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

src/algorithm/rnea.hxx

@@ -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);

src/multibody/model.hpp

@@ -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;