diff --git a/src/algorithm/collisions.hpp b/src/algorithm/collisions.hpp
index b6c6ad0f3ec7b911a2c80ed97905c9b042289b8f..5e4ba7bd3cb70965141843c89654bfbdc34f9a7c 100644
--- a/src/algorithm/collisions.hpp
+++ b/src/algorithm/collisions.hpp
@@ -105,8 +105,8 @@ namespace se3
for (GeometryData::GeomIndex i=0; i < (GeometryData::GeomIndex) data_geom.model_geom.ngeoms; ++i)
{
const Model::JointIndex & parent = model_geom.geometry_objects[i].parent;
- data_geom.oMg_geometries[i] = (data.oMi[parent] * model_geom.geometry_objects[i].placement);
- data_geom.oMg_fcl_geometries[i] = toFclTransform3f(data_geom.oMg_geometries[i]);
+ data_geom.oMg[i] = (data.oMi[parent] * model_geom.geometry_objects[i].placement);
+ data_geom.oMg_fcl[i] = toFclTransform3f(data_geom.oMg[i]);
}
}
diff --git a/src/multibody/geometry.hpp b/src/multibody/geometry.hpp
index ee211562a4e512f2d1f8e47c42f8106428e7f791..ec442535b4671e87d286858b5c79973be7bd1354 100644
--- a/src/multibody/geometry.hpp
+++ b/src/multibody/geometry.hpp
@@ -366,13 +366,13 @@ struct GeometryObject
/// \brief Vector gathering the SE3 placements of the geometry objects relative to the world.
/// See updateGeometryPlacements to update the placements.
///
- std::vector<se3::SE3> oMg_geometries;
+ std::vector<se3::SE3> oMg;
///
/// \brief Same as oMg but using fcl::Transform3f to store placement.
/// This pre-allocation avoids dynamic allocation during collision checking or distance computations.
///
- std::vector<fcl::Transform3f> oMg_fcl_geometries;
+ std::vector<fcl::Transform3f> oMg_fcl;
///
/// \brief Vector of collision pairs.
/// See addCollisionPair, removeCollisionPair to fill or remove elements in the vector.
@@ -397,8 +397,8 @@ struct GeometryObject
GeometryData(const Data & data, const GeometryModel & model_geom)
: data_ref(data)
, model_geom(model_geom)
- , oMg_geometries(model_geom.ngeoms)
- , oMg_fcl_geometries(model_geom.ngeoms)
+ , oMg(model_geom.ngeoms)
+ , oMg_fcl(model_geom.ngeoms)
, collision_pairs()
, nCollisionPairs(0)
, distance_results()
diff --git a/src/multibody/geometry.hxx b/src/multibody/geometry.hxx
index c36fe8e17a3964b97b17013b997466a86b39d995..d4012904a5f200d0a37f0eaf532717b13a024d05 100644
--- a/src/multibody/geometry.hxx
+++ b/src/multibody/geometry.hxx
@@ -256,8 +256,8 @@ namespace se3
fcl::CollisionRequest collisionRequest (1, false, false, 1, false, true, fcl::GST_INDEP);
fcl::CollisionResult collisionResult;
- fcl::collide (model_geom.geometry_objects[co1].collision_object.collisionGeometry().get(), oMg_fcl_geometries[co1],
- model_geom.geometry_objects[co2].collision_object.collisionGeometry().get(), oMg_fcl_geometries[co2],
+ fcl::collide (model_geom.geometry_objects[co1].collision_object.collisionGeometry().get(), oMg_fcl[co1],
+ model_geom.geometry_objects[co2].collision_object.collisionGeometry().get(), oMg_fcl[co2],
collisionRequest, collisionResult);
return CollisionResult (collisionResult, co1, co2);
@@ -294,8 +294,8 @@ namespace se3
fcl::DistanceRequest distanceRequest (true, 0, 0, fcl::GST_INDEP);
fcl::DistanceResult result;
- fcl::distance ( model_geom.geometry_objects[co1].collision_object.collisionGeometry().get(), oMg_fcl_geometries[co1],
