Verified Commit b5695f3e authored by Justin Carpentier's avatar Justin Carpentier
Browse files

core: rename BiasZeroTpl into MotionZeroTpl

parent 3b361f53
......@@ -147,7 +147,7 @@ namespace pinocchio
typedef ConstraintIdentityTpl<Scalar,Options> Constraint_t;
typedef SE3Tpl<Scalar,Options> Transformation_t;
typedef MotionTpl<Scalar,Options> Motion_t;
typedef BiasZeroTpl<Scalar,Options> Bias_t;
typedef MotionZeroTpl<Scalar,Options> Bias_t;
// [ABA]
typedef Eigen::Matrix<Scalar,6,NV,Options> U_t;
......
......@@ -390,7 +390,7 @@ namespace pinocchio
typedef ConstraintPlanarTpl<Scalar,Options> Constraint_t;
typedef SE3Tpl<Scalar,Options> Transformation_t;
typedef MotionPlanarTpl<Scalar,Options> Motion_t;
typedef BiasZeroTpl<Scalar,Options> Bias_t;
typedef MotionZeroTpl<Scalar,Options> Bias_t;
// [ABA]
typedef Eigen::Matrix<Scalar,6,NV,Options> U_t;
......
......@@ -392,7 +392,7 @@ namespace pinocchio
typedef ConstraintPrismaticUnalignedTpl<Scalar,Options> Constraint_t;
typedef TransformTranslationTpl<Scalar,Options> Transformation_t;
typedef MotionPrismaticUnalignedTpl<Scalar,Options> Motion_t;
typedef BiasZeroTpl<Scalar,Options> Bias_t;
typedef MotionZeroTpl<Scalar,Options> Bias_t;
// [ABA]
typedef Eigen::Matrix<Scalar,6,NV,Options> U_t;
......
......@@ -494,7 +494,7 @@ namespace pinocchio
typedef ConstraintPrismaticTpl<Scalar,Options,axis> Constraint_t;
typedef TransformPrismaticTpl<Scalar,Options,axis> Transformation_t;
typedef MotionPrismaticTpl<Scalar,Options,axis> Motion_t;
typedef BiasZeroTpl<Scalar,Options> Bias_t;
typedef MotionZeroTpl<Scalar,Options> Bias_t;
// [ABA]
typedef Eigen::Matrix<Scalar,6,NV,Options> U_t;
......
......@@ -414,7 +414,7 @@ namespace pinocchio
typedef ConstraintRevoluteUnalignedTpl<Scalar,Options> Constraint_t;
typedef SE3Tpl<Scalar,Options> Transformation_t;
typedef MotionRevoluteUnalignedTpl<Scalar,Options> Motion_t;
typedef BiasZeroTpl<Scalar,Options> Bias_t;
typedef MotionZeroTpl<Scalar,Options> Bias_t;
// [ABA]
typedef Eigen::Matrix<Scalar,6,NV,Options> U_t;
......
......@@ -35,7 +35,7 @@ namespace pinocchio
typedef ConstraintRevoluteUnalignedTpl<Scalar,Options> Constraint_t;
typedef SE3Tpl<Scalar,Options> Transformation_t;
typedef MotionRevoluteUnalignedTpl<Scalar,Options> Motion_t;
typedef BiasZeroTpl<Scalar,Options> Bias_t;
typedef MotionZeroTpl<Scalar,Options> Bias_t;
typedef Eigen::Matrix<Scalar,6,NV,Options> F_t;
// [ABA]
......
......@@ -30,7 +30,7 @@ namespace pinocchio
typedef ConstraintRevoluteTpl<Scalar,Options,axis> Constraint_t;
typedef TransformRevoluteTpl<Scalar,Options,axis> Transformation_t;
typedef MotionRevoluteTpl<Scalar,Options,axis> Motion_t;
typedef BiasZeroTpl<Scalar,Options> Bias_t;
typedef MotionZeroTpl<Scalar,Options> Bias_t;
// [ABA]
typedef Eigen::Matrix<Scalar,6,NV,Options> U_t;
......
......@@ -587,7 +587,7 @@ namespace pinocchio
typedef ConstraintRevoluteTpl<Scalar,Options,axis> Constraint_t;
typedef TransformRevoluteTpl<Scalar,Options,axis> Transformation_t;
typedef MotionRevoluteTpl<Scalar,Options,axis> Motion_t;
typedef BiasZeroTpl<Scalar,Options> Bias_t;
typedef MotionZeroTpl<Scalar,Options> Bias_t;
// [ABA]
typedef Eigen::Matrix<Scalar,6,NV,Options> U_t;
......
......@@ -337,7 +337,7 @@ namespace pinocchio
typedef ConstraintSphericalTpl<Scalar,Options> Constraint_t;
typedef SE3Tpl<Scalar,Options> Transformation_t;
typedef MotionSphericalTpl<Scalar,Options> Motion_t;
typedef BiasZeroTpl<Scalar,Options> Bias_t;
typedef MotionZeroTpl<Scalar,Options> Bias_t;
// [ABA]
typedef Eigen::Matrix<Scalar,6,NV,Options> U_t;
......
