Verified Commit d01c0677 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

core: add oinertias to Data

parent c340f3e9
......@@ -183,10 +183,13 @@ namespace pinocchio
/// \brief Left variation of the inertia matrix
PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6) Ivx;
/// \brief Inertia quantities expressed in the world frame
/// \brief Rigid Body Inertia supported by the joint expressed in the world frame
PINOCCHIO_ALIGNED_STD_VECTOR(Inertia) oinertias;
/// \brief Composite Rigid Body Inertia expressed in the world frame
PINOCCHIO_ALIGNED_STD_VECTOR(Inertia) oYcrb;
/// \brief Time variation of the inertia quantities expressed in the world frame
/// \brief Time variation of Composite Rigid Body Inertia expressed in the world frame
PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6) doYcrb;
/// \brief Temporary for derivative algorithms
......
......@@ -53,6 +53,7 @@ namespace pinocchio
, IS(MatrixXs::Zero(6,model.nv))
, vxI((std::size_t)model.njoints,Inertia::Matrix6::Zero())
, Ivx((std::size_t)model.njoints,Inertia::Matrix6::Zero())
, oinertias((std::size_t)model.njoints,Inertia::Zero())
, oYcrb((std::size_t)model.njoints,Inertia::Zero())
, doYcrb((std::size_t)model.njoints,Inertia::Matrix6::Zero())
, ddq(VectorXs::Zero(model.nv))
......@@ -248,6 +249,7 @@ namespace pinocchio
&& data1.IS == data2.IS
&& data1.vxI == data2.vxI
&& data1.Ivx == data2.Ivx
&& data1.oinertias == data2.oinertias
&& data1.oYcrb == data2.oYcrb
&& data1.doYcrb == data2.doYcrb
&& data1.ddq == data2.ddq
......
......@@ -57,6 +57,7 @@ namespace boost
PINOCCHIO_MAKE_DATA_NVP(ar,data,IS);
PINOCCHIO_MAKE_DATA_NVP(ar,data,vxI);
PINOCCHIO_MAKE_DATA_NVP(ar,data,Ivx);
PINOCCHIO_MAKE_DATA_NVP(ar,data,oinertias);
PINOCCHIO_MAKE_DATA_NVP(ar,data,oYcrb);
PINOCCHIO_MAKE_DATA_NVP(ar,data,doYcrb);
PINOCCHIO_MAKE_DATA_NVP(ar,data,ddq);
......
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