- model_geom.geometry_objects[co2].collision_object.collisionGeometry().get(), oMg_fcl_geometries[co2],
+ fcl::distance ( model_geom.geometry_objects[co1].collision_object.collisionGeometry().get(), oMg_fcl[co1],
+ model_geom.geometry_objects[co2].collision_object.collisionGeometry().get(), oMg_fcl[co2],
distanceRequest, result);
return DistanceResult (result, co1, co2);
diff --git a/src/parsers/utils.hpp b/src/parsers/utils.hpp
index 87e33ab4beaa6d88635bff0cea523c4ca84f36ac..9162336ae9430c946be13a32a8179c4a213eaeb9 100644
--- a/src/parsers/utils.hpp
+++ b/src/parsers/utils.hpp
@@ -96,4 +96,4 @@ namespace se3
} // namespace se3
-#endif // __se3_parsers_utils_hpp__
\ No newline at end of file
+#endif // __se3_parsers_utils_hpp__
diff --git a/src/python/geometry-data.hpp b/src/python/geometry-data.hpp
index 8f4d53b7476576d3f1dc4a382c320f441a07ded2..1e1478711e2ff1dc92bf698657c1c35ca5d03b0f 100644
--- a/src/python/geometry-data.hpp
+++ b/src/python/geometry-data.hpp
@@ -94,8 +94,8 @@ namespace se3
.add_property("nCollisionPairs", &GeometryDataPythonVisitor::nCollisionPairs)
- .add_property("oMg_geometries",
- bp::make_function(&GeometryDataPythonVisitor::oMg_geometries,
+ .add_property("oMg",
+ bp::make_function(&GeometryDataPythonVisitor::oMg,
bp::return_internal_reference<>()),
"Vector of collision objects placement relative to the world.")
.add_property("collision_pairs",
@@ -165,7 +165,7 @@ namespace se3
static Index nCollisionPairs(const GeometryDataHandler & m ) { return m->nCollisionPairs; }
- static std::vector<SE3> & oMg_geometries(GeometryDataHandler & m) { return m->oMg_geometries; }
+ static std::vector<SE3> & oMg(GeometryDataHandler & m) { return m->oMg; }
static std::vector<CollisionPair_t> & collision_pairs( GeometryDataHandler & m ) { return m->collision_pairs; }
static std::vector<DistanceResult> & distance_results( GeometryDataHandler & m ) { return m->distance_results; }
static std::vector<CollisionResult> & collision_results( GeometryDataHandler & m ) { return m->collision_results; }
diff --git a/src/python/robot_wrapper.py b/src/python/robot_wrapper.py
index 9579d584e75dfada7e25bccd493a77473a5a6593..d5dde02f8f4ffd49a1f39ffac76522314e55f760 100644
--- a/src/python/robot_wrapper.py
+++ b/src/python/robot_wrapper.py
@@ -188,7 +188,7 @@ class RobotWrapper(object):
for visual in self.visual_model.geometry_objects :
- M = self.collision_data.oMg_geometries[self.visual_model.getGeometryId(visual.name)]
+ M = self.collision_data.oMg[self.visual_model.getGeometryId(visual.name)]
pinocchioConf = utils.se3ToXYZQUAT(M)
viewerConf = utils.XYZQUATToViewerConfiguration(pinocchioConf)
self.viewer.gui.applyConfiguration(self.viewerNodeNames(visual), viewerConf)
diff --git a/unittest/geom.cpp b/unittest/geom.cpp
index 18f24bf5537f25e6ab48bfb8bcf54e73e017ba49..9198405e0f9c8683afee661ce8d117a641128595 100644
--- a/unittest/geom.cpp
+++ b/unittest/geom.cpp
@@ -449,7 +449,7 @@ GeometryPositionsMap_t fillPinocchioGeometryPositions(const se3::GeometryData &
GeometryPositionsMap_t result;
for (std::size_t i = 0; i < data_geom.model_geom.ngeoms ; ++i)
{
- result[data_geom.model_geom.getGeometryName(i)] = data_geom.oMg_geometries[i];
+ result[data_geom.model_geom.getGeometryName(i)] = data_geom.oMg[i];
}
return result;
}