Commit e1415dbf authored by jcarpent's avatar jcarpent
Browse files

[Model] Use RowMatrix instead of MatrixR naming for Row major matrices

parent 26bd1fa6
......@@ -194,7 +194,7 @@ namespace se3
const Model::JointIndex & parent = model.parents[i];
jmodel.jointVelocitySelector(data.nle) = jdata.S().transpose()*data.f[i];
if(parent>0) data.f[(size_t) parent] += data.liMi[i].act(data.f[i]);
if(parent>0) data.f[parent] += data.liMi[i].act(data.f[i]);
}
};
......@@ -361,7 +361,7 @@ namespace se3
{
const Model::JointIndex & i = jmodel.id();
const Model::JointIndex & parent = model.parents[i];
Data::Matrix6R & M6tmpR = data.M6tmpR;
Data::RowMatrix6 & M6tmpR = data.M6tmpR;
typedef typename SizeDepType<JointModel::NV>::template ColsReturn<Data::Matrix6x>::Type ColsBlock;
ColsBlock dJcols = jmodel.jointCols(data.dJ);
......
......@@ -359,7 +359,7 @@ namespace se3
typedef Eigen::Matrix<double,3,Eigen::Dynamic> Matrix3x;
typedef SE3::Vector3 Vector3;
typedef Eigen::Matrix<double,6,6,Eigen::RowMajor> Matrix6R;
typedef Eigen::Matrix<double,6,6,Eigen::RowMajor> RowMatrix6;
/// \brief Vector of se3::JointData associated to the se3::JointModel stored in model,
/// encapsulated in JointDataAccessor.
JointDataVector joints;
......@@ -453,7 +453,7 @@ namespace se3
Inertia::Matrix6 Itmp;
/// \brief Temporary for derivative algorithms
Matrix6R M6tmpR;
RowMatrix6 M6tmpR;
/// \brief The joint accelerations computed from ABA
Eigen::VectorXd ddq;
......
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