Correcting bulk after code review

src/algorithm/operational-frames.hpp

@@ -42,7 +42,7 @@ namespace se3
                                           );
 
   /**
-   * @brief      Compute Kinematics of full model, then the position of each extra frame
+   * @brief      Compute Kinematics of full model, then the position of each operational frame
    *
    * @param[in]  model                    The kinematic model
    * @param      data                     Data associated to model

src/python/algorithms.hpp

@@ -115,7 +115,7 @@ namespace se3
                                                         bool update_geometry
                                                         )
       {
-        Data::Matrix6x J( 6,model->nv ); J.setZero();
+        Eigen::MatrixXd J( 6,model->nv ); J.setZero();
 
         if (update_geometry)
           computeJacobians( *model,*data,q );

src/python/frame.hpp

@@ -51,7 +51,7 @@ namespace se3
 
           .add_property("name", &FramePythonVisitor::getName, &FramePythonVisitor::setName)
           .add_property("parent_id", &FramePythonVisitor::getParentId, &FramePythonVisitor::setParentId)
-          .add_property("placement", &FramePythonVisitor::getPlacementWrtParentJoint, &FramePythonVisitor::getPlacementWrtParentJoint)
+          .add_property("framePlacement", &FramePythonVisitor::getPlacementWrtParentJoint, &FramePythonVisitor::getPlacementWrtParentJoint)
           ;
       }
 
@@ -59,7 +59,7 @@ namespace se3
       static std::string getName( const Frame & self) { return self.name; }
       static void setName(Frame & self, const std::string & name) { self.name = name; }
       static Index getParentId( const Frame & self) { return self.parent_id; }
-      static void setParentId(Frame & self, Index & parent_id) { self.parent_id = parent_id; }
+      static void setParentId(Frame & self, const Index parent_id) { self.parent_id = parent_id; }
       static SE3_fx getPlacementWrtParentJoint( const Frame & self) { return self.frame_placement; }
       static void setPlacementWrtParentJoint(Frame & self, const SE3_fx & placement) { self.frame_placement = placement; }
 

src/python/model.hpp

@@ -132,8 +132,8 @@ namespace se3
       .add_property("fix_hasVisual", bp::make_function(&ModelPythonVisitor::fix_hasVisual, bp::return_internal_reference<>())  )
       .add_property("fix_bodyNames", bp::make_function(&ModelPythonVisitor::fix_bodyNames, bp::return_internal_reference<>())  )
 
-      .def("getFrameParentJoint", &ModelPythonVisitor::getFrameParent)
-      .def("getFramePositionInParent", &ModelPythonVisitor::getJointToFrameTransform)
+      .def("getFrameParent", &ModelPythonVisitor::getFrameParent)
+      .def("getFramePlacement", &ModelPythonVisitor::getJointToFrameTransform)
       .def("addExtraFrame", &ModelPythonVisitor::addExtraFrame)
       .add_property("operational_frames", bp::make_function(&ModelPythonVisitor::extraFrames, bp::return_internal_reference<>()) )