data: add default value for all the fields

parent 26839f9f
......@@ -60,18 +60,21 @@ namespace pinocchio
, u(VectorXs::Zero(model.nv))
, Ag(Matrix6x::Zero(6,model.nv))
, dAg(Matrix6x::Zero(6,model.nv))
, hg(Force::Zero())
, dhg(Force::Zero())
, Ig(Inertia::Zero())
, Fcrb((std::size_t)model.njoints,Matrix6x::Zero(6,model.nv))
, lastChild((std::size_t)model.njoints)
, nvSubtree((std::size_t)model.njoints)
, start_idx_v_fromRow((std::size_t)model.nv)
, end_idx_v_fromRow((std::size_t)model.nv)
, lastChild((std::size_t)model.njoints,-1)
, nvSubtree((std::size_t)model.njoints,-1)
, start_idx_v_fromRow((std::size_t)model.nv,-1)
, end_idx_v_fromRow((std::size_t)model.nv,-1)
, U(MatrixXs::Identity(model.nv,model.nv))
, D(VectorXs::Zero(model.nv))
, Dinv(VectorXs::Zero(model.nv))
, tmp(VectorXs::Zero(model.nv))
, parents_fromRow((std::size_t)model.nv)
, parents_fromRow((std::size_t)model.nv,-1)
, supports_fromRow((std::size_t)model.nv)
, nvSubtree_fromRow((std::size_t)model.nv)
, nvSubtree_fromRow((std::size_t)model.nv,-1)
, J(Matrix6x::Zero(6,model.nv))
, dJ(Matrix6x::Zero(6,model.nv))
, dVdq(Matrix6x::Zero(6,model.nv))
......@@ -87,6 +90,8 @@ namespace pinocchio
, acom((std::size_t)model.njoints,Vector3::Zero())
, mass((std::size_t)model.njoints,(Scalar)(-1))
, Jcom(Matrix3x::Zero(3,model.nv))
, kinetic_energy((Scalar)-1)
, potential_energy((Scalar)-1)
, JMinvJt()
, llt_JMinvJt()
, lambda_c()
......@@ -95,6 +100,7 @@ namespace pinocchio
, dq_after(VectorXs::Zero(model.nv))
, impulse_c()
, staticRegressor(Matrix3x::Zero(3,4*(model.njoints-1)))
, bodyRegressor(BodyRegressorType::Zero())
, jointTorqueRegressor(MatrixXs::Zero(model.nv,10*(model.njoints-1)))
#if EIGEN_VERSION_AT_LEAST(3,2,90) && !EIGEN_VERSION_AT_LEAST(3,2,93)
, kinematic_hessians(6,std::max(1,model.nv),std::max(1,model.nv)) // the minimum size should be 1 for compatibility reasons
......
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