From e1efe792dd8b9db117eb8cb2e01b676dcef82f21 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Tue, 2 Aug 2016 11:45:16 +0200
Subject: [PATCH] [C++] Remove reference to Model in Data
---
src/multibody/model.hpp | 3 ---
src/multibody/model.hxx | 13 ++++++-------
2 files changed, 6 insertions(+), 10 deletions(-)
diff --git a/src/multibody/model.hpp b/src/multibody/model.hpp
index a2377d27f..8157d6ee7 100644
--- a/src/multibody/model.hpp
+++ b/src/multibody/model.hpp
@@ -362,9 +362,6 @@ namespace se3
typedef SE3::Vector3 Vector3;
public:
- /// \brief A const reference to the reference model.
- const Model & model;
-
/// \brief Vector of se3::JointData associated to the se3::JointModel stored in model, encapsulated in JointDataAccessor.
JointDataVector joints;
diff --git a/src/multibody/model.hxx b/src/multibody/model.hxx
index 8f95be229..eb4efeaf9 100644
--- a/src/multibody/model.hxx
+++ b/src/multibody/model.hxx
@@ -238,8 +238,7 @@ namespace se3
inline Data::Data (const Model & ref)
- :model(ref)
- ,joints(0)
+ :joints(0)
,a((std::size_t)ref.njoint)
,a_gf((std::size_t)ref.njoint)
,v((std::size_t)ref.njoint)
@@ -275,16 +274,16 @@ namespace se3
,lambda_c()
,sDUiJt(ref.nv,ref.nv)
,torque_residual(ref.nv)
- ,dq_after(model.nv)
+ ,dq_after(ref.nv)
,impulse_c()
{
/* Create data strcture associated to the joints */
- for(Model::Index i=0;i<(Model::JointIndex)(model.njoint);++i)
- joints.push_back(CreateJointData::run(model.joints[i]));
+ for(Model::Index i=0;i<(Model::JointIndex)(ref.njoint);++i)
+ joints.push_back(CreateJointData::run(ref.joints[i]));
/* Init for CRBA */
M.fill(0);
- for(Model::Index i=0;i<(Model::Index)(ref.njoint);++i ) { Fcrb[i].resize(6,model.nv); }
+ for(Model::Index i=0;i<(Model::Index)(ref.njoint);++i ) { Fcrb[i].resize(6,ref.nv); }
computeLastChild(ref);
/* Init for Cholesky */
@@ -299,7 +298,7 @@ namespace se3
a[0].setZero();
v[0].setZero();
- a_gf[0] = -model.gravity;
+ a_gf[0] = -ref.gravity;
f[0].setZero();
oMi[0].setIdentity();
liMi[0].setIdentity();
--
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