core: rename BiasZeroTpl into MotionZeroTpl

src/multibody/joint/joint-free-flyer.hpp

@@ -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;

src/multibody/joint/joint-planar.hpp

@@ -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;

src/multibody/joint/joint-prismatic-unaligned.hpp

@@ -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;

src/multibody/joint/joint-prismatic.hpp

@@ -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;

src/multibody/joint/joint-revolute-unaligned.hpp

@@ -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;

src/multibody/joint/joint-revolute-unbounded-unaligned.hpp

@@ -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]

src/multibody/joint/joint-revolute-unbounded.hpp

@@ -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;

src/multibody/joint/joint-revolute.hpp

@@ -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;

src/multibody/joint/joint-spherical.hpp

@@ -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;

src/multibody/joint/joint-translation.hpp

@@ -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;

src/spatial/fwd.hpp

@@ -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
 
   /**
    * @}

src/spatial/motion-zero.hpp

@@ -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>
@@ -93,23 +93,28 @@ 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
 
 #endif // ifndef __pinocchio_motion_zero_hpp__