......@@ -405,7 +405,7 @@ namespace pinocchio
typedef ConstraintTranslationTpl<Scalar,Options> Constraint_t;
typedef TransformTranslationTpl<Scalar,Options> Transformation_t;
typedef MotionTranslationTpl<Scalar,Options> Motion_t;
typedef BiasZeroTpl<Scalar,Options> Bias_t;
typedef MotionZeroTpl<Scalar,Options> Bias_t;
// [ABA]
typedef Eigen::Matrix<Scalar,6,NV,Options> U_t;
......
......@@ -18,7 +18,8 @@ namespace pinocchio
template<typename Derived> class MotionDense;
template<typename Vector6ArgType> class MotionRef;
template<typename Scalar, int Options=0> class MotionTpl;
template<typename Scalar, int Options=0> struct BiasZeroTpl;
template<typename Scalar, int Options=0> struct MotionZeroTpl;
template<typename Scalar, int Options=0> struct PINOCCHIO_DEPRECATED BiasZeroTpl;
template<typename Derived> class ForceBase;
template<typename Derived> class ForceDense;
......@@ -55,7 +56,12 @@ namespace pinocchio
typedef ForceTpl <double,0> Force;
typedef InertiaTpl <double,0> Inertia;
typedef Symmetric3Tpl <double,0> Symmetric3;
typedef MotionZeroTpl <double,0> MotionZero;
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
typedef BiasZeroTpl <double,0> BiasZero;
#pragma GCC diagnostic pop
/**
* @}
......
......@@ -10,19 +10,19 @@ namespace pinocchio
{
template<typename Scalar, int Options>
struct SE3GroupAction< BiasZeroTpl<Scalar,Options> >
struct SE3GroupAction< MotionZeroTpl<Scalar,Options> >
{
typedef BiasZeroTpl<Scalar,Options> ReturnType;
typedef MotionZeroTpl<Scalar,Options> ReturnType;
};
template<typename Scalar, int Options, typename MotionDerived>
struct MotionAlgebraAction< BiasZeroTpl<Scalar,Options>, MotionDerived>
struct MotionAlgebraAction< MotionZeroTpl<Scalar,Options>, MotionDerived>
{
typedef BiasZeroTpl<Scalar,Options> ReturnType;
typedef MotionZeroTpl<Scalar,Options> ReturnType;
};
template<typename _Scalar, int _Options>
struct traits< BiasZeroTpl<_Scalar,_Options> >
struct traits< MotionZeroTpl<_Scalar,_Options> >
{
enum {
Options = _Options,
......@@ -44,14 +44,14 @@ namespace pinocchio
typedef Motion MotionPlain;
typedef MotionPlain PlainReturnType;
}; // traits BiasZeroTpl
}; // traits MotionZeroTpl
template<typename Scalar, int Options>
struct BiasZeroTpl
: public MotionBase< BiasZeroTpl<Scalar,Options> >
struct MotionZeroTpl
: public MotionBase< MotionZeroTpl<Scalar,Options> >
{
typedef typename traits<BiasZeroTpl>::MotionPlain MotionPlain;
typedef typename traits<BiasZeroTpl>::PlainReturnType PlainReturnType;
typedef typename traits<MotionZeroTpl>::MotionPlain MotionPlain;
typedef typename traits<MotionZeroTpl>::PlainReturnType PlainReturnType;
static PlainReturnType plain() { return MotionPlain::Zero(); }
......@@ -69,9 +69,9 @@ namespace pinocchio
}
template<typename M1>
BiasZeroTpl motionAction(const MotionBase<M1> &) const
MotionZeroTpl motionAction(const MotionBase<M1> &) const
{
return BiasZeroTpl();
return MotionZeroTpl();
}
template<typename S2, int O2, typename D2>
......@@ -81,9 +81,9 @@ namespace pinocchio
}
template<typename S2, int O2>
BiasZeroTpl se3Action_impl(const SE3Tpl<S2,O2> &) const
MotionZeroTpl se3Action_impl(const SE3Tpl<S2,O2> &) const
{
return BiasZeroTpl();
return MotionZeroTpl();
}
template<typename S2, int O2, typename D2>
......@@ -93,22 +93,27 @@ namespace pinocchio
}
template<typename S2, int O2>
BiasZeroTpl se3ActionInverse_impl(const SE3Tpl<S2,O2> &) const
MotionZeroTpl se3ActionInverse_impl(const SE3Tpl<S2,O2> &) const
{
return BiasZeroTpl();
return MotionZeroTpl();
}
}; // struct BiasZeroTpl
}; // struct MotionZeroTpl
template<typename M1, typename Scalar, int Options>
inline const M1 & operator+(const MotionBase<M1> & v,
const BiasZeroTpl<Scalar,Options> &)
const MotionZeroTpl<Scalar,Options> &)
{ return v.derived(); }
template<typename Scalar, int Options, typename M1>
inline const M1 & operator+(const BiasZeroTpl<Scalar,Options> &,
inline const M1 & operator+(const MotionZeroTpl<Scalar,Options> &,
const MotionBase<M1> & v)
{ return v.derived(); }
/// \brief BiasZeroTpl has been replaced by MotionZeroTpl. Please use this naming instead.
template<typename Scalar, int Options>
struct PINOCCHIO_DEPRECATED BiasZeroTpl : MotionZeroTpl<Scalar,Options>
{};
} // namespace pinocchio
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment