Verified Commit ccbf9572 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

joints: remove F_t types

parent 699bbf4d
......@@ -11,9 +11,6 @@
#include <limits>
namespace pinocchio
{
#define PINOCCHIO_JOINT_TYPEDEF_GENERIC(TYPENAME) \
typedef Eigen::DenseIndex Index; \
typedef TYPENAME traits<JointDerived>::Scalar Scalar; \
......@@ -23,7 +20,6 @@ namespace pinocchio
typedef TYPENAME traits<JointDerived>::Transformation_t Transformation_t; \
typedef TYPENAME traits<JointDerived>::Motion_t Motion_t; \
typedef TYPENAME traits<JointDerived>::Bias_t Bias_t; \
typedef TYPENAME traits<JointDerived>::F_t F_t; \
typedef TYPENAME traits<JointDerived>::U_t U_t; \
typedef TYPENAME traits<JointDerived>::D_t D_t; \
typedef TYPENAME traits<JointDerived>::UD_t UD_t; \
......@@ -102,7 +98,10 @@ struct CastType< NewScalar, JointModelTpl<Scalar,Options> > \
typedef U_t & UTypeRef; \
typedef const D_t & DTypeConstRef; \
typedef const UD_t & UDTypeConstRef;
namespace pinocchio
{
template<typename Derived>
struct JointDataBase
{
......@@ -118,8 +117,7 @@ struct CastType< NewScalar, JointModelTpl<Scalar,Options> > \
TansformTypeConstRef M() const { return derived().M_accessor(); }
MotionTypeConstRef v() const { return derived().v_accessor(); }
BiasTypeConstRef c() const { return derived().c_accessor(); }
F_t & F() { return derived().F; }
UTypeConstRef U() const { return derived().U_accessor(); }
UTypeRef U() { return derived().U_accessor(); }
DTypeConstRef Dinv() const { return derived().Dinv_accessor(); }
......
......@@ -38,7 +38,6 @@ namespace pinocchio
typedef MotionTpl<Scalar,Options> Motion_t;
typedef MotionTpl<Scalar,Options> Bias_t;
typedef Eigen::Matrix<Scalar,6,Eigen::Dynamic,Options> F_t;
// [ABA]
typedef Eigen::Matrix<Scalar,6,Eigen::Dynamic,Options> U_t;
typedef Eigen::Matrix<Scalar,Eigen::Dynamic,Eigen::Dynamic,Options> D_t;
......
......@@ -138,8 +138,7 @@ namespace pinocchio
typedef SE3Tpl<Scalar,Options> Transformation_t;
typedef MotionTpl<Scalar,Options> Motion_t;
typedef BiasZeroTpl<Scalar,Options> Bias_t;
typedef Eigen::Matrix<Scalar,6,NV,Options> F_t;
// [ABA]
typedef Eigen::Matrix<Scalar,6,NV,Options> U_t;
typedef Eigen::Matrix<Scalar,NV,NV,Options> D_t;
......@@ -172,8 +171,6 @@ namespace pinocchio
Motion_t v;
Bias_t c;
F_t F; // TODO if not used anymore, clean F_t
// [ABA] specific data
U_t U;
D_t Dinv;
......
......@@ -38,7 +38,6 @@ namespace pinocchio
typedef MotionTpl<Scalar,Options> Motion_t;
typedef MotionTpl<Scalar,Options> Bias_t;
typedef Eigen::Matrix<Scalar,6,Eigen::Dynamic,Options> F_t;
// [ABA]
typedef Eigen::Matrix<Scalar,6,Eigen::Dynamic,Options> U_t;
typedef Eigen::Matrix<Scalar,Eigen::Dynamic,Eigen::Dynamic,Options> D_t;
......
......@@ -366,8 +366,7 @@ namespace pinocchio
typedef SE3Tpl<Scalar,Options> Transformation_t;
typedef MotionPlanarTpl<Scalar,Options> Motion_t;
typedef BiasZeroTpl<Scalar,Options> Bias_t;
typedef Eigen::Matrix<Scalar,6,NV,Options> F_t;
// [ABA]
typedef Eigen::Matrix<Scalar,6,NV,Options> U_t;
typedef Eigen::Matrix<Scalar,NV,NV,Options> D_t;
......@@ -397,8 +396,6 @@ namespace pinocchio
Motion_t v;
Bias_t c;
F_t F; // TODO if not used anymore, clean F_t
// [ABA] specific data
U_t U;
D_t Dinv;
......
......@@ -330,8 +330,7 @@ namespace pinocchio
typedef TransformTranslationTpl<Scalar,Options> Transformation_t;
typedef MotionPrismaticUnalignedTpl<Scalar,Options> Motion_t;
typedef BiasZeroTpl<Scalar,Options> Bias_t;
typedef Eigen::Matrix<Scalar,6,NV,Options> F_t;
// [ABA]
typedef Eigen::Matrix<Scalar,6,NV,Options> U_t;
typedef Eigen::Matrix<Scalar,NV,NV,Options> D_t;
......@@ -361,8 +360,6 @@ namespace pinocchio
Motion_t v;
Bias_t c;
F_t F;
// [ABA] specific data
U_t U;
D_t Dinv;
......
