From e065f7bb785f2b8ecf6989dc4147c8944bfe3caa Mon Sep 17 00:00:00 2001 From: simeon Date: Fri, 21 Jun 2024 01:22:37 +0300 Subject: [PATCH 001/104] added conversion from logcholesky to inertia --- cmake | 2 +- .../bindings/python/spatial/inertia.hpp | 11 +++- include/pinocchio/spatial/inertia.hpp | 66 +++++++++++++++++++ 3 files changed, 77 insertions(+), 2 deletions(-) diff --git a/cmake b/cmake index 31e46019be..5275edfd1a 160000 --- a/cmake +++ b/cmake @@ -1 +1 @@ -Subproject commit 31e46019beda968ba9e516ad645a951c64256eed +Subproject commit 5275edfd1a8c6d45e0f90177edad93ef15b2008f diff --git a/include/pinocchio/bindings/python/spatial/inertia.hpp b/include/pinocchio/bindings/python/spatial/inertia.hpp index ec829e5619..e63283559f 100644 --- a/include/pinocchio/bindings/python/spatial/inertia.hpp +++ b/include/pinocchio/bindings/python/spatial/inertia.hpp @@ -165,7 +165,15 @@ namespace pinocchio "I_{xy}, I_{yy}, I_{xz}, I_{yz}, I_{zz}]^T " "where I = I_C + mS^T(c)S(c) and I_C has its origin at the barycenter.") .staticmethod("FromDynamicParameters") - + .def( + "FromLogCholeskyParameters", &Inertia::template FromLogCholeskyParameters, + bp::args("log_cholesky"), + "Builds an InertiaTpl from log Cholesky parameters." + "\nThe parameters are given as log_cholesky = [alpha, d_1, d_2, d_3, s_{12}, s_{23}, " + "s_{13}, t_1, t_2, t_3] " + "\nThe returned InertiaTpl object is constructed from the provided log Cholesky " + "parameters.") + .staticmethod("FromLogCholeskyParameters") .def( "FromSphere", &Inertia::FromSphere, bp::args("mass", "radius"), "Returns the Inertia of a sphere defined by a given mass and radius.") @@ -238,6 +246,7 @@ namespace pinocchio return self.toDynamicParameters(); } + static Inertia * makeFromMCI(const Scalar & mass, const Vector3 & lever, const Matrix3 & inertia) { diff --git a/include/pinocchio/spatial/inertia.hpp b/include/pinocchio/spatial/inertia.hpp index 61fccc6065..c1dee3e532 100644 --- a/include/pinocchio/spatial/inertia.hpp +++ b/include/pinocchio/spatial/inertia.hpp @@ -565,6 +565,72 @@ namespace pinocchio mass, lever, Symmetric3(params.template segment<6>(4)) + AlphaSkewSquare(mass, lever)); } + /** + * Converts logarithmic Cholesky parameters directly to theta parameters. + * + * @param[in] log_cholesky A 10-dimensional vector containing logarithmic Cholesky parameters. + * The parameters are given as + * \f$ log\_cholesky = [\alpha, d_1, d_2, d_3, s_{12}, s_{23}, s_{13}, t_1, t_2, t_3] \f$ + * + * @return A 10-dimensional vector containing mass, first moments, and inertia tensor + * components. The parameters are given as \f$ \theta = [m, mc_x, mc_y, mc_z, I_{xx}, I_{xy}, + * I_{yy}, I_{xz}, I_{yz}, I_{zz}] \f$ + */ + template + static Vector10 + LogcholToDynamicParameters(const Eigen::MatrixBase & log_cholesky) + { + using Scalar = typename Vector10Like::Scalar; + Vector10 dynamic_params; + + const Scalar alpha = log_cholesky[0]; + const Scalar d1 = log_cholesky[1]; + const Scalar d2 = log_cholesky[2]; + const Scalar d3 = log_cholesky[3]; + const Scalar s12 = log_cholesky[4]; + const Scalar s23 = log_cholesky[5]; + const Scalar s13 = log_cholesky[6]; + const Scalar t1 = log_cholesky[7]; + const Scalar t2 = log_cholesky[8]; + const Scalar t3 = log_cholesky[9]; + + const Scalar exp_d1 = math::exp(d1); + const Scalar exp_d2 = math::exp(d2); + const Scalar exp_d3 = math::exp(d3); + + dynamic_params[0] = 1; + dynamic_params[1] = t1; + dynamic_params[2] = t2; + dynamic_params[3] = t3; + dynamic_params[4] = s23 * s23 + t2 * t2 + t3 * t3 + exp_d2 * exp_d2 + exp_d3 * exp_d3; + dynamic_params[5] = -s12 * exp_d2 - s13 * s23 - t1 * t2; + dynamic_params[6] = s12 * s12 + s13 * s13 + t1 * t1 + t3 * t3 + exp_d1 * exp_d1 + exp_d3 * exp_d3; + dynamic_params[7] = -s13 * exp_d3 - t1 * t3; + dynamic_params[8] = -s23 * exp_d3 - t2 * t3; + dynamic_params[9] = s12 * s12 + s13 * s13 + s23 * s23 + t1 * t1 + t2 * t2 + exp_d1 * exp_d2; + + const Scalar exp_2_alpha = math::exp(2 * alpha); + dynamic_params *= exp_2_alpha; + + return dynamic_params; + } + + /** + * Builds an InertiaTpl from log Cholesky parameters. + * + * @param[in] log_cholesky A 10-dimensional vector containing logarithmic Cholesky parameters. + * The parameters are given as + * \f$ log\_cholesky = [\alpha, d_1, d_2, d_3, s_{12}, s_{23}, s_{13}, t_1, t_2, t_3] \f$ + * + * @return An InertiaTpl object constructed from the provided log Cholesky parameters. + */ + template + static InertiaTpl FromLogCholeskyParameters(const Eigen::MatrixBase & log_cholesky) + { + Vector10 dynamic_params = LogcholToDynamicParameters(log_cholesky); + return FromDynamicParameters(dynamic_params); + } + // Arithmetic operators InertiaTpl & __equl__(const InertiaTpl & clone) { From ed1d341286a1c552b5624fe3a6291ef8b4e48080 Mon Sep 17 00:00:00 2001 From: simeon Date: Fri, 21 Jun 2024 19:13:12 +0300 Subject: [PATCH 002/104] added pseudo inertia conversion --- .../bindings/python/spatial/inertia.hpp | 33 +++++++++- include/pinocchio/spatial/inertia.hpp | 64 +++++++++++++++++-- 2 files changed, 91 insertions(+), 6 deletions(-) diff --git a/include/pinocchio/bindings/python/spatial/inertia.hpp b/include/pinocchio/bindings/python/spatial/inertia.hpp index e63283559f..7d3ee2b540 100644 --- a/include/pinocchio/bindings/python/spatial/inertia.hpp +++ b/include/pinocchio/bindings/python/spatial/inertia.hpp @@ -39,6 +39,7 @@ namespace pinocchio typedef typename Inertia::Matrix3 Matrix3; typedef typename Inertia::Vector6 Vector6; typedef typename Inertia::Matrix6 Matrix6; + typedef typename Inertia::Matrix4 Matrix4; typedef Eigen::Matrix VectorXs; typedef MotionTpl Motion; @@ -57,7 +58,6 @@ namespace pinocchio &InertiaPythonVisitor::makeFromMCI, bp::default_call_policies(), bp::args("mass", "lever", "inertia")), "Initialize from mass, lever and 3d inertia.") - .def(bp::init<>(bp::arg("self"), "Default constructor.")) .def(bp::init((bp::arg("self"), bp::arg("clone")), "Copy constructor")) @@ -165,6 +165,33 @@ namespace pinocchio "I_{xy}, I_{yy}, I_{xz}, I_{yz}, I_{zz}]^T " "where I = I_C + mS^T(c)S(c) and I_C has its origin at the barycenter.") .staticmethod("FromDynamicParameters") + .def( + "toPseudoInertia", &InertiaPythonVisitor::toPseudoInertia_proxy, + bp::arg("self"), + "Converts the inertia to a pseudo inertia matrix." + "\nThe returned 4x4 pseudo inertia matrix has the form:" + "\n[[ -0.5*I_xx + 0.5*I_yy + 0.5*I_zz, -I_xy, -I_xz, mr_x]," + "\n [ -I_xy, 0.5*I_xx - 0.5*I_yy + 0.5*I_zz, -I_yz, mr_y]," + "\n [ -I_xz, -I_yz, 0.5*I_xx + 0.5*I_yy - 0.5*I_zz, mr_z]," + "\n [ mr_x, mr_y, mr_z, m ]].") + .def( + "FromPseudoInertia", &Inertia::FromPseudoInertia, + bp::args("pseudo_inertia"), + "Builds an inertia matrix from a 4x4 pseudo inertia matrix." + "\nThe parameters are given as" + "\npseudo_inertia = [[ -0.5*I_xx + 0.5*I_yy + 0.5*I_zz, -I_xy, -I_xz, mr_x]," + "\n [ -I_xy, 0.5*I_xx - 0.5*I_yy + 0.5*I_zz, -I_yz, mr_y]," + "\n [ -I_xz, -I_yz, 0.5*I_xx + 0.5*I_yy - 0.5*I_zz, mr_z]," + "\n [ mr_x, mr_y, mr_z, m ]].") + .staticmethod("FromPseudoInertia") + .def( + "LogcholToDynamicParameters", &Inertia::template LogcholToDynamicParameters, + bp::args("log_cholesky"), + "Converts logarithmic Cholesky parameters directly to theta parameters." + "\nThe parameters are given as log_cholesky = [alpha, d_1, d_2, d_3, s_{12}, s_{23}, " + "s_{13}, t_1, t_2, t_3]." + "\nThe returned vector contains the dynamic parameters.") + .staticmethod("LogcholToDynamicParameters") .def( "FromLogCholeskyParameters", &Inertia::template FromLogCholeskyParameters, bp::args("log_cholesky"), @@ -246,6 +273,10 @@ namespace pinocchio return self.toDynamicParameters(); } + static Matrix4 toPseudoInertia_proxy(const Inertia & self) + { + return self.toPseudoInertia(); + } static Inertia * makeFromMCI(const Scalar & mass, const Vector3 & lever, const Matrix3 & inertia) diff --git a/include/pinocchio/spatial/inertia.hpp b/include/pinocchio/spatial/inertia.hpp index c1dee3e532..65571ae5de 100644 --- a/include/pinocchio/spatial/inertia.hpp +++ b/include/pinocchio/spatial/inertia.hpp @@ -565,6 +565,58 @@ namespace pinocchio mass, lever, Symmetric3(params.template segment<6>(4)) + AlphaSkewSquare(mass, lever)); } + /** + * Converts the inertia to a pseudo inertia matrix. + * + * @return A 4x4 pseudo inertia matrix. + */ + Matrix4 toPseudoInertia() const + { + Vector10 dynamic_params = toDynamicParameters(); + Scalar m = dynamic_params[0]; + Vector3 h = dynamic_params.template segment<3>(1); + Matrix3 I_bar; + I_bar << dynamic_params[4], dynamic_params[5], dynamic_params[7], dynamic_params[5], + dynamic_params[6], dynamic_params[8], dynamic_params[7], dynamic_params[8], + dynamic_params[9]; + + Matrix3 Sigma = 0.5 * I_bar.trace() * Matrix3::Identity() - I_bar; + Matrix4 pseudo_inertia = Matrix4::Zero(); + pseudo_inertia.template block<3, 3>(0, 0) = Sigma; + pseudo_inertia.template block<3, 1>(0, 3) = h; + pseudo_inertia.template block<1, 3>(3, 0) = h.transpose(); + pseudo_inertia(3, 3) = m; + + return pseudo_inertia; + } + + /** + * Builds an inertia matrix from a 4x4 pseudo inertia matrix. + * + * @param[in] pseudo_inertia A 4x4 pseudo inertia matrix. + * + * @return An InertiaTpl object constructed from the provided pseudo inertia matrix. + */ + static InertiaTpl FromPseudoInertia(const Matrix4 & pseudo_inertia) + { + Scalar m = pseudo_inertia(3, 3); + Vector3 h = pseudo_inertia.template block<3, 1>(0, 3); + Matrix3 Sigma = pseudo_inertia.template block<3, 3>(0, 0); + Matrix3 I_bar = Sigma.trace() * Matrix3::Identity() - Sigma; + + Vector10 dynamic_params; + dynamic_params[0] = m; /* */ + dynamic_params.template segment<3>(1) = h; + dynamic_params[4] = I_bar(0, 0); + dynamic_params[5] = I_bar(0, 1); + dynamic_params[6] = I_bar(1, 1); + dynamic_params[7] = I_bar(0, 2); + dynamic_params[8] = I_bar(1, 2); + dynamic_params[9] = I_bar(2, 2); + + return FromDynamicParameters(dynamic_params); + } + /** * Converts logarithmic Cholesky parameters directly to theta parameters. * @@ -577,9 +629,9 @@ namespace pinocchio * I_{yy}, I_{xz}, I_{yz}, I_{zz}] \f$ */ template - static Vector10 - LogcholToDynamicParameters(const Eigen::MatrixBase & log_cholesky) + static Vector10 LogcholToDynamicParameters(const Eigen::MatrixBase & log_cholesky) { + PINOCCHIO_ASSERT_MATRIX_SPECIFIC_SIZE(Vector10Like, log_cholesky, 10, 1); using Scalar = typename Vector10Like::Scalar; Vector10 dynamic_params; @@ -616,17 +668,19 @@ namespace pinocchio } /** - * Builds an InertiaTpl from log Cholesky parameters. + * Builds an Inertia from log Cholesky parameters. * * @param[in] log_cholesky A 10-dimensional vector containing logarithmic Cholesky parameters. * The parameters are given as * \f$ log\_cholesky = [\alpha, d_1, d_2, d_3, s_{12}, s_{23}, s_{13}, t_1, t_2, t_3] \f$ * - * @return An InertiaTpl object constructed from the provided log Cholesky parameters. + * @return An Inertia object constructed from the provided log Cholesky parameters. */ template - static InertiaTpl FromLogCholeskyParameters(const Eigen::MatrixBase & log_cholesky) + static InertiaTpl + FromLogCholeskyParameters(const Eigen::MatrixBase & log_cholesky) { + PINOCCHIO_ASSERT_MATRIX_SPECIFIC_SIZE(Vector10Like, log_cholesky, 10, 1); Vector10 dynamic_params = LogcholToDynamicParameters(log_cholesky); return FromDynamicParameters(dynamic_params); } From f79f7bfcdea4ad4b414700e09a0146355fb323f9 Mon Sep 17 00:00:00 2001 From: simeon Date: Fri, 21 Jun 2024 20:12:05 +0300 Subject: [PATCH 003/104] fixed typo in logcholesky --- include/pinocchio/spatial/inertia.hpp | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/include/pinocchio/spatial/inertia.hpp b/include/pinocchio/spatial/inertia.hpp index 65571ae5de..b10dbda526 100644 --- a/include/pinocchio/spatial/inertia.hpp +++ b/include/pinocchio/spatial/inertia.hpp @@ -576,9 +576,9 @@ namespace pinocchio Scalar m = dynamic_params[0]; Vector3 h = dynamic_params.template segment<3>(1); Matrix3 I_bar; - I_bar << dynamic_params[4], dynamic_params[5], dynamic_params[7], dynamic_params[5], - dynamic_params[6], dynamic_params[8], dynamic_params[7], dynamic_params[8], - dynamic_params[9]; + I_bar << dynamic_params[4], dynamic_params[5], dynamic_params[7], + dynamic_params[5], dynamic_params[6], dynamic_params[8], + dynamic_params[7], dynamic_params[8], dynamic_params[9]; Matrix3 Sigma = 0.5 * I_bar.trace() * Matrix3::Identity() - I_bar; Matrix4 pseudo_inertia = Matrix4::Zero(); @@ -656,10 +656,11 @@ namespace pinocchio dynamic_params[3] = t3; dynamic_params[4] = s23 * s23 + t2 * t2 + t3 * t3 + exp_d2 * exp_d2 + exp_d3 * exp_d3; dynamic_params[5] = -s12 * exp_d2 - s13 * s23 - t1 * t2; - dynamic_params[6] = s12 * s12 + s13 * s13 + t1 * t1 + t3 * t3 + exp_d1 * exp_d1 + exp_d3 * exp_d3; + dynamic_params[6] = + s12 * s12 + s13 * s13 + t1 * t1 + t3 * t3 + exp_d1 * exp_d1 + exp_d3 * exp_d3; dynamic_params[7] = -s13 * exp_d3 - t1 * t3; dynamic_params[8] = -s23 * exp_d3 - t2 * t3; - dynamic_params[9] = s12 * s12 + s13 * s13 + s23 * s23 + t1 * t1 + t2 * t2 + exp_d1 * exp_d2; + dynamic_params[9] = s12 * s12 + s13 * s13 + s23 * s23 + t1 * t1 + t2 * t2 + exp_d1 * exp_d1 + exp_d2 * exp_d2; const Scalar exp_2_alpha = math::exp(2 * alpha); dynamic_params *= exp_2_alpha; From 04c48f4c5e6fa896afc2bae77d9d777ac0d19bba Mon Sep 17 00:00:00 2001 From: simeon Date: Sat, 22 Jun 2024 00:55:54 +0300 Subject: [PATCH 004/104] added logcholesky jacobian, fixed pybinds --- .../bindings/python/spatial/inertia.hpp | 40 +++++-- include/pinocchio/spatial/inertia.hpp | 109 ++++++++++++++++-- 2 files changed, 130 insertions(+), 19 deletions(-) diff --git a/include/pinocchio/bindings/python/spatial/inertia.hpp b/include/pinocchio/bindings/python/spatial/inertia.hpp index 7d3ee2b540..da8579cb9e 100644 --- a/include/pinocchio/bindings/python/spatial/inertia.hpp +++ b/include/pinocchio/bindings/python/spatial/inertia.hpp @@ -40,8 +40,13 @@ namespace pinocchio typedef typename Inertia::Vector6 Vector6; typedef typename Inertia::Matrix6 Matrix6; typedef typename Inertia::Matrix4 Matrix4; + typedef typename Inertia::Matrix10 Matrix10; + typedef typename Inertia::Vector10 Vector10; + // typedef Eigen::Matrix Vector10; + // typedef Eigen::Matrix Matrix10; typedef Eigen::Matrix VectorXs; + typedef Eigen::Matrix MatrixXs; typedef MotionTpl Motion; typedef ForceTpl Force; @@ -124,6 +129,17 @@ namespace pinocchio (Matrix6(Inertia::*)(const MotionDense &) const) & Inertia::template variation, bp::args("self", "v"), "Returns the time derivative of the inertia.") + .def( + "LogcholToDynamicParameters", &InertiaPythonVisitor::LogcholToDynamicParameters_proxy, + bp::args("log_cholesky"), + "Converts logarithmic Cholesky parameters directly to theta parameters.") + .staticmethod("LogcholToDynamicParameters") + .def( + "calculateLogCholeskyJacobian", + &InertiaPythonVisitor::calculateLogCholeskyJacobian_proxy, bp::args("log_cholesky"), + "Calculates the Jacobian of the dynamic parameters with respect to the log-Cholesky " + "parameters.") + .staticmethod("calculateLogCholeskyJacobian") #ifndef PINOCCHIO_PYTHON_SKIP_COMPARISON_OPERATIONS .def(bp::self == bp::self) @@ -166,8 +182,7 @@ namespace pinocchio "where I = I_C + mS^T(c)S(c) and I_C has its origin at the barycenter.") .staticmethod("FromDynamicParameters") .def( - "toPseudoInertia", &InertiaPythonVisitor::toPseudoInertia_proxy, - bp::arg("self"), + "toPseudoInertia", &InertiaPythonVisitor::toPseudoInertia_proxy, bp::arg("self"), "Converts the inertia to a pseudo inertia matrix." "\nThe returned 4x4 pseudo inertia matrix has the form:" "\n[[ -0.5*I_xx + 0.5*I_yy + 0.5*I_zz, -I_xy, -I_xz, mr_x]," @@ -175,8 +190,7 @@ namespace pinocchio "\n [ -I_xz, -I_yz, 0.5*I_xx + 0.5*I_yy - 0.5*I_zz, mr_z]," "\n [ mr_x, mr_y, mr_z, m ]].") .def( - "FromPseudoInertia", &Inertia::FromPseudoInertia, - bp::args("pseudo_inertia"), + "FromPseudoInertia", &Inertia::FromPseudoInertia, bp::args("pseudo_inertia"), "Builds an inertia matrix from a 4x4 pseudo inertia matrix." "\nThe parameters are given as" "\npseudo_inertia = [[ -0.5*I_xx + 0.5*I_yy + 0.5*I_zz, -I_xy, -I_xz, mr_x]," @@ -184,14 +198,6 @@ namespace pinocchio "\n [ -I_xz, -I_yz, 0.5*I_xx + 0.5*I_yy - 0.5*I_zz, mr_z]," "\n [ mr_x, mr_y, mr_z, m ]].") .staticmethod("FromPseudoInertia") - .def( - "LogcholToDynamicParameters", &Inertia::template LogcholToDynamicParameters, - bp::args("log_cholesky"), - "Converts logarithmic Cholesky parameters directly to theta parameters." - "\nThe parameters are given as log_cholesky = [alpha, d_1, d_2, d_3, s_{12}, s_{23}, " - "s_{13}, t_1, t_2, t_3]." - "\nThe returned vector contains the dynamic parameters.") - .staticmethod("LogcholToDynamicParameters") .def( "FromLogCholeskyParameters", &Inertia::template FromLogCholeskyParameters, bp::args("log_cholesky"), @@ -278,6 +284,16 @@ namespace pinocchio return self.toPseudoInertia(); } + static VectorXs LogcholToDynamicParameters_proxy(const VectorXs & log_cholesky) + { + return Inertia::LogcholToDynamicParameters(log_cholesky); + } + + static MatrixXs calculateLogCholeskyJacobian_proxy(const VectorXs & log_cholesky) + { + return Inertia::calculateLogCholeskyJacobian(log_cholesky); + } + static Inertia * makeFromMCI(const Scalar & mass, const Vector3 & lever, const Matrix3 & inertia) { diff --git a/include/pinocchio/spatial/inertia.hpp b/include/pinocchio/spatial/inertia.hpp index b10dbda526..6096dab8f0 100644 --- a/include/pinocchio/spatial/inertia.hpp +++ b/include/pinocchio/spatial/inertia.hpp @@ -241,6 +241,7 @@ namespace pinocchio typedef Eigen::Matrix Matrix3; typedef Eigen::Matrix Matrix4; typedef Eigen::Matrix Matrix6; + typedef Eigen::Matrix Matrix10; typedef Matrix6 ActionMatrix_t; typedef Vector3 Angular_t; typedef Vector3 Linear_t; @@ -271,6 +272,7 @@ namespace pinocchio typedef typename Symmetric3::AlphaSkewSquare AlphaSkewSquare; typedef typename Eigen::Matrix Vector10; + typedef typename Eigen::Matrix Matrix10; // Constructors InertiaTpl() @@ -576,9 +578,9 @@ namespace pinocchio Scalar m = dynamic_params[0]; Vector3 h = dynamic_params.template segment<3>(1); Matrix3 I_bar; - I_bar << dynamic_params[4], dynamic_params[5], dynamic_params[7], - dynamic_params[5], dynamic_params[6], dynamic_params[8], - dynamic_params[7], dynamic_params[8], dynamic_params[9]; + I_bar << dynamic_params[4], dynamic_params[5], dynamic_params[7], dynamic_params[5], + dynamic_params[6], dynamic_params[8], dynamic_params[7], dynamic_params[8], + dynamic_params[9]; Matrix3 Sigma = 0.5 * I_bar.trace() * Matrix3::Identity() - I_bar; Matrix4 pseudo_inertia = Matrix4::Zero(); @@ -618,11 +620,11 @@ namespace pinocchio } /** - * Converts logarithmic Cholesky parameters directly to theta parameters. + * Converts logarithmic Cholesky parameters directly to dynamic parameters. * * @param[in] log_cholesky A 10-dimensional vector containing logarithmic Cholesky parameters. * The parameters are given as - * \f$ log\_cholesky = [\alpha, d_1, d_2, d_3, s_{12}, s_{23}, s_{13}, t_1, t_2, t_3] \f$ + * \f$ \eta = [\alpha, d_1, d_2, d_3, s_{12}, s_{23}, s_{13}, t_1, t_2, t_3] \f$ * * @return A 10-dimensional vector containing mass, first moments, and inertia tensor * components. The parameters are given as \f$ \theta = [m, mc_x, mc_y, mc_z, I_{xx}, I_{xy}, @@ -660,7 +662,8 @@ namespace pinocchio s12 * s12 + s13 * s13 + t1 * t1 + t3 * t3 + exp_d1 * exp_d1 + exp_d3 * exp_d3; dynamic_params[7] = -s13 * exp_d3 - t1 * t3; dynamic_params[8] = -s23 * exp_d3 - t2 * t3; - dynamic_params[9] = s12 * s12 + s13 * s13 + s23 * s23 + t1 * t1 + t2 * t2 + exp_d1 * exp_d1 + exp_d2 * exp_d2; + dynamic_params[9] = + s12 * s12 + s13 * s13 + s23 * s23 + t1 * t1 + t2 * t2 + exp_d1 * exp_d1 + exp_d2 * exp_d2; const Scalar exp_2_alpha = math::exp(2 * alpha); dynamic_params *= exp_2_alpha; @@ -673,7 +676,7 @@ namespace pinocchio * * @param[in] log_cholesky A 10-dimensional vector containing logarithmic Cholesky parameters. * The parameters are given as - * \f$ log\_cholesky = [\alpha, d_1, d_2, d_3, s_{12}, s_{23}, s_{13}, t_1, t_2, t_3] \f$ + * \f$ \eta = [\alpha, d_1, d_2, d_3, s_{12}, s_{23}, s_{13}, t_1, t_2, t_3] \f$ * * @return An Inertia object constructed from the provided log Cholesky parameters. */ @@ -686,6 +689,98 @@ namespace pinocchio return FromDynamicParameters(dynamic_params); } + /** + * Calculates the Jacobian of the dynamic parameters with respect to the log-Cholesky + * parameters. + * + * @param[in] log_cholesky A 10-dimensional vector containing the log-Cholesky parameters. + * + * @return A 10x10 matrix containing the Jacobian of dynamic parameters with respect to + * log-Cholesky parameters. + */ + static Matrix10 calculateLogCholeskyJacobian(const Vector10 & log_cholesky) + { + Matrix10 jacobian = Matrix10::Zero(); + const Scalar alpha = log_cholesky[0]; + const Scalar d1 = log_cholesky[1]; + const Scalar d2 = log_cholesky[2]; + const Scalar d3 = log_cholesky[3]; + const Scalar s12 = log_cholesky[4]; + const Scalar s23 = log_cholesky[5]; + const Scalar s13 = log_cholesky[6]; + const Scalar t1 = log_cholesky[7]; + const Scalar t2 = log_cholesky[8]; + const Scalar t3 = log_cholesky[9]; + + const Scalar exp_2alpha = math::exp(2 * alpha); + const Scalar exp_2d1 = math::exp(2 * d1); + const Scalar exp_2d2 = math::exp(2 * d2); + const Scalar exp_2d3 = math::exp(2 * d3); + const Scalar exp_d1 = math::exp(d1); + const Scalar exp_d2 = math::exp(d2); + const Scalar exp_d3 = math::exp(d3); + + jacobian(0, 0) = 2 * exp_2alpha; + + jacobian(1, 0) = 2 * t1 * exp_2alpha; + jacobian(1, 7) = exp_2alpha; + + jacobian(2, 0) = 2 * t2 * exp_2alpha; + jacobian(2, 8) = exp_2alpha; + + jacobian(3, 0) = 2 * t3 * exp_2alpha; + jacobian(3, 9) = exp_2alpha; + + jacobian(4, 0) = 2 * (s23 * s23 + t2 * t2 + t3 * t3 + exp_2d2 + exp_2d3) * exp_2alpha; + jacobian(4, 2) = 2 * exp_2alpha * exp_2d2; + jacobian(4, 3) = 2 * exp_2alpha * exp_2d3; + jacobian(4, 5) = 2 * s23 * exp_2alpha; + jacobian(4, 8) = 2 * t2 * exp_2alpha; + jacobian(4, 9) = 2 * t3 * exp_2alpha; + + jacobian(5, 0) = -2 * (s12 * exp_d2 + s13 * s23 + t1 * t2) * exp_2alpha; + jacobian(5, 2) = -s12 * exp_2alpha * exp_d2; + jacobian(5, 4) = -exp_2alpha * exp_d2; + jacobian(5, 5) = -s13 * exp_2alpha; + jacobian(5, 6) = -s23 * exp_2alpha; + jacobian(5, 7) = - t2 * exp_2alpha; + jacobian(5, 8) = - t1 * exp_2alpha; + + jacobian(6, 0) = + 2 * (s12 * s12 + s13 * s13 + t1 * t1 + t3 * t3 + exp_2d1 + exp_2d3) * exp_2alpha; + jacobian(6, 1) = 2 * exp_2alpha * exp_2d1; + jacobian(6, 3) = 2 * exp_2alpha * exp_2d3; + jacobian(6, 4) = 2 * s12 * exp_2alpha; + jacobian(6, 6) = 2 * s13 * exp_2alpha; + jacobian(6, 7) = 2 * t1 * exp_2alpha; + jacobian(6, 9) = 2 * t3 * exp_2alpha; + + jacobian(7, 0) = -2 * (s13 * exp_d3 + t1 * t3) * exp_2alpha; + jacobian(7, 3) = -s13 * exp_2alpha * exp_d3; + jacobian(7, 6) = -exp_2alpha * exp_d3; + jacobian(7, 7) = -t3 * exp_2alpha; + jacobian(7, 9) = -t1 * exp_2alpha; + + jacobian(8, 0) = -2 * (s23 * exp_d3 + t2 * t3) * exp_2alpha; + jacobian(8, 3) = - s23 * exp_2alpha * exp_d3; + jacobian(8, 5) = - exp_2alpha * exp_d3; + jacobian(8, 8) = -t3 * exp_2alpha; + jacobian(8, 9) = -t2 * exp_2alpha; + + jacobian(9, 0) = 2 + * (s12 * s12 + s13 * s13 + s23 * s23 + t1 * t1 + t2 * t2 + exp_2d1 + exp_2d2) + * exp_2alpha; + jacobian(9, 1) = 2 * exp_2alpha * exp_2d1; + jacobian(9, 2) = 2 * exp_2alpha * exp_2d2; + jacobian(9, 4) = 2 * s12 * exp_2alpha; + jacobian(9, 5) = 2 * s23 * exp_2alpha; + jacobian(9, 6) = 2 * s13 * exp_2alpha; + jacobian(9, 7) = 2 * t1 * exp_2alpha; + jacobian(9, 8) = 2 * t2 * exp_2alpha; + + return jacobian; + } + // Arithmetic operators InertiaTpl & __equl__(const InertiaTpl & clone) { From d3c91cf4e67951732949154be9810247d667df7f Mon Sep 17 00:00:00 2001 From: simeon Date: Sat, 22 Jun 2024 01:23:32 +0300 Subject: [PATCH 005/104] removed unnecesary comments --- include/pinocchio/bindings/python/spatial/inertia.hpp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/include/pinocchio/bindings/python/spatial/inertia.hpp b/include/pinocchio/bindings/python/spatial/inertia.hpp index da8579cb9e..d40b0cb9de 100644 --- a/include/pinocchio/bindings/python/spatial/inertia.hpp +++ b/include/pinocchio/bindings/python/spatial/inertia.hpp @@ -42,9 +42,7 @@ namespace pinocchio typedef typename Inertia::Matrix4 Matrix4; typedef typename Inertia::Matrix10 Matrix10; typedef typename Inertia::Vector10 Vector10; - // typedef Eigen::Matrix Vector10; - // typedef Eigen::Matrix Matrix10; - + typedef Eigen::Matrix VectorXs; typedef Eigen::Matrix MatrixXs; typedef MotionTpl Motion; From bce65aebda678a61f82725ffaaacdd7c3b8aae96 Mon Sep 17 00:00:00 2001 From: simeon Date: Sat, 22 Jun 2024 11:18:52 +0300 Subject: [PATCH 006/104] added unit tests for logcholesky and pseudo in py --- unittest/python/bindings_inertia.py | 32 +++++++++++++++++++++++++++++ 1 file changed, 32 insertions(+) diff --git a/unittest/python/bindings_inertia.py b/unittest/python/bindings_inertia.py index 3fb9148767..f0b76f4f96 100644 --- a/unittest/python/bindings_inertia.py +++ b/unittest/python/bindings_inertia.py @@ -113,6 +113,38 @@ def test_dynamic_parameters(self): I2 = pin.Inertia.FromDynamicParameters(v) self.assertApprox(I2, In) + def test_pseudo_inertia(self): + I = pin.Inertia.Random() + pseudo = I.toPseudoInertia() + self.assertTrue(np.all(np.linalg.eigvals(pseudo) > 0)) + I_back = pin.Inertia.FromPseudoInertia(pseudo) + self.assertApprox(I_back.mass, I.mass) + self.assertApprox(I_back.lever, I.lever) + self.assertApprox(I_back.inertia, I.inertia) + + def test_log_cholesky(self): + eta = np.random.randn(10) + alpha, d1, d2, d3, s12, s23, s13, t1, t2, t3 = eta + # Compute the exponential terms + exp_alpha = np.exp(alpha) + exp_d1 = np.exp(d1) + exp_d2 = np.exp(d2) + exp_d3 = np.exp(d3) + + # Create the matrix U + U = exp_alpha * np.array([ + [exp_d1, s12, s13, t1], + [0, exp_d2, s23, t2], + [0, 0, exp_d3, t3], + [0, 0, 0, 1] + ]) + pseudo_chol = U @ U.T + + inertia = pin.Inertia.FromLogCholeskyParameters(eta) + pseudo = inertia.toPseudoInertia() + self.assertTrue(np.all(np.linalg.eigvals(pseudo) > 0)) + self.assertApprox(pseudo, pseudo_chol) + def test_array(self): In = pin.Inertia.Random() I_array = np.array(In) From ce9252f13d25b9985e5c5df60de90c463f3f1964 Mon Sep 17 00:00:00 2001 From: Lev Kozlov Date: Sun, 23 Jun 2024 14:36:12 +0300 Subject: [PATCH 007/104] test: conversions tests --- unittest/spatial.cpp | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/unittest/spatial.cpp b/unittest/spatial.cpp index 883f2b2922..90f313f583 100644 --- a/unittest/spatial.cpp +++ b/unittest/spatial.cpp @@ -14,6 +14,7 @@ #include "pinocchio/spatial/cartesian-axis.hpp" #include "pinocchio/spatial/spatial-axis.hpp" + #include #include @@ -631,6 +632,15 @@ BOOST_AUTO_TEST_CASE(test_Inertia) Symmetric3(3.79705882, 0., 3.79705882, 0., 0., 1.81176471).matrix(), 1e-5)); // Computed with hppfcl::Capsule + // Test Inertia From Pseudo Inertia and backward + I1 = Inertia::FromCapsule(1., 2., 3); + BOOST_CHECK(I1.isApprox(Inertia::FromPseudoInertia(I1.toPseudoInertia()))); + + // Test Inertia From LogCholesky parameters and backward + Inertia::Vector10 logChol = Inertia::Vector10::Random(); + I1 = Inertia::FromLogCholeskyParameters(logChol); + BOOST_CHECK(I1.isApprox(Inertia::FromDynamicParameters(I1.toDynamicParameters()))); + // Copy operator Inertia aI_copy(aI); BOOST_CHECK(aI_copy == aI); From dbb9f9c494556a62042e4dad33deefbc07fae73d Mon Sep 17 00:00:00 2001 From: Lev Kozlov Date: Sun, 23 Jun 2024 14:39:16 +0300 Subject: [PATCH 008/104] style: apply pre-commit --- .../pinocchio/bindings/python/spatial/inertia.hpp | 2 +- include/pinocchio/spatial/inertia.hpp | 8 ++++---- unittest/python/bindings_inertia.py | 14 ++++++++------ unittest/spatial.cpp | 1 - 4 files changed, 13 insertions(+), 12 deletions(-) diff --git a/include/pinocchio/bindings/python/spatial/inertia.hpp b/include/pinocchio/bindings/python/spatial/inertia.hpp index d40b0cb9de..c263ce89e3 100644 --- a/include/pinocchio/bindings/python/spatial/inertia.hpp +++ b/include/pinocchio/bindings/python/spatial/inertia.hpp @@ -42,7 +42,7 @@ namespace pinocchio typedef typename Inertia::Matrix4 Matrix4; typedef typename Inertia::Matrix10 Matrix10; typedef typename Inertia::Vector10 Vector10; - + typedef Eigen::Matrix VectorXs; typedef Eigen::Matrix MatrixXs; typedef MotionTpl Motion; diff --git a/include/pinocchio/spatial/inertia.hpp b/include/pinocchio/spatial/inertia.hpp index 6096dab8f0..e6a9cc4ca6 100644 --- a/include/pinocchio/spatial/inertia.hpp +++ b/include/pinocchio/spatial/inertia.hpp @@ -743,8 +743,8 @@ namespace pinocchio jacobian(5, 4) = -exp_2alpha * exp_d2; jacobian(5, 5) = -s13 * exp_2alpha; jacobian(5, 6) = -s23 * exp_2alpha; - jacobian(5, 7) = - t2 * exp_2alpha; - jacobian(5, 8) = - t1 * exp_2alpha; + jacobian(5, 7) = -t2 * exp_2alpha; + jacobian(5, 8) = -t1 * exp_2alpha; jacobian(6, 0) = 2 * (s12 * s12 + s13 * s13 + t1 * t1 + t3 * t3 + exp_2d1 + exp_2d3) * exp_2alpha; @@ -762,8 +762,8 @@ namespace pinocchio jacobian(7, 9) = -t1 * exp_2alpha; jacobian(8, 0) = -2 * (s23 * exp_d3 + t2 * t3) * exp_2alpha; - jacobian(8, 3) = - s23 * exp_2alpha * exp_d3; - jacobian(8, 5) = - exp_2alpha * exp_d3; + jacobian(8, 3) = -s23 * exp_2alpha * exp_d3; + jacobian(8, 5) = -exp_2alpha * exp_d3; jacobian(8, 8) = -t3 * exp_2alpha; jacobian(8, 9) = -t2 * exp_2alpha; diff --git a/unittest/python/bindings_inertia.py b/unittest/python/bindings_inertia.py index f0b76f4f96..cb9e5ab8db 100644 --- a/unittest/python/bindings_inertia.py +++ b/unittest/python/bindings_inertia.py @@ -132,12 +132,14 @@ def test_log_cholesky(self): exp_d3 = np.exp(d3) # Create the matrix U - U = exp_alpha * np.array([ - [exp_d1, s12, s13, t1], - [0, exp_d2, s23, t2], - [0, 0, exp_d3, t3], - [0, 0, 0, 1] - ]) + U = exp_alpha * np.array( + [ + [exp_d1, s12, s13, t1], + [0, exp_d2, s23, t2], + [0, 0, exp_d3, t3], + [0, 0, 0, 1], + ] + ) pseudo_chol = U @ U.T inertia = pin.Inertia.FromLogCholeskyParameters(eta) diff --git a/unittest/spatial.cpp b/unittest/spatial.cpp index 90f313f583..807063fa0f 100644 --- a/unittest/spatial.cpp +++ b/unittest/spatial.cpp @@ -14,7 +14,6 @@ #include "pinocchio/spatial/cartesian-axis.hpp" #include "pinocchio/spatial/spatial-axis.hpp" - #include #include From 68831440adfd33c7e64391e51fb6e4bd9d8a958b Mon Sep 17 00:00:00 2001 From: Simeon Nedelchev Date: Sun, 30 Jun 2024 00:17:19 +0300 Subject: [PATCH 009/104] Feature/modified inertia (#2) * structures for inertia and logcholesky * added conversion from logcholesky to inertia, * fixed logcholesky and pseudo templates, add disp * unit tests in cpp --- README.md | 33 +- .../bindings/python/spatial/inertia.hpp | 58 +- include/pinocchio/spatial/inertia.hpp | 530 ++++++++++++------ unittest/spatial.cpp | 83 +++ 4 files changed, 449 insertions(+), 255 deletions(-) diff --git a/README.md b/README.md index ecfdfb8a44..61d45ccaf5 100644 --- a/README.md +++ b/README.md @@ -43,19 +43,23 @@ or via pip (currently only available on Linux): ## Table of contents - - [Pinocchio main features](#pinocchio-main-features) - - [Documentation](#documentation) - - [Examples](#examples) - - [Tutorials](#tutorials) - - [Performances](#performances) - - [Ongoing developments](#ongoing-developments) - - [Visualization](#visualization) - - [Citing Pinocchio](#citing-pinocchio) - - [Citing specific algorithmic contributions](#citing-specific-algorithmic-contributions) - - [Questions and Issues](#questions-and-issues) - - [Credits](#credits) - - [Open-source projects relying on Pinocchio](#open-source-projects-relying-on-pinocchio) - - [Acknowledgments](#acknowledgments) +- [Table of contents](#table-of-contents) +- [Introducing Pinocchio 3](#introducing-pinocchio-3) +- [Pinocchio main features](#pinocchio-main-features) +- [Documentation](#documentation) +- [Examples](#examples) +- [Tutorials](#tutorials) +- [Pinocchio continuous integrations](#pinocchio-continuous-integrations) +- [Performances](#performances) +- [Ongoing developments](#ongoing-developments) +- [Installation](#installation) + - [ROS](#ros) +- [Visualization](#visualization) +- [Citing Pinocchio](#citing-pinocchio) +- [Questions and Issues](#questions-and-issues) +- [Credits](#credits) +- [Open-source projects relying on Pinocchio](#open-source-projects-relying-on-pinocchio) +- [Acknowledgments](#acknowledgments) ## Introducing Pinocchio 3 @@ -265,7 +269,8 @@ The following people have been involved in the development of **Pinocchio** and - [Joris Vaillant](https://github.com/jorisv) (Inria): core developer and manager of the project - [Sebastian Castro](https://roboticseabass.com) (The AI Institute): MeshCat viewer feature extension - [Lev Kozlov](https://github.com/lvjonok): Kinetic and potential energy regressors -- [Megane Millan](https://github.com/MegMll) (Inria): Features extension and core developper +- [Megane Millan](https://github.com/MegMll) (Inria): Features extension and core developer +- [Simeon Nedelchev](https://github.com/simeon-ned): Pseudo inertia and Log-cholesky parametrization If you have participated in the development of **Pinocchio**, please add your name and contribution to this list. diff --git a/include/pinocchio/bindings/python/spatial/inertia.hpp b/include/pinocchio/bindings/python/spatial/inertia.hpp index c263ce89e3..ec829e5619 100644 --- a/include/pinocchio/bindings/python/spatial/inertia.hpp +++ b/include/pinocchio/bindings/python/spatial/inertia.hpp @@ -39,12 +39,8 @@ namespace pinocchio typedef typename Inertia::Matrix3 Matrix3; typedef typename Inertia::Vector6 Vector6; typedef typename Inertia::Matrix6 Matrix6; - typedef typename Inertia::Matrix4 Matrix4; - typedef typename Inertia::Matrix10 Matrix10; - typedef typename Inertia::Vector10 Vector10; typedef Eigen::Matrix VectorXs; - typedef Eigen::Matrix MatrixXs; typedef MotionTpl Motion; typedef ForceTpl Force; @@ -61,6 +57,7 @@ namespace pinocchio &InertiaPythonVisitor::makeFromMCI, bp::default_call_policies(), bp::args("mass", "lever", "inertia")), "Initialize from mass, lever and 3d inertia.") + .def(bp::init<>(bp::arg("self"), "Default constructor.")) .def(bp::init((bp::arg("self"), bp::arg("clone")), "Copy constructor")) @@ -127,17 +124,6 @@ namespace pinocchio (Matrix6(Inertia::*)(const MotionDense &) const) & Inertia::template variation, bp::args("self", "v"), "Returns the time derivative of the inertia.") - .def( - "LogcholToDynamicParameters", &InertiaPythonVisitor::LogcholToDynamicParameters_proxy, - bp::args("log_cholesky"), - "Converts logarithmic Cholesky parameters directly to theta parameters.") - .staticmethod("LogcholToDynamicParameters") - .def( - "calculateLogCholeskyJacobian", - &InertiaPythonVisitor::calculateLogCholeskyJacobian_proxy, bp::args("log_cholesky"), - "Calculates the Jacobian of the dynamic parameters with respect to the log-Cholesky " - "parameters.") - .staticmethod("calculateLogCholeskyJacobian") #ifndef PINOCCHIO_PYTHON_SKIP_COMPARISON_OPERATIONS .def(bp::self == bp::self) @@ -179,32 +165,7 @@ namespace pinocchio "I_{xy}, I_{yy}, I_{xz}, I_{yz}, I_{zz}]^T " "where I = I_C + mS^T(c)S(c) and I_C has its origin at the barycenter.") .staticmethod("FromDynamicParameters") - .def( - "toPseudoInertia", &InertiaPythonVisitor::toPseudoInertia_proxy, bp::arg("self"), - "Converts the inertia to a pseudo inertia matrix." - "\nThe returned 4x4 pseudo inertia matrix has the form:" - "\n[[ -0.5*I_xx + 0.5*I_yy + 0.5*I_zz, -I_xy, -I_xz, mr_x]," - "\n [ -I_xy, 0.5*I_xx - 0.5*I_yy + 0.5*I_zz, -I_yz, mr_y]," - "\n [ -I_xz, -I_yz, 0.5*I_xx + 0.5*I_yy - 0.5*I_zz, mr_z]," - "\n [ mr_x, mr_y, mr_z, m ]].") - .def( - "FromPseudoInertia", &Inertia::FromPseudoInertia, bp::args("pseudo_inertia"), - "Builds an inertia matrix from a 4x4 pseudo inertia matrix." - "\nThe parameters are given as" - "\npseudo_inertia = [[ -0.5*I_xx + 0.5*I_yy + 0.5*I_zz, -I_xy, -I_xz, mr_x]," - "\n [ -I_xy, 0.5*I_xx - 0.5*I_yy + 0.5*I_zz, -I_yz, mr_y]," - "\n [ -I_xz, -I_yz, 0.5*I_xx + 0.5*I_yy - 0.5*I_zz, mr_z]," - "\n [ mr_x, mr_y, mr_z, m ]].") - .staticmethod("FromPseudoInertia") - .def( - "FromLogCholeskyParameters", &Inertia::template FromLogCholeskyParameters, - bp::args("log_cholesky"), - "Builds an InertiaTpl from log Cholesky parameters." - "\nThe parameters are given as log_cholesky = [alpha, d_1, d_2, d_3, s_{12}, s_{23}, " - "s_{13}, t_1, t_2, t_3] " - "\nThe returned InertiaTpl object is constructed from the provided log Cholesky " - "parameters.") - .staticmethod("FromLogCholeskyParameters") + .def( "FromSphere", &Inertia::FromSphere, bp::args("mass", "radius"), "Returns the Inertia of a sphere defined by a given mass and radius.") @@ -277,21 +238,6 @@ namespace pinocchio return self.toDynamicParameters(); } - static Matrix4 toPseudoInertia_proxy(const Inertia & self) - { - return self.toPseudoInertia(); - } - - static VectorXs LogcholToDynamicParameters_proxy(const VectorXs & log_cholesky) - { - return Inertia::LogcholToDynamicParameters(log_cholesky); - } - - static MatrixXs calculateLogCholeskyJacobian_proxy(const VectorXs & log_cholesky) - { - return Inertia::calculateLogCholeskyJacobian(log_cholesky); - } - static Inertia * makeFromMCI(const Scalar & mass, const Vector3 & lever, const Matrix3 & inertia) { diff --git a/include/pinocchio/spatial/inertia.hpp b/include/pinocchio/spatial/inertia.hpp index e6a9cc4ca6..e3b383d5ba 100644 --- a/include/pinocchio/spatial/inertia.hpp +++ b/include/pinocchio/spatial/inertia.hpp @@ -1,3 +1,5 @@ +// TODO: + // // Copyright (c) 2015-2021 CNRS INRIA // Copyright (c) 2016 Wandercraft, 86 rue de Paris 91400 Orsay, France. @@ -14,7 +16,6 @@ namespace pinocchio { - template struct InertiaBase : NumericalBase { @@ -228,9 +229,16 @@ namespace pinocchio X.disp(os); return os; } + }; + + // Forward declare the PseudoInertia and LogCholeskyParameters structs + template + struct PseudoInertiaTpl; - }; // class InertiaBase + template + struct LogCholeskyParametersTpl; + // class InertiaBase template struct traits> { @@ -252,6 +260,8 @@ namespace pinocchio typedef ForceTpl Force; typedef MotionTpl Motion; typedef Symmetric3Tpl Symmetric3; + typedef