Verified Commit ecea2d7a authored by Justin Carpentier's avatar Justin Carpentier
Browse files

joint/prismatic: add missing Tpl in the naming

parent bf523624
......@@ -157,10 +157,10 @@ namespace pinocchio
return ReturnType(m1.rate*m1.axis + m2.linear(), m2.angular());
}
template<typename Scalar, int Options> struct ConstraintPrismaticUnaligned;
template<typename Scalar, int Options> struct ConstraintPrismaticUnalignedTpl;
template<typename _Scalar, int _Options>
struct traits< ConstraintPrismaticUnaligned<_Scalar,_Options> >
struct traits< ConstraintPrismaticUnalignedTpl<_Scalar,_Options> >
{
typedef _Scalar Scalar;
enum { Options = _Options };
......@@ -175,7 +175,7 @@ namespace pinocchio
typedef const DenseBase ConstMatrixReturnType;
typedef Eigen::Matrix<Scalar,3,1,Options> Vector3;
}; // traits ConstraintPrismaticUnaligned
}; // traits ConstraintPrismaticUnalignedTpl
template<typename Scalar, int Options>
struct SE3GroupAction< ConstraintPrismaticUnaligned<Scalar,Options> >
......@@ -202,20 +202,20 @@ namespace pinocchio
};
template<typename _Scalar, int _Options>
struct ConstraintPrismaticUnaligned
: ConstraintBase< ConstraintPrismaticUnaligned<_Scalar,_Options> >
struct ConstraintPrismaticUnalignedTpl
: ConstraintBase< ConstraintPrismaticUnalignedTpl<_Scalar,_Options> >
{
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
PINOCCHIO_CONSTRAINT_TYPEDEF_TPL(ConstraintPrismaticUnaligned)
PINOCCHIO_CONSTRAINT_TYPEDEF_TPL(ConstraintPrismaticUnalignedTpl)
enum { NV = 1 };
typedef typename traits<ConstraintPrismaticUnaligned>::Vector3 Vector3;
typedef typename traits<ConstraintPrismaticUnalignedTpl>::Vector3 Vector3;
ConstraintPrismaticUnaligned() {}
ConstraintPrismaticUnalignedTpl() {}
template<typename Vector3Like>
ConstraintPrismaticUnaligned(const Eigen::MatrixBase<Vector3Like> & axis)
ConstraintPrismaticUnalignedTpl(const Eigen::MatrixBase<Vector3Like> & axis)
: axis(axis)
{ EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Vector3Like,3); }
......@@ -239,20 +239,31 @@ namespace pinocchio
struct TransposeConst
{
const ConstraintPrismaticUnaligned & ref;
TransposeConst(const ConstraintPrismaticUnaligned & ref) : ref(ref) {}
const ConstraintPrismaticUnalignedTpl & ref;
TransposeConst(const ConstraintPrismaticUnalignedTpl & ref) : ref(ref) {}
template<typename ForceDerived>
<<<<<<< HEAD
typename ConstraintForceOp<ConstraintPrismaticUnaligned,ForceDerived>::ReturnType
operator* (const ForceDense<ForceDerived> & f) const
{
typedef typename ConstraintForceOp<ConstraintPrismaticUnaligned,ForceDerived>::ReturnType ReturnType;
=======
