Verified Commit f2faa5ff authored by Justin Carpentier's avatar Justin Carpentier
Browse files

parsers/sample-models: correct spaces

parent 11fcf9b8
......@@ -30,7 +30,7 @@ namespace se3
const JointModelBase<JointModel> & joint,
const std::string & parent_name,
const std::string & name,
const SE3 placement = SE3::Random(),
const SE3 & placement = SE3::Random(),
bool setRandomLimits = true)
{
typedef typename JointModel::ConfigVector_t CV;
......@@ -137,7 +137,7 @@ namespace se3
static void addManipulator(Model & model,
Model::JointIndex rootJoint = 0,
const SE3 & Mroot = SE3::Identity(),
const std::string& pre = "")
const std::string & pre = "")
{
typedef JointModelRX::ConfigVector_t CV;
typedef JointModelRX::TangentVector_t TV;
......@@ -189,7 +189,7 @@ namespace se3
* <geom> is the geometry model where the new geoms are added.
* <pre> is the prefix (string) before every name in the model.
*/
static void addManipulatorGeometries(const Model& model,
static void addManipulatorGeometries(const Model & model,
GeometryModel & geom,
const std::string & pre = "")
{
......@@ -231,8 +231,8 @@ namespace se3
}
void manipulator(Model& model) { addManipulator(model); }
void manipulatorGeometries(const Model& model, GeometryModel & geom)
void manipulator(Model & model) { addManipulator(model); }
void manipulatorGeometries(const Model & model, GeometryModel & geom)
{ addManipulatorGeometries(model,geom); }
static Eigen::Matrix3d rotate(const double angle, const Eigen::Vector3d & axis)
......@@ -305,7 +305,7 @@ namespace se3
addManipulator(model,chest,SE3(rotate(M_PI,Vector3d::UnitX()),Vector3d(0, 0.3, 1.)),"larm");
}
void humanoidGeometries(const Model& model, GeometryModel & geom)
void humanoidGeometries(const Model & model, GeometryModel & geom)
{
addManipulatorGeometries(model,geom,"rleg");
addManipulatorGeometries(model,geom,"lleg");
......
//
// Copyright (c) 2015-2016 CNRS
// Copyright (c) 2015-2018 CNRS
// Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
//
// This file is part of Pinocchio
......@@ -30,14 +30,15 @@ namespace se3
*
* \param model: model, typically given empty, where the kinematic chain is added.
*/
void manipulator(Model& model);
void manipulator(Model & model);
/** \brief Create the geometries on top of the kinematic model created by manipulator function.
*
* \param model, const, kinematic chain typically produced by the function manipulator(model).
* \warning this method is expecting specific namings of the kinematic chain, use it with care
* not using after manipulator(model).
*/
void manipulatorGeometries(const Model& model, GeometryModel & geom);
void manipulatorGeometries(const Model & model, GeometryModel & geom);
/** \brief Create a 28-DOF kinematic chain of a floating humanoid robot.
*
......@@ -51,14 +52,14 @@ namespace se3
* \param usingFF: if True, implement the chain with a plain JointModelFreeFloating; if False,
* uses a composite joint. This changes the size of the configuration space (35 vs 34).
*/
void humanoid(Model& model,bool usingFF=true);
void humanoid(Model & model, bool usingFF=true);
/** \brief Create the geometries on top of the kinematic model created by humanoid function.
*
* \param model, const, kinematic chain typically produced by the function humanoid(model).
* \warning this method is expecting specific namings of the kinematic chain, use it with care
* not using after humanoid(model).
*/
void humanoidGeometries(const Model& model, GeometryModel & geom);
void humanoidGeometries(const Model & model, GeometryModel & geom);
/** \brief Create a humanoid kinematic tree with 6-DOF limbs and random joint placements.
*
......@@ -71,19 +72,19 @@ namespace se3
* uses a composite joint translation + roll-pitch-yaw.
* This changes the size of the configuration space (33 vs 32).
*/
void humanoidRandom(Model& model, bool usingFF = true);
void humanoidRandom(Model & model, bool usingFF = true);
/** \brief Create a random humanoid tree with 2d limbs.
* \ deprecated This function has been replaced by the non-random se3::humanoid function.
*/
PINOCCHIO_DEPRECATED
void humanoid2d(Model& model);
void humanoid2d(Model & model);
/** \brief Alias of humanoidRandom, for compatibility reasons.
* \deprecated use se3::humanoid or se3::humanoidRandom instead.
*/
PINOCCHIO_DEPRECATED
inline void humanoidSimple(Model& model, bool usingFF = true) { humanoidRandom(model,usingFF); }
inline void humanoidSimple(Model & model, bool usingFF = true) { humanoidRandom(model,usingFF); }
} // namespace buildModels
} // namespace se3
......
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