PseudoInertiaTpl PseudoInertia; + typedef LogCholeskyParametersTpl LogCholeskyParameters; enum { LINEAR = 0, @@ -273,6 +283,9 @@ namespace pinocchio typedef typename Symmetric3::AlphaSkewSquare AlphaSkewSquare; typedef typename Eigen::Matrix Vector10; typedef typename Eigen::Matrix Matrix10; + typedef PseudoInertiaTpl PseudoInertia; + typedef LogCholeskyParametersTpl LogCholeskyParameters; + // Constructors InertiaTpl() @@ -568,219 +581,62 @@ namespace pinocchio } /** - * Converts the inertia to a pseudo inertia matrix. + + * @brief Create an InertiaTpl object from a PseudoInertia object. * - * @return A 4x4 pseudo inertia matrix. + * @param pseudo_inertia A PseudoInertia object. + * @return An InertiaTpl object. */ - Matrix4 toPseudoInertia() const + template + static InertiaTpl FromPseudoInertia(const PseudoInertia & pseudo_inertia) { - Vector10 dynamic_params = toDynamicParameters(); - Scalar m = dynamic_params[0]; - Vector3 h = dynamic_params.template segment<3>(1); - Matrix3 I_bar; - I_bar << dynamic_params[4], dynamic_params[5], dynamic_params[7], dynamic_params[5], - dynamic_params[6], dynamic_params[8], dynamic_params[7], dynamic_params[8], - dynamic_params[9]; - - Matrix3 Sigma = 0.5 * I_bar.trace() * Matrix3::Identity() - I_bar; - Matrix4 pseudo_inertia = Matrix4::Zero(); - pseudo_inertia.template block<3, 3>(0, 0) = Sigma; - pseudo_inertia.template block<3, 1>(0, 3) = h; - pseudo_inertia.template block<1, 3>(3, 0) = h.transpose(); - pseudo_inertia(3, 3) = m; - - return pseudo_inertia; + return pseudo_inertia.toInertia(); } /** - * Builds an inertia matrix from a 4x4 pseudo inertia matrix. - * - * @param[in] pseudo_inertia A 4x4 pseudo inertia matrix. + * @brief Create an InertiaTpl object from a 4x4 pseudo inertia matrix. * - * @return An InertiaTpl object constructed from the provided pseudo inertia matrix. + * @param pseudo_inertia_matrix 4x4 pseudo inertia matrix. + * @return An InertiaTpl object. */ - static InertiaTpl FromPseudoInertia(const Matrix4 & pseudo_inertia) + template + static InertiaTpl + FromPseudoInertiaMatrix(const Eigen::MatrixBase & pseudo_inertia_matrix) { - Scalar m = pseudo_inertia(3, 3); - Vector3 h = pseudo_inertia.template block<3, 1>(0, 3); - Matrix3 Sigma = pseudo_inertia.template block<3, 3>(0, 0); - Matrix3 I_bar = Sigma.trace() * Matrix3::Identity() - Sigma; - - Vector10 dynamic_params; - dynamic_params[0] = m; /* */ - dynamic_params.template segment<3>(1) = h; - dynamic_params[4] = I_bar(0, 0); - dynamic_params[5] = I_bar(0, 1); - dynamic_params[6] = I_bar(1, 1); - dynamic_params[7] = I_bar(0, 2); - dynamic_params[8] = I_bar(1, 2); - dynamic_params[9] = I_bar(2, 2); - - return FromDynamicParameters(dynamic_params); + PseudoInertia pseudo_inertia = PseudoInertia::FromMatrix(pseudo_inertia_matrix); + return pseudo_inertia.toInertia(); } /** - * Converts logarithmic Cholesky parameters directly to dynamic parameters. - * - * @param[in] log_cholesky A 10-dimensional vector containing logarithmic Cholesky parameters. - * The parameters are given as - * \f$ \eta = [\alpha, d_1, d_2, d_3, s_{12}, s_{23}, s_{13}, t_1, t_2, t_3] \f$ + * @brief Convert the InertiaTpl object to a 4x4 pseudo inertia matrix. * - * @return A 10-dimensional vector containing mass, first moments, and inertia tensor - * components. The parameters are given as \f$ \theta = [m, mc_x, mc_y, mc_z, I_{xx}, I_{xy}, - * I_{yy}, I_{xz}, I_{yz}, I_{zz}] \f$ + * @return A 4x4 pseudo inertia matrix. */ - template - static Vector10 LogcholToDynamicParameters(const Eigen::MatrixBase & log_cholesky) + typename PseudoInertia::Matrix4 toPseudoInertiaMatrix() const { - PINOCCHIO_ASSERT_MATRIX_SPECIFIC_SIZE(Vector10Like, log_cholesky, 10, 1); - using Scalar = typename Vector10Like::Scalar; - Vector10 dynamic_params; - - const Scalar alpha = log_cholesky[0]; - const Scalar d1 = log_cholesky[1]; - const Scalar d2 = log_cholesky[2]; - const Scalar d3 = log_cholesky[3]; - const Scalar s12 = log_cholesky[4]; - const Scalar s23 = log_cholesky[5]; - const Scalar s13 = log_cholesky[6]; - const Scalar t1 = log_cholesky[7]; - const Scalar t2 = log_cholesky[8]; - const Scalar t3 = log_cholesky[9]; - - const Scalar exp_d1 = math::exp(d1); - const Scalar exp_d2 = math::exp(d2); - const Scalar exp_d3 = math::exp(d3); - - dynamic_params[0] = 1; - dynamic_params[1] = t1; - dynamic_params[2] = t2; - dynamic_params[3] = t3; - dynamic_params[4] = s23 * s23 + t2 * t2 + t3 * t3 + exp_d2 * exp_d2 + exp_d3 * exp_d3; - dynamic_params[5] = -s12 * exp_d2 - s13 * s23 - t1 * t2; - dynamic_params[6] = - s12 * s12 + s13 * s13 + t1 * t1 + t3 * t3 + exp_d1 * exp_d1 + exp_d3 * exp_d3; - dynamic_params[7] = -s13 * exp_d3 - t1 * t3; - dynamic_params[8] = -s23 * exp_d3 - t2 * t3; - dynamic_params[9] = - s12 * s12 + s13 * s13 + s23 * s23 + t1 * t1 + t2 * t2 + exp_d1 * exp_d1 + exp_d2 * exp_d2; - - const Scalar exp_2_alpha = math::exp(2 * alpha); - dynamic_params *= exp_2_alpha; - - return dynamic_params; + PseudoInertia pseudo_inertia = PseudoInertia::FromInertia(*this); + return pseudo_inertia.toMatrix(); } /** - * Builds an Inertia from log Cholesky parameters. + * @brief Create an InertiaTpl object from log Cholesky parameters. * - * @param[in] log_cholesky A 10-dimensional vector containing logarithmic Cholesky parameters. + * @param log_cholesky A 10-dimensional vector containing logarithmic Cholesky parameters. * The parameters are given as * \f$ \eta = [\alpha, d_1, d_2, d_3, s_{12}, s_{23}, s_{13}, t_1, t_2, t_3] \f$ * - * @return An Inertia object constructed from the provided log Cholesky parameters. + * @return An InertiaTpl object. */ template - static InertiaTpl + static InertiaTpl FromLogCholeskyParameters(const Eigen::MatrixBase & log_cholesky) { PINOCCHIO_ASSERT_MATRIX_SPECIFIC_SIZE(Vector10Like, log_cholesky, 10, 1); - Vector10 dynamic_params = LogcholToDynamicParameters(log_cholesky); + LogCholeskyParameters params(log_cholesky); + Vector10 dynamic_params = params.toDynamicParameters(); return FromDynamicParameters(dynamic_params); } - /** - * Calculates the Jacobian of the dynamic parameters with respect to the log-Cholesky - * parameters. - * - * @param[in] log_cholesky A 10-dimensional vector containing the log-Cholesky parameters. - * - * @return A 10x10 matrix containing the Jacobian of dynamic parameters with respect to - * log-Cholesky parameters. - */ - static Matrix10 calculateLogCholeskyJacobian(const Vector10 & log_cholesky) - { - Matrix10 jacobian = Matrix10::Zero(); - const Scalar alpha = log_cholesky[0]; - const Scalar d1 = log_cholesky[1]; - const Scalar d2 = log_cholesky[2]; - const Scalar d3 = log_cholesky[3]; - const Scalar s12 = log_cholesky[4]; - const Scalar s23 = log_cholesky[5]; - const Scalar s13 = log_cholesky[6]; - const Scalar t1 = log_cholesky[7]; - const Scalar t2 = log_cholesky[8]; - const Scalar t3 = log_cholesky[9]; - - const Scalar exp_2alpha = math::exp(2 * alpha); - const Scalar exp_2d1 = math::exp(2 * d1); - const Scalar exp_2d2 = math::exp(2 * d2); - const Scalar exp_2d3 = math::exp(2 * d3); - const Scalar exp_d1 = math::exp(d1); - const Scalar exp_d2 = math::exp(d2); - const Scalar exp_d3 = math::exp(d3); - - jacobian(0, 0) = 2 * exp_2alpha; - - jacobian(1, 0) = 2 * t1 * exp_2alpha; - jacobian(1, 7) = exp_2alpha; - - jacobian(2, 0) = 2 * t2 * exp_2alpha; - jacobian(2, 8) = exp_2alpha; - - jacobian(3, 0) = 2 * t3 * exp_2alpha; - jacobian(3, 9) = exp_2alpha; - - jacobian(4, 0) = 2 * (s23 * s23 + t2 * t2 + t3 * t3 + exp_2d2 + exp_2d3) * exp_2alpha; - jacobian(4, 2) = 2 * exp_2alpha * exp_2d2; - jacobian(4, 3) = 2 * exp_2alpha * exp_2d3; - jacobian(4, 5) = 2 * s23 * exp_2alpha; - jacobian(4, 8) = 2 * t2 * exp_2alpha; - jacobian(4, 9) = 2 * t3 * exp_2alpha; - - jacobian(5, 0) = -2 * (s12 * exp_d2 + s13 * s23 + t1 * t2) * exp_2alpha; - jacobian(5, 2) = -s12 * exp_2alpha * exp_d2; - jacobian(5, 4) = -exp_2alpha * exp_d2; - jacobian(5, 5) = -s13 * exp_2alpha; - jacobian(5, 6) = -s23 * exp_2alpha; - jacobian(5, 7) = -t2 * exp_2alpha; - jacobian(5, 8) = -t1 * exp_2alpha; - - jacobian(6, 0) = - 2 * (s12 * s12 + s13 * s13 + t1 * t1 + t3 * t3 + exp_2d1 + exp_2d3) * exp_2alpha; - jacobian(6, 1) = 2 * exp_2alpha * exp_2d1; - jacobian(6, 3) = 2 * exp_2alpha * exp_2d3; - jacobian(6, 4) = 2 * s12 * exp_2alpha; - jacobian(6, 6) = 2 * s13 * exp_2alpha; - jacobian(6, 7) = 2 * t1 * exp_2alpha; - jacobian(6, 9) = 2 * t3 * exp_2alpha; - - jacobian(7, 0) = -2 * (s13 * exp_d3 + t1 * t3) * exp_2alpha; - jacobian(7, 3) = -s13 * exp_2alpha * exp_d3; - jacobian(7, 6) = -exp_2alpha * exp_d3; - jacobian(7, 7) = -t3 * exp_2alpha; - jacobian(7, 9) = -t1 * exp_2alpha; - - jacobian(8, 0) = -2 * (s23 * exp_d3 + t2 * t3) * exp_2alpha; - jacobian(8, 3) = -s23 * exp_2alpha * exp_d3; - jacobian(8, 5) = -exp_2alpha * exp_d3; - jacobian(8, 8) = -t3 * exp_2alpha; - jacobian(8, 9) = -t2 * exp_2alpha; - - jacobian(9, 0) = 2 - * (s12 * s12 + s13 * s13 + s23 * s23 + t1 * t1 + t2 * t2 + exp_2d1 + exp_2d2) - * exp_2alpha; - jacobian(9, 1) = 2 * exp_2alpha * exp_2d1; - jacobian(9, 2) = 2 * exp_2alpha * exp_2d2; - jacobian(9, 4) = 2 * s12 * exp_2alpha; - jacobian(9, 5) = 2 * s23 * exp_2alpha; - jacobian(9, 6) = 2 * s13 * exp_2alpha; - jacobian(9, 7) = 2 * t1 * exp_2alpha; - jacobian(9, 8) = 2 * t2 * exp_2alpha; - - return jacobian; - } - // Arithmetic operators InertiaTpl & __equl__(const InertiaTpl & clone) { @@ -1105,6 +961,310 @@ namespace pinocchio }; // class InertiaTpl + /** + * @brief A structure representing a pseudo inertia matrix. + * + * References: + * - Wensing, Patrick M., Sangbae Kim, and Jean-Jacques E. Slotine. "Linear matrix inequalities + * for physically consistent inertial parameter identification: A statistical perspective on the + * mass distribution." IEEE Robotics and Automation Letters 3.1 (2017): 60-67. + */ + template + struct PseudoInertiaTpl + { + typedef Eigen::Matrix Matrix4; + typedef Eigen::Matrix Vector3; + typedef Eigen::Matrix Matrix3; + typedef Eigen::Matrix Vector10; + typedef LogCholeskyParametersTpl LogCholeskyParameters; + + Scalar mass; ///< Mass of the pseudo inertia + Vector3 h; ///< Vector part of the pseudo inertia + Matrix3 Sigma; ///< 3x3 matrix part of the pseudo inertia + Matrix4 matrix; ///< Full 4x4 pseudo inertia matrix + + PseudoInertiaTpl(Scalar mass, const Vector3 & h, const Matrix3 & Sigma) + : mass(mass) + , h(h) + , Sigma(Sigma) + { + matrix = toMatrix(); + } + + explicit PseudoInertiaTpl(const Matrix4 & pseudo_inertia_matrix) + { + *this = FromMatrix(pseudo_inertia_matrix); + } + + PseudoInertiaTpl(const InertiaTpl & inertia) + { + *this = FromInertia(inertia); + } + + PseudoInertiaTpl(const Vector10 & dynamic_params) + { + *this = FromDynamicParameters(dynamic_params); + } + + PseudoInertiaTpl(const LogCholeskyParameters & log_cholesky) + { + *this = log_cholesky.toPseudoInertia(); + } + + Matrix4 toMatrix() const + { + Matrix4 pseudo_inertia = Matrix4::Zero(); + pseudo_inertia.template block<3, 3>(0, 0) = Sigma; + pseudo_inertia.template block<3, 1>(0, 3) = h; + pseudo_inertia.template block<1, 3>(3, 0) = h.transpose(); + pseudo_inertia(3, 3) = mass; + return pseudo_inertia; + } + + static PseudoInertiaTpl FromMatrix(const Matrix4 & pseudo_inertia) + { + Scalar mass = pseudo_inertia(3, 3); + Vector3 h = pseudo_inertia.template block<3, 1>(0, 3); + Matrix3 Sigma = pseudo_inertia.template block<3, 3>(0, 0); + return PseudoInertiaTpl(mass, h, Sigma); + } + + static PseudoInertiaTpl FromDynamicParameters(const Vector10 & dynamic_params) + { + Scalar mass = dynamic_params[0]; + Vector3 h = dynamic_params.template segment<3>(1); + Matrix3 I_bar; + I_bar << dynamic_params[4], dynamic_params[5], dynamic_params[7], dynamic_params[5], + dynamic_params[6], dynamic_params[8], dynamic_params[7], dynamic_params[8], + dynamic_params[9]; + + Matrix3 Sigma = 0.5 * I_bar.trace() * Matrix3::Identity() - I_bar; + return PseudoInertiaTpl(mass, h, Sigma); + } + + Vector10 toDynamicParameters() const + { + Matrix3 I_bar = Sigma.trace() * Matrix3::Identity() - Sigma; + + Vector10 dynamic_params; + dynamic_params[0] = mass; + dynamic_params.template segment<3>(1) = h; + dynamic_params[4] = I_bar(0, 0); + dynamic_params[5] = I_bar(0, 1); + dynamic_params[6] = I_bar(1, 1); + dynamic_params[7] = I_bar(0, 2); + dynamic_params[8] = I_bar(1, 2); + dynamic_params[9] = I_bar(2, 2); + + return dynamic_params; + } + + static PseudoInertiaTpl FromInertia(const InertiaTpl & inertia) + { + Vector10 dynamic_params = inertia.toDynamicParameters(); + return FromDynamicParameters(dynamic_params); + } + + InertiaTpl toInertia() const + { + Vector10 dynamic_params = toDynamicParameters(); + return InertiaTpl::FromDynamicParameters(dynamic_params); + } + + static PseudoInertiaTpl + FromLogCholeskyParameters(const typename LogCholeskyParameters::Vector10 & log_cholesky) + { + LogCholeskyParameters params(log_cholesky); + Vector10 dynamic_params = params.toDynamicParameters(); + return FromDynamicParameters(dynamic_params); + } + + void disp_impl(std::ostream & os) const + { + os << " matrix = \n" << matrix << "\n" + << " m = " << mass << "\n" + << " h = " << h.transpose() << "\n" + << " sigma = \n" + << Sigma << ""; + } + + friend std::ostream & operator<<(std::ostream & os, const PseudoInertiaTpl & pi) + { + pi.disp_impl(os); + return os; + } + }; + + /** + * @brief A structure representing log Cholesky parameters. + * + * References: + * - Rucker, Caleb, and Patrick M. Wensing. "Smooth parameterization of rigid-body inertia." + * IEEE Robotics and Automation Letters 7.2 (2022): 2771-2778. + */ + // Correcting constructors for LogCholeskyParametersTpl + template + struct LogCholeskyParametersTpl + { + typedef Eigen::Matrix Vector10; + typedef Eigen::Matrix Matrix10; + typedef PseudoInertiaTpl PseudoInertia; + + Vector10 log_cholesky; ///< 10-dimensional vector of log Cholesky parameters + + Scalar alpha; + Scalar d1; + Scalar d2; + Scalar d3; + Scalar s12; + Scalar s23; + Scalar s13; + Scalar t1; + Scalar t2; + Scalar t3; + + LogCholeskyParametersTpl(const Vector10 & log_cholesky) + : log_cholesky(log_cholesky) + , alpha(log_cholesky[0]) + , d1(log_cholesky[1]) + , d2(log_cholesky[2]) + , d3(log_cholesky[3]) + , s12(log_cholesky[4]) + , s23(log_cholesky[5]) + , s13(log_cholesky[6]) + , t1(log_cholesky[7]) + , t2(log_cholesky[8]) + , t3(log_cholesky[9]) + { + } + + Vector10 toDynamicParameters() const + { + Vector10 dynamic_params; + + const Scalar exp_d1 = math::exp(d1); + const Scalar exp_d2 = math::exp(d2); + const Scalar exp_d3 = math::exp(d3); + + dynamic_params[0] = 1; + dynamic_params[1] = t1; + dynamic_params[2] = t2; + dynamic_params[3] = t3; + dynamic_params[4] = s23 * s23 + t2 * t2 + t3 * t3 + exp_d2 * exp_d2 + exp_d3 * exp_d3; + dynamic_params[5] = -s12 * exp_d2 - s13 * s23 - t1 * t2; + dynamic_params[6] = + s12 * s12 + s13 * s13 + t1 * t1 + t3 * t3 + exp_d1 * exp_d1 + exp_d3 * exp_d3; + dynamic_params[7] = -s13 * exp_d3 - t1 * t3; + dynamic_params[8] = -s23 * exp_d3 - t2 * t3; + dynamic_params[9] = + s12 * s12 + s13 * s13 + s23 * s23 + t1 * t1 + t2 * t2 + exp_d1 * exp_d1 + exp_d2 * exp_d2; + + const Scalar exp_2_alpha = math::exp(2 * alpha); + dynamic_params *= exp_2_alpha; + + return dynamic_params; + } + + PseudoInertia toPseudoInertia() const + { + Vector10 dynamic_params = toDynamicParameters(); + return PseudoInertia::FromDynamicParameters(dynamic_params); + } + + Matrix10 calculateJacobian() const + { + Matrix10 jacobian = Matrix10::Zero(); + + const Scalar exp_2alpha = math::exp(2 * alpha); + const Scalar exp_2d1 = math::exp(2 * d1); + const Scalar exp_2d2 = math::exp(2 * d2); + const Scalar exp_2d3 = math::exp(2 * d3); + const Scalar exp_d1 = math::exp(d1); + const Scalar exp_d2 = math::exp(d2); + const Scalar exp_d3 = math::exp(d3); + + jacobian(0, 0) = 2 * exp_2alpha; + + jacobian(1, 0) = 2 * t1 * exp_2alpha; + jacobian(1, 7) = exp_2alpha; + + jacobian(2, 0) = 2 * t2 * exp_2alpha; + jacobian(2, 8) = exp_2alpha; + + jacobian(3, 0) = 2 * t3 * exp_2alpha; + jacobian(3, 9) = exp_2alpha; + + jacobian(4, 0) = 2 * (s23 * s23 + t2 * t2 + t3 * t3 + exp_2d2 + exp_2d3) * exp_2alpha; + jacobian(4, 2) = 2 * exp_2alpha * exp_2d2; + jacobian(4, 3) = 2 * exp_2alpha * exp_2d3; + jacobian(4, 5) = 2 * s23 * exp_2alpha; + jacobian(4, 8) = 2 * t2 * exp_2alpha; + jacobian(4, 9) = 2 * t3 * exp_2alpha; + + jacobian(5, 0) = -2 * (s12 * exp_d2 + s13 * s23 + t1 * t2) * exp_2alpha; + jacobian(5, 2) = -s12 * exp_2alpha * exp_d2; + jacobian(5, 4) = -exp_2alpha * exp_d2; + jacobian(5, 5) = -s13 * exp_2alpha; + jacobian(5, 6) = -s23 * exp_2alpha; + jacobian(5, 7) = -t2 * exp_2alpha; + jacobian(5, 8) = -t1 * exp_2alpha; + + jacobian(6, 0) = + 2 * (s12 * s12 + s13 * s13 + t1 * t1 + t3 * t3 + exp_2d1 + exp_2d3) * exp_2alpha; + jacobian(6, 1) = 2 * exp_2alpha * exp_2d1; + jacobian(6, 3) = 2 * exp_2alpha * exp_2d3; + jacobian(6, 4) = 2 * s12 * exp_2alpha; + jacobian(6, 6) = 2 * s13 * exp_2alpha; + jacobian(6, 7) = 2 * t1 * exp_2alpha; + jacobian(6, 9) = 2 * t3 * exp_2alpha; + + jacobian(7, 0) = -2 * (s13 * exp_d3 + t1 * t3) * exp_2alpha; + jacobian(7, 3) = -s13 * exp_2alpha * exp_d3; + jacobian(7, 6) = -exp_2alpha * exp_d3; + jacobian(7, 7) = -t3 * exp_2alpha; + jacobian(7, 9) = -t1 * exp_2alpha; + + jacobian(8, 0) = -2 * (s23 * exp_d3 + t2 * t3) * exp_2alpha; + jacobian(8, 3) = -s23 * exp_2alpha * exp_d3; + jacobian(8, 5) = -exp_2alpha * exp_d3; + jacobian(8, 8) = -t3 * exp_2alpha; + jacobian(8, 9) = -t2 * exp_2alpha; + + jacobian(9, 0) = 2 + * (s12 * s12 + s13 * s13 + s23 * s23 + t1 * t1 + t2 * t2 + exp_2d1 + exp_2d2) + * exp_2alpha; + jacobian(9, 1) = 2 * exp_2alpha * exp_2d1; + jacobian(9, 2) = 2 * exp_2alpha * exp_2d2; + jacobian(9, 4) = 2 * s12 * exp_2alpha; + jacobian(9, 5) = 2 * s23 * exp_2alpha; + jacobian(9, 6) = 2 * s13 * exp_2alpha; + jacobian(9, 7) = 2 * t1 * exp_2alpha; + jacobian(9, 8) = 2 * t2 * exp_2alpha; + + return jacobian; + } + + void disp_impl(std::ostream & os) const + { + os << " alpha: " << alpha << "\n" + << " d1: " << d1 << "\n" + << " d2: " << d2 << "\n" + << " d3: " << d3 << "\n" + << " s12: " << s12 << "\n" + << " s23: " << s23 << "\n" + << " s13: " << s13 << "\n" + << " t1: " << t1 << "\n" + << " t2: " << t2 << "\n" + << " t3: " << t3 << ""; + } + + friend std::ostream & operator<<(std::ostream & os, const LogCholeskyParametersTpl & lcp) + { + lcp.disp_impl(os); + return os; + } + }; + } // namespace pinocchio #endif // ifndef __pinocchio_spatial_inertia_hpp__ diff --git a/unittest/spatial.cpp b/unittest/spatial.cpp index 807063fa0f..df99555f4e 100644 --- a/unittest/spatial.cpp +++ b/unittest/spatial.cpp @@ -746,6 +746,89 @@ BOOST_AUTO_TEST_CASE(test_Inertia) // Test disp std::cout << aI << std::endl; + + // Test Inertia parametrizations + { + typedef LogCholeskyParametersTpl LogCholeskyParameters; + typedef PseudoInertiaTpl PseudoInertia; + + Inertia::Vector10 eta; + eta.setRandom(); + LogCholeskyParameters log_cholesky = LogCholeskyParameters(eta); + + // Convert logcholesky parametrization to pseudo-inertia + Eigen::Matrix4d pseudo = log_cholesky.toPseudoInertia().toMatrix(); + + Eigen::SelfAdjointEigenSolver eigensolver(pseudo); + + // Check if the resulting matrix is positive definite + BOOST_CHECK((eigensolver.eigenvalues().array() > 0).all()); + + // Convert logcholesky to inertia tpl + Inertia I_from_log_cholesky = Inertia::FromLogCholeskyParameters(log_cholesky.log_cholesky); + + // Check if conversion from inertia tpl to pseudo inertia gives same result as from logcholesky + // parametrization to pseudo-inertia + Eigen::Matrix4d pseudo_from_inertia = I_from_log_cholesky.toPseudoInertiaMatrix(); + BOOST_CHECK(pseudo.isApprox(pseudo_from_inertia, 1e-10)); + + // Calculate Jacobian of logcholesky parametrization + Eigen::Matrix jacobian = log_cholesky.calculateJacobian(); + + // Check if determinant is non-zero + BOOST_CHECK(std::abs(jacobian.determinant()) > 1e-10); + + // // Check if log-cholesky parametrization to pseudo-inertia gives same result as their calculations + // double alpha = log_cholesky.alpha, d1 = eta[1], d2 = eta[2], d3 = eta[3]; + // double s12 = eta[4], s23 = eta[5], s13 = eta[6]; + // double t1 = eta[7], t2 = eta[8], t3 = eta[9]; + + double exp_alpha = std::exp(log_cholesky.alpha); + double exp_d1 = std::exp(log_cholesky.d1); + double exp_d2 = std::exp(log_cholesky.d2); + double exp_d3 = std::exp(log_cholesky.d3); + + Eigen::Matrix4d U; + U << exp_d1, log_cholesky.s12, log_cholesky.s13, log_cholesky.t1, + 0, exp_d2, log_cholesky.s23, log_cholesky.t2, + 0, 0, exp_d3, log_cholesky.t3, + 0, 0, 0, 1; + U *= exp_alpha; + + Eigen::Matrix4d pseudo_chol = U * U.transpose(); + BOOST_CHECK(pseudo.isApprox(pseudo_chol, 1e-10)); + + // Additional checks: Convert back from pseudo-inertia to inertia and validate + Inertia I_back = Inertia::FromPseudoInertiaMatrix(pseudo); + BOOST_CHECK_CLOSE(I_back.mass(), I_from_log_cholesky.mass(), 1e-12); + BOOST_CHECK(I_back.lever().isApprox(I_from_log_cholesky.lever(), 1e-12)); + BOOST_CHECK(I_back.inertia().isApprox(I_from_log_cholesky.inertia(), 1e-12)); + + // Convert Inertia to dynamic parameters + Inertia::Vector10 dynamic_params_inertia = I_from_log_cholesky.toDynamicParameters(); + + // Convert log Cholesky to dynamic parameters + Inertia::Vector10 dynamic_params_log_cholesky = log_cholesky.toDynamicParameters(); + + // Compare dynamic parameters from Inertia and log Cholesky + BOOST_CHECK(dynamic_params_inertia.isApprox(dynamic_params_log_cholesky, 1e-10)); + + // Convert Pseudo Inertia to dynamic parameters + PseudoInertia pseudo_inertia = PseudoInertia::FromMatrix(pseudo); + Inertia::Vector10 dynamic_params_pseudo_inertia = + pseudo_inertia.toDynamicParameters(); + + // Compare dynamic parameters from Inertia and Pseudo Inertia + BOOST_CHECK(dynamic_params_inertia.isApprox(dynamic_params_pseudo_inertia, 1e-10)); + + // Compare dynamic parameters from log Cholesky and Pseudo Inertia + BOOST_CHECK(dynamic_params_log_cholesky.isApprox(dynamic_params_pseudo_inertia, 1e-10)); + + // Test disp + std::cout << I_from_log_cholesky << std::endl; + std::cout << log_cholesky << std::endl; + std::cout << pseudo_inertia << std::endl; + } } BOOST_AUTO_TEST_CASE(cast_inertia) From fc089c62e0fe47331bab4fc15aa883e560b33406 Mon Sep 17 00:00:00 2001 From: simeon Date: Sun, 30 Jun 2024 00:35:47 +0300 Subject: [PATCH 010/104] removed outdated python tests --- unittest/python/bindings_inertia.py | 34 ----------------------------- 1 file changed, 34 deletions(-) diff --git a/unittest/python/bindings_inertia.py b/unittest/python/bindings_inertia.py index cb9e5ab8db..3fb9148767 100644 --- a/unittest/python/bindings_inertia.py +++ b/unittest/python/bindings_inertia.py @@ -113,40 +113,6 @@ def test_dynamic_parameters(self): I2 = pin.Inertia.FromDynamicParameters(v) self.assertApprox(I2, In) - def test_pseudo_inertia(self): - I = pin.Inertia.Random() - pseudo = I.toPseudoInertia() - self.assertTrue(np.all(np.linalg.eigvals(pseudo) > 0)) - I_back = pin.Inertia.FromPseudoInertia(pseudo) - self.assertApprox(I_back.mass, I.mass) - self.assertApprox(I_back.lever, I.lever) - self.assertApprox(I_back.inertia, I.inertia) - - def test_log_cholesky(self): - eta = np.random.randn(10) - alpha, d1, d2, d3, s12, s23, s13, t1, t2, t3 = eta - # Compute the exponential terms - exp_alpha = np.exp(alpha) - exp_d1 = np.exp(d1) - exp_d2 = np.exp(d2) - exp_d3 = np.exp(d3) - - # Create the matrix U - U = exp_alpha * np.array( - [ - [exp_d1, s12, s13, t1], - [0, exp_d2, s23, t2], - [0, 0, exp_d3, t3], - [0, 0, 0, 1], - ] - ) - pseudo_chol = U @ U.T - - inertia = pin.Inertia.FromLogCholeskyParameters(eta) - pseudo = inertia.toPseudoInertia() - self.assertTrue(np.all(np.linalg.eigvals(pseudo) > 0)) - self.assertApprox(pseudo, pseudo_chol) - def test_array(self): In = pin.Inertia.Random() I_array = np.array(In) From 8e42220bff844553f7d58902e8438c3145549297 Mon Sep 17 00:00:00 2001 From: simeon Date: Sun, 30 Jun 2024 00:45:47 +0300 Subject: [PATCH 011/104] minor reordering in tests --- unittest/spatial.cpp | 28 ++++++++++++---------------- 1 file changed, 12 insertions(+), 16 deletions(-) diff --git a/unittest/spatial.cpp b/unittest/spatial.cpp index df99555f4e..84e833e6cd 100644 --- a/unittest/spatial.cpp +++ b/unittest/spatial.cpp @@ -772,16 +772,9 @@ BOOST_AUTO_TEST_CASE(test_Inertia) Eigen::Matrix4d pseudo_from_inertia = I_from_log_cholesky.toPseudoInertiaMatrix(); BOOST_CHECK(pseudo.isApprox(pseudo_from_inertia, 1e-10)); - // Calculate Jacobian of logcholesky parametrization - Eigen::Matrix jacobian = log_cholesky.calculateJacobian(); - - // Check if determinant is non-zero - BOOST_CHECK(std::abs(jacobian.determinant()) > 1e-10); - - // // Check if log-cholesky parametrization to pseudo-inertia gives same result as their calculations - // double alpha = log_cholesky.alpha, d1 = eta[1], d2 = eta[2], d3 = eta[3]; - // double s12 = eta[4], s23 = eta[5], s13 = eta[6]; - // double t1 = eta[7], t2 = eta[8], t3 = eta[9]; + // // Check if log-cholesky parametrization to pseudo-inertia gives same result as their + // calculations double alpha = log_cholesky.alpha, d1 = eta[1], d2 = eta[2], d3 = eta[3]; double + // s12 = eta[4], s23 = eta[5], s13 = eta[6]; double t1 = eta[7], t2 = eta[8], t3 = eta[9]; double exp_alpha = std::exp(log_cholesky.alpha); double exp_d1 = std::exp(log_cholesky.d1); @@ -789,10 +782,8 @@ BOOST_AUTO_TEST_CASE(test_Inertia) double exp_d3 = std::exp(log_cholesky.d3); Eigen::Matrix4d U; - U << exp_d1, log_cholesky.s12, log_cholesky.s13, log_cholesky.t1, - 0, exp_d2, log_cholesky.s23, log_cholesky.t2, - 0, 0, exp_d3, log_cholesky.t3, - 0, 0, 0, 1; + U << exp_d1, log_cholesky.s12, log_cholesky.s13, log_cholesky.t1, 0, exp_d2, log_cholesky.s23, + log_cholesky.t2, 0, 0, exp_d3, log_cholesky.t3, 0, 0, 0, 1; U *= exp_alpha; Eigen::Matrix4d pseudo_chol = U * U.transpose(); @@ -815,8 +806,7 @@ BOOST_AUTO_TEST_CASE(test_Inertia) // Convert Pseudo Inertia to dynamic parameters PseudoInertia pseudo_inertia = PseudoInertia::FromMatrix(pseudo); - Inertia::Vector10 dynamic_params_pseudo_inertia = - pseudo_inertia.toDynamicParameters(); + Inertia::Vector10 dynamic_params_pseudo_inertia = pseudo_inertia.toDynamicParameters(); // Compare dynamic parameters from Inertia and Pseudo Inertia BOOST_CHECK(dynamic_params_inertia.isApprox(dynamic_params_pseudo_inertia, 1e-10)); @@ -824,6 +814,12 @@ BOOST_AUTO_TEST_CASE(test_Inertia) // Compare dynamic parameters from log Cholesky and Pseudo Inertia BOOST_CHECK(dynamic_params_log_cholesky.isApprox(dynamic_params_pseudo_inertia, 1e-10)); + // Calculate Jacobian of logcholesky parametrization + Eigen::Matrix jacobian = log_cholesky.calculateJacobian(); + + // Check if determinant is non-zero + BOOST_CHECK(std::abs(jacobian.determinant()) > 1e-10); + // Test disp std::cout << I_from_log_cholesky << std::endl; std::cout << log_cholesky << std::endl; From 0973d191d85b4c97c215e0a39308059f086d384a Mon Sep 17 00:00:00 2001 From: simeon Date: Sun, 30 Jun 2024 01:37:40 +0300 Subject: [PATCH 012/104] removed outdated cpp tests --- unittest/spatial.cpp | 9 --------- 1 file changed, 9 deletions(-) diff --git a/unittest/spatial.cpp b/unittest/spatial.cpp index 84e833e6cd..eeaff95676 100644 --- a/unittest/spatial.cpp +++ b/unittest/spatial.cpp @@ -631,15 +631,6 @@ BOOST_AUTO_TEST_CASE(test_Inertia) Symmetric3(3.79705882, 0., 3.79705882, 0., 0., 1.81176471).matrix(), 1e-5)); // Computed with hppfcl::Capsule - // Test Inertia From Pseudo Inertia and backward - I1 = Inertia::FromCapsule(1., 2., 3); - BOOST_CHECK(I1.isApprox(Inertia::FromPseudoInertia(I1.toPseudoInertia()))); - - // Test Inertia From LogCholesky parameters and backward - Inertia::Vector10 logChol = Inertia::Vector10::Random(); - I1 = Inertia::FromLogCholeskyParameters(logChol); - BOOST_CHECK(I1.isApprox(Inertia::FromDynamicParameters(I1.toDynamicParameters()))); - // Copy operator Inertia aI_copy(aI); BOOST_CHECK(aI_copy == aI); From 9bc69bcc097ab72a182685c67c0334e10d6f2465 Mon Sep 17 00:00:00 2001 From: simeon Date: Sun, 30 Jun 2024 17:14:31 +0300 Subject: [PATCH 013/104] renaming, minor refactoring --- include/pinocchio/spatial/inertia.hpp | 87 ++++++++++++++++++++++----- unittest/spatial.cpp | 13 ++-- 2 files changed, 77 insertions(+), 23 deletions(-) diff --git a/include/pinocchio/spatial/inertia.hpp b/include/pinocchio/spatial/inertia.hpp index e3b383d5ba..a740ff4523 100644 --- a/include/pinocchio/spatial/inertia.hpp +++ b/include/pinocchio/spatial/inertia.hpp @@ -286,7 +286,6 @@ namespace pinocchio typedef PseudoInertiaTpl PseudoInertia; typedef LogCholeskyParametersTpl LogCholeskyParameters; - // Constructors InertiaTpl() { @@ -1011,6 +1010,10 @@ namespace pinocchio *this = log_cholesky.toPseudoInertia(); } + /** + * @brief Converts the PseudoInertiaTpl object to a 4x4 matrix. + * @return A 4x4 pseudo inertia matrix. + */ Matrix4 toMatrix() const { Matrix4 pseudo_inertia = Matrix4::Zero(); @@ -1021,6 +1024,11 @@ namespace pinocchio return pseudo_inertia; } + /** + * @brief Constructs a PseudoInertiaTpl object from a 4x4 pseudo inertia matrix. + * @param pseudo_inertia A 4x4 pseudo inertia matrix. + * @return A PseudoInertiaTpl object. + */ static PseudoInertiaTpl FromMatrix(const Matrix4 & pseudo_inertia) { Scalar mass = pseudo_inertia(3, 3); @@ -1029,6 +1037,11 @@ namespace pinocchio return PseudoInertiaTpl(mass, h, Sigma); } + /** + * @brief Constructs a PseudoInertiaTpl object from dynamic parameters. + * @param dynamic_params A 10-dimensional vector of dynamic parameters. + * @return A PseudoInertiaTpl object. + */ static PseudoInertiaTpl FromDynamicParameters(const Vector10 & dynamic_params) { Scalar mass = dynamic_params[0]; @@ -1042,6 +1055,10 @@ namespace pinocchio return PseudoInertiaTpl(mass, h, Sigma); } + /** + * @brief Converts the PseudoInertiaTpl object to dynamic parameters. + * @return A 10-dimensional vector of dynamic parameters. + */ Vector10 toDynamicParameters() const { Matrix3 I_bar = Sigma.trace() * Matrix3::Identity() - Sigma; @@ -1059,18 +1076,32 @@ namespace pinocchio return dynamic_params; } + /** + * @brief Constructs a PseudoInertiaTpl object from an InertiaTpl object. + * @param inertia An InertiaTpl object. + * @return A PseudoInertiaTpl object. + */ static PseudoInertiaTpl FromInertia(const InertiaTpl & inertia) { Vector10 dynamic_params = inertia.toDynamicParameters(); return FromDynamicParameters(dynamic_params); } + /** + * @brief Converts the PseudoInertiaTpl object to an InertiaTpl object. + * @return An InertiaTpl object. + */ InertiaTpl toInertia() const { Vector10 dynamic_params = toDynamicParameters(); return InertiaTpl::FromDynamicParameters(dynamic_params); } + /** + * @brief Constructs a PseudoInertiaTpl object from log Cholesky parameters. + * @param log_cholesky A 10-dimensional vector of log Cholesky parameters. + * @return A PseudoInertiaTpl object. + */ static PseudoInertiaTpl FromLogCholeskyParameters(const typename LogCholeskyParameters::Vector10 & log_cholesky) { @@ -1081,7 +1112,8 @@ namespace pinocchio void disp_impl(std::ostream & os) const { - os << " matrix = \n" << matrix << "\n" + os << " matrix = \n" + << matrix << "\n" << " m = " << mass << "\n" << " h = " << h.transpose() << "\n" << " sigma = \n" @@ -1102,7 +1134,6 @@ namespace pinocchio * - Rucker, Caleb, and Patrick M. Wensing. "Smooth parameterization of rigid-body inertia." * IEEE Robotics and Automation Letters 7.2 (2022): 2771-2778. */ - // Correcting constructors for LogCholeskyParametersTpl template struct LogCholeskyParametersTpl { @@ -1110,21 +1141,24 @@ namespace pinocchio typedef Eigen::Matrix Matrix10; typedef PseudoInertiaTpl PseudoInertia; - Vector10 log_cholesky; ///< 10-dimensional vector of log Cholesky parameters + Vector10 parameters; ///< 10-dimensional vector of log Cholesky parameters Scalar alpha; - Scalar d1; - Scalar d2; - Scalar d3; - Scalar s12; - Scalar s23; - Scalar s13; - Scalar t1; - Scalar t2; - Scalar t3; - + Scalar d1; + Scalar d2; + Scalar d3; + Scalar s12; + Scalar s23; + Scalar s13; + Scalar t1; + Scalar t2; + Scalar t3; + /** + * @brief Constructor for LogCholeskyParametersTpl. + * @param log_cholesky A 10-dimensional vector of log Cholesky parameters. + */ LogCholeskyParametersTpl(const Vector10 & log_cholesky) - : log_cholesky(log_cholesky) + : parameters(log_cholesky) , alpha(log_cholesky[0]) , d1(log_cholesky[1]) , d2(log_cholesky[2]) @@ -1137,7 +1171,10 @@ namespace pinocchio , t3(log_cholesky[9]) { } - + /** + * @brief Converts the LogCholeskyParametersTpl object to dynamic parameters. + * @return A 10-dimensional vector of dynamic parameters. + */ Vector10 toDynamicParameters() const { Vector10 dynamic_params; @@ -1165,12 +1202,30 @@ namespace pinocchio return dynamic_params; } + /** + * @brief Converts the LogCholeskyParametersTpl object to a PseudoInertiaTpl object. + * @return A PseudoInertiaTpl object. + */ PseudoInertia toPseudoInertia() const { Vector10 dynamic_params = toDynamicParameters(); return PseudoInertia::FromDynamicParameters(dynamic_params); } + /** + * @brief Converts the LogCholeskyParametersTpl object to an InertiaTpl object. + * @return An InertiaTpl object. + */ + InertiaTpl toInertia() const + { + Vector10 dynamic_params = toDynamicParameters(); + return InertiaTpl::FromDynamicParameters(dynamic_params); + } + + /** + * @brief Calculates the Jacobian of the log Cholesky parameters. + * @return A 10x10 matrix representing the Jacobian. + */ Matrix10 calculateJacobian() const { Matrix10 jacobian = Matrix10::Zero(); diff --git a/unittest/spatial.cpp b/unittest/spatial.cpp index eeaff95676..3253abc7dc 100644 --- a/unittest/spatial.cpp +++ b/unittest/spatial.cpp @@ -749,14 +749,8 @@ BOOST_AUTO_TEST_CASE(test_Inertia) // Convert logcholesky parametrization to pseudo-inertia Eigen::Matrix4d pseudo = log_cholesky.toPseudoInertia().toMatrix(); - - Eigen::SelfAdjointEigenSolver eigensolver(pseudo); - - // Check if the resulting matrix is positive definite - BOOST_CHECK((eigensolver.eigenvalues().array() > 0).all()); - // Convert logcholesky to inertia tpl - Inertia I_from_log_cholesky = Inertia::FromLogCholeskyParameters(log_cholesky.log_cholesky); + Inertia I_from_log_cholesky = Inertia::FromLogCholeskyParameters(log_cholesky.parameters); // Check if conversion from inertia tpl to pseudo inertia gives same result as from logcholesky // parametrization to pseudo-inertia @@ -811,6 +805,11 @@ BOOST_AUTO_TEST_CASE(test_Inertia) // Check if determinant is non-zero BOOST_CHECK(std::abs(jacobian.determinant()) > 1e-10); + + // Check physical consistency by positive definiteness of pseudo inertia + Eigen::SelfAdjointEigenSolver eigensolver(pseudo); + BOOST_CHECK((eigensolver.eigenvalues().array() > 0).all()); + // Test disp std::cout << I_from_log_cholesky << std::endl; std::cout << log_cholesky << std::endl; From db640c653079959ed71bed2c367d79b99cf373cd Mon Sep 17 00:00:00 2001 From: simeon Date: Wed, 3 Jul 2024 00:42:56 +0300 Subject: [PATCH 014/104] code formatting, minor style fixes --- include/pinocchio/spatial/inertia.hpp | 8 ++++---- unittest/spatial.cpp | 1 - 2 files changed, 4 insertions(+), 5 deletions(-) diff --git a/include/pinocchio/spatial/inertia.hpp b/include/pinocchio/spatial/inertia.hpp index a740ff4523..444fb01c22 100644 --- a/include/pinocchio/spatial/inertia.hpp +++ b/include/pinocchio/spatial/inertia.hpp @@ -995,17 +995,17 @@ namespace pinocchio *this = FromMatrix(pseudo_inertia_matrix); } - PseudoInertiaTpl(const InertiaTpl & inertia) + explicit PseudoInertiaTpl(const InertiaTpl & inertia) { *this = FromInertia(inertia); } - PseudoInertiaTpl(const Vector10 & dynamic_params) + explicit PseudoInertiaTpl(const Vector10 & dynamic_params) { *this = FromDynamicParameters(dynamic_params); } - PseudoInertiaTpl(const LogCholeskyParameters & log_cholesky) + explicit PseudoInertiaTpl(const LogCholeskyParameters & log_cholesky) { *this = log_cholesky.toPseudoInertia(); } @@ -1157,7 +1157,7 @@ namespace pinocchio * @brief Constructor for LogCholeskyParametersTpl. * @param log_cholesky A 10-dimensional vector of log Cholesky parameters. */ - LogCholeskyParametersTpl(const Vector10 & log_cholesky) + explicit LogCholeskyParametersTpl(const Vector10 & log_cholesky) : parameters(log_cholesky) , alpha(log_cholesky[0]) , d1(log_cholesky[1]) diff --git a/unittest/spatial.cpp b/unittest/spatial.cpp index 3253abc7dc..556a519e04 100644 --- a/unittest/spatial.cpp +++ b/unittest/spatial.cpp @@ -805,7 +805,6 @@ BOOST_AUTO_TEST_CASE(test_Inertia) // Check if determinant is non-zero BOOST_CHECK(std::abs(jacobian.determinant()) > 1e-10); - // Check physical consistency by positive definiteness of pseudo inertia Eigen::SelfAdjointEigenSolver eigensolver(pseudo); BOOST_CHECK((eigensolver.eigenvalues().array() > 0).all()); From ef3986ca9651d554ebf4894fa6a041c2a912d77d Mon Sep 17 00:00:00 2001 From: simeon Date: Sat, 13 Jul 2024 15:00:45 +0300 Subject: [PATCH 015/104] removed unnecessary constructors, minor fixes --- include/pinocchio/spatial/fwd.hpp | 6 + include/pinocchio/spatial/inertia.hpp | 343 +++++++++++--------------- unittest/spatial.cpp | 48 ++-- 3 files changed, 184 insertions(+), 213 deletions(-) diff --git a/include/pinocchio/spatial/fwd.hpp b/include/pinocchio/spatial/fwd.hpp index ec0c42e919..25b5ab005b 100644 --- a/include/pinocchio/spatial/fwd.hpp +++ b/include/pinocchio/spatial/fwd.hpp @@ -58,6 +58,10 @@ namespace pinocchio struct InertiaTpl; template class Symmetric3Tpl; + template + struct PseudoInertiaTpl; + template + struct LogCholeskyParametersTpl; typedef SE3Tpl SE3; typedef MotionTpl Motion; @@ -65,6 +69,8 @@ namespace pinocchio typedef InertiaTpl Inertia; typedef Symmetric3Tpl Symmetric3; typedef MotionZeroTpl MotionZero; + typedef PseudoInertiaTpl PseudoInertia; + typedef LogCholeskyParametersTpl LogCholeskyParameters; /** * @} diff --git a/include/pinocchio/spatial/inertia.hpp b/include/pinocchio/spatial/inertia.hpp index 444fb01c22..7a3c8c12a5 100644 --- a/include/pinocchio/spatial/inertia.hpp +++ b/include/pinocchio/spatial/inertia.hpp @@ -1,5 +1,3 @@ -// TODO: - // // Copyright (c) 2015-2021 CNRS INRIA // Copyright (c) 2016 Wandercraft, 86 rue de Paris 91400 Orsay, France. @@ -231,13 +229,6 @@ namespace pinocchio } }; - // Forward declare the PseudoInertia and LogCholeskyParameters structs - template - struct PseudoInertiaTpl; - - template - struct LogCholeskyParametersTpl; - // class InertiaBase template struct traits> @@ -281,8 +272,8 @@ namespace pinocchio }; typedef typename Symmetric3::AlphaSkewSquare AlphaSkewSquare; - typedef typename Eigen::Matrix Vector10; - typedef typename Eigen::Matrix Matrix10; + typedef Eigen::Matrix Vector10; + typedef Eigen::Matrix Matrix10; typedef PseudoInertiaTpl PseudoInertia; typedef LogCholeskyParametersTpl LogCholeskyParameters; @@ -586,23 +577,9 @@ namespace pinocchio * @param pseudo_inertia A PseudoInertia object. * @return An InertiaTpl object. */ - template - static InertiaTpl FromPseudoInertia(const PseudoInertia & pseudo_inertia) - { - return pseudo_inertia.toInertia(); - } - /** - * @brief Create an InertiaTpl object from a 4x4 pseudo inertia matrix. - * - * @param pseudo_inertia_matrix 4x4 pseudo inertia matrix. - * @return An InertiaTpl object. - */ - template - static InertiaTpl - FromPseudoInertiaMatrix(const Eigen::MatrixBase & pseudo_inertia_matrix) + static InertiaTpl FromPseudoInertia(const PseudoInertia & pseudo_inertia) { - PseudoInertia pseudo_inertia = PseudoInertia::FromMatrix(pseudo_inertia_matrix); return pseudo_inertia.toInertia(); } @@ -611,28 +588,22 @@ namespace pinocchio * * @return A 4x4 pseudo inertia matrix. */ - typename PseudoInertia::Matrix4 toPseudoInertiaMatrix() const + PseudoInertia toPseudoInertia() const { PseudoInertia pseudo_inertia = PseudoInertia::FromInertia(*this); - return pseudo_inertia.toMatrix(); + return pseudo_inertia; } /** * @brief Create an InertiaTpl object from log Cholesky parameters. * - * @param log_cholesky A 10-dimensional vector containing logarithmic Cholesky parameters. - * The parameters are given as - * \f$ \eta = [\alpha, d_1, d_2, d_3, s_{12}, s_{23}, s_{13}, t_1, t_2, t_3] \f$ + * @param log_cholesky A log cholesky parameters object * * @return An InertiaTpl object. */ - template - static InertiaTpl - FromLogCholeskyParameters(const Eigen::MatrixBase & log_cholesky) + static InertiaTpl FromLogCholeskyParameters(const LogCholeskyParameters & log_cholesky) { - PINOCCHIO_ASSERT_MATRIX_SPECIFIC_SIZE(Vector10Like, log_cholesky, 10, 1); - LogCholeskyParameters params(log_cholesky); - Vector10 dynamic_params = params.toDynamicParameters(); + Vector10 dynamic_params = log_cholesky.toDynamicParameters(); return FromDynamicParameters(dynamic_params); } @@ -977,37 +948,15 @@ namespace pinocchio typedef Eigen::Matrix Vector10; typedef LogCholeskyParametersTpl LogCholeskyParameters; - Scalar mass; ///< Mass of the pseudo inertia - Vector3 h; ///< Vector part of the pseudo inertia - Matrix3 Sigma; ///< 3x3 matrix part of the pseudo inertia - Matrix4 matrix; ///< Full 4x4 pseudo inertia matrix + Scalar mass; ///< Mass of the pseudo inertia + Vector3 h; ///< Vector part of the pseudo inertia + Matrix3 sigma; ///< 3x3 matrix part of the pseudo inertia - PseudoInertiaTpl(Scalar mass, const Vector3 & h, const Matrix3 & Sigma) + PseudoInertiaTpl(Scalar mass, const Vector3 & h, const Matrix3 & sigma) : mass(mass) , h(h) - , Sigma(Sigma) + , sigma(sigma) { - matrix = toMatrix(); - } - - explicit PseudoInertiaTpl(const Matrix4 & pseudo_inertia_matrix) - { - *this = FromMatrix(pseudo_inertia_matrix); - } - - explicit PseudoInertiaTpl(const InertiaTpl & inertia) - { - *this = FromInertia(inertia); - } - - explicit PseudoInertiaTpl(const Vector10 & dynamic_params) - { - *this = FromDynamicParameters(dynamic_params); - } - - explicit PseudoInertiaTpl(const LogCholeskyParameters & log_cholesky) - { - *this = log_cholesky.toPseudoInertia(); } /** @@ -1017,7 +966,7 @@ namespace pinocchio Matrix4 toMatrix() const { Matrix4 pseudo_inertia = Matrix4::Zero(); - pseudo_inertia.template block<3, 3>(0, 0) = Sigma; + pseudo_inertia.template block<3, 3>(0, 0) = sigma; pseudo_inertia.template block<3, 1>(0, 3) = h; pseudo_inertia.template block<1, 3>(3, 0) = h.transpose(); pseudo_inertia(3, 3) = mass; @@ -1033,8 +982,8 @@ namespace pinocchio { Scalar mass = pseudo_inertia(3, 3); Vector3 h = pseudo_inertia.template block<3, 1>(0, 3); - Matrix3 Sigma = pseudo_inertia.template block<3, 3>(0, 0); - return PseudoInertiaTpl(mass, h, Sigma); + Matrix3 sigma = pseudo_inertia.template block<3, 3>(0, 0); + return PseudoInertiaTpl(mass, h, sigma); } /** @@ -1051,8 +1000,8 @@ namespace pinocchio dynamic_params[6], dynamic_params[8], dynamic_params[7], dynamic_params[8], dynamic_params[9]; - Matrix3 Sigma = 0.5 * I_bar.trace() * Matrix3::Identity() - I_bar; - return PseudoInertiaTpl(mass, h, Sigma); + Matrix3 sigma = 0.5 * I_bar.trace() * Matrix3::Identity() - I_bar; + return PseudoInertiaTpl(mass, h, sigma); } /** @@ -1061,7 +1010,7 @@ namespace pinocchio */ Vector10 toDynamicParameters() const { - Matrix3 I_bar = Sigma.trace() * Matrix3::Identity() - Sigma; + Matrix3 I_bar = sigma.trace() * Matrix3::Identity() - sigma; Vector10 dynamic_params; dynamic_params[0] = mass; @@ -1102,22 +1051,18 @@ namespace pinocchio * @param log_cholesky A 10-dimensional vector of log Cholesky parameters. * @return A PseudoInertiaTpl object. */ - static PseudoInertiaTpl - FromLogCholeskyParameters(const typename LogCholeskyParameters::Vector10 & log_cholesky) + static PseudoInertiaTpl FromLogCholeskyParameters(const LogCholeskyParameters & log_cholesky) { - LogCholeskyParameters params(log_cholesky); - Vector10 dynamic_params = params.toDynamicParameters(); + Vector10 dynamic_params = log_cholesky.toDynamicParameters(); return FromDynamicParameters(dynamic_params); } void disp_impl(std::ostream & os) const { - os << " matrix = \n" - << matrix << "\n" - << " m = " << mass << "\n" + os << " m = " << mass << "\n" << " h = " << h.transpose() << "\n" << " sigma = \n" - << Sigma << ""; + << sigma << ""; } friend std::ostream & operator<<(std::ostream & os, const PseudoInertiaTpl & pi) @@ -1142,33 +1087,12 @@ namespace pinocchio typedef PseudoInertiaTpl PseudoInertia; Vector10 parameters; ///< 10-dimensional vector of log Cholesky parameters - - Scalar alpha; - Scalar d1; - Scalar d2; - Scalar d3; - Scalar s12; - Scalar s23; - Scalar s13; - Scalar t1; - Scalar t2; - Scalar t3; /** * @brief Constructor for LogCholeskyParametersTpl. * @param log_cholesky A 10-dimensional vector of log Cholesky parameters. */ - explicit LogCholeskyParametersTpl(const Vector10 & log_cholesky) + LogCholeskyParametersTpl(const Vector10 & log_cholesky) : parameters(log_cholesky) - , alpha(log_cholesky[0]) - , d1(log_cholesky[1]) - , d2(log_cholesky[2]) - , d3(log_cholesky[3]) - , s12(log_cholesky[4]) - , s23(log_cholesky[5]) - , s13(log_cholesky[6]) - , t1(log_cholesky[7]) - , t2(log_cholesky[8]) - , t3(log_cholesky[9]) { } /** @@ -1177,27 +1101,41 @@ namespace pinocchio */ Vector10 toDynamicParameters() const { - Vector10 dynamic_params; - - const Scalar exp_d1 = math::exp(d1); - const Scalar exp_d2 = math::exp(d2); - const Scalar exp_d3 = math::exp(d3); - - dynamic_params[0] = 1; - dynamic_params[1] = t1; - dynamic_params[2] = t2; - dynamic_params[3] = t3; - dynamic_params[4] = s23 * s23 + t2 * t2 + t3 * t3 + exp_d2 * exp_d2 + exp_d3 * exp_d3; - dynamic_params[5] = -s12 * exp_d2 - s13 * s23 - t1 * t2; - dynamic_params[6] = - s12 * s12 + s13 * s13 + t1 * t1 + t3 * t3 + exp_d1 * exp_d1 + exp_d3 * exp_d3; - dynamic_params[7] = -s13 * exp_d3 - t1 * t3; - dynamic_params[8] = -s23 * exp_d3 - t2 * t3; - dynamic_params[9] = - s12 * s12 + s13 * s13 + s23 * s23 + t1 * t1 + t2 * t2 + exp_d1 * exp_d1 + exp_d2 * exp_d2; - - const Scalar exp_2_alpha = math::exp(2 * alpha); - dynamic_params *= exp_2_alpha; + using math::exp; + using math::pow; + + // clang-format off + Vector10 dynamic_params; + + const Scalar alpha = parameters[0]; + const Scalar d1 = parameters[1]; + const Scalar d2 = parameters[2]; + const Scalar d3 = parameters[3]; + const Scalar s12 = parameters[4]; + const Scalar s23 = parameters[5]; + const Scalar s13 = parameters[6]; + const Scalar t1 = parameters[7]; + const Scalar t2 = parameters[8]; + const Scalar t3 = parameters[9]; + + const Scalar exp_d1 = exp(d1); + const Scalar exp_d2 = exp(d2); + const Scalar exp_d3 = exp(d3); + + dynamic_params[0] = 1; + dynamic_params[1] = t1; + dynamic_params[2] = t2; + dynamic_params[3] = t3; + dynamic_params[4] = pow(s23, 2) + pow(t2, 2) + pow(t3, 2) + pow(exp_d2, 2) + pow(exp_d3, 2); + dynamic_params[5] = -s12 * exp_d2 - s13 * s23 - t1 * t2; + dynamic_params[6] = pow(s12, 2) + pow(s13, 2) + pow(t1, 2) + pow(t3, 2) + pow(exp_d1, 2) + pow(exp_d3, 2); + dynamic_params[7] = -s13 * exp_d3 - t1 * t3; + dynamic_params[8] = -s23 * exp_d3 - t2 * t3; + dynamic_params[9] = pow(s12, 2) + pow(s13, 2) + pow(s23, 2) + pow(t1, 2) + pow(t2, 2) + pow(exp_d1, 2) + pow(exp_d2, 2); + + const Scalar exp_2_alpha = exp(2 * alpha); + dynamic_params *= exp_2_alpha; + // clang-format on return dynamic_params; } @@ -1228,89 +1166,102 @@ namespace pinocchio */ Matrix10 calculateJacobian() const { + using math::exp; + using math::pow; + Matrix10 jacobian = Matrix10::Zero(); - const Scalar exp_2alpha = math::exp(2 * alpha); - const Scalar exp_2d1 = math::exp(2 * d1); - const Scalar exp_2d2 = math::exp(2 * d2); - const Scalar exp_2d3 = math::exp(2 * d3); - const Scalar exp_d1 = math::exp(d1); - const Scalar exp_d2 = math::exp(d2); - const Scalar exp_d3 = math::exp(d3); - - jacobian(0, 0) = 2 * exp_2alpha; - - jacobian(1, 0) = 2 * t1 * exp_2alpha; - jacobian(1, 7) = exp_2alpha; - - jacobian(2, 0) = 2 * t2 * exp_2alpha; - jacobian(2, 8) = exp_2alpha; - - jacobian(3, 0) = 2 * t3 * exp_2alpha; - jacobian(3, 9) = exp_2alpha; - - jacobian(4, 0) = 2 * (s23 * s23 + t2 * t2 + t3 * t3 + exp_2d2 + exp_2d3) * exp_2alpha; - jacobian(4, 2) = 2 * exp_2alpha * exp_2d2; - jacobian(4, 3) = 2 * exp_2alpha * exp_2d3; - jacobian(4, 5) = 2 * s23 * exp_2alpha; - jacobian(4, 8) = 2 * t2 * exp_2alpha; - jacobian(4, 9) = 2 * t3 * exp_2alpha; - - jacobian(5, 0) = -2 * (s12 * exp_d2 + s13 * s23 + t1 * t2) * exp_2alpha; - jacobian(5, 2) = -s12 * exp_2alpha * exp_d2; - jacobian(5, 4) = -exp_2alpha * exp_d2; - jacobian(5, 5) = -s13 * exp_2alpha; - jacobian(5, 6) = -s23 * exp_2alpha; - jacobian(5, 7) = -t2 * exp_2alpha; - jacobian(5, 8) = -t1 * exp_2alpha; - - jacobian(6, 0) = - 2 * (s12 * s12 + s13 * s13 + t1 * t1 + t3 * t3 + exp_2d1 + exp_2d3) * exp_2alpha; - jacobian(6, 1) = 2 * exp_2alpha * exp_2d1; - jacobian(6, 3) = 2 * exp_2alpha * exp_2d3; - jacobian(6, 4) = 2 * s12 * exp_2alpha; - jacobian(6, 6) = 2 * s13 * exp_2alpha; - jacobian(6, 7) = 2 * t1 * exp_2alpha; - jacobian(6, 9) = 2 * t3 * exp_2alpha; - - jacobian(7, 0) = -2 * (s13 * exp_d3 + t1 * t3) * exp_2alpha; - jacobian(7, 3) = -s13 * exp_2alpha * exp_d3; - jacobian(7, 6) = -exp_2alpha * exp_d3; - jacobian(7, 7) = -t3 * exp_2alpha; - jacobian(7, 9) = -t1 * exp_2alpha; - - jacobian(8, 0) = -2 * (s23 * exp_d3 + t2 * t3) * exp_2alpha; - jacobian(8, 3) = -s23 * exp_2alpha * exp_d3; - jacobian(8, 5) = -exp_2alpha * exp_d3; - jacobian(8, 8) = -t3 * exp_2alpha; - jacobian(8, 9) = -t2 * exp_2alpha; - - jacobian(9, 0) = 2 - * (s12 * s12 + s13 * s13 + s23 * s23 + t1 * t1 + t2 * t2 + exp_2d1 + exp_2d2) - * exp_2alpha; - jacobian(9, 1) = 2 * exp_2alpha * exp_2d1; - jacobian(9, 2) = 2 * exp_2alpha * exp_2d2; - jacobian(9, 4) = 2 * s12 * exp_2alpha; - jacobian(9, 5) = 2 * s23 * exp_2alpha; - jacobian(9, 6) = 2 * s13 * exp_2alpha; - jacobian(9, 7) = 2 * t1 * exp_2alpha; - jacobian(9, 8) = 2 * t2 * exp_2alpha; + const Scalar alpha = parameters[0]; + const Scalar d1 = parameters[1]; + const Scalar d2 = parameters[2]; + const Scalar d3 = parameters[3]; + const Scalar s12 = parameters[4]; + const Scalar s23 = parameters[5]; + const Scalar s13 = parameters[6]; + const Scalar t1 = parameters[7]; + const Scalar t2 = parameters[8]; + const Scalar t3 = parameters[9]; + + const Scalar exp_2alpha = exp(2 * alpha); + const Scalar exp_2d1 = exp(2 * d1); + const Scalar exp_2d2 = exp(2 * d2); + const Scalar exp_2d3 = exp(2 * d3); + const Scalar exp_d1 = exp(d1); + const Scalar exp_d2 = exp(d2); + const Scalar exp_d3 = exp(d3); + + // clang-format off + jacobian(0, 0) = 2 * exp_2alpha; + + jacobian(1, 0) = 2 * t1 * exp_2alpha; + jacobian(1, 7) = exp_2alpha; + + jacobian(2, 0) = 2 * t2 * exp_2alpha; + jacobian(2, 8) = exp_2alpha; + + jacobian(3, 0) = 2 * t3 * exp_2alpha; + jacobian(3, 9) = exp_2alpha; + + jacobian(4, 0) = 2 * (pow(s23, 2) + pow(t2, 2) + pow(t3, 2) + exp_2d2 + exp_2d3) * exp_2alpha; + jacobian(4, 2) = 2 * exp_2alpha * exp_2d2; + jacobian(4, 3) = 2 * exp_2alpha * exp_2d3; + jacobian(4, 5) = 2 * s23 * exp_2alpha; + jacobian(4, 8) = 2 * t2 * exp_2alpha; + jacobian(4, 9) = 2 * t3 * exp_2alpha; + + jacobian(5, 0) = -2 * (s12 * exp_d2 + s13 * s23 + t1 * t2) * exp_2alpha; + jacobian(5, 2) = -s12 * exp_2alpha * exp_d2; + jacobian(5, 4) = -exp_2alpha * exp_d2; + jacobian(5, 5) = -s13 * exp_2alpha; + jacobian(5, 6) = -s23 * exp_2alpha; + jacobian(5, 7) = -t2 * exp_2alpha; + jacobian(5, 8) = -t1 * exp_2alpha; + + jacobian(6, 0) = 2 * (pow(s12, 2) + pow(s13, 2) + pow(t1, 2) + pow(t3, 2) + exp_2d1 + exp_2d3) * exp_2alpha; + jacobian(6, 1) = 2 * exp_2alpha * exp_2d1; + jacobian(6, 3) = 2 * exp_2alpha * exp_2d3; + jacobian(6, 4) = 2 * s12 * exp_2alpha; + jacobian(6, 6) = 2 * s13 * exp_2alpha; + jacobian(6, 7) = 2 * t1 * exp_2alpha; + jacobian(6, 9) = 2 * t3 * exp_2alpha; + + jacobian(7, 0) = -2 * (s13 * exp_d3 + t1 * t3) * exp_2alpha; + jacobian(7, 3) = -s13 * exp_2alpha * exp_d3; + jacobian(7, 6) = -exp_2alpha * exp_d3; + jacobian(7, 7) = -t3 * exp_2alpha; + jacobian(7, 9) = -t1 * exp_2alpha; + + jacobian(8, 0) = -2 * (s23 * exp_d3 + t2 * t3) * exp_2alpha; + jacobian(8, 3) = -s23 * exp_2alpha * exp_d3; + jacobian(8, 5) = -exp_2alpha * exp_d3; + jacobian(8, 8) = -t3 * exp_2alpha; + jacobian(8, 9) = -t2 * exp_2alpha; + + jacobian(9, 0) = 2 * (pow(s12, 2) + pow(s13, 2) + pow(s23, 2) + pow(t1, 2) + pow(t2, 2) + exp_2d1 + exp_2d2) * exp_2alpha; + jacobian(9, 1) = 2 * exp_2alpha * exp_2d1; + jacobian(9, 2) = 2 * exp_2alpha * exp_2d2; + jacobian(9, 4) = 2 * s12 * exp_2alpha; + jacobian(9, 5) = 2 * s23 * exp_2alpha; + jacobian(9, 6) = 2 * s13 * exp_2alpha; + jacobian(9, 7) = 2 * t1 * exp_2alpha; + jacobian(9, 8) = 2 * t2 * exp_2alpha; + // clang-format on return jacobian; } void disp_impl(std::ostream & os) const { - os << " alpha: " << alpha << "\n" - << " d1: " << d1 << "\n" - << " d2: " << d2 << "\n" - << " d3: " << d3 << "\n" - << " s12: " << s12 << "\n" - << " s23: " << s23 << "\n" - << " s13: " << s13 << "\n" - << " t1: " << t1 << "\n" - << " t2: " << t2 << "\n" - << " t3: " << t3 << ""; + os << " alpha: " << parameters[0] << "\n" + << " d1: " << parameters[1] << "\n" + << " d2: " << parameters[2] << "\n" + << " d3: " << parameters[3] << "\n" + << " s12: " << parameters[4] << "\n" + << " s23: " << parameters[5] << "\n" + << " s13: " << parameters[6] << "\n" + << " t1: " << parameters[7] << "\n" + << " t2: " << parameters[8] << "\n" + << " t3: " << parameters[9] << ""; } friend std::ostream & operator<<(std::ostream & os, const LogCholeskyParametersTpl & lcp) diff --git a/unittest/spatial.cpp b/unittest/spatial.cpp index 556a519e04..65cb9b9279 100644 --- a/unittest/spatial.cpp +++ b/unittest/spatial.cpp @@ -748,34 +748,48 @@ BOOST_AUTO_TEST_CASE(test_Inertia) LogCholeskyParameters log_cholesky = LogCholeskyParameters(eta); // Convert logcholesky parametrization to pseudo-inertia - Eigen::Matrix4d pseudo = log_cholesky.toPseudoInertia().toMatrix(); + PseudoInertia pseudo = log_cholesky.toPseudoInertia(); + Eigen::Matrix4d pseudo_matrix = pseudo.toMatrix(); // Convert logcholesky to inertia tpl - Inertia I_from_log_cholesky = Inertia::FromLogCholeskyParameters(log_cholesky.parameters); + Inertia I_from_log_cholesky = Inertia::FromLogCholeskyParameters(log_cholesky); // Check if conversion from inertia tpl to pseudo inertia gives same result as from logcholesky // parametrization to pseudo-inertia - Eigen::Matrix4d pseudo_from_inertia = I_from_log_cholesky.toPseudoInertiaMatrix(); - BOOST_CHECK(pseudo.isApprox(pseudo_from_inertia, 1e-10)); + Eigen::Matrix4d pseudo_from_inertia = I_from_log_cholesky.toPseudoInertia().toMatrix(); + BOOST_CHECK(pseudo_matrix.isApprox(pseudo_from_inertia, 1e-10)); // // Check if log-cholesky parametrization to pseudo-inertia gives same result as their - // calculations double alpha = log_cholesky.alpha, d1 = eta[1], d2 = eta[2], d3 = eta[3]; double - // s12 = eta[4], s23 = eta[5], s13 = eta[6]; double t1 = eta[7], t2 = eta[8], t3 = eta[9]; - - double exp_alpha = std::exp(log_cholesky.alpha); - double exp_d1 = std::exp(log_cholesky.d1); - double exp_d2 = std::exp(log_cholesky.d2); - double exp_d3 = std::exp(log_cholesky.d3); + // calculations + double alpha = log_cholesky.parameters[0]; + double d1 = log_cholesky.parameters[1]; + double d2 = log_cholesky.parameters[2]; + double d3 = log_cholesky.parameters[3]; + double s12 = log_cholesky.parameters[4]; + double s23 = log_cholesky.parameters[5]; + double s13 = log_cholesky.parameters[6]; + double t1 = log_cholesky.parameters[7]; + double t2 = log_cholesky.parameters[8]; + double t3 = log_cholesky.parameters[9]; + + double exp_alpha = std::exp(alpha); + double exp_d1 = std::exp(d1); + double exp_d2 = std::exp(d2); + double exp_d3 = std::exp(d3); Eigen::Matrix4d U; - U << exp_d1, log_cholesky.s12, log_cholesky.s13, log_cholesky.t1, 0, exp_d2, log_cholesky.s23, - log_cholesky.t2, 0, 0, exp_d3, log_cholesky.t3, 0, 0, 0, 1; + // clang-format off + U << exp_d1, s12, s13, t1, + 0, exp_d2, s23, t2, + 0, 0, exp_d3, t3, + 0, 0, 0, 1; + // clang-format on U *= exp_alpha; Eigen::Matrix4d pseudo_chol = U * U.transpose(); - BOOST_CHECK(pseudo.isApprox(pseudo_chol, 1e-10)); + BOOST_CHECK(pseudo_matrix.isApprox(pseudo_chol, 1e-10)); // Additional checks: Convert back from pseudo-inertia to inertia and validate - Inertia I_back = Inertia::FromPseudoInertiaMatrix(pseudo); + Inertia I_back = pseudo.toInertia(); BOOST_CHECK_CLOSE(I_back.mass(), I_from_log_cholesky.mass(), 1e-12); BOOST_CHECK(I_back.lever().isApprox(I_from_log_cholesky.lever(), 1e-12)); BOOST_CHECK(I_back.inertia().isApprox(I_from_log_cholesky.inertia(), 1e-12)); @@ -790,7 +804,7 @@ BOOST_AUTO_TEST_CASE(test_Inertia) BOOST_CHECK(dynamic_params_inertia.isApprox(dynamic_params_log_cholesky, 1e-10)); // Convert Pseudo Inertia to dynamic parameters - PseudoInertia pseudo_inertia = PseudoInertia::FromMatrix(pseudo); + PseudoInertia pseudo_inertia = PseudoInertia::FromMatrix(pseudo_matrix); Inertia::Vector10 dynamic_params_pseudo_inertia = pseudo_inertia.toDynamicParameters(); // Compare dynamic parameters from Inertia and Pseudo Inertia @@ -806,7 +820,7 @@ BOOST_AUTO_TEST_CASE(test_Inertia) BOOST_CHECK(std::abs(jacobian.determinant()) > 1e-10); // Check physical consistency by positive definiteness of pseudo inertia - Eigen::SelfAdjointEigenSolver eigensolver(pseudo); + Eigen::SelfAdjointEigenSolver eigensolver(pseudo_matrix); BOOST_CHECK((eigensolver.eigenvalues().array() > 0).all()); // Test disp From 58cfe70e2366c0222367a526c271a65cd011f86c Mon Sep 17 00:00:00 2001 From: Simeon Nedelchev Date: Sat, 13 Jul 2024 15:04:57 +0300 Subject: [PATCH 016/104] Update include/pinocchio/spatial/inertia.hpp Co-authored-by: Joris Vaillant --- include/pinocchio/spatial/inertia.hpp | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/include/pinocchio/spatial/inertia.hpp b/include/pinocchio/spatial/inertia.hpp index 7a3c8c12a5..277bb8a45c 100644 --- a/include/pinocchio/spatial/inertia.hpp +++ b/include/pinocchio/spatial/inertia.hpp @@ -996,9 +996,11 @@ namespace pinocchio Scalar mass = dynamic_params[0]; Vector3 h = dynamic_params.template segment<3>(1); Matrix3 I_bar; - I_bar << dynamic_params[4], dynamic_params[5], dynamic_params[7], dynamic_params[5], - dynamic_params[6], dynamic_params[8], dynamic_params[7], dynamic_params[8], - dynamic_params[9]; + // clang-format off + I_bar << dynamic_params[4], dynamic_params[5], dynamic_params[7], + dynamic_params[5], dynamic_params[6], dynamic_params[8], + dynamic_params[7], dynamic_params[8], dynamic_params[9]; + // clang-format on Matrix3 sigma = 0.5 * I_bar.trace() * Matrix3::Identity() - I_bar; return PseudoInertiaTpl(mass, h, sigma); From 0340bf90e1617bd42ac48236f1bcedeadc85c6c7 Mon Sep 17 00:00:00 2001 From: simeon Date: Sun, 14 Jul 2024 14:56:50 +0300 Subject: [PATCH 017/104] exposed inertia transforms --- .../pinocchio/bindings/python/spatial/inertia.hpp | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/include/pinocchio/bindings/python/spatial/inertia.hpp b/include/pinocchio/bindings/python/spatial/inertia.hpp index ec829e5619..2725b7c05f 100644 --- a/include/pinocchio/bindings/python/spatial/inertia.hpp +++ b/include/pinocchio/bindings/python/spatial/inertia.hpp @@ -192,6 +192,21 @@ namespace pinocchio "Z axis. Assumes a uniform density.") .staticmethod("FromCapsule") + .def( + "FromPseudoInertia", &Inertia::FromPseudoInertia, bp::args("pseudo_inertia"), + "Returns the Inertia created from a pseudo inertia object.") + .staticmethod("FromPseudoInertia") + + .def( + "toPseudoInertia", &Inertia::toPseudoInertia, bp::arg("self"), + "Returns the pseudo inertia representation of the inertia.") + + .def( + "FromLogCholeskyParameters", &Inertia::FromLogCholeskyParameters, + bp::args("log_cholesky_parameters"), + "Returns the Inertia created from log Cholesky parameters.") + .staticmethod("FromLogCholeskyParameters") + .def("__array__", (Matrix6(Inertia::*)() const) & Inertia::matrix) .def( "__array__", &__array__, From 2a4efe9b3cb74464a0d4fa2183e183fed23741a0 Mon Sep 17 00:00:00 2001 From: simeon Date: Sun, 14 Jul 2024 15:17:05 +0300 Subject: [PATCH 018/104] exposed pseudo inertia --- .../bindings/python/spatial/inertia.hpp | 147 ++++++++++++++++++ 1 file changed, 147 insertions(+) diff --git a/include/pinocchio/bindings/python/spatial/inertia.hpp b/include/pinocchio/bindings/python/spatial/inertia.hpp index 2725b7c05f..b075e12458 100644 --- a/include/pinocchio/bindings/python/spatial/inertia.hpp +++ b/include/pinocchio/bindings/python/spatial/inertia.hpp @@ -19,6 +19,7 @@ #if EIGENPY_VERSION_AT_MOST(2, 8, 1) EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::Inertia) +EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::PseudoInertiaTpl) #endif namespace pinocchio @@ -310,6 +311,152 @@ namespace pinocchio }; // struct InertiaPythonVisitor + template + struct PseudoInertiaPythonVisitor + : public boost::python::def_visitor> + { + enum + { + Options = PseudoInertia::Options + }; + typedef typename PseudoInertia::Scalar Scalar; + typedef typename PseudoInertia::Vector3 Vector3; + typedef typename PseudoInertia::Matrix3 Matrix3; + typedef typename PseudoInertia::Vector10 Vector10; + typedef typename PseudoInertia::Matrix4 Matrix4; + typedef Eigen::Matrix VectorXs; + + public: + template + void visit(PyClass & cl) const + { + PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH + PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_SELF_ASSIGN_OVERLOADED + cl.def( + "__init__", + bp::make_constructor( + &PseudoInertiaPythonVisitor::makeFromMatrix, bp::default_call_policies(), + bp::args("pseudo_inertia_matrix")), + "Initialize from a 4x4 pseudo inertia matrix.") + + .def(bp::init<>(bp::arg("self"), "Default constructor.")) + .def(bp::init( + (bp::arg("self"), bp::arg("clone")), "Copy constructor")) + + .add_property( + "mass", &PseudoInertiaPythonVisitor::getMass, &PseudoInertiaPythonVisitor::setMass, + "Mass of the Pseudo Inertia.") + .add_property( + "h", + bp::make_function( + (typename PseudoInertia::Vector3 & (PseudoInertia::*)()) & PseudoInertia::h, + bp::return_internal_reference<>()), + &PseudoInertiaPythonVisitor::setH, "Vector part of the Pseudo Inertia.") + .add_property( + "sigma", &PseudoInertiaPythonVisitor::getSigma, &PseudoInertiaPythonVisitor::setSigma, + "Matrix part of the Pseudo Inertia.") + + .def( + "toMatrix", &PseudoInertia::toMatrix, bp::arg("self"), + "Returns the pseudo inertia as a 4x4 matrix.") + .def( + "toDynamicParameters", &PseudoInertia::toDynamicParameters, bp::arg("self"), + "Returns the dynamic parameters representation.") + .def( + "FromDynamicParameters", &PseudoInertia::template FromDynamicParameters, + bp::args("dynamic_parameters"), + "Builds a pseudo inertia matrix from a vector of dynamic parameters." + "\nThe parameters are given as dynamic_parameters = [m, h_x, h_y, h_z, I_{xx}, " + "I_{xy}, I_{yy}, I_{xz}, I_{yz}, I_{zz}]^T.") + .staticmethod("FromDynamicParameters") + + .def( + "FromMatrix", &PseudoInertia::FromMatrix, bp::args("pseudo_inertia_matrix"), + "Returns the Pseudo Inertia from a 4x4 matrix.") + .staticmethod("FromMatrix") + + .def( + "FromInertia", &PseudoInertia::FromInertia, bp::args("inertia"), + "Returns the Pseudo Inertia from an Inertia object.") + .staticmethod("FromInertia") + + .def("__array__", &PseudoInertia::toMatrix) + .def("__array__", &__array__) +#ifndef PINOCCHIO_PYTHON_NO_SERIALIZATION + .def_pickle(Pickle()) +#endif + ; + PINOCCHIO_COMPILER_DIAGNOSTIC_POP + } + + static Scalar getMass(const PseudoInertia & self) + { + return self.mass; + } + static void setMass(PseudoInertia & self, Scalar mass) + { + self.mass = mass; + } + + static void setH(PseudoInertia & self, const Vector3 & h) + { + self.h = h; + } + + static Matrix3 getSigma(const PseudoInertia & self) + { + return self.sigma; + } + static void setSigma(PseudoInertia & self, const Matrix3 & sigma) + { + self.sigma = sigma; + } + + static PseudoInertia * makeFromMatrix(const Matrix4 & pseudo_inertia_matrix) + { + return new PseudoInertia(PseudoInertia::FromMatrix(pseudo_inertia_matrix)); + } + + static void expose() + { +#if PY_MAJOR_VERSION == 3 && PY_MINOR_VERSION == 6 && EIGENPY_VERSION_AT_LEAST(2, 9, 0) + typedef PINOCCHIO_SHARED_PTR_HOLDER_TYPE(PseudoInertia) HolderType; +#else + typedef ::boost::python::detail::not_specified HolderType; +#endif + bp::class_( + "PseudoInertia", + "This class represents a pseudo inertia matrix and it is defined by its mass, vector " + "part, and 3x3 matrix part.\n\n" + "Supported operations ...", + bp::no_init) + .def(PseudoInertiaPythonVisitor()) + .def(CastVisitor()) + .def(CopyableVisitor()) + .def(PrintableVisitor()); + } + + private: + static Matrix4 __array__(const PseudoInertia & self, bp::object) + { + return self.toMatrix(); + } + + struct Pickle : bp::pickle_suite + { + static boost::python::tuple getinitargs(const PseudoInertia & pi) + { + return bp::make_tuple(pi.toMatrix()); + } + + static bool getstate_manages_dict() + { + return true; + } + }; + + }; // struct PseudoInertiaPythonVisitor + } // namespace python } // namespace pinocchio From e4200615c41bd40a79845f88bb91f2eaa3cb36f0 Mon Sep 17 00:00:00 2001 From: simeon Date: Sun, 14 Jul 2024 16:06:37 +0300 Subject: [PATCH 019/104] exposed log cholesky --- bindings/python/spatial/expose-inertia.cpp | 2 +- .../bindings/python/spatial/inertia.hpp | 109 ++++++++++++++++++ 2 files changed, 110 insertions(+), 1 deletion(-) diff --git a/bindings/python/spatial/expose-inertia.cpp b/bindings/python/spatial/expose-inertia.cpp index b2063c2dab..0bd8a6a8b1 100644 --- a/bindings/python/spatial/expose-inertia.cpp +++ b/bindings/python/spatial/expose-inertia.cpp @@ -1,4 +1,3 @@ -// // Copyright (c) 2015-2021 CNRS INRIA // @@ -17,6 +16,7 @@ namespace pinocchio void exposeInertia() { + // Expose Inertia class InertiaPythonVisitor::expose(); StdAlignedVectorPythonVisitor::expose("StdVec_Inertia"); #ifndef PINOCCHIO_PYTHON_NO_SERIALIZATION diff --git a/include/pinocchio/bindings/python/spatial/inertia.hpp b/include/pinocchio/bindings/python/spatial/inertia.hpp index b075e12458..3d640e81ec 100644 --- a/include/pinocchio/bindings/python/spatial/inertia.hpp +++ b/include/pinocchio/bindings/python/spatial/inertia.hpp @@ -20,6 +20,7 @@ #if EIGENPY_VERSION_AT_MOST(2, 8, 1) EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::Inertia) EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::PseudoInertiaTpl) +EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::LogCholeskyParametersTpl) #endif namespace pinocchio @@ -457,6 +458,114 @@ namespace pinocchio }; // struct PseudoInertiaPythonVisitor + template + struct LogCholeskyParametersPythonVisitor + : public boost::python::def_visitor> + { + enum + { + Options = LogCholeskyParameters::Options + }; + typedef typename LogCholeskyParameters::Scalar Scalar; + typedef typename LogCholeskyParameters::Vector10 Vector10; + typedef typename LogCholeskyParameters::Matrix10 Matrix10; + + public: + template + void visit(PyClass & cl) const + { + PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH + PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_SELF_ASSIGN_OVERLOADED + cl.def( + "__init__", + bp::make_constructor( + &LogCholeskyParametersPythonVisitor::makeFromVector, bp::default_call_policies(), + bp::args("log_cholesky_parameters")), + "Initialize from a 10-dimensional vector of log Cholesky parameters.") + + .def(bp::init<>(bp::arg("self"), "Default constructor.")) + .def(bp::init( + (bp::arg("self"), bp::arg("clone")), "Copy constructor")) + + .add_property( + "parameters", &LogCholeskyParametersPythonVisitor::getParameters, + &LogCholeskyParametersPythonVisitor::setParameters, "Log Cholesky parameters.") + + .def( + "toDynamicParameters", &LogCholeskyParameters::toDynamicParameters, bp::arg("self"), + "Returns the dynamic parameters representation.") + .def( + "toPseudoInertia", &LogCholeskyParameters::toPseudoInertia, bp::arg("self"), + "Returns the Pseudo Inertia representation.") + .def( + "toInertia", &LogCholeskyParameters::toInertia, bp::arg("self"), + "Returns the Inertia representation.") + .def( + "calculateJacobian", &LogCholeskyParameters::calculateJacobian, bp::arg("self"), + "Calculates the Jacobian of the log Cholesky parameters.") + + .def("__array__", &LogCholeskyParameters::toDynamicParameters) + .def("__array__", &__array__) +#ifndef PINOCCHIO_PYTHON_NO_SERIALIZATION + .def_pickle(Pickle()) +#endif + ; + PINOCCHIO_COMPILER_DIAGNOSTIC_POP + } + + static Vector10 getParameters(const LogCholeskyParameters & self) + { + return self.parameters; + } + static void setParameters(LogCholeskyParameters & self, const Vector10 & parameters) + { + self.parameters = parameters; + } + + static LogCholeskyParameters * makeFromVector(const Vector10 & log_cholesky_parameters) + { + return new LogCholeskyParameters(log_cholesky_parameters); + } + + static void expose() + { +#if PY_MAJOR_VERSION == 3 && PY_MINOR_VERSION == 6 && EIGENPY_VERSION_AT_LEAST(2, 9, 0) + typedef PINOCCHIO_SHARED_PTR_HOLDER_TYPE(LogCholeskyParameters) HolderType; +#else + typedef ::boost::python::detail::not_specified HolderType; +#endif + bp::class_( + "LogCholeskyParameters", + "This class represents log Cholesky parameters.\n\n" + "Supported operations ...", + bp::no_init) + .def(LogCholeskyParametersPythonVisitor()) + .def(CastVisitor()) + .def(CopyableVisitor()) + .def(PrintableVisitor()); + } + + private: + static Vector10 __array__(const LogCholeskyParameters & self, bp::object) + { + return self.toDynamicParameters(); + } + + struct Pickle : bp::pickle_suite + { + static boost::python::tuple getinitargs(const LogCholeskyParameters & lcp) + { + return bp::make_tuple(lcp.parameters); + } + + static bool getstate_manages_dict() + { + return true; + } + }; + + }; // struct LogCholeskyParametersPythonVisitor + } // namespace python } // namespace pinocchio From 3e104bafabb70369f4ff922ea46e543999dda2bb Mon Sep 17 00:00:00 2001 From: simeon Date: Sun, 14 Jul 2024 16:10:30 +0300 Subject: [PATCH 020/104] removed unecesarry comments --- bindings/python/spatial/expose-inertia.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/bindings/python/spatial/expose-inertia.cpp b/bindings/python/spatial/expose-inertia.cpp index 0bd8a6a8b1..b2063c2dab 100644 --- a/bindings/python/spatial/expose-inertia.cpp +++ b/bindings/python/spatial/expose-inertia.cpp @@ -1,3 +1,4 @@ +// // Copyright (c) 2015-2021 CNRS INRIA // @@ -16,7 +17,6 @@ namespace pinocchio void exposeInertia() { - // Expose Inertia class InertiaPythonVisitor::expose(); StdAlignedVectorPythonVisitor::expose("StdVec_Inertia"); #ifndef PINOCCHIO_PYTHON_NO_SERIALIZATION From 8e65a4f26c8e7d18ca7ab2cdf68a029bd4b0ddba Mon Sep 17 00:00:00 2001 From: Lev Kozlov Date: Mon, 30 Sep 2024 10:28:38 +0900 Subject: [PATCH 021/104] fix: update bindings --- .../bindings/python/spatial/inertia.hpp | 19 ++++++++----------- 1 file changed, 8 insertions(+), 11 deletions(-) diff --git a/include/pinocchio/bindings/python/spatial/inertia.hpp b/include/pinocchio/bindings/python/spatial/inertia.hpp index 3d640e81ec..a1dc00ce36 100644 --- a/include/pinocchio/bindings/python/spatial/inertia.hpp +++ b/include/pinocchio/bindings/python/spatial/inertia.hpp @@ -331,8 +331,6 @@ namespace pinocchio template void visit(PyClass & cl) const { - PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH - PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_SELF_ASSIGN_OVERLOADED cl.def( "__init__", bp::make_constructor( @@ -348,11 +346,8 @@ namespace pinocchio "mass", &PseudoInertiaPythonVisitor::getMass, &PseudoInertiaPythonVisitor::setMass, "Mass of the Pseudo Inertia.") .add_property( - "h", - bp::make_function( - (typename PseudoInertia::Vector3 & (PseudoInertia::*)()) & PseudoInertia::h, - bp::return_internal_reference<>()), - &PseudoInertiaPythonVisitor::setH, "Vector part of the Pseudo Inertia.") + "h", &PseudoInertiaPythonVisitor::getH, &PseudoInertiaPythonVisitor::setH, + "Vector part of the Pseudo Inertia.") .add_property( "sigma", &PseudoInertiaPythonVisitor::getSigma, &PseudoInertiaPythonVisitor::setSigma, "Matrix part of the Pseudo Inertia.") @@ -399,6 +394,10 @@ namespace pinocchio self.mass = mass; } + static Vector3 getH(const PseudoInertia & self) + { + return self.h; + } static void setH(PseudoInertia & self, const Vector3 & h) { self.h = h; @@ -447,7 +446,7 @@ namespace pinocchio { static boost::python::tuple getinitargs(const PseudoInertia & pi) { - return bp::make_tuple(pi.toMatrix()); + return bp::make_tuple(pi.mass, pi.h, pi.sigma); } static bool getstate_manages_dict() @@ -474,12 +473,10 @@ namespace pinocchio template void visit(PyClass & cl) const { - PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH - PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_SELF_ASSIGN_OVERLOADED cl.def( "__init__", bp::make_constructor( - &LogCholeskyParametersPythonVisitor::makeFromVector, bp::default_call_policies(), + &LogCholeskyParametersTpl, bp::default_call_policies(), bp::args("log_cholesky_parameters")), "Initialize from a 10-dimensional vector of log Cholesky parameters.") From a4315f8ba3907242382c524a1c49fa949bc65db9 Mon Sep 17 00:00:00 2001 From: Lev Kozlov Date: Mon, 30 Sep 2024 10:28:45 +0900 Subject: [PATCH 022/104] fix: formatting issues --- README.md | 34 +++--- include/pinocchio/spatial/inertia.hpp | 168 +++++++++++++------------- 2 files changed, 101 insertions(+), 101 deletions(-) diff --git a/README.md b/README.md index 61d45ccaf5..41b260d5e0 100644 --- a/README.md +++ b/README.md @@ -43,23 +43,23 @@ or via pip (currently only available on Linux): ## Table of contents -- [Table of contents](#table-of-contents) -- [Introducing Pinocchio 3](#introducing-pinocchio-3) -- [Pinocchio main features](#pinocchio-main-features) -- [Documentation](#documentation) -- [Examples](#examples) -- [Tutorials](#tutorials) -- [Pinocchio continuous integrations](#pinocchio-continuous-integrations) -- [Performances](#performances) -- [Ongoing developments](#ongoing-developments) -- [Installation](#installation) - - [ROS](#ros) -- [Visualization](#visualization) -- [Citing Pinocchio](#citing-pinocchio) -- [Questions and Issues](#questions-and-issues) -- [Credits](#credits) -- [Open-source projects relying on Pinocchio](#open-source-projects-relying-on-pinocchio) -- [Acknowledgments](#acknowledgments) + - [Table of contents](#table-of-contents) + - [Introducing Pinocchio 3](#introducing-pinocchio-3) + - [Pinocchio main features](#pinocchio-main-features) + - [Documentation](#documentation) + - [Examples](#examples) + - [Tutorials](#tutorials) + - [Pinocchio continuous integrations](#pinocchio-continuous-integrations) + - [Performances](#performances) + - [Ongoing developments](#ongoing-developments) + - [Installation](#installation) + - [ROS](#ros) + - [Visualization](#visualization) + - [Citing Pinocchio](#citing-pinocchio) + - [Questions and Issues](#questions-and-issues) + - [Credits](#credits) + - [Open-source projects relying on Pinocchio](#open-source-projects-relying-on-pinocchio) + - [Acknowledgments](#acknowledgments) ## Introducing Pinocchio 3 diff --git a/include/pinocchio/spatial/inertia.hpp b/include/pinocchio/spatial/inertia.hpp index 277bb8a45c..93baed61ef 100644 --- a/include/pinocchio/spatial/inertia.hpp +++ b/include/pinocchio/spatial/inertia.hpp @@ -1107,36 +1107,36 @@ namespace pinocchio using math::pow; // clang-format off - Vector10 dynamic_params; - - const Scalar alpha = parameters[0]; - const Scalar d1 = parameters[1]; - const Scalar d2 = parameters[2]; - const Scalar d3 = parameters[3]; - const Scalar s12 = parameters[4]; - const Scalar s23 = parameters[5]; - const Scalar s13 = parameters[6]; - const Scalar t1 = parameters[7]; - const Scalar t2 = parameters[8]; - const Scalar t3 = parameters[9]; - - const Scalar exp_d1 = exp(d1); - const Scalar exp_d2 = exp(d2); - const Scalar exp_d3 = exp(d3); - - dynamic_params[0] = 1; - dynamic_params[1] = t1; - dynamic_params[2] = t2; - dynamic_params[3] = t3; - dynamic_params[4] = pow(s23, 2) + pow(t2, 2) + pow(t3, 2) + pow(exp_d2, 2) + pow(exp_d3, 2); - dynamic_params[5] = -s12 * exp_d2 - s13 * s23 - t1 * t2; - dynamic_params[6] = pow(s12, 2) + pow(s13, 2) + pow(t1, 2) + pow(t3, 2) + pow(exp_d1, 2) + pow(exp_d3, 2); - dynamic_params[7] = -s13 * exp_d3 - t1 * t3; - dynamic_params[8] = -s23 * exp_d3 - t2 * t3; - dynamic_params[9] = pow(s12, 2) + pow(s13, 2) + pow(s23, 2) + pow(t1, 2) + pow(t2, 2) + pow(exp_d1, 2) + pow(exp_d2, 2); - - const Scalar exp_2_alpha = exp(2 * alpha); - dynamic_params *= exp_2_alpha; + Vector10 dynamic_params; + + const Scalar alpha = parameters[0]; + const Scalar d1 = parameters[1]; + const Scalar d2 = parameters[2]; + const Scalar d3 = parameters[3]; + const Scalar s12 = parameters[4]; + const Scalar s23 = parameters[5]; + const Scalar s13 = parameters[6]; + const Scalar t1 = parameters[7]; + const Scalar t2 = parameters[8]; + const Scalar t3 = parameters[9]; + + const Scalar exp_d1 = exp(d1); + const Scalar exp_d2 = exp(d2); + const Scalar exp_d3 = exp(d3); + + dynamic_params[0] = 1; + dynamic_params[1] = t1; + dynamic_params[2] = t2; + dynamic_params[3] = t3; + dynamic_params[4] = pow(s23, 2) + pow(t2, 2) + pow(t3, 2) + pow(exp_d2, 2) + pow(exp_d3, 2); + dynamic_params[5] = -s12 * exp_d2 - s13 * s23 - t1 * t2; + dynamic_params[6] = pow(s12, 2) + pow(s13, 2) + pow(t1, 2) + pow(t3, 2) + pow(exp_d1, 2) + pow(exp_d3, 2); + dynamic_params[7] = -s13 * exp_d3 - t1 * t3; + dynamic_params[8] = -s23 * exp_d3 - t2 * t3; + dynamic_params[9] = pow(s12, 2) + pow(s13, 2) + pow(s23, 2) + pow(t1, 2) + pow(t2, 2) + pow(exp_d1, 2) + pow(exp_d2, 2); + + const Scalar exp_2_alpha = exp(2 * alpha); + dynamic_params *= exp_2_alpha; // clang-format on return dynamic_params; @@ -1193,60 +1193,60 @@ namespace pinocchio const Scalar exp_d3 = exp(d3); // clang-format off - jacobian(0, 0) = 2 * exp_2alpha; - - jacobian(1, 0) = 2 * t1 * exp_2alpha; - jacobian(1, 7) = exp_2alpha; - - jacobian(2, 0) = 2 * t2 * exp_2alpha; - jacobian(2, 8) = exp_2alpha; - - jacobian(3, 0) = 2 * t3 * exp_2alpha; - jacobian(3, 9) = exp_2alpha; - - jacobian(4, 0) = 2 * (pow(s23, 2) + pow(t2, 2) + pow(t3, 2) + exp_2d2 + exp_2d3) * exp_2alpha; - jacobian(4, 2) = 2 * exp_2alpha * exp_2d2; - jacobian(4, 3) = 2 * exp_2alpha * exp_2d3; - jacobian(4, 5) = 2 * s23 * exp_2alpha; - jacobian(4, 8) = 2 * t2 * exp_2alpha; - jacobian(4, 9) = 2 * t3 * exp_2alpha; - - jacobian(5, 0) = -2 * (s12 * exp_d2 + s13 * s23 + t1 * t2) * exp_2alpha; - jacobian(5, 2) = -s12 * exp_2alpha * exp_d2; - jacobian(5, 4) = -exp_2alpha * exp_d2; - jacobian(5, 5) = -s13 * exp_2alpha; - jacobian(5, 6) = -s23 * exp_2alpha; - jacobian(5, 7) = -t2 * exp_2alpha; - jacobian(5, 8) = -t1 * exp_2alpha; - - jacobian(6, 0) = 2 * (pow(s12, 2) + pow(s13, 2) + pow(t1, 2) + pow(t3, 2) + exp_2d1 + exp_2d3) * exp_2alpha; - jacobian(6, 1) = 2 * exp_2alpha * exp_2d1; - jacobian(6, 3) = 2 * exp_2alpha * exp_2d3; - jacobian(6, 4) = 2 * s12 * exp_2alpha; - jacobian(6, 6) = 2 * s13 * exp_2alpha; - jacobian(6, 7) = 2 * t1 * exp_2alpha; - jacobian(6, 9) = 2 * t3 * exp_2alpha; - - jacobian(7, 0) = -2 * (s13 * exp_d3 + t1 * t3) * exp_2alpha; - jacobian(7, 3) = -s13 * exp_2alpha * exp_d3; - jacobian(7, 6) = -exp_2alpha * exp_d3; - jacobian(7, 7) = -t3 * exp_2alpha; - jacobian(7, 9) = -t1 * exp_2alpha; - - jacobian(8, 0) = -2 * (s23 * exp_d3 + t2 * t3) * exp_2alpha; - jacobian(8, 3) = -s23 * exp_2alpha * exp_d3; - jacobian(8, 5) = -exp_2alpha * exp_d3; - jacobian(8, 8) = -t3 * exp_2alpha; - jacobian(8, 9) = -t2 * exp_2alpha; - - jacobian(9, 0) = 2 * (pow(s12, 2) + pow(s13, 2) + pow(s23, 2) + pow(t1, 2) + pow(t2, 2) + exp_2d1 + exp_2d2) * exp_2alpha; - jacobian(9, 1) = 2 * exp_2alpha * exp_2d1; - jacobian(9, 2) = 2 * exp_2alpha * exp_2d2; - jacobian(9, 4) = 2 * s12 * exp_2alpha; - jacobian(9, 5) = 2 * s23 * exp_2alpha; - jacobian(9, 6) = 2 * s13 * exp_2alpha; - jacobian(9, 7) = 2 * t1 * exp_2alpha; - jacobian(9, 8) = 2 * t2 * exp_2alpha; + jacobian(0, 0) = 2 * exp_2alpha; + + jacobian(1, 0) = 2 * t1 * exp_2alpha; + jacobian(1, 7) = exp_2alpha; + + jacobian(2, 0) = 2 * t2 * exp_2alpha; + jacobian(2, 8) = exp_2alpha; + + jacobian(3, 0) = 2 * t3 * exp_2alpha; + jacobian(3, 9) = exp_2alpha; + + jacobian(4, 0) = 2 * (pow(s23, 2) + pow(t2, 2) + pow(t3, 2) + exp_2d2 + exp_2d3) * exp_2alpha; + jacobian(4, 2) = 2 * exp_2alpha * exp_2d2; + jacobian(4, 3) = 2 * exp_2alpha * exp_2d3; + jacobian(4, 5) = 2 * s23 * exp_2alpha; + jacobian(4, 8) = 2 * t2 * exp_2alpha; + jacobian(4, 9) = 2 * t3 * exp_2alpha; + + jacobian(5, 0) = -2 * (s12 * exp_d2 + s13 * s23 + t1 * t2) * exp_2alpha; + jacobian(5, 2) = -s12 * exp_2alpha * exp_d2; + jacobian(5, 4) = -exp_2alpha * exp_d2; + jacobian(5, 5) = -s13 * exp_2alpha; + jacobian(5, 6) = -s23 * exp_2alpha; + jacobian(5, 7) = -t2 * exp_2alpha; + jacobian(5, 8) = -t1 * exp_2alpha; + + jacobian(6, 0) = 2 * (pow(s12, 2) + pow(s13, 2) + pow(t1, 2) + pow(t3, 2) + exp_2d1 + exp_2d3) * exp_2alpha; + jacobian(6, 1) = 2 * exp_2alpha * exp_2d1; + jacobian(6, 3) = 2 * exp_2alpha * exp_2d3; + jacobian(6, 4) = 2 * s12 * exp_2alpha; + jacobian(6, 6) = 2 * s13 * exp_2alpha; + jacobian(6, 7) = 2 * t1 * exp_2alpha; + jacobian(6, 9) = 2 * t3 * exp_2alpha; + + jacobian(7, 0) = -2 * (s13 * exp_d3 + t1 * t3) * exp_2alpha; + jacobian(7, 3) = -s13 * exp_2alpha * exp_d3; + jacobian(7, 6) = -exp_2alpha * exp_d3; + jacobian(7, 7) = -t3 * exp_2alpha; + jacobian(7, 9) = -t1 * exp_2alpha; + + jacobian(8, 0) = -2 * (s23 * exp_d3 + t2 * t3) * exp_2alpha; + jacobian(8, 3) = -s23 * exp_2alpha * exp_d3; + jacobian(8, 5) = -exp_2alpha * exp_d3; + jacobian(8, 8) = -t3 * exp_2alpha; + jacobian(8, 9) = -t2 * exp_2alpha; + + jacobian(9, 0) = 2 * (pow(s12, 2) + pow(s13, 2) + pow(s23, 2) + pow(t1, 2) + pow(t2, 2) + exp_2d1 + exp_2d2) * exp_2alpha; + jacobian(9, 1) = 2 * exp_2alpha * exp_2d1; + jacobian(9, 2) = 2 * exp_2alpha * exp_2d2; + jacobian(9, 4) = 2 * s12 * exp_2alpha; + jacobian(9, 5) = 2 * s23 * exp_2alpha; + jacobian(9, 6) = 2 * s13 * exp_2alpha; + jacobian(9, 7) = 2 * t1 * exp_2alpha; + jacobian(9, 8) = 2 * t2 * exp_2alpha; // clang-format on return jacobian; From 9c2cfbfb85cb835413af895d1a64a7b724e65b78 Mon Sep 17 00:00:00 2001 From: Lev Kozlov Date: Mon, 30 Sep 2024 11:57:47 +0900 Subject: [PATCH 023/104] feat: expose pseudo inertia and logcholesky --- bindings/python/spatial/expose-inertia.cpp | 2 ++ include/pinocchio/bindings/python/context/generic.hpp | 2 ++ unittest/python/bindings_inertia.py | 3 +++ 3 files changed, 7 insertions(+) diff --git a/bindings/python/spatial/expose-inertia.cpp b/bindings/python/spatial/expose-inertia.cpp index b2063c2dab..2671b796ff 100644 --- a/bindings/python/spatial/expose-inertia.cpp +++ b/bindings/python/spatial/expose-inertia.cpp @@ -18,6 +18,8 @@ namespace pinocchio void exposeInertia() { InertiaPythonVisitor::expose(); + PseudoInertiaPythonVisitor::expose(); + LogCholeskyParametersPythonVisitor::expose(); StdAlignedVectorPythonVisitor::expose("StdVec_Inertia"); #ifndef PINOCCHIO_PYTHON_NO_SERIALIZATION serialize::vector_type>(); diff --git a/include/pinocchio/bindings/python/context/generic.hpp b/include/pinocchio/bindings/python/context/generic.hpp index 04c7fd3f4b..9f3eb37616 100644 --- a/include/pinocchio/bindings/python/context/generic.hpp +++ b/include/pinocchio/bindings/python/context/generic.hpp @@ -54,6 +54,8 @@ namespace pinocchio typedef MotionTpl Motion; typedef ForceTpl Force; typedef InertiaTpl Inertia; + typedef PseudoInertiaTpl PseudoInertia; + typedef LogCholeskyParametersTpl LogCholeskyParameters; typedef Symmetric3Tpl Symmetric3; // Multibody diff --git a/unittest/python/bindings_inertia.py b/unittest/python/bindings_inertia.py index 3fb9148767..1bdf606508 100644 --- a/unittest/python/bindings_inertia.py +++ b/unittest/python/bindings_inertia.py @@ -113,6 +113,9 @@ def test_dynamic_parameters(self): I2 = pin.Inertia.FromDynamicParameters(v) self.assertApprox(I2, In) + # TODO: add test for PseudoInverseMatrix + # TODO: add test for LogCholeskyParameters + def test_array(self): In = pin.Inertia.Random() I_array = np.array(In) From d16b0a289e592ba0ac4dddd753d297cd838dd8f6 Mon Sep 17 00:00:00 2001 From: Lev Kozlov Date: Mon, 30 Sep 2024 12:04:03 +0900 Subject: [PATCH 024/104] fix: update codacy --- include/pinocchio/spatial/inertia.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/include/pinocchio/spatial/inertia.hpp b/include/pinocchio/spatial/inertia.hpp index 93baed61ef..2ec6ff038a 100644 --- a/include/pinocchio/spatial/inertia.hpp +++ b/include/pinocchio/spatial/inertia.hpp @@ -1093,7 +1093,7 @@ namespace pinocchio * @brief Constructor for LogCholeskyParametersTpl. * @param log_cholesky A 10-dimensional vector of log Cholesky parameters. */ - LogCholeskyParametersTpl(const Vector10 & log_cholesky) + explicit LogCholeskyParametersTpl(const Vector10 & log_cholesky) : parameters(log_cholesky) { } From 565ae75d2b397cd55e0e6e36292d70757eef4d76 Mon Sep 17 00:00:00 2001 From: Lev Kozlov Date: Mon, 30 Sep 2024 12:20:37 +0900 Subject: [PATCH 025/104] fix: update changelog --- CHANGELOG.md | 1 + 1 file changed, 1 insertion(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index 47bd9861d1..6341f1cfb3 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -14,6 +14,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/). - Add compatibility with NumPy 2 `__array__` API ([#2436](https://github.com/stack-of-tasks/pinocchio/pull/2436)) - Added argument to let users decide of root joint name when parsing models (urdf, mjcf, sdf) ([#2402](https://github.com/stack-of-tasks/pinocchio/pull/2402)) - Allow use of `pathlib.Path | str` for paths in python bindings ([#2431](https://github.com/stack-of-tasks/pinocchio/pull/2431)) +- Add Pseudo inertia and Log-cholesky parametrization ([#2296](https://github.com/stack-of-tasks/pinocchio/pull/2296)) ### Fixed - Fix linkage of Boost.Serialization on Windows ([#2400](https://github.com/stack-of-tasks/pinocchio/pull/2400)) From f48a0ae4f43fb8eb608ff27795ae7b5bc07e2e67 Mon Sep 17 00:00:00 2001 From: Lev Kozlov Date: Mon, 30 Sep 2024 22:31:49 +0900 Subject: [PATCH 026/104] fix: update python bindings for pseudo inertia and logcholesky --- .../bindings/python/spatial/inertia.hpp | 37 ++++--------------- include/pinocchio/spatial/inertia.hpp | 15 +++++++- 2 files changed, 20 insertions(+), 32 deletions(-) diff --git a/include/pinocchio/bindings/python/spatial/inertia.hpp b/include/pinocchio/bindings/python/spatial/inertia.hpp index a1dc00ce36..6b1f963c62 100644 --- a/include/pinocchio/bindings/python/spatial/inertia.hpp +++ b/include/pinocchio/bindings/python/spatial/inertia.hpp @@ -331,17 +331,12 @@ namespace pinocchio template void visit(PyClass & cl) const { - cl.def( - "__init__", - bp::make_constructor( - &PseudoInertiaPythonVisitor::makeFromMatrix, bp::default_call_policies(), - bp::args("pseudo_inertia_matrix")), - "Initialize from a 4x4 pseudo inertia matrix.") - - .def(bp::init<>(bp::arg("self"), "Default constructor.")) + cl.def(bp::init( + (bp::arg("self"), bp::arg("mass"), bp::arg("h"), bp::arg("sigma")), + "Initialize from mass, vector part of the pseudo inertia and matrix part of the " + "pseudo inertia.")) .def(bp::init( (bp::arg("self"), bp::arg("clone")), "Copy constructor")) - .add_property( "mass", &PseudoInertiaPythonVisitor::getMass, &PseudoInertiaPythonVisitor::setMass, "Mass of the Pseudo Inertia.") @@ -359,7 +354,7 @@ namespace pinocchio "toDynamicParameters", &PseudoInertia::toDynamicParameters, bp::arg("self"), "Returns the dynamic parameters representation.") .def( - "FromDynamicParameters", &PseudoInertia::template FromDynamicParameters, + "FromDynamicParameters", &PseudoInertia::FromDynamicParameters, bp::args("dynamic_parameters"), "Builds a pseudo inertia matrix from a vector of dynamic parameters." "\nThe parameters are given as dynamic_parameters = [m, h_x, h_y, h_z, I_{xx}, " @@ -412,11 +407,6 @@ namespace pinocchio self.sigma = sigma; } - static PseudoInertia * makeFromMatrix(const Matrix4 & pseudo_inertia_matrix) - { - return new PseudoInertia(PseudoInertia::FromMatrix(pseudo_inertia_matrix)); - } - static void expose() { #if PY_MAJOR_VERSION == 3 && PY_MINOR_VERSION == 6 && EIGENPY_VERSION_AT_LEAST(2, 9, 0) @@ -431,7 +421,6 @@ namespace pinocchio "Supported operations ...", bp::no_init) .def(PseudoInertiaPythonVisitor()) - .def(CastVisitor()) .def(CopyableVisitor()) .def(PrintableVisitor()); } @@ -473,14 +462,7 @@ namespace pinocchio template void visit(PyClass & cl) const { - cl.def( - "__init__", - bp::make_constructor( - &LogCholeskyParametersTpl, bp::default_call_policies(), - bp::args("log_cholesky_parameters")), - "Initialize from a 10-dimensional vector of log Cholesky parameters.") - - .def(bp::init<>(bp::arg("self"), "Default constructor.")) + cl.def(bp::init((bp::arg("self"), bp::arg("log_cholesky_parameters")))) .def(bp::init( (bp::arg("self"), bp::arg("clone")), "Copy constructor")) @@ -519,11 +501,6 @@ namespace pinocchio self.parameters = parameters; } - static LogCholeskyParameters * makeFromVector(const Vector10 & log_cholesky_parameters) - { - return new LogCholeskyParameters(log_cholesky_parameters); - } - static void expose() { #if PY_MAJOR_VERSION == 3 && PY_MINOR_VERSION == 6 && EIGENPY_VERSION_AT_LEAST(2, 9, 0) @@ -537,9 +514,9 @@ namespace pinocchio "Supported operations ...", bp::no_init) .def(LogCholeskyParametersPythonVisitor()) - .def(CastVisitor()) .def(CopyableVisitor()) .def(PrintableVisitor()); + // .def(CastVisitor()) } private: diff --git a/include/pinocchio/spatial/inertia.hpp b/include/pinocchio/spatial/inertia.hpp index 2ec6ff038a..bcc08e1f94 100644 --- a/include/pinocchio/spatial/inertia.hpp +++ b/include/pinocchio/spatial/inertia.hpp @@ -939,9 +939,14 @@ namespace pinocchio * for physically consistent inertial parameter identification: A statistical perspective on the * mass distribution." IEEE Robotics and Automation Letters 3.1 (2017): 60-67. */ - template + template struct PseudoInertiaTpl { + typedef _Scalar Scalar; + enum + { + Options = _Options, + }; typedef Eigen::Matrix Matrix4; typedef Eigen::Matrix Vector3; typedef Eigen::Matrix Matrix3; @@ -991,6 +996,7 @@ namespace pinocchio * @param dynamic_params A 10-dimensional vector of dynamic parameters. * @return A PseudoInertiaTpl object. */ + // FIXME: for InertiaTpl this is templated on the Vector10 type static PseudoInertiaTpl FromDynamicParameters(const Vector10 & dynamic_params) { Scalar mass = dynamic_params[0]; @@ -1081,9 +1087,14 @@ namespace pinocchio * - Rucker, Caleb, and Patrick M. Wensing. "Smooth parameterization of rigid-body inertia." * IEEE Robotics and Automation Letters 7.2 (2022): 2771-2778. */ - template + template struct LogCholeskyParametersTpl { + typedef _Scalar Scalar; + enum + { + Options = _Options, + }; typedef Eigen::Matrix Vector10; typedef Eigen::Matrix Matrix10; typedef PseudoInertiaTpl PseudoInertia; From 3bf481bd0bc3362c6064c9e8e9085ed08520a1c6 Mon Sep 17 00:00:00 2001 From: Lev Kozlov Date: Mon, 30 Sep 2024 23:56:46 +0900 Subject: [PATCH 027/104] fix: add proxy `toDynamicParameters` --- .../bindings/python/spatial/inertia.hpp | 18 ++++++++++++++---- 1 file changed, 14 insertions(+), 4 deletions(-) diff --git a/include/pinocchio/bindings/python/spatial/inertia.hpp b/include/pinocchio/bindings/python/spatial/inertia.hpp index 6b1f963c62..51207b3057 100644 --- a/include/pinocchio/bindings/python/spatial/inertia.hpp +++ b/include/pinocchio/bindings/python/spatial/inertia.hpp @@ -351,8 +351,8 @@ namespace pinocchio "toMatrix", &PseudoInertia::toMatrix, bp::arg("self"), "Returns the pseudo inertia as a 4x4 matrix.") .def( - "toDynamicParameters", &PseudoInertia::toDynamicParameters, bp::arg("self"), - "Returns the dynamic parameters representation.") + "toDynamicParameters", &PseudoInertiaPythonVisitor::toDynamicParameters_proxy, + bp::arg("self"), "Returns the dynamic parameters representation.") .def( "FromDynamicParameters", &PseudoInertia::FromDynamicParameters, bp::args("dynamic_parameters"), @@ -407,6 +407,11 @@ namespace pinocchio self.sigma = sigma; } + static VectorXs toDynamicParameters_proxy(const PseudoInertia & self) + { + return self.toDynamicParameters(); + } + static void expose() { #if PY_MAJOR_VERSION == 3 && PY_MINOR_VERSION == 6 && EIGENPY_VERSION_AT_LEAST(2, 9, 0) @@ -471,8 +476,8 @@ namespace pinocchio &LogCholeskyParametersPythonVisitor::setParameters, "Log Cholesky parameters.") .def( - "toDynamicParameters", &LogCholeskyParameters::toDynamicParameters, bp::arg("self"), - "Returns the dynamic parameters representation.") + "toDynamicParameters", &LogCholeskyParametersPythonVisitor::toDynamicParameters_proxy, + bp::arg("self"), "Returns the dynamic parameters representation.") .def( "toPseudoInertia", &LogCholeskyParameters::toPseudoInertia, bp::arg("self"), "Returns the Pseudo Inertia representation.") @@ -501,6 +506,11 @@ namespace pinocchio self.parameters = parameters; } + static VectorXs toDynamicParameters_proxy(const LogCholeskyParameters & self) + { + return self.toDynamicParameters(); + } + static void expose() { #if PY_MAJOR_VERSION == 3 && PY_MINOR_VERSION == 6 && EIGENPY_VERSION_AT_LEAST(2, 9, 0) From 30cb5033aabd7051d7dea386c0d7981bce73d77c Mon Sep 17 00:00:00 2001 From: Lev Kozlov Date: Tue, 1 Oct 2024 11:11:19 +0900 Subject: [PATCH 028/104] fix: update spatial to work well with bindings --- .../bindings/python/spatial/inertia.hpp | 17 ++++++++++++----- include/pinocchio/spatial/inertia.hpp | 6 ++++-- 2 files changed, 16 insertions(+), 7 deletions(-) diff --git a/include/pinocchio/bindings/python/spatial/inertia.hpp b/include/pinocchio/bindings/python/spatial/inertia.hpp index 51207b3057..de62e42d45 100644 --- a/include/pinocchio/bindings/python/spatial/inertia.hpp +++ b/include/pinocchio/bindings/python/spatial/inertia.hpp @@ -354,7 +354,7 @@ namespace pinocchio "toDynamicParameters", &PseudoInertiaPythonVisitor::toDynamicParameters_proxy, bp::arg("self"), "Returns the dynamic parameters representation.") .def( - "FromDynamicParameters", &PseudoInertia::FromDynamicParameters, + "FromDynamicParameters", &PseudoInertia::template FromDynamicParameters, bp::args("dynamic_parameters"), "Builds a pseudo inertia matrix from a vector of dynamic parameters." "\nThe parameters are given as dynamic_parameters = [m, h_x, h_y, h_z, I_{xx}, " @@ -462,12 +462,14 @@ namespace pinocchio typedef typename LogCholeskyParameters::Scalar Scalar; typedef typename LogCholeskyParameters::Vector10 Vector10; typedef typename LogCholeskyParameters::Matrix10 Matrix10; + typedef Eigen::Matrix VectorXs; + typedef Eigen::Matrix MatrixXs; public: template void visit(PyClass & cl) const { - cl.def(bp::init((bp::arg("self"), bp::arg("log_cholesky_parameters")))) + cl.def(bp::init((bp::arg("self"), bp::arg("log_cholesky_parameters")))) .def(bp::init( (bp::arg("self"), bp::arg("clone")), "Copy constructor")) @@ -485,8 +487,8 @@ namespace pinocchio "toInertia", &LogCholeskyParameters::toInertia, bp::arg("self"), "Returns the Inertia representation.") .def( - "calculateJacobian", &LogCholeskyParameters::calculateJacobian, bp::arg("self"), - "Calculates the Jacobian of the log Cholesky parameters.") + "calculateJacobian", &LogCholeskyParametersPythonVisitor::calculateJacobian_proxy, + bp::arg("self"), "Calculates the Jacobian of the log Cholesky parameters.") .def("__array__", &LogCholeskyParameters::toDynamicParameters) .def("__array__", &__array__) @@ -497,7 +499,7 @@ namespace pinocchio PINOCCHIO_COMPILER_DIAGNOSTIC_POP } - static Vector10 getParameters(const LogCholeskyParameters & self) + static VectorXs getParameters(const LogCholeskyParameters & self) { return self.parameters; } @@ -511,6 +513,11 @@ namespace pinocchio return self.toDynamicParameters(); } + static MatrixXs calculateJacobian_proxy(const LogCholeskyParameters & self) + { + return self.calculateJacobian(); + } + static void expose() { #if PY_MAJOR_VERSION == 3 && PY_MINOR_VERSION == 6 && EIGENPY_VERSION_AT_LEAST(2, 9, 0) diff --git a/include/pinocchio/spatial/inertia.hpp b/include/pinocchio/spatial/inertia.hpp index bcc08e1f94..229d0d40b0 100644 --- a/include/pinocchio/spatial/inertia.hpp +++ b/include/pinocchio/spatial/inertia.hpp @@ -996,9 +996,11 @@ namespace pinocchio * @param dynamic_params A 10-dimensional vector of dynamic parameters. * @return A PseudoInertiaTpl object. */ - // FIXME: for InertiaTpl this is templated on the Vector10 type - static PseudoInertiaTpl FromDynamicParameters(const Vector10 & dynamic_params) + template + static PseudoInertiaTpl + FromDynamicParameters(const Eigen::MatrixBase & dynamic_params) { + PINOCCHIO_ASSERT_MATRIX_SPECIFIC_SIZE(Vector10Like, dynamic_params, 10, 1); Scalar mass = dynamic_params[0]; Vector3 h = dynamic_params.template segment<3>(1); Matrix3 I_bar; From f8bcf1e868c2572e21452d5d17a8a227fe9d06e3 Mon Sep 17 00:00:00 2001 From: Lev Kozlov Date: Tue, 1 Oct 2024 11:11:41 +0900 Subject: [PATCH 029/104] test: inertia parametrization --- unittest/python/bindings_inertia.py | 64 ++++++++++++++++++++++++++++- 1 file changed, 62 insertions(+), 2 deletions(-) diff --git a/unittest/python/bindings_inertia.py b/unittest/python/bindings_inertia.py index 1bdf606508..c8487c9c82 100644 --- a/unittest/python/bindings_inertia.py +++ b/unittest/python/bindings_inertia.py @@ -113,8 +113,68 @@ def test_dynamic_parameters(self): I2 = pin.Inertia.FromDynamicParameters(v) self.assertApprox(I2, In) - # TODO: add test for PseudoInverseMatrix - # TODO: add test for LogCholeskyParameters + def test_pseudo_inertia(self): + In = pin.Inertia.Random() + + pseudo = In.toPseudoInertia() + + # test accessing mass, h, sigma + self.assertApprox(pseudo.mass, In.mass) + self.assertApprox(pseudo.h, In.mass * In.lever) + pseudo.mass, pseudo.h, pseudo.sigma + + # test toMatrix + _ = pseudo.toMatrix() + + # test toDynamicParameters + params = pseudo.toDynamicParameters() + + # test fromDynamicParameters + pseudo2 = pin.PseudoInertia.FromDynamicParameters(params) + self.assertApprox(pseudo.mass, pseudo2.mass) + self.assertApprox(pseudo.h, pseudo2.h) + self.assertApprox(pseudo.sigma, pseudo2.sigma) + + # test fromMatrix + pseudo3 = pin.PseudoInertia.FromMatrix(pseudo.toMatrix()) + self.assertApprox(pseudo.mass, pseudo3.mass) + self.assertApprox(pseudo.h, pseudo3.h) + self.assertApprox(pseudo.sigma, pseudo3.sigma) + + # test fromInertia + pseudo4 = pin.PseudoInertia.FromInertia(In) + self.assertApprox(pseudo.mass, pseudo4.mass) + self.assertApprox(pseudo.h, pseudo4.h) + self.assertApprox(pseudo.sigma, pseudo4.sigma) + + # test from PseudoInertia + pin.PseudoInertia(pseudo) + + def test_log_cholesky(self): + log_cholesky = pin.LogCholeskyParameters(np.random.randn(10)) + In = pin.Inertia.FromLogCholeskyParameters(log_cholesky) + + # test accessing parameters + log_cholesky.parameters + + # test toDynamicParameters + params = log_cholesky.toDynamicParameters() + params2 = In.toDynamicParameters() + self.assertApprox(params, params2) + + # test toPseudoInertia + pseudo = log_cholesky.toPseudoInertia() + pseudo2 = In.toPseudoInertia() + self.assertApprox(pseudo.mass, pseudo2.mass) + self.assertApprox(pseudo.h, pseudo2.h) + self.assertApprox(pseudo.sigma, pseudo2.sigma) + + # test toInertia + In2 = log_cholesky.toInertia() + self.assertApprox(In, In2) + + # test calculateJacobian + log_cholesky.calculateJacobian() def test_array(self): In = pin.Inertia.Random() From 743a9591bf676920c34d94db2feae7cd2fa90d76 Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Thu, 3 Oct 2024 10:32:11 +0200 Subject: [PATCH 030/104] python: Remove compiler diagnostic pragma --- include/pinocchio/bindings/python/spatial/inertia.hpp | 5 ----- 1 file changed, 5 deletions(-) diff --git a/include/pinocchio/bindings/python/spatial/inertia.hpp b/include/pinocchio/bindings/python/spatial/inertia.hpp index de62e42d45..181d5cc34e 100644 --- a/include/pinocchio/bindings/python/spatial/inertia.hpp +++ b/include/pinocchio/bindings/python/spatial/inertia.hpp @@ -51,8 +51,6 @@ namespace pinocchio void visit(PyClass & cl) const { static const Scalar dummy_precision = Eigen::NumTraits::dummy_precision(); - PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH - PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_SELF_ASSIGN_OVERLOADED cl.def( "__init__", bp::make_constructor( @@ -217,7 +215,6 @@ namespace pinocchio .def_pickle(Pickle()) #endif ; - PINOCCHIO_COMPILER_DIAGNOSTIC_POP } static Scalar getMass(const Inertia & self) @@ -377,7 +374,6 @@ namespace pinocchio .def_pickle(Pickle()) #endif ; - PINOCCHIO_COMPILER_DIAGNOSTIC_POP } static Scalar getMass(const PseudoInertia & self) @@ -496,7 +492,6 @@ namespace pinocchio .def_pickle(Pickle()) #endif ; - PINOCCHIO_COMPILER_DIAGNOSTIC_POP } static VectorXs getParameters(const LogCholeskyParameters & self) From c5ba2fb277061e55f6f3984811c60334ac4e82e8 Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Thu, 3 Oct 2024 10:36:05 +0200 Subject: [PATCH 031/104] python add PseudoInertia::toInertia binding --- include/pinocchio/bindings/python/spatial/inertia.hpp | 3 +++ unittest/python/bindings_inertia.py | 3 +++ 2 files changed, 6 insertions(+) diff --git a/include/pinocchio/bindings/python/spatial/inertia.hpp b/include/pinocchio/bindings/python/spatial/inertia.hpp index 181d5cc34e..5edc7a7e88 100644 --- a/include/pinocchio/bindings/python/spatial/inertia.hpp +++ b/include/pinocchio/bindings/python/spatial/inertia.hpp @@ -350,6 +350,9 @@ namespace pinocchio .def( "toDynamicParameters", &PseudoInertiaPythonVisitor::toDynamicParameters_proxy, bp::arg("self"), "Returns the dynamic parameters representation.") + .def( + "toInertia", &PseudoInertia::toInertia, bp::arg("self"), + "Returns the inertia representation.") .def( "FromDynamicParameters", &PseudoInertia::template FromDynamicParameters, bp::args("dynamic_parameters"), diff --git a/unittest/python/bindings_inertia.py b/unittest/python/bindings_inertia.py index c8487c9c82..c5c8d2e083 100644 --- a/unittest/python/bindings_inertia.py +++ b/unittest/python/bindings_inertia.py @@ -147,6 +147,9 @@ def test_pseudo_inertia(self): self.assertApprox(pseudo.h, pseudo4.h) self.assertApprox(pseudo.sigma, pseudo4.sigma) + # test toInertia + self.assertApprox(pseudo4.toInertia(), In) + # test from PseudoInertia pin.PseudoInertia(pseudo) From 9e15fdb7a7bc467286ffaa4dd4bcf4eb435a9f1a Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Thu, 3 Oct 2024 10:54:53 +0200 Subject: [PATCH 032/104] python: Add cast method to PseudoInertia and LogCholeskyParameters --- .../bindings/python/spatial/inertia.hpp | 10 +++++++--- include/pinocchio/spatial/inertia.hpp | 16 ++++++++++++++++ 2 files changed, 23 insertions(+), 3 deletions(-) diff --git a/include/pinocchio/bindings/python/spatial/inertia.hpp b/include/pinocchio/bindings/python/spatial/inertia.hpp index 5edc7a7e88..4eb0924a0a 100644 --- a/include/pinocchio/bindings/python/spatial/inertia.hpp +++ b/include/pinocchio/bindings/python/spatial/inertia.hpp @@ -426,7 +426,9 @@ namespace pinocchio bp::no_init) .def(PseudoInertiaPythonVisitor()) .def(CopyableVisitor()) - .def(PrintableVisitor()); + .def(PrintableVisitor()) + .def(CastVisitor()) + .def(ExposeConstructorByCastVisitor()); } private: @@ -530,8 +532,10 @@ namespace pinocchio bp::no_init) .def(LogCholeskyParametersPythonVisitor()) .def(CopyableVisitor()) - .def(PrintableVisitor()); - // .def(CastVisitor()) + .def(PrintableVisitor()) + .def(CastVisitor()) + .def(ExposeConstructorByCastVisitor< + LogCholeskyParameters, ::pinocchio::LogCholeskyParameters>()); } private: diff --git a/include/pinocchio/spatial/inertia.hpp b/include/pinocchio/spatial/inertia.hpp index 229d0d40b0..0e89bf1898 100644 --- a/include/pinocchio/spatial/inertia.hpp +++ b/include/pinocchio/spatial/inertia.hpp @@ -1067,6 +1067,15 @@ namespace pinocchio return FromDynamicParameters(dynamic_params); } + /// \returns An expression of *this with the Scalar type casted to NewScalar. + template + PseudoInertiaTpl cast() const + { + return PseudoInertiaTpl( + pinocchio::cast(mass), h.template cast(), + sigma.template cast()); + } + void disp_impl(std::ostream & os) const { os << " m = " << mass << "\n" @@ -1265,6 +1274,13 @@ namespace pinocchio return jacobian; } + /// \returns An expression of *this with the Scalar type casted to NewScalar. + template + LogCholeskyParametersTpl cast() const + { + return LogCholeskyParametersTpl(parameters.template cast()); + } + void disp_impl(std::ostream & os) const { os << " alpha: " << parameters[0] << "\n" From 6269bead8887b0dc42870de07d14d8da6b10fb3c Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Thu, 3 Oct 2024 11:07:13 +0200 Subject: [PATCH 033/104] python: Use last __array__ API --- .../bindings/python/spatial/inertia.hpp | 16 ++++++++++------ unittest/python/bindings_inertia.py | 8 ++++++++ 2 files changed, 18 insertions(+), 6 deletions(-) diff --git a/include/pinocchio/bindings/python/spatial/inertia.hpp b/include/pinocchio/bindings/python/spatial/inertia.hpp index 4eb0924a0a..15a9b655a9 100644 --- a/include/pinocchio/bindings/python/spatial/inertia.hpp +++ b/include/pinocchio/bindings/python/spatial/inertia.hpp @@ -372,7 +372,9 @@ namespace pinocchio .staticmethod("FromInertia") .def("__array__", &PseudoInertia::toMatrix) - .def("__array__", &__array__) + .def( + "__array__", &__array__, + (bp::arg("self"), bp::arg("dtype") = bp::object(), bp::arg("copy") = bp::object())) #ifndef PINOCCHIO_PYTHON_NO_SERIALIZATION .def_pickle(Pickle()) #endif @@ -432,7 +434,7 @@ namespace pinocchio } private: - static Matrix4 __array__(const PseudoInertia & self, bp::object) + static Matrix4 __array__(const PseudoInertia & self, bp::object, bp::object) { return self.toMatrix(); } @@ -491,8 +493,10 @@ namespace pinocchio "calculateJacobian", &LogCholeskyParametersPythonVisitor::calculateJacobian_proxy, bp::arg("self"), "Calculates the Jacobian of the log Cholesky parameters.") - .def("__array__", &LogCholeskyParameters::toDynamicParameters) - .def("__array__", &__array__) + .def("__array__", &LogCholeskyParametersPythonVisitor::getParameters) + .def( + "__array__", &__array__, + (bp::arg("self"), bp::arg("dtype") = bp::object(), bp::arg("copy") = bp::object())) #ifndef PINOCCHIO_PYTHON_NO_SERIALIZATION .def_pickle(Pickle()) #endif @@ -539,9 +543,9 @@ namespace pinocchio } private: - static Vector10 __array__(const LogCholeskyParameters & self, bp::object) + static VectorXs __array__(const LogCholeskyParameters & self, bp::object, bp::object) { - return self.toDynamicParameters(); + return self.parameters; } struct Pickle : bp::pickle_suite diff --git a/unittest/python/bindings_inertia.py b/unittest/python/bindings_inertia.py index c5c8d2e083..d04bd8ee56 100644 --- a/unittest/python/bindings_inertia.py +++ b/unittest/python/bindings_inertia.py @@ -153,6 +153,10 @@ def test_pseudo_inertia(self): # test from PseudoInertia pin.PseudoInertia(pseudo) + # test array + pseudo_array = np.array(pseudo) + self.assertApprox(pseudo_array, pseudo.toMatrix()) + def test_log_cholesky(self): log_cholesky = pin.LogCholeskyParameters(np.random.randn(10)) In = pin.Inertia.FromLogCholeskyParameters(log_cholesky) @@ -179,6 +183,10 @@ def test_log_cholesky(self): # test calculateJacobian log_cholesky.calculateJacobian() + # test array + log_cholesky_array = np.array(log_cholesky) + self.assertApprox(log_cholesky_array, log_cholesky.parameters) + def test_array(self): In = pin.Inertia.Random() I_array = np.array(In) From bdbafce187fcb658b68a242e85faa3e7d94adb88 Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Thu, 3 Oct 2024 11:54:24 +0200 Subject: [PATCH 034/104] python: Add some guards when providing vector of size (10, 1) --- .../bindings/python/spatial/inertia.hpp | 47 +++++++++++++++++-- unittest/python/bindings_inertia.py | 14 ++++++ 2 files changed, 58 insertions(+), 3 deletions(-) diff --git a/include/pinocchio/bindings/python/spatial/inertia.hpp b/include/pinocchio/bindings/python/spatial/inertia.hpp index 15a9b655a9..1432c4f59b 100644 --- a/include/pinocchio/bindings/python/spatial/inertia.hpp +++ b/include/pinocchio/bindings/python/spatial/inertia.hpp @@ -158,7 +158,7 @@ namespace pinocchio "I_{xz}, I_{yz}, I_{zz}]^T " "where I = I_C + mS^T(c)S(c) and I_C has its origin at the barycenter") .def( - "FromDynamicParameters", &Inertia::template FromDynamicParameters, + "FromDynamicParameters", &InertiaPythonVisitor::fromDynamicParameters_proxy, bp::args("dynamic_parameters"), "Builds and inertia matrix from a vector of dynamic parameters." "\nThe parameters are given as dynamic_parameters = [m, mc_x, mc_y, mc_z, I_{xx}, " @@ -252,6 +252,18 @@ namespace pinocchio return self.toDynamicParameters(); } + static Inertia fromDynamicParameters_proxy(const VectorXs & params) + { + if (params.rows() != 10 || params.cols() != 1) + { + std::ostringstream shape; + shape << "(" << params.rows() << ", " << params.cols() << ")"; + throw std::invalid_argument( + "Wrong size: params" + shape.str() + " but should have the following shape (10, 1)"); + } + return Inertia::FromDynamicParameters(params); + } + static Inertia * makeFromMCI(const Scalar & mass, const Vector3 & lever, const Matrix3 & inertia) { @@ -354,7 +366,7 @@ namespace pinocchio "toInertia", &PseudoInertia::toInertia, bp::arg("self"), "Returns the inertia representation.") .def( - "FromDynamicParameters", &PseudoInertia::template FromDynamicParameters, + "FromDynamicParameters", &PseudoInertiaPythonVisitor::fromDynamicParameters_proxy, bp::args("dynamic_parameters"), "Builds a pseudo inertia matrix from a vector of dynamic parameters." "\nThe parameters are given as dynamic_parameters = [m, h_x, h_y, h_z, I_{xx}, " @@ -413,6 +425,18 @@ namespace pinocchio return self.toDynamicParameters(); } + static PseudoInertia fromDynamicParameters_proxy(const VectorXs & params) + { + if (params.rows() != 10 || params.cols() != 1) + { + std::ostringstream shape; + shape << "(" << params.rows() << ", " << params.cols() << ")"; + throw std::invalid_argument( + "Wrong size: params" + shape.str() + " but should have the following shape (10, 1)"); + } + return PseudoInertia::FromDynamicParameters(params); + } + static void expose() { #if PY_MAJOR_VERSION == 3 && PY_MINOR_VERSION == 6 && EIGENPY_VERSION_AT_LEAST(2, 9, 0) @@ -472,7 +496,12 @@ namespace pinocchio template void visit(PyClass & cl) const { - cl.def(bp::init((bp::arg("self"), bp::arg("log_cholesky_parameters")))) + cl.def( + "__init__", + bp::make_constructor( + &LogCholeskyParametersPythonVisitor::makeFromParameters, bp::default_call_policies(), + bp::args("log_cholesky_parameters")), + "Initialize from log cholesky parameters.") .def(bp::init( (bp::arg("self"), bp::arg("clone")), "Copy constructor")) @@ -503,6 +532,18 @@ namespace pinocchio ; } + static LogCholeskyParameters * makeFromParameters(const VectorXs & params) + { + if (params.rows() != 10 || params.cols() != 1) + { + std::ostringstream shape; + shape << "(" << params.rows() << ", " << params.cols() << ")"; + throw std::invalid_argument( + "Wrong size: params" + shape.str() + " but should have the following shape (10, 1)"); + } + return new LogCholeskyParameters(params); + } + static VectorXs getParameters(const LogCholeskyParameters & self) { return self.parameters; diff --git a/unittest/python/bindings_inertia.py b/unittest/python/bindings_inertia.py index d04bd8ee56..7e237ba17a 100644 --- a/unittest/python/bindings_inertia.py +++ b/unittest/python/bindings_inertia.py @@ -113,6 +113,11 @@ def test_dynamic_parameters(self): I2 = pin.Inertia.FromDynamicParameters(v) self.assertApprox(I2, In) + # Test FromDynamicParameters raise an exception if the wrong + # vector size is provided + with self.assertRaises(ValueError): + pin.Inertia.FromDynamicParameters(np.array([])) + def test_pseudo_inertia(self): In = pin.Inertia.Random() @@ -135,6 +140,11 @@ def test_pseudo_inertia(self): self.assertApprox(pseudo.h, pseudo2.h) self.assertApprox(pseudo.sigma, pseudo2.sigma) + # Test FromDynamicParameters raise an exception if the wrong + # vector size is provided + with self.assertRaises(ValueError): + pin.PseudoInertia.FromDynamicParameters(np.array([])) + # test fromMatrix pseudo3 = pin.PseudoInertia.FromMatrix(pseudo.toMatrix()) self.assertApprox(pseudo.mass, pseudo3.mass) @@ -161,6 +171,10 @@ def test_log_cholesky(self): log_cholesky = pin.LogCholeskyParameters(np.random.randn(10)) In = pin.Inertia.FromLogCholeskyParameters(log_cholesky) + # Test constructor with wrong vector size + with self.assertRaises(ValueError): + log_cholesky = pin.LogCholeskyParameters(np.array([])) + # test accessing parameters log_cholesky.parameters From a0397f0efb5a5103262f49f277afa2abb8e1417f Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Thu, 3 Oct 2024 11:57:46 +0200 Subject: [PATCH 035/104] changelog: Add entry --- CHANGELOG.md | 1 + 1 file changed, 1 insertion(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index 6341f1cfb3..371a5a3750 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -23,6 +23,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/). - Fix class abstract error for Rviz viewer ([#2425](https://github.com/stack-of-tasks/pinocchio/pull/2425)) - Fix compilation issue with MSCV and C++17 ([#2437](https://github.com/stack-of-tasks/pinocchio/pull/2437)) - Fix `pinocchio-test-py-robot_wrapper` when building with SDF and collision support ([#2437](https://github.com/stack-of-tasks/pinocchio/pull/2437)) +- Fix crash when calling `Inertia::FromDynamicParameters` in Python with wrong vector size ([#2296](https://github.com/stack-of-tasks/pinocchio/pull/2296)) ### Changed From 9a2d915808fcb41874f37651d31b112349b1b68f Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Thu, 3 Oct 2024 12:09:14 +0200 Subject: [PATCH 036/104] unittest: Rewrote some code to please codacy --- unittest/python/bindings_inertia.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/unittest/python/bindings_inertia.py b/unittest/python/bindings_inertia.py index 7e237ba17a..416ab0820d 100644 --- a/unittest/python/bindings_inertia.py +++ b/unittest/python/bindings_inertia.py @@ -126,7 +126,7 @@ def test_pseudo_inertia(self): # test accessing mass, h, sigma self.assertApprox(pseudo.mass, In.mass) self.assertApprox(pseudo.h, In.mass * In.lever) - pseudo.mass, pseudo.h, pseudo.sigma + self.assertEqual(pseudo.sigma.shape, (3, 3)) # test toMatrix _ = pseudo.toMatrix() @@ -176,7 +176,7 @@ def test_log_cholesky(self): log_cholesky = pin.LogCholeskyParameters(np.array([])) # test accessing parameters - log_cholesky.parameters + self.assertEqual(log_cholesky.parameters.shape, (10,)) # test toDynamicParameters params = log_cholesky.toDynamicParameters() From 0c45a485a28d4295d476fb5c2020bdfb22cdbe66 Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Thu, 3 Oct 2024 14:55:10 +0200 Subject: [PATCH 037/104] example: Use GepettoVisualize --- examples/talos-simulation.