Commits · 8c5ecf7149dbe8efe747a94488a3840c77e02545 · Stack Of Tasks / pinocchio

29 Oct, 2018 40 commits
- [Spatial] Add cast<NewScalar> method · 8c5ecf71
  Justin Carpentier authored Aug 06, 2018 and Justin Carpentier committed Oct 29, 2018
  
  8c5ecf71
- [AutoDiff] Add specialization of cast for CppAD::AD types · f1802373
  Justin Carpentier authored Aug 06, 2018 and Justin Carpentier committed Oct 29, 2018
  
  f1802373
- [All] Add missing Eigen/Core include if CppAD is missing · 1d53ba6b
  Justin Carpentier authored Aug 06, 2018 and Justin Carpentier committed Oct 29, 2018
  
  1d53ba6b
- [All] Add dedicated include file for CppAD · 768b4c32
  Justin Carpentier authored Aug 06, 2018 and Justin Carpentier committed Oct 29, 2018
  
  768b4c32
- [AutoDiff] Support SINCOS for CppAD · e9f44b35
  Justin Carpentier authored Aug 06, 2018 and Justin Carpentier committed Oct 29, 2018
  
  e9f44b35
- [AutoDiff] Add second example of CPPAD lib with eigen · 2d82f28e
  Justin Carpentier authored Aug 06, 2018 and Justin Carpentier committed Oct 29, 2018
  
  2d82f28e
- [Test] Add basic test for Cppad · 068c8b44
  Justin Carpentier authored Aug 03, 2018 and Justin Carpentier committed Oct 29, 2018
  
  068c8b44
- [All] Start support of CPPAD · f3bdfb76
  Justin Carpentier authored Aug 03, 2018 and Justin Carpentier committed Oct 29, 2018
```
This initial commit allows to support of CPPAD in order to implement automatic differentiation inside Pinocchio
```
  f3bdfb76
- [CMake] Remove dependecy to metapod · e21c7456
  Justin Carpentier authored Aug 03, 2018 and Justin Carpentier committed Oct 29, 2018
  
  e21c7456
- [Joint/freeflyer] Return Identity matrix expression for ConstraintFreeFlyer::matrix() · 3e03a613
  Justin Carpentier authored Aug 03, 2018 and Justin Carpentier committed Oct 29, 2018
  
  3e03a613
- [Joint/Prismatic] Simplify call to operator^ · aa080a5a
  Justin Carpentier authored Aug 03, 2018 and Justin Carpentier committed Oct 29, 2018
```
It now uses the motion action implemented in MotionPrismaticTpl
```
  aa080a5a
- [Joint] Use TransformTranslationTpl in JointPrismaticUnaligned · b334e6c7
  Justin Carpentier authored Aug 03, 2018 and Justin Carpentier committed Oct 29, 2018
  
  b334e6c7
- [Joint] IntroduceTransformTranslationTpl · c3811a2a
  Justin Carpentier authored Aug 03, 2018 and Justin Carpentier committed Oct 29, 2018
  
  c3811a2a
- [Joint] Use TransformPrismaticTpl as transform for JointPrismaticTpl · 3a970220
  Justin Carpentier authored Aug 03, 2018 and Justin Carpentier committed Oct 29, 2018
  
  3a970220
- [Joint] Correct return type of TransformPrismaticTpl · d9ca05a2
  Justin Carpentier authored Aug 03, 2018 and Justin Carpentier committed Oct 29, 2018
  
  d9ca05a2
- [Joint] Add TransformPrismaticTpl · 1e0d72be
  Justin Carpentier authored Aug 03, 2018 and Justin Carpentier committed Oct 29, 2018
  
  1e0d72be
- [Joint] Fix inversion · 4241b221
  Justin Carpentier authored Aug 03, 2018 and Justin Carpentier committed Oct 29, 2018
  
  4241b221
- [Joint] Improve efficiency of calc_aba methods · 2269be6b
  Justin Carpentier authored Aug 02, 2018 and Justin Carpentier committed Oct 29, 2018
```
It now uses LLT decomposition for inverting D
```
  2269be6b
- [Joint] Avoid unecessary copy with boost::variant · 035e93b8
  Justin Carpentier authored Aug 02, 2018 and Justin Carpentier committed Oct 29, 2018
  
