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 ...@@ -147,7 +147,7 @@ namespace pinocchio
typedef ConstraintIdentityTpl<Scalar,Options> Constraint_t; typedef ConstraintIdentityTpl<Scalar,Options> Constraint_t;
typedef SE3Tpl<Scalar,Options> Transformation_t; typedef SE3Tpl<Scalar,Options> Transformation_t;
typedef MotionTpl<Scalar,Options> Motion_t; typedef MotionTpl<Scalar,Options> Motion_t;
typedef BiasZeroTpl<Scalar,Options> Bias_t; typedef MotionZeroTpl<Scalar,Options> Bias_t;
// [ABA] // [ABA]
typedef Eigen::Matrix<Scalar,6,NV,Options> U_t; typedef Eigen::Matrix<Scalar,6,NV,Options> U_t;
......
...@@ -390,7 +390,7 @@ namespace pinocchio ...@@ -390,7 +390,7 @@ namespace pinocchio
typedef ConstraintPlanarTpl<Scalar,Options> Constraint_t; typedef ConstraintPlanarTpl<Scalar,Options> Constraint_t;
typedef SE3Tpl<Scalar,Options> Transformation_t; typedef SE3Tpl<Scalar,Options> Transformation_t;
typedef MotionPlanarTpl<Scalar,Options> Motion_t; typedef MotionPlanarTpl<Scalar,Options> Motion_t;
typedef BiasZeroTpl<Scalar,Options> Bias_t; typedef MotionZeroTpl<Scalar,Options> Bias_t;
// [ABA] // [ABA]
typedef Eigen::Matrix<Scalar,6,NV,Options> U_t; typedef Eigen::Matrix<Scalar,6,NV,Options> U_t;
......
...@@ -392,7 +392,7 @@ namespace pinocchio ...@@ -392,7 +392,7 @@ namespace pinocchio
typedef ConstraintPrismaticUnalignedTpl<Scalar,Options> Constraint_t; typedef ConstraintPrismaticUnalignedTpl<Scalar,Options> Constraint_t;
typedef TransformTranslationTpl<Scalar,Options> Transformation_t; typedef TransformTranslationTpl<Scalar,Options> Transformation_t;
typedef MotionPrismaticUnalignedTpl<Scalar,Options> Motion_t; typedef MotionPrismaticUnalignedTpl<Scalar,Options> Motion_t;
typedef BiasZeroTpl<Scalar,Options> Bias_t; typedef MotionZeroTpl<Scalar,Options> Bias_t;
// [ABA] // [ABA]
typedef Eigen::Matrix<Scalar,6,NV,Options> U_t; typedef Eigen::Matrix<Scalar,6,NV,Options> U_t;
......
...@@ -494,7 +494,7 @@ namespace pinocchio ...@@ -494,7 +494,7 @@ namespace pinocchio
typedef ConstraintPrismaticTpl<Scalar,Options,axis> Constraint_t; typedef ConstraintPrismaticTpl<Scalar,Options,axis> Constraint_t;
typedef TransformPrismaticTpl<Scalar,Options,axis> Transformation_t; typedef TransformPrismaticTpl<Scalar,Options,axis> Transformation_t;
typedef MotionPrismaticTpl<Scalar,Options,axis> Motion_t; typedef MotionPrismaticTpl<Scalar,Options,axis> Motion_t;
typedef BiasZeroTpl<Scalar,Options> Bias_t; typedef MotionZeroTpl<Scalar,Options> Bias_t;
// [ABA] // [ABA]
typedef Eigen::Matrix<Scalar,6,NV,Options> U_t; typedef Eigen::Matrix<Scalar,6,NV,Options> U_t;
......
...@@ -414,7 +414,7 @@ namespace pinocchio ...@@ -414,7 +414,7 @@ namespace pinocchio
typedef ConstraintRevoluteUnalignedTpl<Scalar,Options> Constraint_t; typedef ConstraintRevoluteUnalignedTpl<Scalar,Options> Constraint_t;
typedef SE3Tpl<Scalar,Options> Transformation_t; typedef SE3Tpl<Scalar,Options> Transformation_t;
typedef MotionRevoluteUnalignedTpl<Scalar,Options> Motion_t; typedef MotionRevoluteUnalignedTpl<Scalar,Options> Motion_t;
typedef BiasZeroTpl<Scalar,Options> Bias_t; typedef MotionZeroTpl<Scalar,Options> Bias_t;
// [ABA] // [ABA]
typedef Eigen::Matrix<Scalar,6,NV,Options> U_t; typedef Eigen::Matrix<Scalar,6,NV,Options> U_t;
......