typename internal::ConstraintForceOp<ConstraintPrismaticUnalignedTpl,ForceDerived>::ReturnType
operator* (const ForceDense<ForceDerived> & f) const
{
typedef typename internal::ConstraintForceOp<ConstraintPrismaticUnalignedTpl,ForceDerived>::ReturnType ReturnType;
>>>>>>> joint/prismatic: add missing Tpl in the naming
return ReturnType(ref.axis.dot(f.linear()));
}
/* [CRBA] MatrixBase operator* (Constraint::Transpose S, ForceSet::Block) */
template<typename ForceSet>
<<<<<<< HEAD
typename ConstraintForceSetOp<ConstraintPrismaticUnaligned,ForceSet>::ReturnType
=======
typename internal::ConstraintForceSetOp<ConstraintPrismaticUnalignedTpl,ForceSet>::ReturnType
>>>>>>> joint/prismatic: add missing Tpl in the naming
operator*(const Eigen::MatrixBase<ForceSet> & F)
{
EIGEN_STATIC_ASSERT(ForceSet::RowsAtCompileTime==6,THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE)
......@@ -289,7 +300,7 @@ namespace pinocchio
// data
Vector3 axis;
}; // struct ConstraintPrismaticUnaligned
}; // struct ConstraintPrismaticUnalignedTpl
template<typename MotionDerived, typename S2, int O2>
......@@ -303,7 +314,7 @@ namespace pinocchio
/* [CRBA] ForceSet operator* (Inertia Y,Constraint S) */
template<typename S1, int O1, typename S2, int O2>
inline Eigen::Matrix<S1,6,1>
operator*(const InertiaTpl<S1,O1> & Y, const ConstraintPrismaticUnaligned<S2,O2> & cpu)
operator*(const InertiaTpl<S1,O1> & Y, const ConstraintPrismaticUnalignedTpl<S2,O2> & cpu)
{
typedef InertiaTpl<S1,O1> Inertia;
/* YS = [ m -mcx ; mcx I-mcxcx ] [ v ; 0 ] = [ mv ; mcxv ] */
......@@ -320,9 +331,9 @@ namespace pinocchio
template<typename M6, typename S2, int O2>
const typename MatrixMatrixProduct<
Eigen::Block<const M6,6,3>,
typename ConstraintPrismaticUnaligned<S2,O2>::Vector3
typename ConstraintPrismaticUnalignedTpl<S2,O2>::Vector3
>::type
operator*(const Eigen::MatrixBase<M6> & Y, const ConstraintPrismaticUnaligned<S2,O2> & cpu)
operator*(const Eigen::MatrixBase<M6> & Y, const ConstraintPrismaticUnalignedTpl<S2,O2> & cpu)
{
EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(M6,6,6);
return Y.template block<6,3> (0,Inertia::LINEAR) * cpu.axis;
......@@ -341,7 +352,7 @@ namespace pinocchio
enum { Options = _Options };
typedef JointDataPrismaticUnalignedTpl<Scalar,Options> JointDataDerived;
typedef JointModelPrismaticUnalignedTpl<Scalar,Options> JointModelDerived;
typedef ConstraintPrismaticUnaligned<Scalar,Options> Constraint_t;
typedef ConstraintPrismaticUnalignedTpl<Scalar,Options> Constraint_t;
typedef TransformTranslationTpl<Scalar,Options> Transformation_t;
typedef MotionPrismaticUnalignedTpl<Scalar,Options> Motion_t;
typedef BiasZeroTpl<Scalar,Options> Bias_t;
......