  035e93b8
- [Math] Use SINCOS with only std::{cos,sin} call · bf1014a0
  Justin Carpentier authored Aug 02, 2018 and Justin Carpentier committed Oct 29, 2018
```
This becomes mandatory for scalar overloading
```
  bf1014a0
- [Joint] Reorder joints in JointCollectionTpl · 8e22d97b
  Justin Carpentier authored Aug 02, 2018 and Justin Carpentier committed Oct 29, 2018
  
  8e22d97b
- [Test] Fix bug in copy test - initialized some variables · f48c4bba
  Justin Carpentier authored Aug 02, 2018 and Justin Carpentier committed Oct 29, 2018
  
  f48c4bba
- [Joint] Make setValues templated for TransformRevoluteTpl · 49374cc0
  Justin Carpentier authored Aug 02, 2018 and Justin Carpentier committed Oct 29, 2018
  
  49374cc0
- [Joint] Set TransformRevoluteTpl as transform for JointRevoluteUnbounded · d33fc22f
  Justin Carpentier authored Aug 02, 2018 and Justin Carpentier committed Oct 29, 2018
  
  d33fc22f
- [Spatial] Improve efficiency of InertiaTpl * Motion operation · 1b1eec24
  Justin Carpentier authored Aug 02, 2018 and Justin Carpentier committed Oct 29, 2018
  
  1b1eec24
- [Joint] Use alphaCross operators from CartesianAxis3 · 3fc85a98
  Justin Carpentier authored Aug 02, 2018 and Justin Carpentier committed Oct 29, 2018
  
  3fc85a98
- [Joint] Use TransformRevoluteTpl as joint transform · 972f2214
  Justin Carpentier authored Aug 02, 2018 and Justin Carpentier committed Oct 29, 2018
```
This improves a lot the efficiency of model.jointPlacements[jointId] * jdata.M() operation!
```
  972f2214
- [Joint] Introduce TransformRevoluteTpl · de1d9d4f
  Justin Carpentier authored Aug 02, 2018 and Justin Carpentier committed Oct 29, 2018
  
  de1d9d4f
- [Joint] Use MotionRevolute motionAction instead of handmade operator^ · 5ac50a0d
  Justin Carpentier authored Aug 02, 2018 and Justin Carpentier committed Oct 29, 2018
```
This improves the efficiency of the approach and simplifies the code.
```
  5ac50a0d
- [Parsers] Use already defined typedef · 96baf8df
  Justin Carpentier authored Aug 02, 2018 and Justin Carpentier committed Oct 29, 2018
  
  96baf8df
- [Parsers] Remove specialization for JointComposite · f612ec0d
  Justin Carpentier authored Aug 02, 2018 and Justin Carpentier committed Oct 29, 2018
```
There is still an implementation of JointRevoluteUnboundedUnaligned to do!
```
  f612ec0d
- [Joint] Use new typedef naming of SE3 classes · c0fea8e6
  Justin Carpentier authored Aug 02, 2018 and Justin Carpentier committed Oct 29, 2018
  
  c0fea8e6
- [All] Follow new API of SE3Tpl class · 6398eb81
  Justin Carpentier authored Aug 01, 2018 and Justin Carpentier committed Oct 29, 2018
  
  6398eb81
- [Spatial] Split se3 in se3-base and se3-tpl files · 5c46da00
  Justin Carpentier authored Aug 01, 2018 and Justin Carpentier committed Oct 29, 2018
  
  5c46da00
- [Geom] add typedef for vector types · aaa361b0
  Justin Carpentier authored Aug 01, 2018 and Justin Carpentier committed Oct 29, 2018
  
  aaa361b0
- [Spatial] Add missing noalias() · e7383c74
  Justin Carpentier authored Aug 01, 2018 and Justin Carpentier committed Oct 29, 2018
  
  e7383c74
- [Joints] Aligned structures · b0e97048
  Justin Carpentier authored Aug 01, 2018 and Justin Carpentier committed Oct 29, 2018
  
  b0e97048
- [Joint] use new alphaCross method · eba5d9b0
  Justin Carpentier authored Jul 31, 2018 and Justin Carpentier committed Oct 29, 2018
  
  eba5d9b0
- [Spatial] Add alphaCross operations to CartesianAxis3 · 2fa2debc
  Justin Carpentier authored Jul 31, 2018 and Justin Carpentier committed Oct 29, 2018
  
  2fa2debc
- [all] Use .derived() operator to improve performances · e9c8403c
  Justin Carpentier authored Jul 30, 2018 and Justin Carpentier committed Oct 29, 2018
  
  e9c8403c