......@@ -415,8 +415,7 @@ namespace pinocchio
typedef TransformPrismaticTpl<Scalar,Options,axis> Transformation_t;
typedef MotionPrismaticTpl<Scalar,Options,axis> Motion_t;
typedef BiasZeroTpl<Scalar,Options> Bias_t;
typedef Eigen::Matrix<Scalar,6,NV,Options> F_t;
// [ABA]
typedef Eigen::Matrix<Scalar,6,NV,Options> U_t;
typedef Eigen::Matrix<Scalar,NV,NV,Options> D_t;
......@@ -449,8 +448,6 @@ namespace pinocchio
Motion_t v;
Bias_t c;
F_t F;
// [ABA] specific data
U_t U;
D_t Dinv;
......
......@@ -349,8 +349,7 @@ namespace pinocchio
typedef SE3Tpl<Scalar,Options> Transformation_t;
typedef MotionRevoluteUnalignedTpl<Scalar,Options> Motion_t;
typedef BiasZeroTpl<Scalar,Options> Bias_t;
typedef Eigen::Matrix<Scalar,6,NV,Options> F_t;
// [ABA]
typedef Eigen::Matrix<Scalar,6,NV,Options> U_t;
typedef Eigen::Matrix<Scalar,NV,NV,Options> D_t;
......@@ -385,8 +384,6 @@ namespace pinocchio
Motion_t v;
Bias_t c;
F_t F;
// [ABA] specific data
U_t U;
D_t Dinv;
......
......@@ -31,8 +31,7 @@ namespace pinocchio
typedef TransformRevoluteTpl<Scalar,Options,axis> Transformation_t;
typedef MotionRevoluteTpl<Scalar,Options,axis> Motion_t;
typedef BiasZeroTpl<Scalar,Options> Bias_t;
typedef Eigen::Matrix<Scalar,6,NV,Options> F_t;
// [ABA]
typedef Eigen::Matrix<Scalar,6,NV,Options> U_t;
typedef Eigen::Matrix<Scalar,NV,NV,Options> D_t;
......@@ -64,7 +63,6 @@ namespace pinocchio
Transformation_t M;
Motion_t v;
Bias_t c;
F_t F;
// [ABA] specific data
U_t U;
......
......@@ -502,8 +502,7 @@ namespace pinocchio
typedef TransformRevoluteTpl<Scalar,Options,axis> Transformation_t;
typedef MotionRevoluteTpl<Scalar,Options,axis> Motion_t;
typedef BiasZeroTpl<Scalar,Options> Bias_t;
typedef Eigen::Matrix<Scalar,6,NV,Options> F_t;
// [ABA]
typedef Eigen::Matrix<Scalar,6,NV,Options> U_t;
typedef Eigen::Matrix<Scalar,NV,NV,Options> D_t;
......@@ -535,7 +534,6 @@ namespace pinocchio
Transformation_t M;
Motion_t v;
Bias_t c;
F_t F;
// [ABA] specific data
U_t U;
......
......@@ -211,8 +211,7 @@ namespace pinocchio
typedef SE3Tpl<Scalar,Options> Transformation_t;
typedef MotionSphericalTpl<Scalar,Options> Motion_t;
typedef MotionSphericalTpl<Scalar,Options> Bias_t;
typedef Eigen::Matrix<Scalar,6,NV,Options> F_t;
// [ABA]
typedef Eigen::Matrix<Scalar,6,NV,Options> U_t;
typedef Eigen::Matrix<Scalar,NV,NV,Options> D_t;
......@@ -245,8 +244,6 @@ namespace pinocchio
Motion_t v;
Bias_t c;
F_t F;
// [ABA] specific data
U_t U;
D_t Dinv;
......
......@@ -320,8 +320,7 @@ namespace pinocchio
typedef SE3Tpl<Scalar,Options> Transformation_t;
typedef MotionSphericalTpl<Scalar,Options> Motion_t;
typedef BiasZeroTpl<Scalar,Options> Bias_t;
typedef Eigen::Matrix<Scalar,6,NV,Options> F_t;
// [ABA]
typedef Eigen::Matrix<Scalar,6,NV,Options> U_t;
typedef Eigen::Matrix<Scalar,NV,NV,Options> D_t;
......@@ -355,8 +354,6 @@ namespace pinocchio
Motion_t v;
Bias_t c;
F_t F;
// [ABA] specific data
U_t U;
D_t Dinv;
......
......@@ -395,8 +395,7 @@ namespace pinocchio
typedef TransformTranslationTpl<Scalar,Options> Transformation_t;
typedef MotionTranslationTpl<Scalar,Options> Motion_t;
typedef BiasZeroTpl<Scalar,Options> Bias_t;
typedef Eigen::Matrix<Scalar,6,NV,Options> F_t;
// [ABA]
typedef Eigen::Matrix<Scalar,6,NV,Options> U_t;
typedef Eigen::Matrix<Scalar,NV,NV,Options> D_t;
......@@ -431,8 +430,6 @@ namespace pinocchio
Motion_t v;
Bias_t c;
F_t F; // TODO if not used anymore, clean F_t
// [ABA] specific data
U_t U;
D_t Dinv;
......
......@@ -153,7 +153,6 @@ namespace pinocchio
typedef MotionTpl<Scalar,Options> Motion_t;
typedef MotionTpl<Scalar,Options> Bias_t;
typedef Eigen::Matrix<Scalar,6,Eigen::Dynamic,Options> F_t;
// [ABA]
typedef Eigen::Matrix<Scalar,6,Eigen::Dynamic,Options> U_t;
typedef Eigen::Matrix<Scalar,Eigen::Dynamic,Eigen::Dynamic,Options> D_t;
......
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