Commit e8ec85cf authored by Valenza Florian's avatar Valenza Florian
Browse files

Correcting bulk after code review

parent d2db106f
...@@ -42,7 +42,7 @@ namespace se3 ...@@ -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[in] model The kinematic model
* @param data Data associated to model * @param data Data associated to model
......
...@@ -115,7 +115,7 @@ namespace se3 ...@@ -115,7 +115,7 @@ namespace se3
bool update_geometry bool update_geometry
) )
{ {
Data::Matrix6x J( 6,model->nv ); J.setZero(); Eigen::MatrixXd J( 6,model->nv ); J.setZero();
if (update_geometry) if (update_geometry)
computeJacobians( *model,*data,q ); computeJacobians( *model,*data,q );
......
...@@ -51,7 +51,7 @@ namespace se3 ...@@ -51,7 +51,7 @@ namespace se3
.add_property("name", &FramePythonVisitor::getName, &FramePythonVisitor::setName) .add_property("name", &FramePythonVisitor::getName, &FramePythonVisitor::setName)
.add_property("parent_id", &FramePythonVisitor::getParentId, &FramePythonVisitor::setParentId) .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 ...@@ -59,7 +59,7 @@ namespace se3
static std::string getName( const Frame & self) { return self.name; } static std::string getName( const Frame & self) { return self.name; }
static void setName(Frame & self, const std::string & name) { self.name = name; } static void setName(Frame & self, const std::string & name) { self.name = name; }
static Index getParentId( const Frame & self) { return self.parent_id; } 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 SE3_fx getPlacementWrtParentJoint( const Frame & self) { return self.frame_placement; }
static void setPlacementWrtParentJoint(Frame & self, const SE3_fx & placement) { self.frame_placement = placement; } static void setPlacementWrtParentJoint(Frame & self, const SE3_fx & placement) { self.frame_placement = placement; }
......
...@@ -132,8 +132,8 @@ namespace se3 ...@@ -132,8 +132,8 @@ namespace se3
.add_property("fix_hasVisual", bp::make_function(&ModelPythonVisitor::fix_hasVisual, bp::return_internal_reference<>()) ) .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<>()) ) .add_property("fix_bodyNames", bp::make_function(&ModelPythonVisitor::fix_bodyNames, bp::return_internal_reference<>()) )
.def("getFrameParentJoint", &ModelPythonVisitor::getFrameParent) .def("getFrameParent", &ModelPythonVisitor::getFrameParent)
.def("getFramePositionInParent", &ModelPythonVisitor::getJointToFrameTransform) .def("getFramePlacement", &ModelPythonVisitor::getJointToFrameTransform)
.def("addExtraFrame", &ModelPythonVisitor::addExtraFrame) .def("addExtraFrame", &ModelPythonVisitor::addExtraFrame)
.add_property("operational_frames", bp::make_function(&ModelPythonVisitor::extraFrames, bp::return_internal_reference<>()) ) .add_property("operational_frames", bp::make_function(&ModelPythonVisitor::extraFrames, bp::return_internal_reference<>()) )
......
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