diff --git a/src/multibody/joint/joint-base.hpp b/src/multibody/joint/joint-base.hpp index d49dfaa4d1c0e1d7c080ff86b776e9a56f7e01df..25e45ae952eb3722a5e717f5a1ef740d8ad6f0d1 100644 --- a/src/multibody/joint/joint-base.hpp +++ b/src/multibody/joint/joint-base.hpp @@ -163,7 +163,7 @@ namespace se3 JointDataDense<NQ, NV> toDense() const { return static_cast<const JointData*>(this)->toDense_impl(); } - }; + }; // struct JointDataBase template<int NV> struct SizeDepType @@ -312,7 +312,7 @@ namespace se3 jointCols_impl(Eigen::MatrixBase<D>& A) const { return A.template middleCols<NV>(i_v); } JointModelDense<NQ, NV> toDense() const { return static_cast<const JointModel*>(this)->toDense_impl(); } - }; + }; // struct JointModelBase } // namespace se3 diff --git a/src/multibody/joint/joint-free-flyer.hpp b/src/multibody/joint/joint-free-flyer.hpp index ed7270bf862fae98acea5a50ed4825bbe2cf6f68..62e436b6aa8e990196f24413a85aaa40a6b1ac93 100644 --- a/src/multibody/joint/joint-free-flyer.hpp +++ b/src/multibody/joint/joint-free-flyer.hpp @@ -109,9 +109,7 @@ namespace se3 { typedef SE3::Matrix6 Type; }; } - struct JointFreeFlyer{ - - }; + struct JointFreeFlyer; template<> struct traits<JointFreeFlyer> @@ -154,7 +152,7 @@ namespace se3 { return JointDataDense<NQ, NV>(S, M, v, c, F); } - }; + }; // struct JointDataFreeFlyer struct JointModelFreeFlyer : public JointModelBase<JointModelFreeFlyer> { @@ -209,7 +207,7 @@ namespace se3 { return true; // TODO ?? used to bind variant in python } - }; + }; // struct JointModelFreeFlyer } // namespace se3 diff --git a/src/multibody/joint/joint-revolute-unaligned.hpp b/src/multibody/joint/joint-revolute-unaligned.hpp index 6affc0fc334b10d2bdb2a91fba28ff7450e68748..3b18f608bb47ea31da43fb0bd0db9817145d9ff6 100644 --- a/src/multibody/joint/joint-revolute-unaligned.hpp +++ b/src/multibody/joint/joint-revolute-unaligned.hpp @@ -262,7 +262,7 @@ namespace se3 { return JointDataDense<NQ, NV>(S, M, v, c, F); } - }; + }; // struct JointDataRevoluteUnaligned struct JointModelRevoluteUnaligned : public JointModelBase< JointModelRevoluteUnaligned > { @@ -330,7 +330,7 @@ namespace se3 { return true; // TODO ?? used to bind variant in python } - }; + }; // struct JointModelRevoluteUnaligned } //namespace se3 diff --git a/src/multibody/joint/joint-revolute.hpp b/src/multibody/joint/joint-revolute.hpp index 0cbc177cd6006f43f60e0fe83057fe6948000d95..b71ef48c14b6cd2a7c7d2f99f2760a16742e16b2 100644 --- a/src/multibody/joint/joint-revolute.hpp +++ b/src/multibody/joint/joint-revolute.hpp @@ -18,7 +18,6 @@ #ifndef __se3_joint_revolute_hpp__ #define __se3_joint_revolute_hpp__ -// #include "pinocchio/multibody/constraint.hpp" #include "pinocchio/math/sincos.hpp" #include "pinocchio/spatial/inertia.hpp" #include "pinocchio/multibody/joint/joint-base.hpp" diff --git a/src/multibody/joint/joint-spherical-ZYX.hpp b/src/multibody/joint/joint-spherical-ZYX.hpp index 5fdd69a688c266c6ee776cb3f0bf84059f3b9d62..bb8a50b083f1aa4a32d3b9b18537eb949b620b0e 100644 --- a/src/multibody/joint/joint-spherical-ZYX.hpp +++ b/src/multibody/joint/joint-spherical-ZYX.hpp @@ -90,13 +90,11 @@ namespace se3 struct ConstraintRotationalSubspace { - public: enum { NV = 3, Options = 0 }; typedef _Scalar Scalar; typedef Eigen::Matrix <_Scalar,3,3,_Options> Matrix3; typedef Eigen::Matrix <_Scalar,3,1,_Options> Vector3; - public: Matrix3 S_minimal; Motion operator* (const MotionSpherical & vj) const @@ -259,7 +257,7 @@ namespace se3 { return JointDataDense<NQ, NV>(S, M, v, c, F); } - }; + }; // strcut JointDataSphericalZYX struct JointModelSphericalZYX : public JointModelBase<JointModelSphericalZYX> { @@ -347,7 +345,7 @@ namespace se3 return true; // TODO ?? used to bind variant in python } - }; + }; // struct JointModelSphericalZYX } // namespace se3 diff --git a/unittest/joints.cpp b/unittest/joints.cpp index 3f7ea26c24a2a9d1f5f083769cae35b5a9a4f663..f7ec4a27d49b59b67589b804dd2db8cbe25b116c 100644 --- a/unittest/joints.cpp +++ b/unittest/joints.cpp @@ -1045,26 +1045,18 @@ BOOST_AUTO_TEST_CASE ( toJointModelDense ) BOOST_AUTO_TEST_CASE ( toJointDataDense ) { - // using namespace se3; - - // JointModelRX jmodel; - // jmodel.setIndexes (2, 0, 0); + using namespace se3; - // JointDataRX jdata; + JointModelRX jmodel; + jmodel.setIndexes (2, 0, 0); - // JointDataDense< JointDataBase<JointModelRX::JointData>::NQ, - // JointDataBase<JointModelRX::JointData>::NV - // > jdd = jdata.toDense(); (void) jdd; + JointDataRX jdata; - // asert(jdata.S().nv() == jdd.S().nv() && ""); + JointDataDense< JointDataBase<JointModelRX::JointData>::NQ, + JointDataBase<JointModelRX::JointData>::NV + > jdd = jdata.toDense(); - - // JointDataBase<JointDataDense> & jddb = jdd; + assert(jdata.S.nv() == jdd.S.nv() && ""); - // std::cout << "S nv: \t" ; - // std::cout << jdata.S().nv() << std::endl; - // JointDataDense::Transformation_t mm = jdd.M1(); - // std::cout //<< "M\t" << mm << std::endl; - // << jdd.S << std::endl; } BOOST_AUTO_TEST_SUITE_END ()