......@@ -240,10 +240,10 @@ namespace pinocchio
Scalar m_displacement;
};
template<typename Scalar, int Options, int axis> struct ConstraintPrismatic;
template<typename Scalar, int Options, int axis> struct ConstraintPrismaticTpl;
template<typename _Scalar, int _Options, int axis>
struct traits< ConstraintPrismatic<_Scalar,_Options,axis> >
struct traits< ConstraintPrismaticTpl<_Scalar,_Options,axis> >
{
typedef _Scalar Scalar;
enum { Options = _Options };
......@@ -275,11 +275,11 @@ namespace pinocchio
{ typedef typename Eigen::MatrixBase<ForceSet>::ConstRowXpr ReturnType; };
template<typename _Scalar, int _Options, int axis>
struct ConstraintPrismatic
: ConstraintBase < ConstraintPrismatic <_Scalar,_Options,axis> >
struct ConstraintPrismaticTpl
: ConstraintBase < ConstraintPrismaticTpl <_Scalar,_Options,axis> >
{
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
PINOCCHIO_CONSTRAINT_TYPEDEF_TPL(ConstraintPrismatic)
PINOCCHIO_CONSTRAINT_TYPEDEF_TPL(ConstraintPrismaticTpl)
enum { NV = 1 };
typedef SpatialAxis<LINEAR+axis> Axis;
......@@ -307,8 +307,8 @@ namespace pinocchio
struct TransposeConst
{
const ConstraintPrismatic & ref;
TransposeConst(const ConstraintPrismatic & ref) : ref(ref) {}
const ConstraintPrismaticTpl & ref;
TransposeConst(const ConstraintPrismaticTpl & ref) : ref(ref) {}
template<typename ForceDerived>
typename ConstraintForceOp<ConstraintPrismatic,ForceDerived>::ReturnType
......@@ -351,12 +351,12 @@ namespace pinocchio
return res;
}
}; // struct ConstraintPrismatic
}; // struct ConstraintPrismaticTpl
/* [CRBA] ForceSet operator* (Inertia Y,Constraint S) */
template<typename S1, int O1, typename S2, int O2>
inline Eigen::Matrix<S1,6,1,O1>
operator*(const InertiaTpl<S1,O1> & Y, const ConstraintPrismatic<S2,O2,0> &)
operator*(const InertiaTpl<S1,O1> & Y, const ConstraintPrismaticTpl<S2,O2,0> &)
{
/* Y(:,0) = ( 1,0, 0, 0 , z , -y ) */
const S1
......@@ -370,7 +370,7 @@ namespace pinocchio
/* [CRBA] ForceSet operator* (Inertia Y,Constraint S) */
template<typename S1, int O1, typename S2, int O2>
inline Eigen::Matrix<S1,6,1,O1>
operator*(const InertiaTpl<S1,O1> & Y, const ConstraintPrismatic<S2,O2,1> & )
operator*(const InertiaTpl<S1,O1> & Y, const ConstraintPrismaticTpl<S2,O2,1> & )
{
/* Y(:,1) = ( 0,1, 0, -z , 0 , x) */
const S1
......@@ -384,7 +384,7 @@ namespace pinocchio
/* [CRBA] ForceSet operator* (Inertia Y,Constraint S) */
template<typename S1, int O1, typename S2, int O2>
inline Eigen::Matrix<S1,6,1,O1>
operator*(const InertiaTpl<S1,O1> & Y, const ConstraintPrismatic<S2,O2,2> & )
operator*(const InertiaTpl<S1,O1> & Y, const ConstraintPrismaticTpl<S2,O2,2> & )
{
/* Y(:,2) = ( 0,0, 1, y , -x , 0) */
const S1
......@@ -399,7 +399,7 @@ namespace pinocchio
/* [ABA] operator* (Inertia Y,Constraint S) */
template<typename M6Like, typename S2, int O2, int axis>
inline const typename M6Like::ConstColXpr
operator*(const Eigen::MatrixBase<M6Like> & Y, const ConstraintPrismatic<S2,O2,axis> &)
operator*(const Eigen::MatrixBase<M6Like> & Y, const ConstraintPrismaticTpl<S2,O2,axis> &)
{
EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(M6Like,6,6);
return Y.derived().col(Inertia::LINEAR + axis);
......@@ -428,7 +428,7 @@ namespace pinocchio
enum { Options = _Options };
typedef JointDataPrismaticTpl<Scalar,Options,axis> JointDataDerived;
typedef JointModelPrismaticTpl<Scalar,Options,axis> JointModelDerived;
typedef ConstraintPrismatic<Scalar,Options,axis> Constraint_t;
typedef ConstraintPrismaticTpl<Scalar,Options,axis> Constraint_t;
typedef TransformPrismaticTpl<Scalar,Options,axis> Transformation_t;
typedef MotionPrismaticTpl<Scalar,Options,axis> Motion_t;
typedef BiasZeroTpl<Scalar,Options> Bias_t;
......
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