...@@ -35,7 +35,7 @@ namespace pinocchio ...@@ -35,7 +35,7 @@ namespace pinocchio
typedef ConstraintRevoluteUnalignedTpl<Scalar,Options> Constraint_t; typedef ConstraintRevoluteUnalignedTpl<Scalar,Options> Constraint_t;
typedef SE3Tpl<Scalar,Options> Transformation_t; typedef SE3Tpl<Scalar,Options> Transformation_t;
typedef MotionRevoluteUnalignedTpl<Scalar,Options> Motion_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; typedef Eigen::Matrix<Scalar,6,NV,Options> F_t;
// [ABA] // [ABA]
......
...@@ -30,7 +30,7 @@ namespace pinocchio ...@@ -30,7 +30,7 @@ namespace pinocchio
typedef ConstraintRevoluteTpl<Scalar,Options,axis> Constraint_t; typedef ConstraintRevoluteTpl<Scalar,Options,axis> Constraint_t;
typedef TransformRevoluteTpl<Scalar,Options,axis> Transformation_t; typedef TransformRevoluteTpl<Scalar,Options,axis> Transformation_t;
typedef MotionRevoluteTpl<Scalar,Options,axis> Motion_t; typedef MotionRevoluteTpl<Scalar,Options,axis> Motion_t;
typedef BiasZeroTpl<Scalar,Options> Bias_t; typedef MotionZeroTpl<Scalar,Options> Bias_t;
// [ABA] // [ABA]
typedef Eigen::Matrix<Scalar,6,NV,Options> U_t; typedef Eigen::Matrix<Scalar,6,NV,Options> U_t;
......
...@@ -587,7 +587,7 @@ namespace pinocchio ...@@ -587,7 +587,7 @@ namespace pinocchio
typedef ConstraintRevoluteTpl<Scalar,Options,axis> Constraint_t; typedef ConstraintRevoluteTpl<Scalar,Options,axis> Constraint_t;
typedef TransformRevoluteTpl<Scalar,Options,axis> Transformation_t; typedef TransformRevoluteTpl<Scalar,Options,axis> Transformation_t;
typedef MotionRevoluteTpl<Scalar,Options,axis> Motion_t; typedef MotionRevoluteTpl<Scalar,Options,axis> Motion_t;
typedef BiasZeroTpl<Scalar,Options> Bias_t; typedef MotionZeroTpl<Scalar,Options> Bias_t;
// [ABA] // [ABA]
typedef Eigen::Matrix<Scalar,6,NV,Options> U_t; typedef Eigen::Matrix<Scalar,6,NV,Options> U_t;
......
...@@ -337,7 +337,7 @@ namespace pinocchio ...@@ -337,7 +337,7 @@ namespace pinocchio
typedef ConstraintSphericalTpl<Scalar,Options> Constraint_t; typedef ConstraintSphericalTpl<Scalar,Options> Constraint_t;
typedef SE3Tpl<Scalar,Options> Transformation_t; typedef SE3Tpl<Scalar,Options> Transformation_t;
typedef MotionSphericalTpl<Scalar,Options> Motion_t; typedef MotionSphericalTpl<Scalar,Options> Motion_t;
typedef BiasZeroTpl<Scalar,Options> Bias_t; typedef MotionZeroTpl<Scalar,Options> Bias_t;
// [ABA] // [ABA]
typedef Eigen::Matrix<Scalar,6,NV,Options> U_t; typedef Eigen::Matrix<Scalar,6,NV,Options> U_t;
......
