Commit a913a333 authored by jcarpent's avatar jcarpent
Browse files

[All] Rename LieGroupTpl in LieGroupMap

It follows #432 suggestions
parent b9e5dbcb
......@@ -35,7 +35,7 @@ namespace se3
const Eigen::VectorXd & q,
const Eigen::VectorXd & v)
{
return integrate<LieGroupTpl>(model, q, v);
return integrate<LieGroupMap>(model, q, v);
}
template<typename LieGroup_t>
......@@ -59,7 +59,7 @@ namespace se3
const Eigen::VectorXd & q1,
const double u)
{
return interpolate<LieGroupTpl>(model, q0, q1, u);
return interpolate<LieGroupMap>(model, q0, q1, u);
}
template<typename LieGroup_t>
......@@ -98,7 +98,7 @@ namespace se3
const Eigen::VectorXd & q0,
const Eigen::VectorXd & q1)
{
return differentiate<LieGroupTpl>(model, q0, q1);
return differentiate<LieGroupMap>(model, q0, q1);
}
template<typename LieGroup_t>
......@@ -121,7 +121,7 @@ namespace se3
const Eigen::VectorXd & q0,
const Eigen::VectorXd & q1)
{
return squaredDistance<LieGroupTpl>(model, q0, q1);
return squaredDistance<LieGroupMap>(model, q0, q1);
}
template<typename LieGroup_t>
......@@ -138,7 +138,7 @@ namespace se3
const Eigen::VectorXd & q0,
const Eigen::VectorXd & q1)
{
return std::sqrt(squaredDistance<LieGroupTpl>(model, q0, q1).sum());
return std::sqrt(squaredDistance<LieGroupMap>(model, q0, q1).sum());
}
template<typename LieGroup_t>
......@@ -157,7 +157,7 @@ namespace se3
inline Eigen::VectorXd
randomConfiguration(const Model & model, const Eigen::VectorXd & lowerLimits, const Eigen::VectorXd & upperLimits)
{
return randomConfiguration<LieGroupTpl>(model, lowerLimits, upperLimits);
return randomConfiguration<LieGroupMap>(model, lowerLimits, upperLimits);
}
template<typename LieGroup_t>
......@@ -170,7 +170,7 @@ namespace se3
inline Eigen::VectorXd
randomConfiguration(const Model & model)
{
return randomConfiguration<LieGroupTpl>(model);
return randomConfiguration<LieGroupMap>(model);
}
template<typename LieGroup_t>
......@@ -185,7 +185,7 @@ namespace se3
inline void normalize(const Model & model, Eigen::VectorXd & qout)
{
return normalize<LieGroupTpl>(model,qout);
return normalize<LieGroupMap>(model,qout);
}
template<typename LieGroup_t>
......@@ -212,7 +212,7 @@ namespace se3
const Eigen::VectorXd & q2,
const double& prec = Eigen::NumTraits<double>::dummy_precision())
{
return isSameConfiguration<LieGroupTpl>(model, q1, q2, prec);
return isSameConfiguration<LieGroupMap>(model, q1, q2, prec);
}
......@@ -232,7 +232,7 @@ namespace se3
inline Eigen::VectorXd neutral(const Model & model)
{
return neutral<LieGroupTpl>(model);
return neutral<LieGroupMap>(model);
}
......
......@@ -27,28 +27,28 @@
#include "pinocchio/multibody/joint/fwd.hpp"
namespace se3 {
struct LieGroupTpl {
struct LieGroupMap {
template<typename JointModel> struct operation {
typedef VectorSpaceOperation<JointModel::NQ> type;
};
};
template<typename JointModel>
struct LieGroup {
typedef typename LieGroupTpl::operation<JointModel>::type type;
typedef typename LieGroupMap::operation<JointModel>::type type;
};
template<> struct LieGroupTpl::operation <JointModelComposite> {};
template<> struct LieGroupTpl::operation <JointModelSpherical> {
template<> struct LieGroupMap::operation <JointModelComposite> {};
template<> struct LieGroupMap::operation <JointModelSpherical> {
typedef SpecialOrthogonalOperation<3> type;
};
template<> struct LieGroupTpl::operation <JointModelFreeFlyer> {
template<> struct LieGroupMap::operation <JointModelFreeFlyer> {
typedef SpecialEuclideanOperation<3> type;
};
template<> struct LieGroupTpl::operation <JointModelPlanar> {
template<> struct LieGroupMap::operation <JointModelPlanar> {
typedef SpecialEuclideanOperation<2> type;
};
template<typename Scalar, int Options, int axis>
struct LieGroupTpl::operation <JointModelRevoluteUnboundedTpl<Scalar,Options,axis> > {
struct LieGroupMap::operation <JointModelRevoluteUnboundedTpl<Scalar,Options,axis> > {
typedef SpecialOrthogonalOperation<2> type;
};
}
......
......@@ -99,7 +99,7 @@ namespace se3
jmodel.jointConfigSelector(upperPositionLimit) = max_config;
neutralConfiguration.conservativeResize(nq);
NeutralStepAlgo<LieGroupTpl,JointModelDerived>::run(jmodel,neutralConfiguration);
NeutralStepAlgo<LieGroupMap,JointModelDerived>::run(jmodel,neutralConfiguration);
rotorInertia.conservativeResize(nv);
jmodel.jointVelocitySelector(rotorInertia).setZero();
......
......@@ -117,8 +117,8 @@ void test_joint_methods(const JointModelBase<JointModel> & jmodel, JointModelCom
Eigen::VectorXd qq = q;
Eigen::VectorXd vv = v;
Eigen::VectorXd res(jmodel_composite.nq());
typename se3::IntegrateStep<se3::LieGroupTpl>::ArgsType args(qq, vv, res);
se3::IntegrateStep<se3::LieGroupTpl>::run(jmodel_composite, args);
typename se3::IntegrateStep<se3::LieGroupMap>::ArgsType args(qq, vv, res);
se3::IntegrateStep<se3::LieGroupMap>::run(jmodel_composite, args);
}
struct TestJointComposite{
......
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