames[i].framePlacement);
+      const Model::JointIndex & parent = model.operational_frames[i].parent;
+      data.oMof[i] = (data.oMi[parent] * model.operational_frames[i].placement);
     }
   }
   
@@ -107,14 +107,14 @@ namespace se3
     assert( J.rows() == data.J.rows() );
     assert( J.cols() == data.J.cols() );
     
-    const Model::JointIndex & parent = model.operational_frames[frame_id].parent_id;
+    const Model::JointIndex & parent = model.operational_frames[frame_id].parent;
     const SE3 & oMframe = data.oMof[frame_id];
     const Frame & frame = model.operational_frames[frame_id];
     
     const int colRef = nv(model.joints[parent])+idx_v(model.joints[parent])-1;
     
     // Lever between the joint center and the frame center expressed in the global frame
-    const SE3::Vector3 lever(data.oMi[parent].rotation() * (frame.framePlacement.translation()));
+    const SE3::Vector3 lever(data.oMi[parent].rotation() * (frame.placement.translation()));
     
     getJacobian<localFrame>(model, data, parent, J);
     for(int j=colRef;j>=0;j=data.parents_fromRow[(size_t) j])

src/multibody/model.hxx

@@ -208,7 +208,7 @@ namespace se3
 
   inline Model::JointIndex Model::getFrameParent( const FrameIndex index ) const
   {
-    return operational_frames[index].parent_id;
+    return operational_frames[index].parent;
   }
 
   inline const SE3 & Model::getFramePlacement( const std::string & name) const
@@ -225,7 +225,7 @@ namespace se3
 
   inline const SE3 & Model::getFramePlacement( const FrameIndex index ) const
   {
-    return operational_frames[index].framePlacement;
+    return operational_frames[index].placement;
   }
 
   inline bool Model::addFrame ( const Frame & frame )

src/python/frame.hpp

@@ -51,22 +51,21 @@ namespace se3
       void visit(PyClass& cl) const 
       {
         cl
-          .def(bp::init<const std::string&,const JointIndex, const SE3_fx&> ((bp::arg("name (string)"),bp::arg("parent_id (index)"), bp::arg("SE3 placement")),
+          .def(bp::init<const std::string&,const JointIndex, const SE3_fx&> ((bp::arg("name (string)"),bp::arg("parent (index)"), bp::arg("SE3 placement")),
                 "Initialize from name, parent id and placement wrt parent joint."))
 
-          .add_property("name", &FramePythonVisitor::getName, &FramePythonVisitor::setName)
-          .add_property("parent_id", &FramePythonVisitor::getParentId, &FramePythonVisitor::setParentId)
-          .add_property("framePlacement", &FramePythonVisitor::getPlacementWrtParentJoint, &FramePythonVisitor::setPlacementWrtParentJoint)
+          .def_readwrite("name", &Frame::name, "name  of the frame")
+          .def_readwrite("parent", &Frame::parent, "id of the parent joint")
+          .add_property("placement", 
+                        &FramePythonVisitor::getPlacementWrtParentJoint, 
+                        &FramePythonVisitor::setPlacementWrtParentJoint, 
+                        "placement in the parent joint local frame")
           ;
       }
 
 
-      static std::string getName( const Frame & self) { return self.name; }
-      static void setName(Frame & self, const std::string & name) { self.name = name; }
-      static JointIndex getParentId( const Frame & self) { return self.parent_id; }
-      static void setParentId(Frame & self, const JointIndex parent_id) { self.parent_id = parent_id; }
-      static SE3_fx getPlacementWrtParentJoint( const Frame & self) { return self.framePlacement; }
-      static void setPlacementWrtParentJoint(Frame & self, const SE3_fx & placement) { self.framePlacement = placement; }
+      static SE3_fx getPlacementWrtParentJoint( const Frame & self) { return self.placement; }
+      static void setPlacementWrtParentJoint(Frame & self, const SE3_fx & placement) { self.placement = placement; }
 
       static void expose()
       {

src/spatial/frame.hpp

@@ -36,19 +36,19 @@ namespace se3
   {
     typedef se3::JointIndex JointIndex;
       
-    Frame() : name(random(8)), parent_id(), framePlacement() {} // needed by EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION
+    Frame() : name(random(8)), parent(), placement() {} // needed by EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION
     
     ///
     /// \brief Default constructor of a Frame
     ///
     /// \param[in] name Name of the frame.
-    /// \param[in] parent_id Index of the parent joint in the kinematic tree.
-    /// \param[in] frame_placement Placement of the frame wrt the parent joint frame.
+    /// \param[in] parent Index of the parent joint in the kinematic tree.
+    /// \param[in] placement Placement of the frame wrt the parent joint frame.
     ///
-    Frame(const std::string & name, const JointIndex parent_id, const SE3 & frame_placement):
+    Frame(const std::string & name, const JointIndex parent, const SE3 & frame_placement):
     name(name)
-    , parent_id(parent_id)
-    , framePlacement(frame_placement)
+    , parent(parent)
+    , placement(frame_placement)
     {}
     
     ///
@@ -58,18 +58,18 @@ namespace se3
     ///
     bool operator == (const Frame & other) const
     {
-      return name == other.name && parent_id == other.parent_id
-      && framePlacement == other.framePlacement ;
+      return name == other.name && parent == other.parent
+      && placement == other.placement ;
     }
     
     /// \brief Name of the frame.
     std::string name;
     
     /// \brief Index of the parent joint.
-    JointIndex parent_id;
+    JointIndex parent;
     
     /// \brief Placement of the frame wrt the parent joint.
-    SE3 framePlacement;
+    SE3 placement;
     
   }; // struct Frame