From c8b0e3f4fca32aaee772ccd0f7dd08bba17c2a8c Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Sun, 3 Nov 2019 10:57:54 +0100
Subject: [PATCH] model: minor clean of the code and doc
---
src/multibody/model.hpp | 31 ++++++++++++++++++-------------
src/multibody/model.hxx | 16 ++++++++++------
2 files changed, 28 insertions(+), 19 deletions(-)
diff --git a/src/multibody/model.hpp b/src/multibody/model.hpp
index c0d735549..753514ab4 100644
--- a/src/multibody/model.hpp
+++ b/src/multibody/model.hpp
@@ -272,32 +272,32 @@ namespace pinocchio
return false;
res &= other.referenceConfigurations == referenceConfigurations;
if(!res) return res;
-
+
if(other.rotorInertia.size() != rotorInertia.size())
return false;
res &= other.rotorInertia == rotorInertia;
if(!res) return res;
-
+
if(other.rotorGearRatio.size() != rotorGearRatio.size())
return false;
res &= other.rotorGearRatio == rotorGearRatio;
if(!res) return res;
-
+
if(other.effortLimit.size() != effortLimit.size())
return false;
res &= other.effortLimit == effortLimit;
if(!res) return res;
-
+
if(other.velocityLimit.size() != velocityLimit.size())
return false;
res &= other.velocityLimit == velocityLimit;
if(!res) return res;
-
+
if(other.lowerPositionLimit.size() != lowerPositionLimit.size())
return false;
res &= other.lowerPositionLimit == lowerPositionLimit;
if(!res) return res;
-
+
if(other.upperPositionLimit.size() != upperPositionLimit.size())
return false;
res &= other.upperPositionLimit == upperPositionLimit;
@@ -322,7 +322,7 @@ namespace pinocchio
return res;
}
- //
+ ///
/// \returns true if *this is NOT equal to other.
///
bool operator!=(const ModelTpl & other) const
@@ -391,8 +391,8 @@ namespace pinocchio
///
/// \return The index of the new frame or -1 in case of error.
///
- int addJointFrame(const JointIndex& jointIndex,
- int frameIndex = -1);
+ int addJointFrame(const JointIndex & joint_index,
+ int previous_frame_index = -1);
///
/// \brief Append a body to a given joint of the kinematic tree.
@@ -424,11 +424,11 @@ namespace pinocchio
///
/// \brief Return the index of a body given by its name.
- ///
+ ///
/// \warning If no body is found, return the number of elements at time T.
/// This can lead to errors if the model is expanded after this method is called
/// (for example to get the id of a parent body)
- ///
+ ///
/// \param[in] name Name of the body.
///
/// \return Index of the body.
@@ -483,7 +483,7 @@ namespace pinocchio
/// \warning If no frame is found, returns the size of the vector of Model::frames.
/// This can lead to errors if the model is expanded after this method is called
/// (for example to get the id of a parent frame).
- ///
+ ///
/// \param[in] name Name of the frame.
/// \param[in] type Type of the frame.
///
@@ -503,7 +503,6 @@ namespace pinocchio
bool existFrame(const std::string & name,
const FrameType& type = (FrameType) (JOINT | FIXED_JOINT | BODY | OP_FRAME | SENSOR )) const;
-
///
/// \brief Adds a frame to the kinematic tree.
///
@@ -514,13 +513,16 @@ namespace pinocchio
///
int addFrame(const Frame & frame);
+ ///
/// \brief Check the validity of the attributes of Model with respect to the specification of some
/// algorithms.
///
/// The method is a template so that the checkers can be defined in each algorithms.
/// \param[in] checker a class, typically defined in the algorithm module, that
/// validates the attributes of model.
+ ///
/// \return true if the Model is valid, false otherwise.
+ ///
template<typename D>
inline bool check(const AlgorithmCheckerBase<D> & checker = AlgorithmCheckerBase<D>()) const
{ return checker.checkModel(*this); }
@@ -528,15 +530,18 @@ namespace pinocchio
/// Run check(fusion::list) with DEFAULT_CHECKERS as argument.
inline bool check() const;
+ ///
/// \brief Run checkData on data and current model.
///
/// \param[in] data to be checked wrt *this.
///
/// \return true if the data is valid, false otherwise.
+ ///
inline bool check(const Data & data) const;
protected:
+ ///
/// \brief Add the joint_id to its parent subtrees.
///
/// \param[in] joint_id The id of the joint to add to the subtrees
diff --git a/src/multibody/model.hxx b/src/multibody/model.hxx
index 65507e32b..e7243ff2e 100644
--- a/src/multibody/model.hxx
+++ b/src/multibody/model.hxx
@@ -147,17 +147,21 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
inline int ModelTpl<Scalar,Options,JointCollectionTpl>::
- addJointFrame(const JointIndex & jidx,
- int fidx)
+ addJointFrame(const JointIndex & joint_index,
+ int previous_frame_index)
{
- if(fidx < 0) {
+ PINOCCHIO_CHECK_INPUT_ARGUMENT(joint_index >= 0 && joint_index < joints.size(),
+ "The joint index is larger than the number of joints in the model.");
+ if(previous_frame_index < 0)
+ {
// FIXED_JOINT is required because the parent can be the universe and its
// type is FIXED_JOINT
- fidx = (int)getFrameId(names[parents[jidx]], (FrameType)(JOINT | FIXED_JOINT));
+ previous_frame_index = (int)getFrameId(names[parents[joint_index]], (FrameType)(JOINT | FIXED_JOINT));
}
- assert((size_t)fidx < frames.size() && "Frame index out of bound");
+ assert((size_t)previous_frame_index < frames.size() && "Frame index out of bound");
+
// Add a the joint frame attached to itself to the frame vector - redundant information but useful.
- return addFrame(Frame(names[jidx],jidx,(FrameIndex)fidx,SE3::Identity(),JOINT));
+ return addFrame(Frame(names[joint_index],joint_index,(FrameIndex)previous_frame_index,SE3::Identity(),JOINT));
}
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
--
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