From ac273209e74fa601f4c450543c6f4bf30c29deac Mon Sep 17 00:00:00 2001
From: jcarpent <jcarpent@laas.fr>
Date: Sun, 6 Mar 2016 09:18:13 +0100
Subject: [PATCH] [C++] Minor clean
---
benchmark/timings.cpp | 6 +++---
src/algorithm/aba.hpp | 11 +++++------
2 files changed, 8 insertions(+), 9 deletions(-)
diff --git a/benchmark/timings.cpp b/benchmark/timings.cpp
index 822f32f82..95877c513 100644
--- a/benchmark/timings.cpp
+++ b/benchmark/timings.cpp
@@ -138,14 +138,14 @@ int main(int argc, const char ** argv)
timer.tic();
SMOOTH(NBT)
{
- jacobianCenterOfMass(model,data,qs[_smooth],false);
+ jacobianCenterOfMass(model,data,qs[_smooth],true);
}
std::cout << "COM+Jcom = \t"; timer.toc(std::cout,NBT);
timer.tic();
SMOOTH(NBT)
{
- centerOfMass(model,data,qs[_smooth], qdots[_smooth], qddots[_smooth], false);
+ centerOfMass(model,data,qs[_smooth], qdots[_smooth], qddots[_smooth], true);
}
std::cout << "COM+vCOM+aCOM = \t"; timer.toc(std::cout,NBT);
@@ -154,7 +154,7 @@ int main(int argc, const char ** argv)
{
forwardKinematics(model,data,qs[_smooth]);
}
- std::cout << "Geometry = \t"; timer.toc(std::cout,NBT);
+ std::cout << "Zero Order Kinematics = \t"; timer.toc(std::cout,NBT);
timer.tic();
diff --git a/src/algorithm/aba.hpp b/src/algorithm/aba.hpp
index f0085c567..874c6fa15 100644
--- a/src/algorithm/aba.hpp
+++ b/src/algorithm/aba.hpp
@@ -95,8 +95,8 @@ namespace se3
struct AbaBackwardStep : public fusion::JointVisitor<AbaBackwardStep>
{
typedef boost::fusion::vector<const Model &,
- Data &,
- const Model::Index> ArgsType;
+ Data &,
+ const Model::Index> ArgsType;
JOINT_VISITOR_INIT(AbaBackwardStep);
@@ -191,9 +191,9 @@ namespace se3
struct AbaForwardStep2 : public fusion::JointVisitor<AbaForwardStep2>
{
typedef boost::fusion::vector<const se3::Model &,
- se3::Data &,
- const Model::Index
- > ArgsType;
+ se3::Data &,
+ const Model::Index
+ > ArgsType;
JOINT_VISITOR_INIT(AbaForwardStep2);
@@ -238,7 +238,6 @@ namespace se3
{
AbaBackwardStep::run(model.joints[i],data.joints[i],
AbaBackwardStep::ArgsType(model,data,i));
-
}
for(Model::Index i=1;i<(Model::Index)model.nbody;++i)
--
GitLab