From c1d174c103777069382054dba1e667677a9046a0 Mon Sep 17 00:00:00 2001
From: jcarpent <jcarpent@laas.fr>
Date: Wed, 27 Jul 2016 19:41:03 +0200
Subject: [PATCH] Minot clean
---
src/multibody/joint/joint-basic-visitors.hpp | 2 +-
src/multibody/joint/joint-basic-visitors.hxx | 5 +----
src/multibody/joint/joint-spherical-ZYX.hpp | 21 ++++++++++----------
unittest/joint.cpp | 5 -----
4 files changed, 13 insertions(+), 20 deletions(-)
diff --git a/src/multibody/joint/joint-basic-visitors.hpp b/src/multibody/joint/joint-basic-visitors.hpp
index 38f13ed22..c1e15ec9d 100644
--- a/src/multibody/joint/joint-basic-visitors.hpp
+++ b/src/multibody/joint/joint-basic-visitors.hpp
@@ -324,7 +324,7 @@ namespace se3
* @return The U*D^{-1} matrix of the inertia matrix decomposition
*/
inline Eigen::Matrix<double,6,Eigen::Dynamic> udinv_inertia(const JointDataVariant & jdata);
-
+
} // namespace se3
diff --git a/src/multibody/joint/joint-basic-visitors.hxx b/src/multibody/joint/joint-basic-visitors.hxx
index 113c8f97e..616442203 100644
--- a/src/multibody/joint/joint-basic-visitors.hxx
+++ b/src/multibody/joint/joint-basic-visitors.hxx
@@ -18,9 +18,6 @@
#ifndef __se3_joint_basic_visitors_hxx__
#define __se3_joint_basic_visitors_hxx__
-// remove the includes ?
-#include <Eigen/StdVector>
-#include <boost/variant.hpp>
#include "pinocchio/assert.hpp"
#include "pinocchio/multibody/joint/joint-variant.hpp"
#include "pinocchio/multibody/visitor.hpp"
@@ -142,7 +139,7 @@ namespace se3
inline double finiteDifferenceIncrement(const JointModelVariant & jmodel)
{ return JointEpsVisitor::run(jmodel); }
-
+
/**
* @brief JointIntegrateVisitor
*/
diff --git a/src/multibody/joint/joint-spherical-ZYX.hpp b/src/multibody/joint/joint-spherical-ZYX.hpp
index c0d776934..2410b5dc0 100644
--- a/src/multibody/joint/joint-spherical-ZYX.hpp
+++ b/src/multibody/joint/joint-spherical-ZYX.hpp
@@ -69,18 +69,19 @@ namespace se3
struct MotionSpherical
{
- MotionSpherical () {w.fill(NAN);}
- MotionSpherical (const typename MotionTpl<Scalar,Options>::Vector3 & w) : w (w) {}
- typename MotionTpl<Scalar,Options>::Vector3 w;
+ typedef typename MotionTpl<Scalar,Options>::Vector3 Vector3;
+
+ MotionSpherical () : w(Vector3::Constant(NAN)) {}
+ MotionSpherical (const Vector3 & w) : w (w) {}
- typename MotionTpl<Scalar,Options>::Vector3 & operator() () { return w; }
- const typename MotionTpl<Scalar,Options>::Vector3 & operator() () const { return w; }
+ Vector3 & operator() () { return w; }
+ const Vector3 & operator() () const { return w; }
- operator Motion() const
- {
- //return Motion (typename MotionTpl<_Scalar,_Options>::Vector3::Zero (), w);
- return Motion ( Motion::Vector3::Zero (), w);
- }
+ operator Motion() const { return Motion(Motion::Vector3::Zero(), w); }
+
+ operator Vector3() const { return w; }
+
+ Vector3 w;
}; // struct MotionSpherical
inline friend const MotionSpherical operator+ (const MotionSpherical & m, const BiasSpherical & c)
diff --git a/unittest/joint.cpp b/unittest/joint.cpp
index c232abf52..3cb9c62f2 100644
--- a/unittest/joint.cpp
+++ b/unittest/joint.cpp
@@ -119,11 +119,6 @@ BOOST_AUTO_TEST_SUITE ( JointTest)
BOOST_AUTO_TEST_CASE ( test_all_joints )
{
using namespace se3;
-
- Model model;
- buildModels::humanoidSimple(model);
- Data data(model);
-
boost::mpl::for_each<JointModelVariant::types>(TestJoint());
}
BOOST_AUTO_TEST_SUITE_END ()
--
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