Commit 97fa49df authored by Justin Carpentier's avatar Justin Carpentier

algo/derivatives: use const references

Avoid useless memory allocation.
parent 7a0066d7
......@@ -76,7 +76,7 @@ namespace pinocchio
const Eigen::MatrixBase<ConfigVectorType> & q,
const Eigen::MatrixBase<TangentVectorType1> & v,
const Eigen::MatrixBase<TangentVectorType2> & tau,
const container::aligned_vector< ForceTpl<Scalar,Options> > fext,
const container::aligned_vector< ForceTpl<Scalar,Options> > & fext,
const Eigen::MatrixBase<MatrixType1> & aba_partial_dq,
const Eigen::MatrixBase<MatrixType2> & aba_partial_dv,
const Eigen::MatrixBase<MatrixType3> & aba_partial_dtau);
......@@ -139,7 +139,7 @@ namespace pinocchio
const Eigen::MatrixBase<ConfigVectorType> & q,
const Eigen::MatrixBase<TangentVectorType1> & v,
const Eigen::MatrixBase<TangentVectorType2> & tau,
const container::aligned_vector< ForceTpl<Scalar,Options> > fext)
const container::aligned_vector< ForceTpl<Scalar,Options> > & fext)
{
computeABADerivatives(model,data,q,v,tau,fext,
data.ddq_dq,data.ddq_dv,data.Minv);
......
......@@ -403,7 +403,7 @@ namespace pinocchio
const Eigen::MatrixBase<ConfigVectorType> & q,
const Eigen::MatrixBase<TangentVectorType1> & v,
const Eigen::MatrixBase<TangentVectorType2> & tau,
const container::aligned_vector< ForceTpl<Scalar,Options> > fext,
const container::aligned_vector< ForceTpl<Scalar,Options> > & fext,
const Eigen::MatrixBase<MatrixType1> & aba_partial_dq,
const Eigen::MatrixBase<MatrixType2> & aba_partial_dv,
const Eigen::MatrixBase<MatrixType3> & aba_partial_dtau)
......
......@@ -110,7 +110,7 @@ namespace pinocchio
const Eigen::MatrixBase<ConfigVectorType> & q,
const Eigen::MatrixBase<TangentVectorType1> & v,
const Eigen::MatrixBase<TangentVectorType2> & a,
const container::aligned_vector< ForceTpl<Scalar,Options> > fext,
const container::aligned_vector< ForceTpl<Scalar,Options> > & fext,
const Eigen::MatrixBase<MatrixType1> & rnea_partial_dq,
const Eigen::MatrixBase<MatrixType2> & rnea_partial_dv,
const Eigen::MatrixBase<MatrixType3> & rnea_partial_da);
......@@ -177,7 +177,7 @@ namespace pinocchio
const Eigen::MatrixBase<ConfigVectorType> & q,
const Eigen::MatrixBase<TangentVectorType1> & v,
const Eigen::MatrixBase<TangentVectorType2> & a,
const container::aligned_vector< ForceTpl<Scalar,Options> > fext)
const container::aligned_vector< ForceTpl<Scalar,Options> > & fext)
{
computeRNEADerivatives(model,data,q.derived(),v.derived(),a.derived(),fext,
data.dtau_dq, data.dtau_dv, data.M);
......
......@@ -424,7 +424,7 @@ namespace pinocchio
const Eigen::MatrixBase<ConfigVectorType> & q,
const Eigen::MatrixBase<TangentVectorType1> & v,
const Eigen::MatrixBase<TangentVectorType2> & a,
const container::aligned_vector< ForceTpl<Scalar,Options> > fext,
const container::aligned_vector< ForceTpl<Scalar,Options> > & fext,
const Eigen::MatrixBase<MatrixType1> & rnea_partial_dq,
const Eigen::MatrixBase<MatrixType2> & rnea_partial_dv,
const Eigen::MatrixBase<MatrixType3> & rnea_partial_da)
......
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