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/examples/talos-simulation.py b/examples/talos-simulation.py index 1d8f0b1703..fb6f6af55b 100644 --- a/examples/talos-simulation.py +++ b/examples/talos-simulation.py @@ -3,6 +3,7 @@ import example_robot_data import numpy as np import pinocchio +from pinocchio.visualize import GepettoVisualizer robot = example_robot_data.load("talos") model = robot.model @@ -53,6 +54,7 @@ pinocchio.rpy.rpyToMatrix(np.array([0, -np.pi / 2, 0.0])), np.array([0.6, 0.4, 1.0]) ) +robot.setVisualizer(GepettoVisualizer()) robot.initViewer() robot.loadViewerModel("pinocchio") gui = robot.viewer.gui From 957db6dc0985b0e064cb8c8acdab3c83cadc0f0b Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Thu, 3 Oct 2024 15:47:57 +0200 Subject: [PATCH 038/104] example: Load cassie from example_robot_data --- examples/cassie-simulation.py | 44 +++++------------------------------ 1 file changed, 6 insertions(+), 38 deletions(-) diff --git a/examples/cassie-simulation.py b/examples/cassie-simulation.py index f973c932ab..67dec1f73b 100644 --- a/examples/cassie-simulation.py +++ b/examples/cassie-simulation.py @@ -2,43 +2,10 @@ import numpy as np import pinocchio -from example_robot_data import readParamsFromSrdf -from pinocchio import JointModelFreeFlyer - -model_dir = "/local/rbudhira/devel/install/sot/share/example-robot-data/robots/" -# pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))), "models") -sdf_filename = model_dir + "cassie_description/robots/cassie.sdf" -srdf_path = model_dir + "cassie_description/srdf/cassie_v2.srdf" -package_dir = model_dir + "../../" - -sdf_parent_guidance = [ - "left-roll-op", - "left-yaw-op", - "left-pitch-op", - "left-knee-op", - "left-tarsus-spring-joint", - "left-foot-op", - "right-roll-op", - "right-yaw-op", - "right-pitch-op", - "right-knee-op", - "right-tarsus-spring-joint", - "right-foot-op", -] - - -robot = pinocchio.RobotWrapper.BuildFromSDF( - sdf_filename, - package_dirs=[package_dir], - root_joint=JointModelFreeFlyer(), - root_link_name="pelvis", - parent_guidance=sdf_parent_guidance, -) - -robot.q0 = readParamsFromSrdf( - robot.model, srdf_path, has_rotor_parameters=False, referencePose="standing" -) +import example_robot_data +from pinocchio.visualize import GepettoVisualizer +robot = example_robot_data.load("cassie") constraint_models = robot.constraint_models @@ -92,9 +59,10 @@ mid_point /= 4.0 -robot.initDisplay(loadModel=True) +robot.setVisualizer(GepettoVisualizer()) +robot.initViewer() +robot.loadViewerModel("pinocchio") gui = robot.viewer.gui - robot.display(robot.q0) q0 = robot.q0.copy() constraint_datas = pinocchio.StdVec_RigidConstraintData() From d2dd4d01e44f693d5d33cf0348bb5fd856085b52 Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Thu, 3 Oct 2024 15:53:24 +0200 Subject: [PATCH 039/104] changelog: Add entry --- CHANGELOG.md | 1 + 1 file changed, 1 insertion(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index 371a5a3750..d142af2f0e 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -24,6 +24,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/). - Fix compilation issue with MSCV and C++17 ([#2437](https://github.com/stack-of-tasks/pinocchio/pull/2437)) - Fix `pinocchio-test-py-robot_wrapper` when building with SDF and collision support ([#2437](https://github.com/stack-of-tasks/pinocchio/pull/2437)) - Fix crash when calling `Inertia::FromDynamicParameters` in Python with wrong vector size ([#2296](https://github.com/stack-of-tasks/pinocchio/pull/2296)) +- Fix `examples/cassie-simulation.py` and `examples/talos-simulation.py` ([#2443](https://github.com/stack-of-tasks/pinocchio/pull/2443)) ### Changed From 4b8fbfa07ab036751571e77d3b38a27a85e9a6be Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Thu, 3 Oct 2024 16:02:41 +0200 Subject: [PATCH 040/104] pre-commit: Sort import --- examples/cassie-simulation.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/cassie-simulation.py b/examples/cassie-simulation.py index 67dec1f73b..1bd3f90fcf 100644 --- a/examples/cassie-simulation.py +++ b/examples/cassie-simulation.py @@ -1,8 +1,8 @@ from time import sleep +import example_robot_data import numpy as np import pinocchio -import example_robot_data from pinocchio.visualize import GepettoVisualizer robot = example_robot_data.load("cassie") From 5d292fef0a6d360eabea0381d75682cb44a48d29 Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Mon, 7 Oct 2024 00:47:36 +0000 Subject: [PATCH 041/104] build(deps): bump cachix/install-nix-action from 29 to 30 Bumps [cachix/install-nix-action](https://github.com/cachix/install-nix-action) from 29 to 30. - [Release notes](https://github.com/cachix/install-nix-action/releases) - [Commits](https://github.com/cachix/install-nix-action/compare/v29...v30) --- updated-dependencies: - dependency-name: cachix/install-nix-action dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] --- .github/workflows/nix.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/nix.yml b/.github/workflows/nix.yml index f33ab007dd..0dc882f4bf 100644 --- a/.github/workflows/nix.yml +++ b/.github/workflows/nix.yml @@ -11,7 +11,7 @@ jobs: os: [ubuntu, macos] steps: - uses: actions/checkout@v4 - - uses: cachix/install-nix-action@v29 + - uses: cachix/install-nix-action@v30 - uses: cachix/cachix-action@v15 with: name: gepetto From f14378b833d988d254dbc612df06404094bd550c Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Mon, 7 Oct 2024 22:13:56 +0000 Subject: [PATCH 042/104] [pre-commit.ci] pre-commit autoupdate MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit updates: - [github.com/pre-commit/mirrors-clang-format: v18.1.8 → v19.1.1](https://github.com/pre-commit/mirrors-clang-format/compare/v18.1.8...v19.1.1) - [github.com/pre-commit/pre-commit-hooks: v4.6.0 → v5.0.0](https://github.com/pre-commit/pre-commit-hooks/compare/v4.6.0...v5.0.0) - [github.com/astral-sh/ruff-pre-commit: v0.6.2 → v0.6.9](https://github.com/astral-sh/ruff-pre-commit/compare/v0.6.2...v0.6.9) --- .pre-commit-config.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index e6ea5d6954..5c3f8ed018 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -4,14 +4,14 @@ ci: autoupdate_schedule: quarterly repos: - repo: https://github.com/pre-commit/mirrors-clang-format - rev: v18.1.8 + rev: v19.1.1 hooks: - id: clang-format types_or: [] types: [text] files: \.(cpp|cxx|c|h|hpp|hxx|txx)$ - repo: https://github.com/pre-commit/pre-commit-hooks - rev: v4.6.0 + rev: v5.0.0 hooks: - id: check-added-large-files - id: check-case-conflict @@ -27,7 +27,7 @@ repos: doc/doxygen-awesome.* )$ - repo: https://github.com/astral-sh/ruff-pre-commit - rev: v0.6.2 + rev: v0.6.9 hooks: - id: ruff - id: ruff-format From ad2e4ed0ed99419df2f596debe52ceeba25cafb2 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Mon, 7 Oct 2024 22:14:28 +0000 Subject: [PATCH 043/104] [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci --- bindings/python/algorithm/expose-com.cpp | 14 +- bindings/python/algorithm/expose-frames.cpp | 6 +- .../algorithm/expose-kinematic-regressor.cpp | 12 +- bindings/python/algorithm/expose-model.cpp | 20 +-- .../python/collision/expose-broadphase.cpp | 12 +- .../python/collision/expose-collision.cpp | 7 +- bindings/python/math/expose-linalg.cpp | 5 +- bindings/python/spatial/expose-explog.cpp | 3 +- .../pinocchio/algorithm/aba-derivatives.hpp | 18 +-- .../pinocchio/algorithm/aba-derivatives.hxx | 51 +++---- include/pinocchio/algorithm/aba.hpp | 9 +- include/pinocchio/algorithm/aba.hxx | 33 ++--- .../algorithm/center-of-mass-derivatives.hpp | 3 +- .../algorithm/center-of-mass-derivatives.hxx | 6 +- .../pinocchio/algorithm/center-of-mass.hpp | 21 +-- .../pinocchio/algorithm/center-of-mass.hxx | 48 +++---- .../algorithm/centroidal-derivatives.hpp | 6 +- .../algorithm/centroidal-derivatives.hxx | 15 +- include/pinocchio/algorithm/centroidal.hpp | 18 +-- include/pinocchio/algorithm/centroidal.hxx | 36 ++--- include/pinocchio/algorithm/cholesky.hpp | 30 ++-- include/pinocchio/algorithm/cholesky.hxx | 30 ++-- .../pinocchio/algorithm/compute-all-terms.hpp | 3 +- .../pinocchio/algorithm/compute-all-terms.hxx | 9 +- .../constrained-dynamics-derivatives.hpp | 12 +- .../constrained-dynamics-derivatives.hxx | 12 +- .../algorithm/constrained-dynamics.hpp | 12 +- .../algorithm/constrained-dynamics.hxx | 27 ++-- .../constraints/constraint-data-generic.hpp | 9 +- .../constraints/constraint-model-generic.hpp | 6 +- .../visitors/constraint-model-visitor.hpp | 33 ++--- .../pinocchio/algorithm/contact-cholesky.hpp | 6 +- .../pinocchio/algorithm/contact-cholesky.hxx | 3 +- .../pinocchio/algorithm/contact-dynamics.hpp | 18 +-- .../pinocchio/algorithm/contact-dynamics.hxx | 18 +-- include/pinocchio/algorithm/contact-info.hpp | 3 +- .../algorithm/contact-inverse-dynamics.hpp | 6 +- .../pinocchio/algorithm/contact-jacobian.hpp | 6 +- .../pinocchio/algorithm/contact-jacobian.hxx | 6 +- include/pinocchio/algorithm/crba.hpp | 3 +- include/pinocchio/algorithm/crba.hxx | 15 +- include/pinocchio/algorithm/delassus.hpp | 9 +- include/pinocchio/algorithm/delassus.hxx | 15 +- include/pinocchio/algorithm/energy.hpp | 9 +- include/pinocchio/algorithm/energy.hxx | 18 +-- .../algorithm/frames-derivatives.hpp | 18 +-- .../algorithm/frames-derivatives.hxx | 6 +- include/pinocchio/algorithm/frames.hpp | 18 +-- include/pinocchio/algorithm/frames.hxx | 12 +- include/pinocchio/algorithm/geometry.hpp | 3 +- include/pinocchio/algorithm/geometry.hxx | 3 +- .../impulse-dynamics-derivatives.hpp | 6 +- .../impulse-dynamics-derivatives.hxx | 9 +- .../pinocchio/algorithm/impulse-dynamics.hpp | 3 +- .../pinocchio/algorithm/impulse-dynamics.hxx | 3 +- include/pinocchio/algorithm/jacobian.hpp | 15 +- include/pinocchio/algorithm/jacobian.hxx | 45 ++---- .../algorithm/joint-configuration.hpp | 135 ++++++------------ .../algorithm/joint-configuration.hxx | 69 +++------ .../algorithm/kinematics-derivatives.hpp | 24 ++-- .../algorithm/kinematics-derivatives.hxx | 57 +++----- include/pinocchio/algorithm/kinematics.hpp | 9 +- include/pinocchio/algorithm/kinematics.hxx | 27 ++-- include/pinocchio/algorithm/model.hpp | 12 +- include/pinocchio/algorithm/model.hxx | 9 +- include/pinocchio/algorithm/parallel/aba.hpp | 3 +- include/pinocchio/algorithm/parallel/rnea.hpp | 3 +- include/pinocchio/algorithm/pv.hpp | 9 +- include/pinocchio/algorithm/pv.hxx | 12 +- include/pinocchio/algorithm/regressor.hpp | 21 +-- include/pinocchio/algorithm/regressor.hxx | 27 ++-- .../pinocchio/algorithm/rnea-derivatives.hpp | 18 +-- .../pinocchio/algorithm/rnea-derivatives.hxx | 48 +++---- .../rnea-second-order-derivatives.hpp | 6 +- .../rnea-second-order-derivatives.hxx | 9 +- include/pinocchio/algorithm/rnea.hpp | 18 +-- include/pinocchio/algorithm/rnea.hxx | 48 +++---- .../python/algorithm/contact-cholesky.hpp | 16 +-- .../python/algorithm/delassus-operator.hpp | 8 +- .../bindings/python/spatial/force.hpp | 2 +- .../bindings/python/spatial/inertia.hpp | 18 ++- .../bindings/python/spatial/motion.hpp | 8 +- .../pinocchio/bindings/python/spatial/se3.hpp | 34 ++--- include/pinocchio/collision/broadphase.hpp | 6 +- include/pinocchio/collision/collision.hpp | 3 +- include/pinocchio/collision/collision.hxx | 3 +- include/pinocchio/collision/distance.hpp | 6 +- include/pinocchio/collision/distance.hxx | 3 +- .../collision/parallel/broadphase.hpp | 6 +- .../pinocchio/collision/parallel/geometry.hpp | 6 +- .../collision/pool/broadphase-manager.hpp | 3 +- .../pinocchio/extra/reachable-workspace.hpp | 15 +- .../pinocchio/extra/reachable-workspace.hxx | 15 +- include/pinocchio/macros.hpp | 5 +- .../multibody/joint/joint-basic-visitors.hpp | 24 ++-- .../multibody/joint/joint-basic-visitors.hxx | 36 ++--- .../multibody/joint/joint-composite.hpp | 3 +- .../multibody/joint/joint-composite.hxx | 9 +- .../multibody/joint/joint-generic.hpp | 15 +- .../multibody/liegroup/liegroup-algo.hxx | 3 +- .../liegroup/liegroup-variant-visitors.hxx | 6 +- include/pinocchio/multibody/model.hpp | 3 +- include/pinocchio/multibody/sample-models.hxx | 3 +- .../visitor/joint-binary-visitor.hpp | 6 +- .../multibody/visitor/joint-unary-visitor.hpp | 9 +- include/pinocchio/serialization/data.hpp | 3 +- .../pinocchio/serialization/joints-data.hpp | 6 +- .../pinocchio/serialization/joints-model.hpp | 6 +- include/pinocchio/serialization/model.hpp | 3 +- 109 files changed, 578 insertions(+), 1080 deletions(-) diff --git a/bindings/python/algorithm/expose-com.cpp b/bindings/python/algorithm/expose-com.cpp index d11f4dae6d..1f3397e6d9 100644 --- a/bindings/python/algorithm/expose-com.cpp +++ b/bindings/python/algorithm/expose-com.cpp @@ -101,21 +101,23 @@ namespace pinocchio bp::def( "computeTotalMass", - (Scalar(*)(const context::Model &)) - & computeTotalMass, + (Scalar(*)( + const context::Model &))&computeTotalMass, bp::args("model"), "Compute the total mass of the model and return it."); bp::def( "computeTotalMass", - (Scalar(*)(const context::Model &, context::Data &)) - & computeTotalMass, + (Scalar(*)( + const context::Model &, + context::Data &))&computeTotalMass, bp::args("model", "data"), "Compute the total mass of the model, put it in data.mass[0] and return it."); bp::def( "computeSubtreeMasses", - (void (*)(const context::Model &, context::Data &)) - & computeSubtreeMasses, + (void (*)( + const context::Model &, + context::Data &))&computeSubtreeMasses, bp::args("model", "data"), "Compute the mass of each kinematic subtree and store it in the vector data.mass."); diff --git a/bindings/python/algorithm/expose-frames.cpp b/bindings/python/algorithm/expose-frames.cpp index 56c5c38c65..0deb64174e 100644 --- a/bindings/python/algorithm/expose-frames.cpp +++ b/bindings/python/algorithm/expose-frames.cpp @@ -235,8 +235,7 @@ namespace pinocchio "computeFrameJacobian", (context::Data::Matrix6x(*)( const context::Model &, context::Data &, const context::VectorXs &, - context::Data::FrameIndex, ReferenceFrame)) - & compute_frame_jacobian_proxy, + context::Data::FrameIndex, ReferenceFrame))&compute_frame_jacobian_proxy, bp::args("model", "data", "q", "frame_id", "reference_frame"), "Computes the Jacobian of the frame given by its frame_id in the coordinate system " "given by reference_frame.\n"); @@ -245,8 +244,7 @@ namespace pinocchio "computeFrameJacobian", (context::Data::Matrix6x(*)( const context::Model &, context::Data &, const context::VectorXs &, - context::Data::FrameIndex)) - & compute_frame_jacobian_proxy, + context::Data::FrameIndex))&compute_frame_jacobian_proxy, bp::args("model", "data", "q", "frame_id"), "Computes the Jacobian of the frame given by its frame_id.\n" "The columns of the Jacobian are expressed in the coordinates system of the Frame itself.\n" diff --git a/bindings/python/algorithm/expose-kinematic-regressor.cpp b/bindings/python/algorithm/expose-kinematic-regressor.cpp index 4ee013c8a7..323a840019 100644 --- a/bindings/python/algorithm/expose-kinematic-regressor.cpp +++ b/bindings/python/algorithm/expose-kinematic-regressor.cpp @@ -22,8 +22,8 @@ namespace pinocchio "computeJointKinematicRegressor", (context::Data::Matrix6x(*)( const context::Model &, const context::Data &, const JointIndex, const ReferenceFrame, - const context::SE3 &)) - & computeJointKinematicRegressor, + const context:: + SE3 &))&computeJointKinematicRegressor, bp::args("model", "data", "joint_id", "reference_frame", "placement"), "Computes the kinematic regressor that links the joint placements variations of the whole " "kinematic tree to the placement variation of the frame rigidly attached to the joint and " @@ -39,8 +39,8 @@ namespace pinocchio bp::def( "computeJointKinematicRegressor", (context::Data::Matrix6x(*)( - const context::Model &, const context::Data &, const JointIndex, const ReferenceFrame)) - & computeJointKinematicRegressor, + const context::Model &, const context::Data &, const JointIndex, + const ReferenceFrame))&computeJointKinematicRegressor, bp::args("model", "data", "joint_id", "reference_frame"), "Computes the kinematic regressor that links the joint placement variations of the " "whole kinematic tree to the placement variation of the joint given as input.\n\n" @@ -54,8 +54,8 @@ namespace pinocchio bp::def( "computeFrameKinematicRegressor", (context::Data::Matrix6x(*)( - const context::Model &, context::Data &, const FrameIndex, const ReferenceFrame)) - & computeFrameKinematicRegressor, + const context::Model &, context::Data &, const FrameIndex, + const ReferenceFrame))&computeFrameKinematicRegressor, bp::args("model", "data", "frame_id", "reference_frame"), "Computes the kinematic regressor that links the joint placement variations of the " "whole kinematic tree to the placement variation of the frame given as input.\n\n" diff --git a/bindings/python/algorithm/expose-model.cpp b/bindings/python/algorithm/expose-model.cpp index 36b6f447fc..0b38ec4630 100644 --- a/bindings/python/algorithm/expose-model.cpp +++ b/bindings/python/algorithm/expose-model.cpp @@ -34,8 +34,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> bp::tuple buildReducedModel( const ModelTpl & model, @@ -57,8 +56,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> bp::tuple buildReducedModel( const ModelTpl & model, @@ -95,8 +93,9 @@ namespace pinocchio bp::def( "appendModel", - (Model(*)(const Model &, const Model &, const FrameIndex, const SE3 &)) - & appendModel, + (Model(*)( + const Model &, const Model &, const FrameIndex, + const SE3 &))&appendModel, bp::args("modelA", "modelB", "frame_in_modelA", "aMb"), "Append a child model into a parent model, after a specific frame given by its index.\n\n" "Parameters:\n" @@ -121,8 +120,9 @@ namespace pinocchio bp::def( "buildReducedModel", (Model(*)( - const Model &, const std::vector &, const Eigen::MatrixBase &)) - & pinocchio::buildReducedModel, + const Model &, const std::vector &, + const Eigen::MatrixBase &))&pinocchio:: + buildReducedModel, bp::args("model", "list_of_joints_to_lock", "reference_configuration"), "Build a reduce model from a given input model and a list of joint to lock.\n\n" "Parameters:\n" @@ -135,8 +135,8 @@ namespace pinocchio "buildReducedModel", (bp::tuple(*)( const Model &, const GeometryModel &, const std::vector &, - const Eigen::MatrixBase &)) - & buildReducedModel, + const Eigen::MatrixBase< + VectorXd> &))&buildReducedModel, bp::args("model", "geom_model", "list_of_joints_to_lock", "reference_configuration"), "Build a reduced model and a reduced geometry model from a given input model," "an input geometry model and a list of joints to lock.\n\n" diff --git a/bindings/python/collision/expose-broadphase.cpp b/bindings/python/collision/expose-broadphase.cpp index 6bf5a067aa..1e65c38ab8 100644 --- a/bindings/python/collision/expose-broadphase.cpp +++ b/bindings/python/collision/expose-broadphase.cpp @@ -31,14 +31,14 @@ namespace pinocchio typedef BroadPhaseManagerBase BaseManager; bp::def( - "computeCollisions", (bool (*)(BaseManager &, CollisionCallBackBase *)) & computeCollisions, + "computeCollisions", (bool (*)(BaseManager &, CollisionCallBackBase *))&computeCollisions, (bp::arg("manager"), bp::arg("callback")), "Determine if all collision pairs are effectively in collision or not.\n" "This function assumes that updateGeometryPlacements and broadphase_manager.update() " "have been called first."); bp::def( - "computeCollisions", (bool (*)(BaseManager &, const bool)) & computeCollisions, + "computeCollisions", (bool (*)(BaseManager &, const bool))&computeCollisions, (bp::arg("manager"), bp::arg("stop_at_first_collision") = false), "Determine if all collision pairs are effectively in collision or not.\n" "This function assumes that updateGeometryPlacements and broadphase_manager.update() " @@ -48,8 +48,7 @@ namespace pinocchio "computeCollisions", (bool (*)( const Model &, Data &, BaseManager &, const Eigen::MatrixBase &, - const bool)) - & computeCollisions, + const bool))&computeCollisions, (bp::arg("model"), bp::arg("data"), bp::arg("broadphase_manager"), bp::arg("q"), bp::arg("stop_at_first_collision") = false), "Compute the forward kinematics, update the geometry placements and run the " @@ -59,8 +58,9 @@ namespace pinocchio "computeCollisions", (bool (*)( const Model &, Data &, BaseManager &, CollisionCallBackBase *, - const Eigen::MatrixBase &)) - & computeCollisions, + const Eigen::MatrixBase< + Eigen:: + VectorXd> &))&computeCollisions, (bp::arg("model"), bp::arg("data"), bp::arg("broadphase_manager"), bp::arg("callback"), bp::arg("q")), "Compute the forward kinematics, update the geometry placements and run the " diff --git a/bindings/python/collision/expose-collision.cpp b/bindings/python/collision/expose-collision.cpp index bccfb1da9e..fafd7067e1 100644 --- a/bindings/python/collision/expose-collision.cpp +++ b/bindings/python/collision/expose-collision.cpp @@ -20,8 +20,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> static std::size_t computeDistances_proxy( const ModelTpl & model, @@ -70,7 +69,7 @@ namespace pinocchio bp::def( "computeCollisions", - (bool (*)(const GeometryModel &, GeometryData &, const bool)) & computeCollisions, + (bool (*)(const GeometryModel &, GeometryData &, const bool))&computeCollisions, (bp::arg("geometry_model"), bp::arg("geometry_data"), bp::arg("stop_at_first_collision") = false), "Determine if all collision pairs are effectively in collision or not."); @@ -92,7 +91,7 @@ namespace pinocchio bp::def( "computeDistances", - (std::size_t(*)(const GeometryModel &, GeometryData &)) & computeDistances, + (std::size_t (*)(const GeometryModel &, GeometryData &))&computeDistances, bp::args("geometry_model", "geometry_data"), "Compute the distance between each collision pair for a given GeometryModel and " "associated GeometryData."); diff --git a/bindings/python/math/expose-linalg.cpp b/bindings/python/math/expose-linalg.cpp index a65f4b08f7..a9e283cc95 100644 --- a/bindings/python/math/expose-linalg.cpp +++ b/bindings/python/math/expose-linalg.cpp @@ -33,8 +33,9 @@ namespace pinocchio #ifndef PINOCCHIO_PYTHON_SKIP_CASADI_UNSUPPORTED bp::def( "computeLargestEigenvector", - (context::VectorXs(*)(const context::MatrixXs &, const int, const context::Scalar)) - & computeLargestEigenvector, + (context::VectorXs(*)( + const context::MatrixXs &, const int, + const context::Scalar))&computeLargestEigenvector, (bp::arg("mat"), bp::arg("max_it") = 10, bp::arg("rel_tol") = 1e-8), "Compute the lagest eigenvector of a given matrix according to a given eigenvector " "estimate."); diff --git a/bindings/python/spatial/expose-explog.cpp b/bindings/python/spatial/expose-explog.cpp index ffcfbd81c7..09267d2e35 100644 --- a/bindings/python/spatial/expose-explog.cpp +++ b/bindings/python/spatial/expose-explog.cpp @@ -113,8 +113,7 @@ namespace pinocchio " the tangent of SE(3) at Identity."); bp::def( - "log6", - (context::Motion(*)(const context::SE3 &)) & log6, + "log6", (context::Motion(*)(const context::SE3 &))&log6, bp::arg("M"), "Log: SE3 -> se3. Pseudo-inverse of exp from SE3" " -> { v,w in se3, ||w|| < 2pi }."); diff --git a/include/pinocchio/algorithm/aba-derivatives.hpp b/include/pinocchio/algorithm/aba-derivatives.hpp index 6206702bc0..152e4a9063 100644 --- a/include/pinocchio/algorithm/aba-derivatives.hpp +++ b/include/pinocchio/algorithm/aba-derivatives.hpp @@ -42,8 +42,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, @@ -90,8 +89,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, @@ -134,8 +132,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> @@ -177,8 +174,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> @@ -216,8 +212,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename MatrixType1, typename MatrixType2, typename MatrixType3> @@ -276,8 +271,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename MatrixType1, typename MatrixType2, typename MatrixType3> diff --git a/include/pinocchio/algorithm/aba-derivatives.hxx b/include/pinocchio/algorithm/aba-derivatives.hxx index 61c67406f2..2e2205c471 100644 --- a/include/pinocchio/algorithm/aba-derivatives.hxx +++ b/include/pinocchio/algorithm/aba-derivatives.hxx @@ -16,8 +16,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> struct ComputeABADerivativesForwardStep1 @@ -83,8 +82,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename MatrixType> struct ComputeABADerivativesBackwardStep1 : public fusion::JointUnaryVisitorBase< @@ -175,8 +173,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename MatrixType> struct ComputeABADerivativesForwardStep2 : public fusion::JointUnaryVisitorBase< @@ -373,8 +370,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, @@ -458,8 +454,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, @@ -550,8 +545,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename MatrixType> struct ComputeABADerivativesBackwardStep1 : public fusion::JointUnaryVisitorBase< @@ -619,8 +613,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename MatrixType> struct ComputeABADerivativesForwardStep2 : public fusion::JointUnaryVisitorBase< @@ -709,8 +702,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename MatrixType1, typename MatrixType2, typename MatrixType3> @@ -774,8 +766,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename MatrixType1, typename MatrixType2, typename MatrixType3> @@ -844,8 +835,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> @@ -867,8 +857,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> @@ -907,8 +896,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, @@ -933,8 +921,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, @@ -960,8 +947,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> @@ -983,8 +969,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> @@ -1003,8 +988,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename MatrixType1, typename MatrixType2, typename MatrixType3> @@ -1035,8 +1019,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename MatrixType1, typename MatrixType2, typename MatrixType3> diff --git a/include/pinocchio/algorithm/aba.hpp b/include/pinocchio/algorithm/aba.hpp index 0f1b46eec2..c782d0c25e 100644 --- a/include/pinocchio/algorithm/aba.hpp +++ b/include/pinocchio/algorithm/aba.hpp @@ -34,8 +34,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> @@ -72,8 +71,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, @@ -103,8 +101,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> const typename DataTpl::RowMatrixXs & computeMinverse( const ModelTpl & model, diff --git a/include/pinocchio/algorithm/aba.hxx b/include/pinocchio/algorithm/aba.hxx index 760c651d59..e0798504d4 100644 --- a/include/pinocchio/algorithm/aba.hxx +++ b/include/pinocchio/algorithm/aba.hxx @@ -79,8 +79,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> struct AbaWorldConventionForwardStep1 @@ -235,8 +234,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> @@ -296,8 +294,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, @@ -354,8 +351,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> struct AbaLocalConventionForwardStep1 @@ -479,8 +475,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> @@ -542,8 +537,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, @@ -607,8 +601,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> struct ComputeMinverseForwardStep1 : public fusion::JointUnaryVisitorBase< @@ -833,8 +826,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> const typename DataTpl::RowMatrixXs & computeMinverse( const ModelTpl & model, @@ -924,8 +916,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> @@ -949,8 +940,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, @@ -976,8 +966,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> const typename DataTpl::RowMatrixXs & computeMinverse( const ModelTpl & model, diff --git a/include/pinocchio/algorithm/center-of-mass-derivatives.hpp b/include/pinocchio/algorithm/center-of-mass-derivatives.hpp index a8a548e205..0c512c76b5 100644 --- a/include/pinocchio/algorithm/center-of-mass-derivatives.hpp +++ b/include/pinocchio/algorithm/center-of-mass-derivatives.hpp @@ -27,8 +27,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix3xOut> void getCenterOfMassVelocityDerivatives( const ModelTpl & model, diff --git a/include/pinocchio/algorithm/center-of-mass-derivatives.hxx b/include/pinocchio/algorithm/center-of-mass-derivatives.hxx index 154cb7c79c..6bd999b8f6 100644 --- a/include/pinocchio/algorithm/center-of-mass-derivatives.hxx +++ b/include/pinocchio/algorithm/center-of-mass-derivatives.hxx @@ -13,8 +13,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix3xOut> struct CoMVelocityDerivativesForwardStep : public fusion::JointUnaryVisitorBase< @@ -66,8 +65,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix3xOut> void getCenterOfMassVelocityDerivatives( const ModelTpl & model, diff --git a/include/pinocchio/algorithm/center-of-mass.hpp b/include/pinocchio/algorithm/center-of-mass.hpp index c51a41cbca..e01e558a15 100644 --- a/include/pinocchio/algorithm/center-of-mass.hpp +++ b/include/pinocchio/algorithm/center-of-mass.hpp @@ -73,8 +73,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> const typename DataTpl::Vector3 & centerOfMass( const ModelTpl & model, @@ -106,8 +105,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> const typename DataTpl::Vector3 & centerOfMass( @@ -143,8 +141,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> @@ -225,8 +222,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> const typename DataTpl::Matrix3x & jacobianCenterOfMass( const ModelTpl & model, @@ -280,8 +276,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename Matrix3xLike> void jacobianSubtreeCenterOfMass( @@ -308,8 +303,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix3xLike> void jacobianSubtreeCenterOfMass( const ModelTpl & model, @@ -335,8 +329,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix3xLike> void getJacobianSubtreeCenterOfMass( const ModelTpl & model, diff --git a/include/pinocchio/algorithm/center-of-mass.hxx b/include/pinocchio/algorithm/center-of-mass.hxx index d181ce8356..11ff1cea47 100644 --- a/include/pinocchio/algorithm/center-of-mass.hxx +++ b/include/pinocchio/algorithm/center-of-mass.hxx @@ -59,8 +59,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> const typename DataTpl::Vector3 & centerOfMass( const ModelTpl & model, @@ -77,8 +76,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> const typename DataTpl::Vector3 & centerOfMass( @@ -97,8 +95,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> @@ -227,8 +224,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix3x> struct JacobianCenterOfMassBackwardStep : public fusion::JointUnaryVisitorBase< @@ -280,8 +276,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> const typename DataTpl::Matrix3x & jacobianCenterOfMass( const ModelTpl & model, @@ -340,8 +335,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix3x> struct JacobianSubtreeCenterOfMassBackwardStep : public fusion::JointUnaryVisitorBase< @@ -388,8 +382,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename Matrix3xLike> void jacobianSubtreeCenterOfMass( @@ -406,8 +399,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix3xLike> void jacobianSubtreeCenterOfMass( const ModelTpl & model, @@ -497,8 +489,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix3xLike> void getJacobianSubtreeCenterOfMass( const ModelTpl & model, @@ -562,8 +553,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> const typename DataTpl::Vector3 & centerOfMass( const ModelTpl & model, @@ -577,8 +567,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> const typename DataTpl::Vector3 & centerOfMass( @@ -595,8 +584,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> @@ -615,8 +603,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> const typename DataTpl::Matrix3x & jacobianCenterOfMass( const ModelTpl & model, @@ -630,8 +617,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename Matrix3xLike> void jacobianSubtreeCenterOfMass( @@ -647,8 +633,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix3xLike> void jacobianSubtreeCenterOfMass( const ModelTpl & model, @@ -662,8 +647,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix3xLike> void getJacobianSubtreeCenterOfMass( const ModelTpl & model, diff --git a/include/pinocchio/algorithm/centroidal-derivatives.hpp b/include/pinocchio/algorithm/centroidal-derivatives.hpp index 1ff73f7ba6..209a904748 100644 --- a/include/pinocchio/algorithm/centroidal-derivatives.hpp +++ b/include/pinocchio/algorithm/centroidal-derivatives.hpp @@ -47,8 +47,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, @@ -94,8 +93,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xLike0, typename Matrix6xLike1, typename Matrix6xLike2, diff --git a/include/pinocchio/algorithm/centroidal-derivatives.hxx b/include/pinocchio/algorithm/centroidal-derivatives.hxx index c307ae9115..68dafb3a06 100644 --- a/include/pinocchio/algorithm/centroidal-derivatives.hxx +++ b/include/pinocchio/algorithm/centroidal-derivatives.hxx @@ -19,8 +19,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> @@ -247,8 +246,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, @@ -407,8 +405,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xLike0, typename Matrix6xLike1, typename Matrix6xLike2, @@ -496,8 +493,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, @@ -524,8 +520,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xLike0, typename Matrix6xLike1, typename Matrix6xLike2, diff --git a/include/pinocchio/algorithm/centroidal.hpp b/include/pinocchio/algorithm/centroidal.hpp index f3fdc37210..a7fa11ea7f 100644 --- a/include/pinocchio/algorithm/centroidal.hpp +++ b/include/pinocchio/algorithm/centroidal.hpp @@ -52,8 +52,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> const typename DataTpl::Force & computeCentroidalMomentum( @@ -111,8 +110,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> @@ -146,8 +144,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> const typename DataTpl::Matrix6x & ccrba( @@ -174,8 +171,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> const typename DataTpl::Matrix6x & computeCentroidalMap( const ModelTpl & model, @@ -207,8 +203,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> const typename DataTpl::Matrix6x & dccrba( @@ -238,8 +233,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> const typename DataTpl::Matrix6x & diff --git a/include/pinocchio/algorithm/centroidal.hxx b/include/pinocchio/algorithm/centroidal.hxx index e37545346b..3e9f1aaafe 100644 --- a/include/pinocchio/algorithm/centroidal.hxx +++ b/include/pinocchio/algorithm/centroidal.hxx @@ -149,8 +149,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> const typename DataTpl::Matrix6x & ccrba( @@ -200,8 +199,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> const typename DataTpl::Matrix6x & computeCentroidalMap( const ModelTpl & model, @@ -291,8 +289,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> const typename DataTpl::Matrix6x & dccrba( @@ -353,8 +350,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> const typename DataTpl::Matrix6x & @@ -412,8 +408,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> const typename DataTpl::Force & computeCentroidalMomentum( @@ -429,8 +424,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> @@ -450,8 +444,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> const typename DataTpl::Force & computeCentroidalMomentum( @@ -466,8 +459,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> @@ -486,8 +478,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> const typename DataTpl::Matrix6x & ccrba( @@ -502,8 +493,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> const typename DataTpl::Matrix6x & computeCentroidalMap( const ModelTpl & model, @@ -516,8 +506,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> const typename DataTpl::Matrix6x & dccrba( @@ -532,8 +521,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> const typename DataTpl::Matrix6x & diff --git a/include/pinocchio/algorithm/cholesky.hpp b/include/pinocchio/algorithm/cholesky.hpp index 6edf856758..5b2275d197 100644 --- a/include/pinocchio/algorithm/cholesky.hpp +++ b/include/pinocchio/algorithm/cholesky.hpp @@ -59,8 +59,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Mat> Mat & solve( const ModelTpl & model, @@ -82,8 +81,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Mat> typename PINOCCHIO_EIGEN_PLAIN_TYPE(Mat) Mv( const ModelTpl & model, @@ -106,8 +104,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Mat, typename MatRes> MatRes & Mv( @@ -131,8 +128,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Mat> Mat & UDUtv( const ModelTpl & model, @@ -154,8 +150,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Mat> Mat & Uv( const ModelTpl & model, @@ -178,8 +173,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Mat> Mat & Utv( const ModelTpl & model, @@ -204,8 +198,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Mat> Mat & Uiv( const ModelTpl & model, @@ -231,8 +224,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Mat> Mat & Utiv( const ModelTpl & model, @@ -256,8 +248,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Mat> Mat & solve( const ModelTpl & model, @@ -279,8 +270,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Mat> Mat & computeMinv( const ModelTpl & model, diff --git a/include/pinocchio/algorithm/cholesky.hxx b/include/pinocchio/algorithm/cholesky.hxx index 47404d2c5e..0edea8947c 100644 --- a/include/pinocchio/algorithm/cholesky.hxx +++ b/include/pinocchio/algorithm/cholesky.hxx @@ -111,8 +111,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Mat> Mat & Uv( const ModelTpl & model, @@ -174,8 +173,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Mat> Mat & Utv( const ModelTpl & model, @@ -238,8 +236,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Mat> Mat & Uiv( const ModelTpl & model, @@ -298,8 +295,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Mat> Mat & Utiv( const ModelTpl & model, @@ -368,8 +364,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Mat, typename MatRes> MatRes & Mv( @@ -386,8 +381,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Mat> typename PINOCCHIO_EIGEN_PLAIN_TYPE(Mat) Mv( const ModelTpl & model, @@ -443,8 +437,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Mat> Mat & UDUtv( const ModelTpl & model, @@ -500,8 +493,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Mat> Mat & solve( const ModelTpl & model, @@ -518,8 +510,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename VectorLike> VectorLike & Miunit( const ModelTpl & model, @@ -565,8 +556,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Mat> Mat & computeMinv( const ModelTpl & model, diff --git a/include/pinocchio/algorithm/compute-all-terms.hpp b/include/pinocchio/algorithm/compute-all-terms.hpp index 5de8b7de8a..e7ff343571 100644 --- a/include/pinocchio/algorithm/compute-all-terms.hpp +++ b/include/pinocchio/algorithm/compute-all-terms.hpp @@ -39,8 +39,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> void computeAllTerms( diff --git a/include/pinocchio/algorithm/compute-all-terms.hxx b/include/pinocchio/algorithm/compute-all-terms.hxx index 785a7ec213..3ca4fa2866 100644 --- a/include/pinocchio/algorithm/compute-all-terms.hxx +++ b/include/pinocchio/algorithm/compute-all-terms.hxx @@ -18,8 +18,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> struct CATForwardStep @@ -145,8 +144,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> void computeAllTerms( @@ -229,8 +227,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> void computeAllTerms( diff --git a/include/pinocchio/algorithm/constrained-dynamics-derivatives.hpp b/include/pinocchio/algorithm/constrained-dynamics-derivatives.hpp index 95f8da3e20..68621d31d2 100644 --- a/include/pinocchio/algorithm/constrained-dynamics-derivatives.hpp +++ b/include/pinocchio/algorithm/constrained-dynamics-derivatives.hpp @@ -14,8 +14,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, class ConstraintModelAllocator, class ConstraintDataAllocator, typename MatrixType1, @@ -42,8 +41,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, class ConstraintModelAllocator, class ConstraintDataAllocator, typename MatrixType1, @@ -77,8 +75,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, class ConstraintModelAllocator, class ConstraintDataAllocator> PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility") @@ -98,8 +95,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, class ConstraintModelAllocator, class ConstraintDataAllocator> PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility") diff --git a/include/pinocchio/algorithm/constrained-dynamics-derivatives.hxx b/include/pinocchio/algorithm/constrained-dynamics-derivatives.hxx index 9db9078780..fb986b8295 100644 --- a/include/pinocchio/algorithm/constrained-dynamics-derivatives.hxx +++ b/include/pinocchio/algorithm/constrained-dynamics-derivatives.hxx @@ -20,8 +20,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, bool ContactMode> struct ComputeConstraintDynamicsDerivativesForwardStep : public fusion::JointUnaryVisitorBase - class JointCollectionTpl, + template class JointCollectionTpl, bool ContactMode> struct ComputeContactDynamicDerivativesBackwardStep : public fusion::JointUnaryVisitorBase - class JointCollectionTpl, + template class JointCollectionTpl, class ConstraintModelAllocator, class ConstraintDataAllocator> static void run( @@ -347,8 +344,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, class ConstraintModelAllocator, class ConstraintDataAllocator, typename MatrixType1, diff --git a/include/pinocchio/algorithm/constrained-dynamics.hpp b/include/pinocchio/algorithm/constrained-dynamics.hpp index f68158cfd4..90922c00e7 100644 --- a/include/pinocchio/algorithm/constrained-dynamics.hpp +++ b/include/pinocchio/algorithm/constrained-dynamics.hpp @@ -29,8 +29,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, class Allocator> PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility") inline void initConstraintDynamics( @@ -80,8 +79,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, @@ -138,8 +136,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, @@ -164,8 +161,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, diff --git a/include/pinocchio/algorithm/constrained-dynamics.hxx b/include/pinocchio/algorithm/constrained-dynamics.hxx index 95fc1d9f79..f1bc7fbb3d 100644 --- a/include/pinocchio/algorithm/constrained-dynamics.hxx +++ b/include/pinocchio/algorithm/constrained-dynamics.hxx @@ -21,8 +21,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, class Allocator> inline void initConstraintDynamics( const ModelTpl & model, @@ -64,8 +63,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType, bool ContactMode> @@ -142,8 +140,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, bool ContactMode> struct ContactAndImpulseDynamicsBackwardStep : public fusion::JointUnaryVisitorBase< @@ -185,8 +182,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, @@ -527,8 +523,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> struct ContactABAForwardStep1 @@ -594,8 +589,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename TangentVectorType> struct ContactABABackwardStep1 : public fusion::JointUnaryVisitorBase< @@ -657,8 +651,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename TangentVectorType> struct ContactABABackwardStepAugmented : public fusion::JointUnaryVisitorBase< @@ -745,8 +738,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, @@ -976,8 +968,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, diff --git a/include/pinocchio/algorithm/constraints/constraint-data-generic.hpp b/include/pinocchio/algorithm/constraints/constraint-data-generic.hpp index d65f25cba0..0d5c44e703 100644 --- a/include/pinocchio/algorithm/constraints/constraint-data-generic.hpp +++ b/include/pinocchio/algorithm/constraints/constraint-data-generic.hpp @@ -16,8 +16,7 @@ namespace pinocchio template< typename _Scalar, int _Options, - template - class ConstraintCollectionTpl> + template class ConstraintCollectionTpl> struct traits> { typedef _Scalar Scalar; @@ -31,8 +30,7 @@ namespace pinocchio template< typename _Scalar, int _Options, - template - class ConstraintCollectionTpl> + template class ConstraintCollectionTpl> struct ConstraintDataTpl : ConstraintDataBase> , ConstraintCollectionTpl<_Scalar, _Options>::ConstraintDataVariant @@ -102,8 +100,7 @@ namespace pinocchio typename ConstraintDataDerived, typename Scalar, int Options, - template - class ConstraintCollectionTpl> + template class ConstraintCollectionTpl> bool operator==( const ConstraintDataBase & data1, const ConstraintDataTpl & data2) diff --git a/include/pinocchio/algorithm/constraints/constraint-model-generic.hpp b/include/pinocchio/algorithm/constraints/constraint-model-generic.hpp index 6e1846123f..1b8ff1604c 100644 --- a/include/pinocchio/algorithm/constraints/constraint-model-generic.hpp +++ b/include/pinocchio/algorithm/constraints/constraint-model-generic.hpp @@ -16,8 +16,7 @@ namespace pinocchio template< typename _Scalar, int _Options, - template - class ConstraintCollectionTpl> + template class ConstraintCollectionTpl> struct traits> { typedef _Scalar Scalar; @@ -31,8 +30,7 @@ namespace pinocchio template< typename _Scalar, int _Options, - template - class ConstraintCollectionTpl> + template class ConstraintCollectionTpl> struct ConstraintModelTpl : ConstraintModelBase> , ConstraintCollectionTpl<_Scalar, _Options>::ConstraintModelVariant diff --git a/include/pinocchio/algorithm/constraints/visitors/constraint-model-visitor.hpp b/include/pinocchio/algorithm/constraints/visitors/constraint-model-visitor.hpp index 96fcd96aef..5cbecd13ee 100644 --- a/include/pinocchio/algorithm/constraints/visitors/constraint-model-visitor.hpp +++ b/include/pinocchio/algorithm/constraints/visitors/constraint-model-visitor.hpp @@ -28,8 +28,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class ConstraintCollectionTpl, + template class ConstraintCollectionTpl, typename ArgsTmp> static ReturnType run( const ConstraintModelTpl & cmodel, @@ -45,8 +44,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class ConstraintCollectionTpl, + template class ConstraintCollectionTpl, typename ArgsTmp> static ReturnType run(const ConstraintDataTpl & cdata, ArgsTmp args) @@ -60,8 +58,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class ConstraintCollectionTpl, + template class ConstraintCollectionTpl, typename ArgsTmp> struct InternalVisitorModel : public boost::static_visitor { @@ -95,8 +92,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class ConstraintCollectionTpl, + template class ConstraintCollectionTpl, typename ArgsTmp> struct InternalVisitorModelAndData : public boost::static_visitor { @@ -154,10 +150,8 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, - template - class ConstraintCollectionTpl> + template class JointCollectionTpl, + template class ConstraintCollectionTpl> void calc( const ConstraintModelTpl & cmodel, ConstraintDataTpl & cdata, @@ -174,8 +168,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename JacobianMatrix> struct ConstraintModelJacobianVisitor : fusion::ConstraintUnaryVisitorBase< @@ -200,10 +193,8 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, - template - class ConstraintCollectionTpl, + template class JointCollectionTpl, + template class ConstraintCollectionTpl, typename JacobianMatrix> void jacobian( const ConstraintModelTpl & cmodel, @@ -253,8 +244,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class ConstraintCollectionTpl, + template class ConstraintCollectionTpl, typename ConstraintDataDerived> struct ConstraintDataComparisonOperatorVisitor : fusion::ConstraintUnaryVisitorBase< @@ -278,8 +268,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class ConstraintCollectionTpl, + template class ConstraintCollectionTpl, typename ConstraintDataDerived> bool isEqual( const ConstraintDataTpl & cdata_generic, diff --git a/include/pinocchio/algorithm/contact-cholesky.hpp b/include/pinocchio/algorithm/contact-cholesky.hpp index 6d5a32b8ef..e2ec77a762 100644 --- a/include/pinocchio/algorithm/contact-cholesky.hpp +++ b/include/pinocchio/algorithm/contact-cholesky.hpp @@ -288,8 +288,7 @@ namespace pinocchio template< typename S1, int O1, - template - class JointCollectionTpl, + template class JointCollectionTpl, class ConstraintModelAllocator, class ConstraintDataAllocator> void compute( @@ -321,8 +320,7 @@ namespace pinocchio template< typename S1, int O1, - template - class JointCollectionTpl, + template class JointCollectionTpl, class ConstraintModelAllocator, class ConstraintDataAllocator, typename VectorLike> diff --git a/include/pinocchio/algorithm/contact-cholesky.hxx b/include/pinocchio/algorithm/contact-cholesky.hxx index 07d6e4fefd..d16f36928e 100644 --- a/include/pinocchio/algorithm/contact-cholesky.hxx +++ b/include/pinocchio/algorithm/contact-cholesky.hxx @@ -174,8 +174,7 @@ namespace pinocchio template< typename S1, int O1, - template - class JointCollectionTpl, + template class JointCollectionTpl, class ConstraintModelAllocator, class ConstraintDataAllocator, typename VectorLike> diff --git a/include/pinocchio/algorithm/contact-dynamics.hpp b/include/pinocchio/algorithm/contact-dynamics.hpp index e21810632d..f8ea27a8cf 100644 --- a/include/pinocchio/algorithm/contact-dynamics.hpp +++ b/include/pinocchio/algorithm/contact-dynamics.hpp @@ -55,8 +55,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, @@ -118,8 +117,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename TangentVectorType, typename ConstraintMatrixType, typename DriftVectorType> @@ -151,8 +149,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename ConstraintMatrixType, typename KKTMatrixType> @@ -189,8 +186,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConstraintMatrixType, typename KKTMatrixType> PINOCCHIO_DEPRECATED void getKKTContactDynamicMatrixInverse( @@ -236,8 +232,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType, typename ConstraintMatrixType> @@ -288,8 +283,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType, typename ConstraintMatrixType> diff --git a/include/pinocchio/algorithm/contact-dynamics.hxx b/include/pinocchio/algorithm/contact-dynamics.hxx index 85ab2e5118..fb918d6e12 100644 --- a/include/pinocchio/algorithm/contact-dynamics.hxx +++ b/include/pinocchio/algorithm/contact-dynamics.hxx @@ -82,8 +82,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename TangentVectorType, typename ConstraintMatrixType, typename DriftVectorType> @@ -141,8 +140,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, @@ -170,8 +168,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename ConstraintMatrixType, typename KKTMatrixType> @@ -215,8 +212,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConstraintMatrixType, typename KKTMatrixType> void getKKTContactDynamicMatrixInverse( @@ -255,8 +251,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType, typename ConstraintMatrixType> @@ -281,8 +276,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename TangentVectorType, typename ConstraintMatrixType> inline const typename DataTpl::TangentVectorType & diff --git a/include/pinocchio/algorithm/contact-info.hpp b/include/pinocchio/algorithm/contact-info.hpp index 987b2b9437..cbb648e9eb 100644 --- a/include/pinocchio/algorithm/contact-info.hpp +++ b/include/pinocchio/algorithm/contact-info.hpp @@ -496,8 +496,7 @@ namespace pinocchio template< typename InputMatrix, typename OutputMatrix, - template - class JointCollectionTpl> + template class JointCollectionTpl> void jacobian_matrix_product( const ModelTpl & model, const DataTpl & data, diff --git a/include/pinocchio/algorithm/contact-inverse-dynamics.hpp b/include/pinocchio/algorithm/contact-inverse-dynamics.hpp index 56a8d3dc0f..068e19de7e 100644 --- a/include/pinocchio/algorithm/contact-inverse-dynamics.hpp +++ b/include/pinocchio/algorithm/contact-inverse-dynamics.hpp @@ -43,8 +43,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename VectorLikeC, class ConstraintModelAllocator, class ConstraintDataAllocator, @@ -176,8 +175,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, diff --git a/include/pinocchio/algorithm/contact-jacobian.hpp b/include/pinocchio/algorithm/contact-jacobian.hpp index c5e2749094..01dadb5e9e 100644 --- a/include/pinocchio/algorithm/contact-jacobian.hpp +++ b/include/pinocchio/algorithm/contact-jacobian.hpp @@ -23,8 +23,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6Like> PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility") void getConstraintJacobian( @@ -47,8 +46,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename DynamicMatrixLike, class ConstraintModelAllocator, class ConstraintDataAllocator> diff --git a/include/pinocchio/algorithm/contact-jacobian.hxx b/include/pinocchio/algorithm/contact-jacobian.hxx index cf93876b35..c2c718a448 100644 --- a/include/pinocchio/algorithm/contact-jacobian.hxx +++ b/include/pinocchio/algorithm/contact-jacobian.hxx @@ -14,8 +14,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6or3Like> void getConstraintJacobian( const ModelTpl & model, @@ -147,8 +146,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename DynamicMatrixLike, class ConstraintModelAllocator, class ConstraintDataAllocator> diff --git a/include/pinocchio/algorithm/crba.hpp b/include/pinocchio/algorithm/crba.hpp index 97a8fd8996..6f3165ae28 100644 --- a/include/pinocchio/algorithm/crba.hpp +++ b/include/pinocchio/algorithm/crba.hpp @@ -42,8 +42,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> const typename DataTpl::MatrixXs & crba( const ModelTpl & model, diff --git a/include/pinocchio/algorithm/crba.hxx b/include/pinocchio/algorithm/crba.hxx index 74b9453859..a97fefa1bd 100644 --- a/include/pinocchio/algorithm/crba.hxx +++ b/include/pinocchio/algorithm/crba.hxx @@ -19,8 +19,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> struct CrbaWorldConventionForwardStep : public fusion::JointUnaryVisitorBase< @@ -94,8 +93,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> struct CrbaLocalConventionForwardStep : public fusion::JointUnaryVisitorBase< @@ -178,8 +176,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> const typename DataTpl::MatrixXs & crbaLocalConvention( const ModelTpl & model, @@ -215,8 +212,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> const typename DataTpl::MatrixXs & crbaWorldConvention( const ModelTpl & model, @@ -313,8 +309,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> const typename DataTpl::MatrixXs & crba( const ModelTpl & model, diff --git a/include/pinocchio/algorithm/delassus.hpp b/include/pinocchio/algorithm/delassus.hpp index 31ab648086..ab4c690d1f 100644 --- a/include/pinocchio/algorithm/delassus.hpp +++ b/include/pinocchio/algorithm/delassus.hpp @@ -14,8 +14,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, class Allocator> PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility") inline void initPvDelassus( @@ -44,8 +43,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, class ModelAllocator, class DataAllocator, @@ -86,8 +84,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, class ModelAllocator, class DataAllocator, diff --git a/include/pinocchio/algorithm/delassus.hxx b/include/pinocchio/algorithm/delassus.hxx index 9b674e8bda..61c1efb033 100644 --- a/include/pinocchio/algorithm/delassus.hxx +++ b/include/pinocchio/algorithm/delassus.hxx @@ -17,8 +17,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> struct ComputeOSIMForwardStep : public fusion::JointUnaryVisitorBase< @@ -111,8 +110,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, class ModelAllocator, class DataAllocator, @@ -285,8 +283,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, class Allocator> inline void initPvDelassus( const ModelTpl & model, @@ -464,8 +461,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, class ModelAllocator, class DataAllocator, @@ -790,8 +786,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, class ModelAllocator, class DataAllocator, diff --git a/include/pinocchio/algorithm/energy.hpp b/include/pinocchio/algorithm/energy.hpp index 91f49e7d38..e3916d20bc 100644 --- a/include/pinocchio/algorithm/energy.hpp +++ b/include/pinocchio/algorithm/energy.hpp @@ -47,8 +47,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> Scalar computeKineticEnergy( @@ -103,8 +102,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> Scalar computePotentialEnergy( const ModelTpl & model, @@ -146,8 +144,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> Scalar computeMechanicalEnergy( diff --git a/include/pinocchio/algorithm/energy.hxx b/include/pinocchio/algorithm/energy.hxx index 9216bab77a..a0bd50208a 100644 --- a/include/pinocchio/algorithm/energy.hxx +++ b/include/pinocchio/algorithm/energy.hxx @@ -120,8 +120,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> Scalar computeKineticEnergy( @@ -137,8 +136,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> Scalar computePotentialEnergy( const ModelTpl & model, @@ -152,8 +150,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> Scalar computeMechanicalEnergy( @@ -170,8 +167,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> Scalar computeKineticEnergy( @@ -186,8 +182,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> Scalar computePotentialEnergy( const ModelTpl & model, @@ -200,8 +195,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> Scalar computeMechanicalEnergy( diff --git a/include/pinocchio/algorithm/frames-derivatives.hpp b/include/pinocchio/algorithm/frames-derivatives.hpp index 70c6a4d7d6..660158a54c 100644 --- a/include/pinocchio/algorithm/frames-derivatives.hpp +++ b/include/pinocchio/algorithm/frames-derivatives.hpp @@ -34,8 +34,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xOut1, typename Matrix6xOut2> void getFrameVelocityDerivatives( @@ -69,8 +68,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xOut1, typename Matrix6xOut2> void getFrameVelocityDerivatives( @@ -129,8 +127,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xOut1, typename Matrix6xOut2, typename Matrix6xOut3, @@ -176,8 +173,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xOut1, typename Matrix6xOut2, typename Matrix6xOut3, @@ -244,8 +240,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xOut1, typename Matrix6xOut2, typename Matrix6xOut3, @@ -305,8 +300,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xOut1, typename Matrix6xOut2, typename Matrix6xOut3, diff --git a/include/pinocchio/algorithm/frames-derivatives.hxx b/include/pinocchio/algorithm/frames-derivatives.hxx index 40d0b428ac..92ddab5eec 100644 --- a/include/pinocchio/algorithm/frames-derivatives.hxx +++ b/include/pinocchio/algorithm/frames-derivatives.hxx @@ -14,8 +14,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xOut1, typename Matrix6xOut2> void getFrameVelocityDerivatives( @@ -84,8 +83,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xOut1, typename Matrix6xOut2, typename Matrix6xOut3, diff --git a/include/pinocchio/algorithm/frames.hpp b/include/pinocchio/algorithm/frames.hpp index ae6680543b..9c3ba9a1a4 100644 --- a/include/pinocchio/algorithm/frames.hpp +++ b/include/pinocchio/algorithm/frames.hpp @@ -57,8 +57,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> inline void framesForwardKinematics( const ModelTpl & model, @@ -265,8 +264,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xLike> void getFrameJacobian( const ModelTpl & model, @@ -345,8 +343,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xLike> inline void getFrameJacobian( const ModelTpl & model, @@ -435,8 +432,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename Matrix6xLike> inline void computeFrameJacobian( @@ -474,8 +470,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename Matrix6xLike> inline void computeFrameJacobian( @@ -510,8 +505,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xLike> void getFrameJacobianTimeVariation( const ModelTpl & model, diff --git a/include/pinocchio/algorithm/frames.hxx b/include/pinocchio/algorithm/frames.hxx index cbe6a6efc0..9faf3badc6 100644 --- a/include/pinocchio/algorithm/frames.hxx +++ b/include/pinocchio/algorithm/frames.hxx @@ -54,8 +54,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> inline void framesForwardKinematics( const ModelTpl & model, @@ -152,8 +151,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xLike> inline void getFrameJacobian( const ModelTpl & model, @@ -180,8 +178,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename Matrix6xLike> inline void computeFrameJacobian( @@ -269,8 +266,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xLike> void getFrameJacobianTimeVariation( const ModelTpl & model, diff --git a/include/pinocchio/algorithm/geometry.hpp b/include/pinocchio/algorithm/geometry.hpp index e79d83ea00..b0a85625ec 100644 --- a/include/pinocchio/algorithm/geometry.hpp +++ b/include/pinocchio/algorithm/geometry.hpp @@ -29,8 +29,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> inline void updateGeometryPlacements( const ModelTpl & model, diff --git a/include/pinocchio/algorithm/geometry.hxx b/include/pinocchio/algorithm/geometry.hxx index c5929ee52b..89093d8ea7 100644 --- a/include/pinocchio/algorithm/geometry.hxx +++ b/include/pinocchio/algorithm/geometry.hxx @@ -16,8 +16,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> inline void updateGeometryPlacements( const ModelTpl & model, diff --git a/include/pinocchio/algorithm/impulse-dynamics-derivatives.hpp b/include/pinocchio/algorithm/impulse-dynamics-derivatives.hpp index ed8228ed10..c45981f6a8 100644 --- a/include/pinocchio/algorithm/impulse-dynamics-derivatives.hpp +++ b/include/pinocchio/algorithm/impulse-dynamics-derivatives.hpp @@ -13,8 +13,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, class ConstraintModelAllocator, class ConstraintDataAllocator, typename MatrixType1, @@ -38,8 +37,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, class ConstraintModelAllocator, class ConstraintDataAllocator> PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility") diff --git a/include/pinocchio/algorithm/impulse-dynamics-derivatives.hxx b/include/pinocchio/algorithm/impulse-dynamics-derivatives.hxx index 8bed80a08a..e94b59830b 100644 --- a/include/pinocchio/algorithm/impulse-dynamics-derivatives.hxx +++ b/include/pinocchio/algorithm/impulse-dynamics-derivatives.hxx @@ -17,8 +17,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix3xOut1, typename Matrix3xOut2> struct JointImpulseVelocityDerivativesBackwardStep3D @@ -124,8 +123,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xOut1, typename Matrix6xOut2> struct JointImpulseVelocityDerivativesBackwardStep6D @@ -235,8 +233,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, class ConstraintModelAllocator, class ConstraintDataAllocator, typename MatrixType1, diff --git a/include/pinocchio/algorithm/impulse-dynamics.hpp b/include/pinocchio/algorithm/impulse-dynamics.hpp index ff8367b980..5ae97280c4 100644 --- a/include/pinocchio/algorithm/impulse-dynamics.hpp +++ b/include/pinocchio/algorithm/impulse-dynamics.hpp @@ -48,8 +48,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, class ConstraintModelAllocator, diff --git a/include/pinocchio/algorithm/impulse-dynamics.hxx b/include/pinocchio/algorithm/impulse-dynamics.hxx index 19b3bb16bc..6a32329de2 100644 --- a/include/pinocchio/algorithm/impulse-dynamics.hxx +++ b/include/pinocchio/algorithm/impulse-dynamics.hxx @@ -15,8 +15,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, class ConstraintModelAllocator, diff --git a/include/pinocchio/algorithm/jacobian.hpp b/include/pinocchio/algorithm/jacobian.hpp index 75b6dfc6a3..b818716732 100644 --- a/include/pinocchio/algorithm/jacobian.hpp +++ b/include/pinocchio/algorithm/jacobian.hpp @@ -32,8 +32,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> const typename DataTpl::Matrix6x & computeJointJacobians( const ModelTpl & model, @@ -103,8 +102,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6Like> void getJointJacobian( const ModelTpl & model, @@ -169,8 +167,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename Matrix6Like> void computeJointJacobian( @@ -199,8 +196,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> const typename DataTpl::Matrix6x & @@ -229,8 +225,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6Like> void getJointJacobianTimeVariation( const ModelTpl & model, diff --git a/include/pinocchio/algorithm/jacobian.hxx b/include/pinocchio/algorithm/jacobian.hxx index 9005995c5d..32cd99a916 100644 --- a/include/pinocchio/algorithm/jacobian.hxx +++ b/include/pinocchio/algorithm/jacobian.hxx @@ -17,8 +17,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename Matrix6xLike> struct JointJacobiansForwardStep @@ -65,8 +64,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> const typename DataTpl::Matrix6x & computeJointJacobians( const ModelTpl & model, @@ -171,8 +169,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xLikeIn, typename Matrix6xLikeOut> void translateJointJacobian( @@ -243,8 +240,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xLikeIn, typename Matrix6xLikeOut> void translateJointJacobian( @@ -269,8 +265,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xLike> void getJointJacobian( const ModelTpl & model, @@ -289,8 +284,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename Matrix6xLike> struct JointJacobianForwardStep @@ -333,8 +327,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename Matrix6xLike> void computeJointJacobian( @@ -367,8 +360,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> struct JointJacobiansTimeVariationForwardStep @@ -438,8 +430,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> const typename DataTpl::Matrix6x & @@ -473,8 +464,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xLike> void getJointJacobianTimeVariation( const ModelTpl & model, @@ -491,8 +481,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> const typename DataTpl::Matrix6x & computeJointJacobians( const ModelTpl & model, @@ -505,8 +494,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6Like> void getJointJacobian( const ModelTpl & model, @@ -521,8 +509,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename Matrix6Like> void computeJointJacobian( @@ -538,8 +525,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> const typename DataTpl::Matrix6x & @@ -557,8 +543,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6Like> void getJointJacobianTimeVariation( const ModelTpl & model, diff --git a/include/pinocchio/algorithm/joint-configuration.hpp b/include/pinocchio/algorithm/joint-configuration.hpp index 0806f65c7c..6124295c59 100644 --- a/include/pinocchio/algorithm/joint-configuration.hpp +++ b/include/pinocchio/algorithm/joint-configuration.hpp @@ -34,8 +34,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType, typename ReturnType> @@ -64,8 +63,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType, typename ReturnType> @@ -96,8 +94,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2, typename ReturnType> @@ -123,8 +120,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2, typename ReturnType> @@ -161,8 +157,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2, typename ReturnType> @@ -191,8 +186,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2, typename ReturnType> @@ -223,8 +217,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2, typename ReturnType> @@ -249,8 +242,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2, typename ReturnType> @@ -286,8 +278,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2, typename ReturnType> @@ -317,8 +308,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2, typename ReturnType> @@ -349,8 +339,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ReturnType> void neutral( const ModelTpl & model, @@ -369,8 +358,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ReturnType> void neutral( const ModelTpl & model, @@ -408,8 +396,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType, typename JacobianMatrixType> @@ -448,8 +435,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType, typename JacobianMatrixType> @@ -494,8 +480,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType, typename JacobianMatrixType> @@ -542,8 +527,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType, typename JacobianMatrixType1, @@ -584,8 +568,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType, typename JacobianMatrixType1, @@ -633,8 +616,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType, typename JacobianMatrixType> @@ -672,8 +654,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType, typename JacobianMatrixType> @@ -717,8 +698,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVector1, typename ConfigVector2, typename JacobianMatrix> @@ -755,8 +735,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVector1, typename ConfigVector2, typename JacobianMatrix> @@ -787,8 +766,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2> Scalar squaredDistanceSum( @@ -811,8 +789,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2> Scalar squaredDistanceSum( @@ -841,8 +818,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2> Scalar distance( @@ -864,8 +840,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2> Scalar distance( @@ -890,8 +865,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> void normalize( const ModelTpl & model, @@ -908,8 +882,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> void normalize( const ModelTpl & model, @@ -934,8 +907,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> bool isNormalized( const ModelTpl & model, @@ -956,8 +928,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> bool isNormalized( const ModelTpl & model, @@ -988,8 +959,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2> bool isSameConfiguration( @@ -1017,8 +987,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2> bool isSameConfiguration( @@ -1048,8 +1017,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVector, typename JacobianMatrix> void integrateCoeffWiseJacobian( @@ -1072,8 +1040,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVector, typename JacobianMatrix> void integrateCoeffWiseJacobian( @@ -1108,8 +1075,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorType) integrate( @@ -1133,8 +1099,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorType) integrate( @@ -1164,8 +1129,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2> typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorIn1) interpolate( @@ -1190,8 +1154,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2> typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorIn1) interpolate( @@ -1221,8 +1184,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2> typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorIn1) difference( @@ -1245,8 +1207,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2> typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorIn1) difference( @@ -1276,8 +1237,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2> typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorIn1) squaredDistance( @@ -1301,8 +1261,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2> typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorIn1) squaredDistance( @@ -1337,8 +1296,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2> typename PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS( @@ -1369,8 +1327,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2> typename PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS( @@ -1407,8 +1364,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl> + template class JointCollectionTpl> typename PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS( (typename ModelTpl::ConfigVectorType)) randomConfiguration(const ModelTpl & model); @@ -1453,8 +1409,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl> + template class JointCollectionTpl> Eigen::Matrix neutral(const ModelTpl & model); diff --git a/include/pinocchio/algorithm/joint-configuration.hxx b/include/pinocchio/algorithm/joint-configuration.hxx index bdebdfcd7c..d55ca1e6fd 100644 --- a/include/pinocchio/algorithm/joint-configuration.hxx +++ b/include/pinocchio/algorithm/joint-configuration.hxx @@ -18,8 +18,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType, typename ReturnType> @@ -52,8 +51,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2, typename ReturnType> @@ -87,8 +85,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2, typename ReturnType> @@ -121,8 +118,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2, typename ReturnType> @@ -155,8 +151,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2, typename ReturnType> @@ -190,8 +185,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ReturnType> void neutral( const ModelTpl & model, @@ -215,8 +209,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType, typename JacobianMatrixType> @@ -254,8 +247,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType, typename JacobianMatrixType1, @@ -298,8 +290,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType, typename JacobianMatrixType> @@ -334,8 +325,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVector1, typename ConfigVector2, typename JacobianMatrix> @@ -371,8 +361,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2> Scalar squaredDistanceSum( @@ -403,8 +392,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2> Scalar distance( @@ -422,8 +410,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> void normalize( const ModelTpl & model, @@ -448,8 +435,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorIn> bool isNormalized( const ModelTpl & model, @@ -481,8 +467,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2> bool isSameConfiguration( @@ -518,8 +503,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVector, typename JacobianMatrix> void integrateCoeffWiseJacobian( @@ -547,8 +531,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorType) integrate( @@ -568,8 +551,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2> typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorIn1) interpolate( @@ -590,8 +572,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2> typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorIn1) difference( @@ -611,8 +592,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2> typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorIn1) squaredDistance( @@ -632,8 +612,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2> typename PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS( @@ -656,8 +635,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl> + template class JointCollectionTpl> typename PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS( (typename ModelTpl::ConfigVectorType)) randomConfiguration(const ModelTpl & model) @@ -673,8 +651,7 @@ namespace pinocchio typename LieGroup_t, typename Scalar, int Options, - template - class JointCollectionTpl> + template class JointCollectionTpl> Eigen::Matrix neutral(const ModelTpl & model) { diff --git a/include/pinocchio/algorithm/kinematics-derivatives.hpp b/include/pinocchio/algorithm/kinematics-derivatives.hpp index 4c274e00e2..76f86f15aa 100644 --- a/include/pinocchio/algorithm/kinematics-derivatives.hpp +++ b/include/pinocchio/algorithm/kinematics-derivatives.hpp @@ -36,8 +36,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> @@ -67,8 +66,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xOut1, typename Matrix6xOut2> void getJointVelocityDerivatives( @@ -108,8 +106,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xOut1, typename