...@@ -405,7 +405,7 @@ namespace pinocchio ...@@ -405,7 +405,7 @@ namespace pinocchio
typedef ConstraintTranslationTpl<Scalar,Options> Constraint_t; typedef ConstraintTranslationTpl<Scalar,Options> Constraint_t;
typedef TransformTranslationTpl<Scalar,Options> Transformation_t; typedef TransformTranslationTpl<Scalar,Options> Transformation_t;
typedef MotionTranslationTpl<Scalar,Options> Motion_t; typedef MotionTranslationTpl<Scalar,Options> Motion_t;
typedef BiasZeroTpl<Scalar,Options> Bias_t; typedef MotionZeroTpl<Scalar,Options> Bias_t;
// [ABA] // [ABA]
typedef Eigen::Matrix<Scalar,6,NV,Options> U_t; typedef Eigen::Matrix<Scalar,6,NV,Options> U_t;
......
...@@ -18,7 +18,8 @@ namespace pinocchio ...@@ -18,7 +18,8 @@ namespace pinocchio
template<typename Derived> class MotionDense; template<typename Derived> class MotionDense;
template<typename Vector6ArgType> class MotionRef; template<typename Vector6ArgType> class MotionRef;
template<typename Scalar, int Options=0> class MotionTpl; 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 ForceBase;
template<typename Derived> class ForceDense; template<typename Derived> class ForceDense;
...@@ -55,7 +56,12 @@ namespace pinocchio ...@@ -55,7 +56,12 @@ namespace pinocchio
typedef ForceTpl <double,0> Force; typedef ForceTpl <double,0> Force;
typedef InertiaTpl <double,0> Inertia; typedef InertiaTpl <double,0> Inertia;
typedef Symmetric3Tpl <double,0> Symmetric3; 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; typedef BiasZeroTpl <double,0> BiasZero;
#pragma GCC diagnostic pop
/** /**
* @} * @}
......
...@@ -10,19 +10,19 @@ namespace pinocchio ...@@ -10,19 +10,19 @@ namespace pinocchio
{ {
template<typename Scalar, int Options> 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> 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> template<typename _Scalar, int _Options>
struct traits< BiasZeroTpl<_Scalar,_Options> > struct traits< MotionZeroTpl<_Scalar,_Options> >
{ {
enum { enum {
Options = _Options, Options = _Options,
...@@ -44,14 +44,14 @@ namespace pinocchio ...@@ -44,14 +44,14 @@ namespace pinocchio
typedef Motion MotionPlain; typedef Motion MotionPlain;
typedef MotionPlain PlainReturnType; typedef MotionPlain PlainReturnType;
}; // traits BiasZeroTpl }; // traits MotionZeroTpl
template<typename Scalar, int Options> template<typename Scalar, int Options>
struct BiasZeroTpl struct MotionZeroTpl
: public MotionBase< BiasZeroTpl<Scalar,Options> > : public MotionBase< MotionZeroTpl<Scalar,Options> >
{ {
typedef typename traits<BiasZeroTpl>::MotionPlain MotionPlain; typedef typename traits<MotionZeroTpl>::MotionPlain MotionPlain;
typedef typename traits<BiasZeroTpl>::PlainReturnType PlainReturnType; typedef typename traits<MotionZeroTpl>::PlainReturnType PlainReturnType;
static PlainReturnType plain() { return MotionPlain::Zero(); } static PlainReturnType plain() { return MotionPlain::Zero(); }
...@@ -69,9 +69,9 @@ namespace pinocchio ...@@ -69,9 +69,9 @@ namespace pinocchio
} }
template<typename M1> 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> template<typename S2, int O2, typename D2>
...@@ -81,9 +81,9 @@ namespace pinocchio ...@@ -81,9 +81,9 @@ namespace pinocchio
} }
template<typename S2, int O2> 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> template<typename S2, int O2, typename D2>
...@@ -93,23 +93,28 @@ namespace pinocchio ...@@ -93,23 +93,28 @@ namespace pinocchio
} }
template<typename S2, int O2> 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> template<typename M1, typename Scalar, int Options>
inline const M1 & operator+(const MotionBase<M1> & v, inline const M1 & operator+(const MotionBase<M1> & v,
const BiasZeroTpl<Scalar,Options> &) const MotionZeroTpl<Scalar,Options> &)
{ return v.derived(); } { return v.derived(); }
template<typename Scalar, int Options, typename M1> 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) const MotionBase<M1> & v)
{ return v.derived(); } { 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 } // namespace pinocchio
#endif // ifndef __pinocchio_motion_zero_hpp__ #endif // ifndef __pinocchio_motion_zero_hpp__
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