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Stack Of Tasks
pinocchio
Commits
e1415dbf
Commit
e1415dbf
authored
Jan 16, 2018
by
jcarpent
Browse files
[Model] Use RowMatrix instead of MatrixR naming for Row major matrices
parent
26bd1fa6
Changes
2
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Inline
Side-by-side
src/algorithm/rnea.hxx
View file @
e1415dbf
...
...
@@ -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
::
Matrix6
R
&
M6tmpR
=
data
.
M6tmpR
;
Data
::
Row
Matrix6
&
M6tmpR
=
data
.
M6tmpR
;
typedef
typename
SizeDepType
<
JointModel
::
NV
>::
template
ColsReturn
<
Data
::
Matrix6x
>
::
Type
ColsBlock
;
ColsBlock
dJcols
=
jmodel
.
jointCols
(
data
.
dJ
);
...
...
src/multibody/model.hpp
View file @
e1415dbf
...
...
@@ -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
>
Matrix6
R
;
typedef
Eigen
::
Matrix
<
double
,
6
,
6
,
Eigen
::
RowMajor
>
Row
Matrix6
;
/// \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
Matrix6
R
M6tmpR
;
Row
Matrix6
M6tmpR
;
/// \brief The joint accelerations computed from ABA
Eigen
::
VectorXd
ddq
;
...
...
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