Matrix6xOut2, typename Matrix6xOut3, @@ -155,8 +152,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xOut1, typename Matrix6xOut2, typename Matrix6xOut3, @@ -195,8 +191,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix3xOut1, typename Matrix3xOut2> void getPointVelocityDerivatives( @@ -239,8 +234,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix3xOut1, typename Matrix3xOut2, typename Matrix3xOut3, @@ -288,8 +282,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix3xOut1, typename Matrix3xOut2, typename Matrix3xOut3, @@ -346,8 +339,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> void computeJointKinematicHessians( const ModelTpl & model, diff --git a/include/pinocchio/algorithm/kinematics-derivatives.hxx b/include/pinocchio/algorithm/kinematics-derivatives.hxx index 92cfbdfa83..0e0e171bbe 100644 --- a/include/pinocchio/algorithm/kinematics-derivatives.hxx +++ b/include/pinocchio/algorithm/kinematics-derivatives.hxx @@ -17,8 +17,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> @@ -97,8 +96,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> @@ -137,8 +135,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xOut1, typename Matrix6xOut2> struct JointVelocityDerivativesBackwardStep @@ -245,8 +242,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xOut1, typename Matrix6xOut2> void getJointVelocityDerivatives( @@ -285,8 +281,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xOut1, typename Matrix6xOut2, typename Matrix6xOut3, @@ -466,8 +461,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xOut1, typename Matrix6xOut2, typename Matrix6xOut3, @@ -518,8 +512,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xOut1, typename Matrix6xOut2, typename Matrix6xOut3, @@ -548,8 +541,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix3xOut1, typename Matrix3xOut2> struct PointVelocityDerivativesBackwardStep @@ -651,8 +643,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix3xOut1, typename Matrix3xOut2> void getPointVelocityDerivatives( @@ -701,8 +692,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix3xOut1, typename Matrix3xOut2, typename Matrix3xOut3, @@ -878,8 +868,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix3xOut1, typename Matrix3xOut2, typename Matrix3xOut3, @@ -940,8 +929,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix3xOut1, typename Matrix3xOut2, typename Matrix3xOut3, @@ -1286,8 +1274,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> @@ -1305,8 +1292,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xOut1, typename Matrix6xOut2> void getJointVelocityDerivatives( @@ -1324,8 +1310,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xOut1, typename Matrix6xOut2, typename Matrix6xOut3, @@ -1348,8 +1333,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xOut1, typename Matrix6xOut2, typename Matrix6xOut3, @@ -1374,8 +1358,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix3xOut1, typename Matrix3xOut2> void getPointVelocityDerivatives( @@ -1395,8 +1378,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix3xOut1, typename Matrix3xOut2, typename Matrix3xOut3, @@ -1420,8 +1402,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix3xOut1, typename Matrix3xOut2, typename Matrix3xOut3, diff --git a/include/pinocchio/algorithm/kinematics.hpp b/include/pinocchio/algorithm/kinematics.hpp index 066ca9e7ae..cc0bfe8ebe 100644 --- a/include/pinocchio/algorithm/kinematics.hpp +++ b/include/pinocchio/algorithm/kinematics.hpp @@ -41,8 +41,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> void forwardKinematics( const ModelTpl & model, @@ -65,8 +64,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> void forwardKinematics( @@ -92,8 +90,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> diff --git a/include/pinocchio/algorithm/kinematics.hxx b/include/pinocchio/algorithm/kinematics.hxx index cb9538c1e3..fc7230cc6f 100644 --- a/include/pinocchio/algorithm/kinematics.hxx +++ b/include/pinocchio/algorithm/kinematics.hxx @@ -36,8 +36,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> struct ForwardKinematicZeroStep : fusion::JointUnaryVisitorBase< @@ -75,8 +74,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> void forwardKinematics( const ModelTpl & model, @@ -100,8 +98,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> struct ForwardKinematicFirstStep @@ -151,8 +148,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> void forwardKinematics( @@ -184,8 +180,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> @@ -246,8 +241,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> @@ -351,8 +345,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> void forwardKinematics( const ModelTpl & model, @@ -365,8 +358,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> void forwardKinematics( @@ -381,8 +373,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> diff --git a/include/pinocchio/algorithm/model.hpp b/include/pinocchio/algorithm/model.hpp index dfd92df173..697e7a5ad2 100644 --- a/include/pinocchio/algorithm/model.hpp +++ b/include/pinocchio/algorithm/model.hpp @@ -104,8 +104,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> void buildReducedModel( const ModelTpl & model, @@ -130,8 +129,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> ModelTpl buildReducedModel( const ModelTpl & model, @@ -165,8 +163,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> void buildReducedModel( const ModelTpl & model, @@ -195,8 +192,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename GeometryModelAllocator, typename ConfigVectorType> void buildReducedModel( diff --git a/include/pinocchio/algorithm/model.hxx b/include/pinocchio/algorithm/model.hxx index 462048ca64..472f9e5009 100644 --- a/include/pinocchio/algorithm/model.hxx +++ b/include/pinocchio/algorithm/model.hxx @@ -457,8 +457,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> void buildReducedModel( const ModelTpl & input_model, @@ -693,8 +692,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> void buildReducedModel( const ModelTpl & input_model, @@ -717,8 +715,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename GeometryModelAllocator, typename ConfigVectorType> void buildReducedModel( diff --git a/include/pinocchio/algorithm/parallel/aba.hpp b/include/pinocchio/algorithm/parallel/aba.hpp index 06ebe2e2f9..9af6077f1b 100644 --- a/include/pinocchio/algorithm/parallel/aba.hpp +++ b/include/pinocchio/algorithm/parallel/aba.hpp @@ -32,8 +32,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorPool, typename TangentVectorPool1, typename TangentVectorPool2, diff --git a/include/pinocchio/algorithm/parallel/rnea.hpp b/include/pinocchio/algorithm/parallel/rnea.hpp index e8fef43b33..2434fcaef6 100644 --- a/include/pinocchio/algorithm/parallel/rnea.hpp +++ b/include/pinocchio/algorithm/parallel/rnea.hpp @@ -31,8 +31,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorPool, typename TangentVectorPool1, typename TangentVectorPool2, diff --git a/include/pinocchio/algorithm/pv.hpp b/include/pinocchio/algorithm/pv.hpp index 0d070be494..566aab97ac 100644 --- a/include/pinocchio/algorithm/pv.hpp +++ b/include/pinocchio/algorithm/pv.hpp @@ -27,8 +27,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, class Allocator> PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility") inline void initPvSolver( @@ -65,8 +64,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, @@ -114,8 +112,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, diff --git a/include/pinocchio/algorithm/pv.hxx b/include/pinocchio/algorithm/pv.hxx index 904d05fe0b..eacc35523a 100644 --- a/include/pinocchio/algorithm/pv.hxx +++ b/include/pinocchio/algorithm/pv.hxx @@ -20,8 +20,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, class Allocator> inline void initPvSolver( const ModelTpl & model, @@ -108,8 +107,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> struct PvForwardStep1 @@ -393,8 +391,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, @@ -590,8 +587,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, diff --git a/include/pinocchio/algorithm/regressor.hpp b/include/pinocchio/algorithm/regressor.hpp index bdc14d3951..643dbdb5c0 100644 --- a/include/pinocchio/algorithm/regressor.hpp +++ b/include/pinocchio/algorithm/regressor.hpp @@ -22,8 +22,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xReturnType> void computeJointKinematicRegressor( const ModelTpl & model, @@ -75,8 +74,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xReturnType> void computeJointKinematicRegressor( const ModelTpl & model, @@ -125,8 +123,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xReturnType> void computeFrameKinematicRegressor( const ModelTpl & model, @@ -187,8 +184,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> inline typename DataTpl::Matrix3x & computeStaticRegressor( const ModelTpl & model, @@ -307,8 +303,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> @@ -341,8 +336,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> const typename DataTpl::RowVectorXs & @@ -371,8 +365,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> const typename DataTpl::RowVectorXs & computePotentialEnergyRegressor( diff --git a/include/pinocchio/algorithm/regressor.hxx b/include/pinocchio/algorithm/regressor.hxx index 485447baf0..88f7cffa51 100644 --- a/include/pinocchio/algorithm/regressor.hxx +++ b/include/pinocchio/algorithm/regressor.hxx @@ -18,8 +18,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xReturnType> void computeJointKinematicRegressorGeneric( const ModelTpl & model, @@ -71,8 +70,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xReturnType> void computeJointKinematicRegressor( const ModelTpl & model, @@ -89,8 +87,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xReturnType> void computeJointKinematicRegressor( const ModelTpl & model, @@ -114,8 +111,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Matrix6xReturnType> void computeFrameKinematicRegressor( const ModelTpl & model, @@ -140,8 +136,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> inline typename DataTpl::Matrix3x & computeStaticRegressor( const ModelTpl & model, @@ -334,8 +329,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> @@ -425,8 +419,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> @@ -474,8 +467,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> const typename DataTpl::RowVectorXs & @@ -523,8 +515,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> const typename DataTpl::RowVectorXs & computePotentialEnergyRegressor( diff --git a/include/pinocchio/algorithm/rnea-derivatives.hpp b/include/pinocchio/algorithm/rnea-derivatives.hpp index 1fe4ac7897..87824fcca2 100644 --- a/include/pinocchio/algorithm/rnea-derivatives.hpp +++ b/include/pinocchio/algorithm/rnea-derivatives.hpp @@ -35,8 +35,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename ReturnMatrixType> void computeGeneralizedGravityDerivatives( @@ -69,8 +68,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename ReturnMatrixType> void computeStaticTorqueDerivatives( @@ -112,8 +110,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, @@ -164,8 +161,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, @@ -209,8 +205,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> @@ -249,8 +244,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> diff --git a/include/pinocchio/algorithm/rnea-derivatives.hxx b/include/pinocchio/algorithm/rnea-derivatives.hxx index 729eb308cb..c9f4812bc5 100644 --- a/include/pinocchio/algorithm/rnea-derivatives.hxx +++ b/include/pinocchio/algorithm/rnea-derivatives.hxx @@ -15,8 +15,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> struct ComputeGeneralizedGravityDerivativeForwardStep : public fusion::JointUnaryVisitorBase - class JointCollectionTpl, + template class JointCollectionTpl, typename ReturnMatrixType> struct ComputeGeneralizedGravityDerivativeBackwardStep : public fusion::JointUnaryVisitorBase - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename ReturnMatrixType> void computeGeneralizedGravityDerivatives( @@ -187,8 +184,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename ReturnMatrixType> void computeStaticTorqueDerivatives( @@ -237,8 +233,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> @@ -357,8 +352,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename MatrixType1, typename MatrixType2, typename MatrixType3> @@ -466,8 +460,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, @@ -547,8 +540,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, @@ -629,8 +621,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> @@ -648,8 +639,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> @@ -671,8 +661,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename ReturnMatrixType> void computeGeneralizedGravityDerivatives( @@ -688,8 +677,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename ReturnMatrixType> void computeStaticTorqueDerivatives( @@ -706,8 +694,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, @@ -732,8 +719,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, @@ -759,8 +745,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> @@ -779,8 +764,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> diff --git a/include/pinocchio/algorithm/rnea-second-order-derivatives.hpp b/include/pinocchio/algorithm/rnea-second-order-derivatives.hpp index 8eef6f0858..1020ddf2b5 100644 --- a/include/pinocchio/algorithm/rnea-second-order-derivatives.hpp +++ b/include/pinocchio/algorithm/rnea-second-order-derivatives.hpp @@ -71,8 +71,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, @@ -132,8 +131,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> diff --git a/include/pinocchio/algorithm/rnea-second-order-derivatives.hxx b/include/pinocchio/algorithm/rnea-second-order-derivatives.hxx index 99b621e2d6..b5c1fe412b 100644 --- a/include/pinocchio/algorithm/rnea-second-order-derivatives.hxx +++ b/include/pinocchio/algorithm/rnea-second-order-derivatives.hxx @@ -13,8 +13,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> @@ -121,8 +120,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename Tensor1, typename Tensor2, typename Tensor3, @@ -394,8 +392,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, diff --git a/include/pinocchio/algorithm/rnea.hpp b/include/pinocchio/algorithm/rnea.hpp index 3650508b58..499b69a005 100644 --- a/include/pinocchio/algorithm/rnea.hpp +++ b/include/pinocchio/algorithm/rnea.hpp @@ -30,8 +30,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> @@ -66,8 +65,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, @@ -101,8 +99,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> const typename DataTpl::TangentVectorType & nonLinearEffects( @@ -130,8 +127,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> const typename DataTpl::TangentVectorType & computeGeneralizedGravity( @@ -161,8 +157,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> const typename DataTpl::TangentVectorType & computeStaticTorque( @@ -192,8 +187,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> const typename DataTpl::MatrixXs & computeCoriolisMatrix( diff --git a/include/pinocchio/algorithm/rnea.hxx b/include/pinocchio/algorithm/rnea.hxx index 4d1b775a87..f9ba3c7266 100644 --- a/include/pinocchio/algorithm/rnea.hxx +++ b/include/pinocchio/algorithm/rnea.hxx @@ -17,8 +17,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> @@ -111,8 +110,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> @@ -162,8 +160,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, @@ -218,8 +215,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> struct NLEForwardStep @@ -292,8 +288,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> const typename DataTpl::TangentVectorType & @@ -336,8 +331,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> struct ComputeGeneralizedGravityForwardStep : public fusion::JointUnaryVisitorBase< @@ -402,8 +396,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> const typename DataTpl::TangentVectorType & computeGeneralizedGravity( @@ -441,8 +434,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> const typename DataTpl::TangentVectorType & computeStaticTorque( @@ -485,8 +477,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> struct CoriolisMatrixForwardStep @@ -624,8 +615,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> const typename DataTpl::MatrixXs & computeCoriolisMatrix( @@ -751,8 +741,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> @@ -769,8 +758,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, @@ -789,8 +777,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> const typename DataTpl::TangentVectorType & nonLinearEffects( @@ -805,8 +792,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> const typename DataTpl::TangentVectorType & computeGeneralizedGravity( @@ -820,8 +806,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> const typename DataTpl::TangentVectorType & computeStaticTorque( @@ -836,8 +821,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> const typename DataTpl::MatrixXs & computeCoriolisMatrix( diff --git a/include/pinocchio/bindings/python/algorithm/contact-cholesky.hpp b/include/pinocchio/bindings/python/algorithm/contact-cholesky.hpp index b89be0dc62..34b31c7b69 100644 --- a/include/pinocchio/bindings/python/algorithm/contact-cholesky.hpp +++ b/include/pinocchio/bindings/python/algorithm/contact-cholesky.hpp @@ -65,15 +65,14 @@ namespace pinocchio "numContacts", &Self::numContacts, bp::arg("self"), "Returns the number of contacts associated to this decomposition.") .def( - "matrix", (Matrix(Self::*)(void) const) & Self::matrix, bp::arg("self"), + "matrix", (Matrix(Self::*)(void) const)&Self::matrix, bp::arg("self"), "Returns the matrix resulting from the decomposition.") .def( "compute", (void (*)( Self & self, const Model &, Data &, const RigidConstraintModelVector &, - RigidConstraintDataVector &, const Scalar)) - & compute, + RigidConstraintDataVector &, const Scalar))&compute, (bp::arg("self"), bp::arg("model"), bp::arg("data"), bp::arg("contact_models"), bp::arg("contact_datas"), bp::arg("mu") = 0), "Computes the Cholesky decompostion of the augmented matrix containing the KKT matrix\n" @@ -86,8 +85,7 @@ namespace pinocchio "compute", (void (*)( Self & self, const Model &, Data &, const RigidConstraintModelVector &, - RigidConstraintDataVector &, const Vector &)) - & compute, + RigidConstraintDataVector &, const Vector &))&compute, (bp::arg("self"), bp::arg("model"), bp::arg("data"), bp::arg("contact_models"), bp::arg("contact_datas"), bp::arg("mus")), "Computes the Cholesky decompostion of the augmented matrix containing the KKT matrix\n" @@ -109,7 +107,7 @@ namespace pinocchio .def( "getInverseOperationalSpaceInertiaMatrix", - (Matrix(Self::*)(void) const) & Self::getInverseOperationalSpaceInertiaMatrix, + (Matrix(Self::*)(void) const)&Self::getInverseOperationalSpaceInertiaMatrix, bp::arg("self"), "Returns the Inverse of the Operational Space Inertia Matrix resulting from the " "decomposition.", @@ -117,12 +115,12 @@ namespace pinocchio .def( "getOperationalSpaceInertiaMatrix", - (Matrix(Self::*)(void) const) & Self::getOperationalSpaceInertiaMatrix, bp::arg("self"), + (Matrix(Self::*)(void) const)&Self::getOperationalSpaceInertiaMatrix, bp::arg("self"), "Returns the Operational Space Inertia Matrix resulting from the decomposition.", bp::return_value_policy()) .def( - "getInverseMassMatrix", (Matrix(Self::*)(void) const) & Self::getInverseMassMatrix, + "getInverseMassMatrix", (Matrix(Self::*)(void) const)&Self::getInverseMassMatrix, bp::arg("self"), "Returns the inverse of the Joint Space Inertia Matrix or \"mass matrix\".", bp::return_value_policy()) @@ -134,7 +132,7 @@ namespace pinocchio bp::return_value_policy()) .def( - "inverse", (Matrix(Self::*)(void) const) & Self::inverse, bp::arg("self"), + "inverse", (Matrix(Self::*)(void) const)&Self::inverse, bp::arg("self"), "Returns the inverse matrix resulting from the decomposition.") .def( diff --git a/include/pinocchio/bindings/python/algorithm/delassus-operator.hpp b/include/pinocchio/bindings/python/algorithm/delassus-operator.hpp index 48a5431014..b7bf1eaf78 100644 --- a/include/pinocchio/bindings/python/algorithm/delassus-operator.hpp +++ b/include/pinocchio/bindings/python/algorithm/delassus-operator.hpp @@ -43,15 +43,15 @@ namespace pinocchio .def( "computeLargestEigenValue", - (Scalar(DelassusOperator::*)(const bool, const int, const Scalar) const) - & DelassusOperator::computeLargestEigenValue, + (Scalar(DelassusOperator::*)(const bool, const int, const Scalar) + const)&DelassusOperator::computeLargestEigenValue, (bp::arg("self"), bp::arg("reset") = true, bp::arg("max_it") = 10, bp::arg("prec") = Scalar(1e-8)), "Compute the largest eigenvalue associated to the underlying Delassus matrix.") .def( "computeLowestEigenValue", - (Scalar(DelassusOperator::*)(const bool, const bool, const int, const Scalar) const) - & DelassusOperator::computeLowestEigenValue, + (Scalar(DelassusOperator::*)(const bool, const bool, const int, const Scalar) + const)&DelassusOperator::computeLowestEigenValue, (bp::arg("self"), bp::arg("reset") = true, bp::arg("compute_largest") = true, bp::arg("max_it") = 10, bp::arg("prec") = Scalar(1e-8)), "Compute the lowest eigenvalue associated to the underlying Delassus matrix.") diff --git a/include/pinocchio/bindings/python/spatial/force.hpp b/include/pinocchio/bindings/python/spatial/force.hpp index 4ccb66506c..52ff424eb3 100644 --- a/include/pinocchio/bindings/python/spatial/force.hpp +++ b/include/pinocchio/bindings/python/spatial/force.hpp @@ -121,7 +121,7 @@ namespace pinocchio "Set the linear and angular components of *this to random values.") .def( - "dot", (Scalar(Force::*)(const MotionDense &) const) & Force::dot, + "dot", (Scalar(Force::*)(const MotionDense &) const)&Force::dot, bp::args("self", "m"), "Dot product between *this and a Motion m.") .def(bp::self + bp::self) diff --git a/include/pinocchio/bindings/python/spatial/inertia.hpp b/include/pinocchio/bindings/python/spatial/inertia.hpp index 1432c4f59b..6023575c89 100644 --- a/include/pinocchio/bindings/python/spatial/inertia.hpp +++ b/include/pinocchio/bindings/python/spatial/inertia.hpp @@ -77,8 +77,8 @@ namespace pinocchio "Rotational part of the Spatial Inertia, i.e. a symmetric matrix " "representing the rotational inertia around the center of mass.") - .def("matrix", (Matrix6(Inertia::*)() const) & Inertia::matrix, bp::arg("self")) - .def("inverse", (Matrix6(Inertia::*)() const) & Inertia::inverse, bp::arg("self")) + .def("matrix", (Matrix6(Inertia::*)() const)&Inertia::matrix, bp::arg("self")) + .def("inverse", (Matrix6(Inertia::*)() const)&Inertia::inverse, bp::arg("self")) .def( "se3Action", &Inertia::template se3Action, bp::args("self", "M"), "Returns the result of the action of M on *this.") @@ -102,7 +102,7 @@ namespace pinocchio .def(bp::self -= bp::self) .def(bp::self * bp::other()) - .add_property("np", (Matrix6(Inertia::*)() const) & Inertia::matrix) + .add_property("np", (Matrix6(Inertia::*)() const)&Inertia::matrix) .def( "vxiv", &Inertia::template vxiv, bp::args("self", "v"), "Returns the result of v x Iv.") @@ -111,18 +111,16 @@ namespace pinocchio "Returns the result of v.T * Iv.") .def( "vxi", - (Matrix6(Inertia::*)(const MotionDense &) const) - & Inertia::template vxi, + (Matrix6(Inertia::*)(const MotionDense &) const)&Inertia::template vxi, bp::args("self", "v"), "Returns the result of v x* I, a 6x6 matrix.") .def( "ivx", - (Matrix6(Inertia::*)(const MotionDense &) const) - & Inertia::template ivx, + (Matrix6(Inertia::*)(const MotionDense &) const)&Inertia::template ivx, bp::args("self", "v"), "Returns the result of I vx, a 6x6 matrix.") .def( "variation", - (Matrix6(Inertia::*)(const MotionDense &) const) - & Inertia::template variation, + (Matrix6(Inertia::*)(const MotionDense &) + const)&Inertia::template variation, bp::args("self", "v"), "Returns the time derivative of the inertia.") #ifndef PINOCCHIO_PYTHON_SKIP_COMPARISON_OPERATIONS @@ -207,7 +205,7 @@ namespace pinocchio "Returns the Inertia created from log Cholesky parameters.") .staticmethod("FromLogCholeskyParameters") - .def("__array__", (Matrix6(Inertia::*)() const) & Inertia::matrix) + .def("__array__", (Matrix6(Inertia::*)() const)&Inertia::matrix) .def( "__array__", &__array__, (bp::arg("self"), bp::arg("dtype") = bp::object(), bp::arg("copy") = bp::object())) diff --git a/include/pinocchio/bindings/python/spatial/motion.hpp b/include/pinocchio/bindings/python/spatial/motion.hpp index 5606682b1e..9f3b1f781f 100644 --- a/include/pinocchio/bindings/python/spatial/motion.hpp +++ b/include/pinocchio/bindings/python/spatial/motion.hpp @@ -135,14 +135,14 @@ namespace pinocchio "Set the linear and angular components of *this to random values.") .def( - "dot", (Scalar(Motion::*)(const ForceBase &) const) & Motion::dot, + "dot", (Scalar(Motion::*)(const ForceBase &) const)&Motion::dot, bp::args("self", "f"), "Dot product between *this and a Force f.") .def( - "cross", (Motion(Motion::*)(const Motion &) const) & Motion::cross, - bp::args("self", "m"), "Action of *this onto another Motion m. Returns ¨*this x m.") + "cross", (Motion(Motion::*)(const Motion &) const)&Motion::cross, bp::args("self", "m"), + "Action of *this onto another Motion m. Returns ¨*this x m.") .def( - "cross", (Force(Motion::*)(const Force &) const) & Motion::cross, bp::args("self", "f"), + "cross", (Force(Motion::*)(const Force &) const)&Motion::cross, bp::args("self", "f"), "Dual action of *this onto a Force f. Returns *this x* f.") .def(bp::self + bp::self) diff --git a/include/pinocchio/bindings/python/spatial/se3.hpp b/include/pinocchio/bindings/python/spatial/se3.hpp index 7fe855a9e5..646a61f7bd 100644 --- a/include/pinocchio/bindings/python/spatial/se3.hpp +++ b/include/pinocchio/bindings/python/spatial/se3.hpp @@ -87,25 +87,25 @@ namespace pinocchio "homogeneous", &SE3::toHomogeneousMatrix, "Returns the equivalent homegeneous matrix (acting on SE3).") .add_property( - "action", (ActionMatrixType(SE3::*)() const) & SE3::toActionMatrix, + "action", (ActionMatrixType(SE3::*)() const)&SE3::toActionMatrix, "Returns the related action matrix (acting on Motion).") .def( - "toActionMatrix", (ActionMatrixType(SE3::*)() const) & SE3::toActionMatrix, + "toActionMatrix", (ActionMatrixType(SE3::*)() const)&SE3::toActionMatrix, bp::arg("self"), "Returns the related action matrix (acting on Motion).") .add_property( - "actionInverse", (ActionMatrixType(SE3::*)() const) & SE3::toActionMatrixInverse, + "actionInverse", (ActionMatrixType(SE3::*)() const)&SE3::toActionMatrixInverse, "Returns the inverse of the action matrix (acting on Motion).\n" "This is equivalent to do m.inverse().action") .def( - "toActionMatrixInverse", - (ActionMatrixType(SE3::*)() const) & SE3::toActionMatrixInverse, bp::arg("self"), + "toActionMatrixInverse", (ActionMatrixType(SE3::*)() const)&SE3::toActionMatrixInverse, + bp::arg("self"), "Returns the inverse of the action matrix (acting on Motion).\n" "This is equivalent to do m.inverse().toActionMatrix()") .add_property( - "dualAction", (ActionMatrixType(SE3::*)() const) & SE3::toDualActionMatrix, + "dualAction", (ActionMatrixType(SE3::*)() const)&SE3::toDualActionMatrix, "Returns the related dual action matrix (acting on Force).") .def( - "toDualActionMatrix", (ActionMatrixType(SE3::*)() const) & SE3::toDualActionMatrix, + "toDualActionMatrix", (ActionMatrixType(SE3::*)() const)&SE3::toDualActionMatrix, bp::arg("self"), "Returns the related dual action matrix (acting on Force).") .def( @@ -118,39 +118,39 @@ namespace pinocchio .def("inverse", &SE3::inverse, bp::arg("self"), "Returns the inverse transform") .def( - "act", (Vector3(SE3::*)(const Vector3 &) const) & SE3::act, bp::args("self", "point"), + "act", (Vector3(SE3::*)(const Vector3 &) const)&SE3::act, bp::args("self", "point"), "Returns a point which is the result of the entry point transforms by *this.") .def( - "actInv", (Vector3(SE3::*)(const Vector3 &) const) & SE3::actInv, + "actInv", (Vector3(SE3::*)(const Vector3 &) const)&SE3::actInv, bp::args("self", "point"), "Returns a point which is the result of the entry point by the inverse of *this.") .def( - "act", (SE3(SE3::*)(const SE3 & other) const) & SE3::act, bp::args("self", "M"), + "act", (SE3(SE3::*)(const SE3 & other) const)&SE3::act, bp::args("self", "M"), "Returns the result of *this * M.") .def( - "actInv", (SE3(SE3::*)(const SE3 & other) const) & SE3::actInv, bp::args("self", "M"), + "actInv", (SE3(SE3::*)(const SE3 & other) const)&SE3::actInv, bp::args("self", "M"), "Returns the result of the inverse of *this times M.") .def( - "act", (Motion(SE3::*)(const Motion &) const) & SE3::act, bp::args("self", "motion"), + "act", (Motion(SE3::*)(const Motion &) const)&SE3::act, bp::args("self", "motion"), "Returns the result action of *this onto a Motion.") .def( - "actInv", (Motion(SE3::*)(const Motion &) const) & SE3::actInv, + "actInv", (Motion(SE3::*)(const Motion &) const)&SE3::actInv, bp::args("self", "motion"), "Returns the result of the inverse of *this onto a Motion.") .def( - "act", (Force(SE3::*)(const Force &) const) & SE3::act, bp::args("self", "force"), + "act", (Force(SE3::*)(const Force &) const)&SE3::act, bp::args("self", "force"), "Returns the result of *this onto a Force.") .def( - "actInv", (Force(SE3::*)(const Force &) const) & SE3::actInv, bp::args("self", "force"), + "actInv", (Force(SE3::*)(const Force &) const)&SE3::actInv, bp::args("self", "force"), "Returns the result of the inverse of *this onto an Inertia.") .def( - "act", (Inertia(SE3::*)(const Inertia &) const) & SE3::act, bp::args("self", "inertia"), + "act", (Inertia(SE3::*)(const Inertia &) const)&SE3::act, bp::args("self", "inertia"), "Returns the result of *this onto a Force.") .def( - "actInv", (Inertia(SE3::*)(const Inertia &) const) & SE3::actInv, + "actInv", (Inertia(SE3::*)(const Inertia &) const)&SE3::actInv, bp::args("self", "inertia"), "Returns the result of the inverse of *this onto an Inertia.") diff --git a/include/pinocchio/collision/broadphase.hpp b/include/pinocchio/collision/broadphase.hpp index c758fd83dd..bc8d99ecf5 100644 --- a/include/pinocchio/collision/broadphase.hpp +++ b/include/pinocchio/collision/broadphase.hpp @@ -88,8 +88,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename BroadPhaseManagerDerived, typename ConfigVectorType> inline bool computeCollisions( @@ -128,8 +127,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename BroadPhaseManagerDerived, typename ConfigVectorType> inline bool computeCollisions( diff --git a/include/pinocchio/collision/collision.hpp b/include/pinocchio/collision/collision.hpp index 73277ef2ae..db76242ab3 100644 --- a/include/pinocchio/collision/collision.hpp +++ b/include/pinocchio/collision/collision.hpp @@ -88,8 +88,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> bool computeCollisions( const ModelTpl & model, diff --git a/include/pinocchio/collision/collision.hxx b/include/pinocchio/collision/collision.hxx index 039cdd5db5..113ed301de 100644 --- a/include/pinocchio/collision/collision.hxx +++ b/include/pinocchio/collision/collision.hxx @@ -112,8 +112,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> inline bool computeCollisions( const ModelTpl & model, diff --git a/include/pinocchio/collision/distance.hpp b/include/pinocchio/collision/distance.hpp index d10fa0da73..944b53fd15 100644 --- a/include/pinocchio/collision/distance.hpp +++ b/include/pinocchio/collision/distance.hpp @@ -33,8 +33,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> std::size_t computeDistances( const ModelTpl & model, @@ -60,8 +59,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> std::size_t computeDistances( const ModelTpl & model, diff --git a/include/pinocchio/collision/distance.hxx b/include/pinocchio/collision/distance.hxx index 3d40b782b7..9de77d4e16 100644 --- a/include/pinocchio/collision/distance.hxx +++ b/include/pinocchio/collision/distance.hxx @@ -27,8 +27,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> inline std::size_t computeDistances( const ModelTpl & model, diff --git a/include/pinocchio/collision/parallel/broadphase.hpp b/include/pinocchio/collision/parallel/broadphase.hpp index 2ebee8b11e..ee69d25ccc 100644 --- a/include/pinocchio/collision/parallel/broadphase.hpp +++ b/include/pinocchio/collision/parallel/broadphase.hpp @@ -19,8 +19,7 @@ namespace pinocchio typename BroadPhaseManagerDerived, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorPool, typename CollisionVectorResult> void computeCollisionsInParallel( @@ -101,8 +100,7 @@ namespace pinocchio typename BroadPhaseManagerDerived, typename Scalar, int Options, - template - class JointCollectionTpl> + template class JointCollectionTpl> void computeCollisionsInParallel( const size_t num_threads, BroadPhaseManagerPoolBase & pool, diff --git a/include/pinocchio/collision/parallel/geometry.hpp b/include/pinocchio/collision/parallel/geometry.hpp index 8579da9065..3d0e5a4192 100644 --- a/include/pinocchio/collision/parallel/geometry.hpp +++ b/include/pinocchio/collision/parallel/geometry.hpp @@ -62,8 +62,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> bool computeCollisionsInParallel( const size_t num_threads, @@ -81,8 +80,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorPool, typename CollisionVectorResult> void computeCollisionsInParallel( diff --git a/include/pinocchio/collision/pool/broadphase-manager.hpp b/include/pinocchio/collision/pool/broadphase-manager.hpp index 2f0d166249..ec74743be3 100644 --- a/include/pinocchio/collision/pool/broadphase-manager.hpp +++ b/include/pinocchio/collision/pool/broadphase-manager.hpp @@ -17,8 +17,7 @@ namespace pinocchio typename _BroadPhaseManagerDerived, typename _Scalar, int _Options, - template - class JointCollectionTpl> + template class JointCollectionTpl> class BroadPhaseManagerPoolBase : public GeometryPoolTpl<_Scalar, _Options, JointCollectionTpl> { public: diff --git a/include/pinocchio/extra/reachable-workspace.hpp b/include/pinocchio/extra/reachable-workspace.hpp index bccc144833..1f50d5cc3e 100644 --- a/include/pinocchio/extra/reachable-workspace.hpp +++ b/include/pinocchio/extra/reachable-workspace.hpp @@ -58,8 +58,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> void reachableWorkspace( const ModelTpl & model, @@ -85,8 +84,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> void reachableWorkspaceHull( const ModelTpl & model, @@ -114,8 +112,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> void reachableWorkspaceWithCollisions( const ModelTpl & model, @@ -145,8 +142,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> void reachableWorkspaceWithCollisionsHull( const ModelTpl & model, @@ -179,8 +175,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, class FilterFunction> void computeVertex( diff --git a/include/pinocchio/extra/reachable-workspace.hxx b/include/pinocchio/extra/reachable-workspace.hxx index f847ef14ff..d2b3996f57 100644 --- a/include/pinocchio/extra/reachable-workspace.hxx +++ b/include/pinocchio/extra/reachable-workspace.hxx @@ -20,8 +20,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> void reachableWorkspace( const ModelTpl & model, @@ -44,8 +43,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> void reachableWorkspaceHull( const ModelTpl & model, @@ -63,8 +61,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> void reachableWorkspaceWithCollisions( const ModelTpl & model, @@ -95,8 +92,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> void reachableWorkspaceWithCollisionsHull( const ModelTpl & model, @@ -118,8 +114,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, class FilterFunction> void computeVertex( diff --git a/include/pinocchio/macros.hpp b/include/pinocchio/macros.hpp index 916a6e5af9..df9fb43798 100644 --- a/include/pinocchio/macros.hpp +++ b/include/pinocchio/macros.hpp @@ -38,9 +38,8 @@ #define PINOCCHIO_PRAGMA_DEPRECATED(the_message) \ PINOCCHIO_PRAGMA_WARNING(Deprecated : #the_message) #define PINOCCHIO_PRAGMA_DEPRECATED_HEADER(old_header, new_header) \ - PINOCCHIO_PRAGMA_WARNING(Deprecated header file \ - : #old_header has been replaced \ - by #new_header.\n Please use #new_header instead of #old_header.) + PINOCCHIO_PRAGMA_WARNING(Deprecated header file : #old_header has been replaced \ + by #new_header.\n Please use #new_header instead of #old_header.) #else #define PINOCCHIO_PRAGMA(x) #define PINOCCHIO_PRAGMA_MESSAGE(the_message) diff --git a/include/pinocchio/multibody/joint/joint-basic-visitors.hpp b/include/pinocchio/multibody/joint/joint-basic-visitors.hpp index afad59f002..4aa7a32358 100644 --- a/include/pinocchio/multibody/joint/joint-basic-visitors.hpp +++ b/include/pinocchio/multibody/joint/joint-basic-visitors.hpp @@ -38,8 +38,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> inline void calc_zero_order( const JointModelTpl & jmodel, @@ -63,8 +62,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> inline void calc_first_order( @@ -88,8 +86,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename TangentVectorType> inline void calc_first_order( const JointModelTpl & jmodel, @@ -115,8 +112,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename VectorLike, typename Matrix6Type> inline void calc_aba( @@ -246,8 +242,7 @@ namespace pinocchio typename NewScalar, typename Scalar, int Options, - template - class JointCollectionTpl> + template class JointCollectionTpl> typename CastType>::type cast_joint(const JointModelTpl & jmodel); @@ -262,8 +257,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename JointModelDerived> bool isEqual( const JointModelTpl & jmodel_generic, @@ -282,8 +276,7 @@ namespace pinocchio typename NewScalar, typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename JointModelDerived> bool hasSameIndexes( const JointModelTpl & jmodel_generic, @@ -424,8 +417,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename JointDataDerived> bool isEqual( const JointDataTpl & jmodel_generic, diff --git a/include/pinocchio/multibody/joint/joint-basic-visitors.hxx b/include/pinocchio/multibody/joint/joint-basic-visitors.hxx index b74d806cfb..548b1926c0 100644 --- a/include/pinocchio/multibody/joint/joint-basic-visitors.hxx +++ b/include/pinocchio/multibody/joint/joint-basic-visitors.hxx @@ -63,8 +63,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> inline void calc_zero_order( const JointModelTpl & jmodel, @@ -99,8 +98,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> inline void calc_first_order( @@ -137,8 +135,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename TangentVectorType> inline void calc_first_order( const JointModelTpl & jmodel, @@ -178,8 +175,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename VectorLike, typename Matrix6Type> inline void calc_aba( @@ -434,8 +430,7 @@ namespace pinocchio typename NewScalar, typename Scalar, int Options, - template - class JointCollectionTpl> + template class JointCollectionTpl> struct JointCastVisitor : fusion::JointUnaryVisitorBase< JointCastVisitor, @@ -457,8 +452,7 @@ namespace pinocchio typename NewScalar, typename Scalar, int Options, - template - class JointCollectionTpl> + template class JointCollectionTpl> typename CastType>::type cast_joint(const JointModelTpl & jmodel) { @@ -469,8 +463,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename JointModelDerived> struct JointModelComparisonOperatorVisitor : fusion::JointUnaryVisitorBase< @@ -490,8 +483,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename JointModelDerived> bool isEqual( const JointModelTpl & jmodel_generic, @@ -506,8 +498,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename JointModelDerived> struct JointModelHasSameIndexesVisitor : fusion::JointUnaryVisitorBase< @@ -527,8 +518,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename JointModelDerived> bool hasSameIndexes( const JointModelTpl & jmodel_generic, @@ -843,8 +833,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename JointDataDerived> struct JointDataComparisonOperatorVisitor : fusion::JointUnaryVisitorBase< @@ -863,8 +852,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename JointDataDerived> bool isEqual( const JointDataTpl & jdata_generic, diff --git a/include/pinocchio/multibody/joint/joint-composite.hpp b/include/pinocchio/multibody/joint/joint-composite.hpp index 0da341fdf5..9216238396 100644 --- a/include/pinocchio/multibody/joint/joint-composite.hpp +++ b/include/pinocchio/multibody/joint/joint-composite.hpp @@ -167,8 +167,7 @@ namespace pinocchio typename NewScalar, typename Scalar, int Options, - template - class JointCollectionTpl> + template class JointCollectionTpl> struct CastType> { typedef JointModelCompositeTpl type; diff --git a/include/pinocchio/multibody/joint/joint-composite.hxx b/include/pinocchio/multibody/joint/joint-composite.hxx index d4670cac63..0df33be829 100644 --- a/include/pinocchio/multibody/joint/joint-composite.hxx +++ b/include/pinocchio/multibody/joint/joint-composite.hxx @@ -13,8 +13,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType> struct JointCompositeCalcZeroOrderStep : fusion::JointUnaryVisitorBase< @@ -81,8 +80,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> struct JointCompositeCalcFirstOrderStep @@ -172,8 +170,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename TangentVectorType> struct JointCompositeCalcFirstOrderStep< Scalar, diff --git a/include/pinocchio/multibody/joint/joint-generic.hpp b/include/pinocchio/multibody/joint/joint-generic.hpp index 95da461ab5..478c1278b8 100644 --- a/include/pinocchio/multibody/joint/joint-generic.hpp +++ b/include/pinocchio/multibody/joint/joint-generic.hpp @@ -249,8 +249,7 @@ namespace pinocchio typename NewScalar, typename Scalar, int Options, - template - class JointCollectionTpl> + template class JointCollectionTpl> struct CastType> { typedef JointModelTpl type; @@ -431,8 +430,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename JointDataDerived> bool operator==( const JointDataBase & joint_data, @@ -444,8 +442,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename JointDataDerived> bool operator!=( const JointDataBase & joint_data, @@ -457,8 +454,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename JointModelDerived> bool operator==( const JointModelBase & joint_model, @@ -470,8 +466,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename JointModelDerived> bool operator!=( const JointModelBase & joint_model, diff --git a/include/pinocchio/multibody/liegroup/liegroup-algo.hxx b/include/pinocchio/multibody/liegroup/liegroup-algo.hxx index a44506bd1f..374d5aaea7 100644 --- a/include/pinocchio/multibody/liegroup/liegroup-algo.hxx +++ b/include/pinocchio/multibody/liegroup/liegroup-algo.hxx @@ -19,8 +19,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ArgsType> static void run(const JointModelCompositeTpl & jmodel, ArgsType args) diff --git a/include/pinocchio/multibody/liegroup/liegroup-variant-visitors.hxx b/include/pinocchio/multibody/liegroup/liegroup-variant-visitors.hxx index ef8e67e6dc..a027c67084 100644 --- a/include/pinocchio/multibody/liegroup/liegroup-variant-visitors.hxx +++ b/include/pinocchio/multibody/liegroup/liegroup-variant-visitors.hxx @@ -90,8 +90,7 @@ namespace pinocchio template< typename LieGroup1, typename LieGroup2, - template - class LieGroupCollectionTpl> + template class LieGroupCollectionTpl> bool operator()( const CartesianProductOperation & lhs, const CartesianProductOperationVariantTpl & rhs) @@ -103,8 +102,7 @@ namespace pinocchio template< typename LieGroup1, typename LieGroup2, - template - class LieGroupCollectionTpl> + template class LieGroupCollectionTpl> bool operator()( const CartesianProductOperationVariantTpl & lhs, const CartesianProductOperation & rhs) const diff --git a/include/pinocchio/multibody/model.hpp b/include/pinocchio/multibody/model.hpp index e52efbbb57..37a12fc81e 100644 --- a/include/pinocchio/multibody/model.hpp +++ b/include/pinocchio/multibody/model.hpp @@ -29,8 +29,7 @@ namespace pinocchio typename NewScalar, typename Scalar, int Options, - template - class JointCollectionTpl> + template class JointCollectionTpl> struct CastType> { typedef ModelTpl type; diff --git a/include/pinocchio/multibody/sample-models.hxx b/include/pinocchio/multibody/sample-models.hxx index 431dc90c78..3b0ac01ff1 100644 --- a/include/pinocchio/multibody/sample-models.hxx +++ b/include/pinocchio/multibody/sample-models.hxx @@ -15,8 +15,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename JointModel> static JointIndex addJointAndBody( ModelTpl & model, diff --git a/include/pinocchio/multibody/visitor/joint-binary-visitor.hpp b/include/pinocchio/multibody/visitor/joint-binary-visitor.hpp index a65cb0bcce..3bc22b06a2 100644 --- a/include/pinocchio/multibody/visitor/joint-binary-visitor.hpp +++ b/include/pinocchio/multibody/visitor/joint-binary-visitor.hpp @@ -43,8 +43,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ArgsTmp> static ReturnType run( const JointModelTpl & jmodel1, @@ -95,8 +94,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ArgsTmp> static ReturnType run( const JointModelTpl & jmodel1, diff --git a/include/pinocchio/multibody/visitor/joint-unary-visitor.hpp b/include/pinocchio/multibody/visitor/joint-unary-visitor.hpp index 91188d5d3d..6ed3fd8dd2 100644 --- a/include/pinocchio/multibody/visitor/joint-unary-visitor.hpp +++ b/include/pinocchio/multibody/visitor/joint-unary-visitor.hpp @@ -28,8 +28,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ArgsTmp> static ReturnType run( const JointModelTpl & jmodel, @@ -73,8 +72,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ArgsTmp> static ReturnType run(const JointModelTpl & jmodel, ArgsTmp args) @@ -86,8 +84,7 @@ namespace pinocchio template< typename Scalar, int Options, - template - class JointCollectionTpl, + template class JointCollectionTpl, typename ArgsTmp> static ReturnType run(const JointDataTpl & jdata, ArgsTmp args) diff --git a/include/pinocchio/serialization/data.hpp b/include/pinocchio/serialization/data.hpp index 6772dd8c8a..daf0afb1f0 100644 --- a/include/pinocchio/serialization/data.hpp +++ b/include/pinocchio/serialization/data.hpp @@ -24,8 +24,7 @@ namespace boost class Archive, typename Scalar, int Options, - template - class JointCollectionTpl> + template class JointCollectionTpl> void serialize( Archive & ar, pinocchio::DataTpl & data, diff --git a/include/pinocchio/serialization/joints-data.hpp b/include/pinocchio/serialization/joints-data.hpp index defebd59c2..14f1e510a5 100644 --- a/include/pinocchio/serialization/joints-data.hpp +++ b/include/pinocchio/serialization/joints-data.hpp @@ -207,8 +207,7 @@ namespace boost class Archive, typename Scalar, int Options, - template - class JointCollectionTpl> + template class JointCollectionTpl> void serialize( Archive & ar, pinocchio::JointDataCompositeTpl & joint, @@ -224,8 +223,7 @@ namespace boost class Archive, typename Scalar, int Options, - template - class JointCollectionTpl> + template class JointCollectionTpl> void serialize( Archive & ar, pinocchio::JointDataTpl & joint, diff --git a/include/pinocchio/serialization/joints-model.hpp b/include/pinocchio/serialization/joints-model.hpp index 5ae16e2f88..81d4167fd1 100644 --- a/include/pinocchio/serialization/joints-model.hpp +++ b/include/pinocchio/serialization/joints-model.hpp @@ -251,8 +251,7 @@ namespace boost class Archive, typename Scalar, int Options, - template - class JointCollectionTpl> + template class JointCollectionTpl> void serialize( Archive & ar, pinocchio::JointModelCompositeTpl & joint, @@ -270,8 +269,7 @@ namespace boost class Archive, typename Scalar, int Options, - template - class JointCollectionTpl> + template class JointCollectionTpl> void serialize( Archive & ar, pinocchio::JointModelTpl & joint, diff --git a/include/pinocchio/serialization/model.hpp b/include/pinocchio/serialization/model.hpp index 98bb996ce7..51a0cd1e63 100644 --- a/include/pinocchio/serialization/model.hpp +++ b/include/pinocchio/serialization/model.hpp @@ -25,8 +25,7 @@ namespace boost class Archive, typename Scalar, int Options, - template - class JointCollectionTpl> + template class JointCollectionTpl> void serialize( Archive & ar, pinocchio::ModelTpl & model, From 88f51d9f2dfbf65d2aa6f3481c5c3967c187a21a Mon Sep 17 00:00:00 2001 From: ubgk <82390536+ubgk@users.noreply.github.com> Date: Thu, 10 Oct 2024 21:08:11 +0000 Subject: [PATCH 044/104] Fix the CI badge for the Windows workflow --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 41b260d5e0..c4a8895040 100644 --- a/README.md +++ b/README.md @@ -129,7 +129,7 @@ You can also consider the interactive Jupyter notebook [set of tutorials](https: CI on OSX via Conda mac CI on Windows via Conda - windows + windows CI on Linux via Robotpkg Pipeline Status From dbaade5b435756eae4ee9eb046abd6f7cd533d23 Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Mon, 14 Oct 2024 00:39:53 +0000 Subject: [PATCH 045/104] build(deps): bump ros-industrial/industrial_ci Bumps [ros-industrial/industrial_ci](https://github.com/ros-industrial/industrial_ci) from d23b9ad2c63bfad638a2b1fe3df34b8df9a2f17b to 8d0620b3c43fc3bb2599b6ede6e0a261a2eced02. - [Commits](https://github.com/ros-industrial/industrial_ci/compare/d23b9ad2c63bfad638a2b1fe3df34b8df9a2f17b...8d0620b3c43fc3bb2599b6ede6e0a261a2eced02) --- updated-dependencies: - dependency-name: ros-industrial/industrial_ci dependency-type: direct:production ... Signed-off-by: dependabot[bot] --- .github/workflows/ros-ci.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml index 3fbd467f39..fa0a40a096 100644 --- a/.github/workflows/ros-ci.yml +++ b/.github/workflows/ros-ci.yml @@ -60,5 +60,5 @@ jobs: key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}-${{ github.sha }} restore-keys: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}- # Run industrial_ci - - uses: ros-industrial/industrial_ci@d23b9ad2c63bfad638a2b1fe3df34b8df9a2f17b + - uses: ros-industrial/industrial_ci@8d0620b3c43fc3bb2599b6ede6e0a261a2eced02 env: ${{ matrix.env }} From 3aef3417d296bbf6eb31f3ab09c0c97c3d1d62af Mon Sep 17 00:00:00 2001 From: Megane Millan Date: Mon, 14 Oct 2024 17:51:51 +0200 Subject: [PATCH 046/104] [ci] When scheduled, checkout on devel branch --- .github/workflows/linux.yml | 25 +++++++++++++------------ .github/workflows/macos-linux-conda.yml | 17 +++++++++++++++++ .github/workflows/windows-conda.yml | 14 ++++++++++++++ 3 files changed, 44 insertions(+), 12 deletions(-) diff --git a/.github/workflows/linux.yml b/.github/workflows/linux.yml index 4cdcc70aae..7173d4172a 100644 --- a/.github/workflows/linux.yml +++ b/.github/workflows/linux.yml @@ -1,6 +1,8 @@ name: CI - Linux via APT on: + schedule: + - cron: '0 0 * * 0' push: paths-ignore: - doc/** @@ -44,8 +46,19 @@ jobs: - name: Setup Container run: | apt update && DEBIAN_FRONTEND="noninteractive" apt install -y sudo lsb-release gnupg2 cmake git python3 + + # extract branch name or checkout devel branch for scheduled events + - name: Get branch name or checkout devel + run: | + if [ "${{ github.event_name }}" == "schedule" ]; then + echo "BRANCH_NAME=devel" >> $GITHUB_ENV + else + echo "BRANCH_NAME=$(echo ${GITHUB_REF#refs/heads/})" >> $GITHUB_ENV + fi + - uses: actions/checkout@v4 with: + ref: ${{ env.BRANCH_NAME }} fetch-depth: 0 submodules: recursive @@ -57,18 +70,6 @@ jobs: key: ccache-linux-${{ matrix.container }}-${{ github.sha }} restore-keys: ccache-linux-${{ matrix.container }}- - # extract branch name - - name: Get branch name (merge) - if: github.event_name != 'pull_request' - shell: bash - run: echo "BRANCH_NAME=$(echo ${GITHUB_REF#refs/heads/})" >> $GITHUB_ENV - - # extract branch name on pull request - - name: Get branch name (pull request) - if: github.event_name == 'pull_request' - shell: bash - run: echo "BRANCH_NAME=$(echo ${GITHUB_HEAD_REF})" >> $GITHUB_ENV - # print branch name - name: Debug run: echo ${{ env.BRANCH_NAME }} diff --git a/.github/workflows/macos-linux-conda.yml b/.github/workflows/macos-linux-conda.yml index 0f158024bf..7a8a1211d9 100644 --- a/.github/workflows/macos-linux-conda.yml +++ b/.github/workflows/macos-linux-conda.yml @@ -1,6 +1,8 @@ name: CI - OSX/Linux via Conda on: + schedule: + - cron: '0 0 * * 0' push: paths-ignore: - doc/** @@ -51,6 +53,21 @@ jobs: BUILD_ADVANCED_TESTING: OFF steps: + # extract branch name or checkout devel branch for scheduled events + - name: Get branch name or checkout devel + run: | + if [ "${{ github.event_name }}" == "schedule" ]; then + echo "BRANCH_NAME=devel" >> $GITHUB_ENV + else + echo "BRANCH_NAME=$(echo ${GITHUB_REF#refs/heads/})" >> $GITHUB_ENV + fi + + - uses: actions/checkout@v4 + with: + ref: ${{ env.BRANCH_NAME }} + fetch-depth: 0 + submodules: recursive + - uses: actions/checkout@v4 with: submodules: recursive diff --git a/.github/workflows/windows-conda.yml b/.github/workflows/windows-conda.yml index 46c2c98855..ef67d3bc36 100644 --- a/.github/workflows/windows-conda.yml +++ b/.github/workflows/windows-conda.yml @@ -1,5 +1,7 @@ name: CI - Windows via Conda on: + schedule: + - cron: '0 0 * * 0' push: paths-ignore: - doc/** @@ -41,8 +43,20 @@ jobs: compiler: [cl, clang-cl] steps: + # Extract branch name or set 'devel' branch for scheduled events + - name: Get branch name or checkout devel + shell: pwsh # Use PowerShell on Windows + run: | + if ($env:GITHUB_EVENT_NAME -eq "schedule") { + echo "BRANCH_NAME=devel" >> $env:GITHUB_ENV + } else { + $branchName = $env:GITHUB_REF -replace '^refs/heads/', '' + echo "BRANCH_NAME=$branchName" >> $env:GITHUB_ENV + } + - uses: actions/checkout@v4 with: + ref: ${{ env.BRANCH_NAME }} submodules: recursive - uses: actions/cache@v4 From 0144599a62068d960d053e3d446dcedbaa230b51 Mon Sep 17 00:00:00 2001 From: Megane Millan Date: Tue, 15 Oct 2024 09:06:03 +0200 Subject: [PATCH 047/104] [ci] Make sure scheduled workflow run with build_all --- .../scripts/get_compilation_flags.js | 39 ++++++++++++------- 1 file changed, 24 insertions(+), 15 deletions(-) diff --git a/.github/workflows/scripts/get_compilation_flags.js b/.github/workflows/scripts/get_compilation_flags.js index 2eb0f044e4..fcfc1097c9 100644 --- a/.github/workflows/scripts/get_compilation_flags.js +++ b/.github/workflows/scripts/get_compilation_flags.js @@ -9,22 +9,8 @@ module.exports = async ({github, context, core}) => { const prNumber = context.issue.number || getPullRequestNumber(context.ref); - let cmakeFlags = ''; - if(isNaN(prNumber)) - { - core.setOutput("cmakeFlags", cmakeFlags); - return; - } - - const { data } = await github.rest.pulls.get({ - owner: context.repo.owner, - repo: context.repo.repo, - pull_number: prNumber, - }); - const labelNames = data.labels.map(label => label.name); - + let cmakeFlags = '';// get os process is run on const os = process.env.RUNNER_OS; - var labelFlags; if(os == "Windows") { @@ -77,6 +63,29 @@ module.exports = async ({github, context, core}) => { }; } + // Get the GitHub event name that triggered the workflow + const eventName = process.env.GITHUB_EVENT_NAME; + if (eventName === "schedule") + { + cmakeFlags += labelFlags['build_all'].join(' '); + console.log(cmakeFlags); + core.setOutput("cmakeFlags", cmakeFlags); + return; + } + + if(isNaN(prNumber)) + { + core.setOutput("cmakeFlags", cmakeFlags); + return; + } + + const { data } = await github.rest.pulls.get({ + owner: context.repo.owner, + repo: context.repo.repo, + pull_number: prNumber, + }); + const labelNames = data.labels.map(label => label.name); + labelNames.forEach(label => { if (labelFlags[label]) { if (Array.isArray(labelFlags[label])) { From 448f61a4f810e90a81801057300df7d828ee075b Mon Sep 17 00:00:00 2001 From: Megane Millan Date: Tue, 15 Oct 2024 09:36:10 +0200 Subject: [PATCH 048/104] [ci] Apply pre-commit --- .github/workflows/scripts/get_compilation_flags.js | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/scripts/get_compilation_flags.js b/.github/workflows/scripts/get_compilation_flags.js index fcfc1097c9..bb15fd169b 100644 --- a/.github/workflows/scripts/get_compilation_flags.js +++ b/.github/workflows/scripts/get_compilation_flags.js @@ -65,7 +65,7 @@ module.exports = async ({github, context, core}) => { // Get the GitHub event name that triggered the workflow const eventName = process.env.GITHUB_EVENT_NAME; - if (eventName === "schedule") + if (eventName == "schedule") { cmakeFlags += labelFlags['build_all'].join(' '); console.log(cmakeFlags); From ee69fbeb8b914c24724ae27c07f05e0a2e5fd8c5 Mon Sep 17 00:00:00 2001 From: Megane Millan Date: Tue, 15 Oct 2024 10:13:28 +0200 Subject: [PATCH 049/104] [ci] Remove useless checkout for linux/mac ci --- .github/workflows/linux.yml | 2 +- .github/workflows/macos-linux-conda.yml | 6 +----- .github/workflows/scripts/get_compilation_flags.js | 5 ++++- .github/workflows/windows-conda.yml | 2 +- 4 files changed, 7 insertions(+), 8 deletions(-) diff --git a/.github/workflows/linux.yml b/.github/workflows/linux.yml index 7173d4172a..b269da2ba7 100644 --- a/.github/workflows/linux.yml +++ b/.github/workflows/linux.yml @@ -2,7 +2,7 @@ name: CI - Linux via APT on: schedule: - - cron: '0 0 * * 0' + - cron: '15 * * * *' push: paths-ignore: - doc/** diff --git a/.github/workflows/macos-linux-conda.yml b/.github/workflows/macos-linux-conda.yml index 7a8a1211d9..6228827ad5 100644 --- a/.github/workflows/macos-linux-conda.yml +++ b/.github/workflows/macos-linux-conda.yml @@ -2,7 +2,7 @@ name: CI - OSX/Linux via Conda on: schedule: - - cron: '0 0 * * 0' + - cron: '15 * * * *' push: paths-ignore: - doc/** @@ -68,10 +68,6 @@ jobs: fetch-depth: 0 submodules: recursive - - uses: actions/checkout@v4 - with: - submodules: recursive - - uses: actions/cache@v4 with: path: .ccache diff --git a/.github/workflows/scripts/get_compilation_flags.js b/.github/workflows/scripts/get_compilation_flags.js index bb15fd169b..4b83402e68 100644 --- a/.github/workflows/scripts/get_compilation_flags.js +++ b/.github/workflows/scripts/get_compilation_flags.js @@ -9,9 +9,11 @@ module.exports = async ({github, context, core}) => { const prNumber = context.issue.number || getPullRequestNumber(context.ref); - let cmakeFlags = '';// get os process is run on + let cmakeFlags = ''; + // get os process is run on const os = process.env.RUNNER_OS; var labelFlags; + console.log("os ", os); if(os == "Windows") { labelFlags = { @@ -65,6 +67,7 @@ module.exports = async ({github, context, core}) => { // Get the GitHub event name that triggered the workflow const eventName = process.env.GITHUB_EVENT_NAME; + console.log("event ", eventName); if (eventName == "schedule") { cmakeFlags += labelFlags['build_all'].join(' '); diff --git a/.github/workflows/windows-conda.yml b/.github/workflows/windows-conda.yml index ef67d3bc36..57b9ee3fad 100644 --- a/.github/workflows/windows-conda.yml +++ b/.github/workflows/windows-conda.yml @@ -1,7 +1,7 @@ name: CI - Windows via Conda on: schedule: - - cron: '0 0 * * 0' + - cron: '15 * * * *' push: paths-ignore: - doc/** From 2dc47cb70773adeccbb0f0e0ea13aec3273d0ec4 Mon Sep 17 00:00:00 2001 From: Megane Millan Date: Tue, 15 Oct 2024 14:12:41 +0200 Subject: [PATCH 050/104] [ci] Schedule for sunday night --- .github/workflows/linux.yml | 2 +- .github/workflows/macos-linux-conda.yml | 2 +- .github/workflows/windows-conda.yml | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/.github/workflows/linux.yml b/.github/workflows/linux.yml index b269da2ba7..7173d4172a 100644 --- a/.github/workflows/linux.yml +++ b/.github/workflows/linux.yml @@ -2,7 +2,7 @@ name: CI - Linux via APT on: schedule: - - cron: '15 * * * *' + - cron: '0 0 * * 0' push: paths-ignore: - doc/** diff --git a/.github/workflows/macos-linux-conda.yml b/.github/workflows/macos-linux-conda.yml index 6228827ad5..87885f5606 100644 --- a/.github/workflows/macos-linux-conda.yml +++ b/.github/workflows/macos-linux-conda.yml @@ -2,7 +2,7 @@ name: CI - OSX/Linux via Conda on: schedule: - - cron: '15 * * * *' + - cron: '0 0 * * 0' push: paths-ignore: - doc/** diff --git a/.github/workflows/windows-conda.yml b/.github/workflows/windows-conda.yml index 57b9ee3fad..ef67d3bc36 100644 --- a/.github/workflows/windows-conda.yml +++ b/.github/workflows/windows-conda.yml @@ -1,7 +1,7 @@ name: CI - Windows via Conda on: schedule: - - cron: '15 * * * *' + - cron: '0 0 * * 0' push: paths-ignore: - doc/** From 15082b647781065f25faa1acb0778574c3dcdc2d Mon Sep 17 00:00:00 2001 From: Megane Millan Date: Tue, 15 Oct 2024 14:13:45 +0200 Subject: [PATCH 051/104] [ci] Remove log entry from get_compilation_flags.js --- .github/workflows/scripts/get_compilation_flags.js | 2 -- 1 file changed, 2 deletions(-) diff --git a/.github/workflows/scripts/get_compilation_flags.js b/.github/workflows/scripts/get_compilation_flags.js index 4b83402e68..ecb69bee8f 100644 --- a/.github/workflows/scripts/get_compilation_flags.js +++ b/.github/workflows/scripts/get_compilation_flags.js @@ -13,7 +13,6 @@ module.exports = async ({github, context, core}) => { // get os process is run on const os = process.env.RUNNER_OS; var labelFlags; - console.log("os ", os); if(os == "Windows") { labelFlags = { @@ -67,7 +66,6 @@ module.exports = async ({github, context, core}) => { // Get the GitHub event name that triggered the workflow const eventName = process.env.GITHUB_EVENT_NAME; - console.log("event ", eventName); if (eventName == "schedule") { cmakeFlags += labelFlags['build_all'].join(' '); From f3ee4bbcb1a862de36cea867a55f0d4015766d2b Mon Sep 17 00:00:00 2001 From: Megane Millan Date: Tue, 15 Oct 2024 16:37:29 +0200 Subject: [PATCH 052/104] [ci] Add global LABELS variable (and chenge schedule to test it) --- .github/workflows/linux.yml | 2 -- .github/workflows/macos-linux-conda.yml | 6 +++++- .../scripts/get_compilation_flags.js | 6 +++--- .github/workflows/windows-conda.yml | 19 +++++++++++-------- 4 files changed, 19 insertions(+), 14 deletions(-) diff --git a/.github/workflows/linux.yml b/.github/workflows/linux.yml index 7173d4172a..a9af519d83 100644 --- a/.github/workflows/linux.yml +++ b/.github/workflows/linux.yml @@ -1,8 +1,6 @@ name: CI - Linux via APT on: - schedule: - - cron: '0 0 * * 0' push: paths-ignore: - doc/** diff --git a/.github/workflows/macos-linux-conda.yml b/.github/workflows/macos-linux-conda.yml index 87885f5606..025db2ff71 100644 --- a/.github/workflows/macos-linux-conda.yml +++ b/.github/workflows/macos-linux-conda.yml @@ -2,7 +2,7 @@ name: CI - OSX/Linux via Conda on: schedule: - - cron: '0 0 * * 0' + - cron: '*/30 * * * *' push: paths-ignore: - doc/** @@ -58,6 +58,7 @@ jobs: run: | if [ "${{ github.event_name }}" == "schedule" ]; then echo "BRANCH_NAME=devel" >> $GITHUB_ENV + echo "LABELS= -DBUILD_WITH_COLLISION_SUPPORT=ON -DBUILD_WITH_CASADI_SUPPORT=ON -DBUILD_WITH_AUTODIFF_SUPPORT=ON -DBUILD_WITH_EXTRA_SUPPORT=ON -DBUILD_WITH_OPENMP_SUPPORT=ON -DBUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT=ON -DINSTALL_DOCUMENTATION=ON -DBUILD_WITH_CODEGEN_SUPPORT=ON -DGENERATE_PYTHON_STUBS=ON -DBUILD_WITH_ACCELERATE_SUPPORT=OFF -DBUILD_WITH_SDF_SUPPORT=ON" >> $GITHUB_ENV else echo "BRANCH_NAME=$(echo ${GITHUB_REF#refs/heads/})" >> $GITHUB_ENV fi @@ -87,9 +88,12 @@ jobs: if: (contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')) && contains(matrix.build_type, 'Debug') run: | echo "CMAKE_TOOLCHAIN_FILE=${GITHUB_WORKSPACE}/.github/workflows/cmake/linux-debug-toolchain.cmake" >> "$GITHUB_ENV" + - name: Get Compilation Flags id: get_labels uses: actions/github-script@v7 + env: + LABELS: ${{ env.LABELS }} with: script: | const script = require('./.github/workflows/scripts/get_compilation_flags.js'); diff --git a/.github/workflows/scripts/get_compilation_flags.js b/.github/workflows/scripts/get_compilation_flags.js index ecb69bee8f..31158af246 100644 --- a/.github/workflows/scripts/get_compilation_flags.js +++ b/.github/workflows/scripts/get_compilation_flags.js @@ -65,10 +65,10 @@ module.exports = async ({github, context, core}) => { } // Get the GitHub event name that triggered the workflow - const eventName = process.env.GITHUB_EVENT_NAME; - if (eventName == "schedule") + const {LABELS} = process.env; + if (LABELS) { - cmakeFlags += labelFlags['build_all'].join(' '); + cmakeFlags += LABELS; console.log(cmakeFlags); core.setOutput("cmakeFlags", cmakeFlags); return; diff --git a/.github/workflows/windows-conda.yml b/.github/workflows/windows-conda.yml index ef67d3bc36..facad82dfd 100644 --- a/.github/workflows/windows-conda.yml +++ b/.github/workflows/windows-conda.yml @@ -1,7 +1,7 @@ name: CI - Windows via Conda on: schedule: - - cron: '0 0 * * 0' + - cron: '*/30 * * * *' push: paths-ignore: - doc/** @@ -45,14 +45,15 @@ jobs: steps: # Extract branch name or set 'devel' branch for scheduled events - name: Get branch name or checkout devel - shell: pwsh # Use PowerShell on Windows + shell: bash run: | - if ($env:GITHUB_EVENT_NAME -eq "schedule") { - echo "BRANCH_NAME=devel" >> $env:GITHUB_ENV - } else { - $branchName = $env:GITHUB_REF -replace '^refs/heads/', '' - echo "BRANCH_NAME=$branchName" >> $env:GITHUB_ENV - } + if [ "$GITHUB_EVENT_NAME" == "schedule" ]; then + echo "BRANCH_NAME=devel" >> $GITHUB_ENV + echo "LABELS= -DBUILD_WITH_COLLISION_SUPPORT=ON -DBUILD_WITH_CASADI_SUPPORT=ON -DBUILD_WITH_AUTODIFF_SUPPORT=ON -DBUILD_WITH_EXTRA_SUPPORT=ON -DBUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT=ON -DINSTALL_DOCUMENTATION=ON -DGENERATE_PYTHON_STUBS=ON -DBUILD_WITH_ACCELERATE_SUPPORT=OFF -DBUILD_WITH_SDF_SUPPORT=ON" >> $GITHUB_ENV + else + branchName=${GITHUB_REF#refs/heads/} + echo "BRANCH_NAME=$branchName" >> $GITHUB_ENV + fi - uses: actions/checkout@v4 with: @@ -78,6 +79,8 @@ jobs: id: get_labels uses: actions/github-script@v7 with: + env: + LABELS: ${{ env.LABELS }} script: | const script = require('./.github/workflows/scripts/get_compilation_flags.js'); await script({github, context, core}) From 536d68e6b89005f7f1c70e8a32925ce8fa3140b1 Mon Sep 17 00:00:00 2001 From: Megane Millan Date: Tue, 15 Oct 2024 16:56:50 +0200 Subject: [PATCH 053/104] [ci] use only build_all as label --- .github/workflows/macos-linux-conda.yml | 2 +- .../scripts/get_compilation_flags.js | 34 +++++++++---------- .github/workflows/windows-conda.yml | 2 +- 3 files changed, 19 insertions(+), 19 deletions(-) diff --git a/.github/workflows/macos-linux-conda.yml b/.github/workflows/macos-linux-conda.yml index 025db2ff71..ad06360e42 100644 --- a/.github/workflows/macos-linux-conda.yml +++ b/.github/workflows/macos-linux-conda.yml @@ -58,7 +58,7 @@ jobs: run: | if [ "${{ github.event_name }}" == "schedule" ]; then echo "BRANCH_NAME=devel" >> $GITHUB_ENV - echo "LABELS= -DBUILD_WITH_COLLISION_SUPPORT=ON -DBUILD_WITH_CASADI_SUPPORT=ON -DBUILD_WITH_AUTODIFF_SUPPORT=ON -DBUILD_WITH_EXTRA_SUPPORT=ON -DBUILD_WITH_OPENMP_SUPPORT=ON -DBUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT=ON -DINSTALL_DOCUMENTATION=ON -DBUILD_WITH_CODEGEN_SUPPORT=ON -DGENERATE_PYTHON_STUBS=ON -DBUILD_WITH_ACCELERATE_SUPPORT=OFF -DBUILD_WITH_SDF_SUPPORT=ON" >> $GITHUB_ENV + echo "LABELS=build_all" >> $GITHUB_ENV else echo "BRANCH_NAME=$(echo ${GITHUB_REF#refs/heads/})" >> $GITHUB_ENV fi diff --git a/.github/workflows/scripts/get_compilation_flags.js b/.github/workflows/scripts/get_compilation_flags.js index 31158af246..6ea27ec25f 100644 --- a/.github/workflows/scripts/get_compilation_flags.js +++ b/.github/workflows/scripts/get_compilation_flags.js @@ -66,27 +66,27 @@ module.exports = async ({github, context, core}) => { // Get the GitHub event name that triggered the workflow const {LABELS} = process.env; - if (LABELS) + var labelNames; + if(LABELS) { - cmakeFlags += LABELS; - console.log(cmakeFlags); - core.setOutput("cmakeFlags", cmakeFlags); - return; + labelNames=LABELS; } - - if(isNaN(prNumber)) + else { - core.setOutput("cmakeFlags", cmakeFlags); - return; + if(isNaN(prNumber)) + { + core.setOutput("cmakeFlags", cmakeFlags); + return; + } + + const { data } = await github.rest.pulls.get({ + owner: context.repo.owner, + repo: context.repo.repo, + pull_number: prNumber, + }); + labelNames = data.labels.map(label => label.name); } - - const { data } = await github.rest.pulls.get({ - owner: context.repo.owner, - repo: context.repo.repo, - pull_number: prNumber, - }); - const labelNames = data.labels.map(label => label.name); - + labelNames.forEach(label => { if (labelFlags[label]) { if (Array.isArray(labelFlags[label])) { diff --git a/.github/workflows/windows-conda.yml b/.github/workflows/windows-conda.yml index facad82dfd..f961ac0746 100644 --- a/.github/workflows/windows-conda.yml +++ b/.github/workflows/windows-conda.yml @@ -49,7 +49,7 @@ jobs: run: | if [ "$GITHUB_EVENT_NAME" == "schedule" ]; then echo "BRANCH_NAME=devel" >> $GITHUB_ENV - echo "LABELS= -DBUILD_WITH_COLLISION_SUPPORT=ON -DBUILD_WITH_CASADI_SUPPORT=ON -DBUILD_WITH_AUTODIFF_SUPPORT=ON -DBUILD_WITH_EXTRA_SUPPORT=ON -DBUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT=ON -DINSTALL_DOCUMENTATION=ON -DGENERATE_PYTHON_STUBS=ON -DBUILD_WITH_ACCELERATE_SUPPORT=OFF -DBUILD_WITH_SDF_SUPPORT=ON" >> $GITHUB_ENV + echo "LABELS=build_all" >> $GITHUB_ENV else branchName=${GITHUB_REF#refs/heads/} echo "BRANCH_NAME=$branchName" >> $GITHUB_ENV From 3d042dd15a1b45e864c8e259d7a4aef7c45ede5f Mon Sep 17 00:00:00 2001 From: Megane Millan Date: Tue, 15 Oct 2024 16:59:25 +0200 Subject: [PATCH 054/104] [ci] Remove useless lines --- .github/workflows/linux.yml | 1 - .github/workflows/macos-linux-conda.yml | 1 - 2 files changed, 2 deletions(-) diff --git a/.github/workflows/linux.yml b/.github/workflows/linux.yml index a9af519d83..c9f21fea27 100644 --- a/.github/workflows/linux.yml +++ b/.github/workflows/linux.yml @@ -57,7 +57,6 @@ jobs: - uses: actions/checkout@v4 with: ref: ${{ env.BRANCH_NAME }} - fetch-depth: 0 submodules: recursive - name: Setup ccache diff --git a/.github/workflows/macos-linux-conda.yml b/.github/workflows/macos-linux-conda.yml index ad06360e42..f714a402f4 100644 --- a/.github/workflows/macos-linux-conda.yml +++ b/.github/workflows/macos-linux-conda.yml @@ -66,7 +66,6 @@ jobs: - uses: actions/checkout@v4 with: ref: ${{ env.BRANCH_NAME }} - fetch-depth: 0 submodules: recursive - uses: actions/cache@v4 From b3afb687b23a35c308847337a4da0cb11325a86d Mon Sep 17 00:00:00 2001 From: Megane Millan Date: Tue, 15 Oct 2024 17:17:42 +0200 Subject: [PATCH 055/104] [ci] fix error in windows ci --- .github/workflows/windows-conda.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/windows-conda.yml b/.github/workflows/windows-conda.yml index f961ac0746..f17f03dff0 100644 --- a/.github/workflows/windows-conda.yml +++ b/.github/workflows/windows-conda.yml @@ -78,9 +78,9 @@ jobs: - name: Get Compilation Flags id: get_labels uses: actions/github-script@v7 + env: + LABELS: ${{ env.LABELS }} with: - env: - LABELS: ${{ env.LABELS }} script: | const script = require('./.github/workflows/scripts/get_compilation_flags.js'); await script({github, context, core}) From 922c5bb05d051d85106050697a937ce289577581 Mon Sep 17 00:00:00 2001 From: Megane Millan Date: Tue, 15 Oct 2024 17:22:23 +0200 Subject: [PATCH 056/104] [ci] fix error in scripts --- .github/workflows/scripts/get_compilation_flags.js | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/scripts/get_compilation_flags.js b/.github/workflows/scripts/get_compilation_flags.js index 6ea27ec25f..9704b61292 100644 --- a/.github/workflows/scripts/get_compilation_flags.js +++ b/.github/workflows/scripts/get_compilation_flags.js @@ -69,7 +69,7 @@ module.exports = async ({github, context, core}) => { var labelNames; if(LABELS) { - labelNames=LABELS; + labelNames=[LABELS]; } else { From 39f5f50703c9779ef6ade9412b706a4526f998a0 Mon Sep 17 00:00:00 2001 From: Megane Millan Date: Tue, 15 Oct 2024 17:42:44 +0200 Subject: [PATCH 057/104] [ci] Schedule ci for monday midnight --- .github/workflows/macos-linux-conda.yml | 2 +- .github/workflows/windows-conda.yml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/macos-linux-conda.yml b/.github/workflows/macos-linux-conda.yml index f714a402f4..dab1e635b4 100644 --- a/.github/workflows/macos-linux-conda.yml +++ b/.github/workflows/macos-linux-conda.yml @@ -2,7 +2,7 @@ name: CI - OSX/Linux via Conda on: schedule: - - cron: '*/30 * * * *' + - cron: '0 0 * * 1' push: paths-ignore: - doc/** diff --git a/.github/workflows/windows-conda.yml b/.github/workflows/windows-conda.yml index f17f03dff0..7ae92cb16a 100644 --- a/.github/workflows/windows-conda.yml +++ b/.github/workflows/windows-conda.yml @@ -1,7 +1,7 @@ name: CI - Windows via Conda on: schedule: - - cron: '*/30 * * * *' + - cron: '0 0 * * 1' push: paths-ignore: - doc/** From a81480d9016fce5be628ef08b51e255c1bcd0a1f Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Wed, 16 Oct 2024 09:42:29 +0200 Subject: [PATCH 058/104] ci: Revert change on linux.yml --- .github/workflows/linux.yml | 24 +++++++++++++----------- 1 file changed, 13 insertions(+), 11 deletions(-) diff --git a/.github/workflows/linux.yml b/.github/workflows/linux.yml index c9f21fea27..4cdcc70aae 100644 --- a/.github/workflows/linux.yml +++ b/.github/workflows/linux.yml @@ -44,19 +44,9 @@ jobs: - name: Setup Container run: | apt update && DEBIAN_FRONTEND="noninteractive" apt install -y sudo lsb-release gnupg2 cmake git python3 - - # extract branch name or checkout devel branch for scheduled events - - name: Get branch name or checkout devel - run: | - if [ "${{ github.event_name }}" == "schedule" ]; then - echo "BRANCH_NAME=devel" >> $GITHUB_ENV - else - echo "BRANCH_NAME=$(echo ${GITHUB_REF#refs/heads/})" >> $GITHUB_ENV - fi - - uses: actions/checkout@v4 with: - ref: ${{ env.BRANCH_NAME }} + fetch-depth: 0 submodules: recursive - name: Setup ccache @@ -67,6 +57,18 @@ jobs: key: ccache-linux-${{ matrix.container }}-${{ github.sha }} restore-keys: ccache-linux-${{ matrix.container }}- + # extract branch name + - name: Get branch name (merge) + if: github.event_name != 'pull_request' + shell: bash + run: echo "BRANCH_NAME=$(echo ${GITHUB_REF#refs/heads/})" >> $GITHUB_ENV + + # extract branch name on pull request + - name: Get branch name (pull request) + if: github.event_name == 'pull_request' + shell: bash + run: echo "BRANCH_NAME=$(echo ${GITHUB_HEAD_REF})" >> $GITHUB_ENV + # print branch name - name: Debug run: echo ${{ env.BRANCH_NAME }} From f5ad34587dbe38ec067ae376fa951b25d7778f53 Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Wed, 16 Oct 2024 09:42:45 +0200 Subject: [PATCH 059/104] pre-commit: Apply formating --- .github/workflows/macos-linux-conda.yml | 2 +- .github/workflows/scripts/get_compilation_flags.js | 4 ++-- .github/workflows/windows-conda.yml | 2 +- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/.github/workflows/macos-linux-conda.yml b/.github/workflows/macos-linux-conda.yml index dab1e635b4..b14fa92fdd 100644 --- a/.github/workflows/macos-linux-conda.yml +++ b/.github/workflows/macos-linux-conda.yml @@ -87,7 +87,7 @@ jobs: if: (contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')) && contains(matrix.build_type, 'Debug') run: | echo "CMAKE_TOOLCHAIN_FILE=${GITHUB_WORKSPACE}/.github/workflows/cmake/linux-debug-toolchain.cmake" >> "$GITHUB_ENV" - + - name: Get Compilation Flags id: get_labels uses: actions/github-script@v7 diff --git a/.github/workflows/scripts/get_compilation_flags.js b/.github/workflows/scripts/get_compilation_flags.js index 9704b61292..75e46d9b68 100644 --- a/.github/workflows/scripts/get_compilation_flags.js +++ b/.github/workflows/scripts/get_compilation_flags.js @@ -78,7 +78,7 @@ module.exports = async ({github, context, core}) => { core.setOutput("cmakeFlags", cmakeFlags); return; } - + const { data } = await github.rest.pulls.get({ owner: context.repo.owner, repo: context.repo.repo, @@ -86,7 +86,7 @@ module.exports = async ({github, context, core}) => { }); labelNames = data.labels.map(label => label.name); } - + labelNames.forEach(label => { if (labelFlags[label]) { if (Array.isArray(labelFlags[label])) { diff --git a/.github/workflows/windows-conda.yml b/.github/workflows/windows-conda.yml index 7ae92cb16a..85469f9306 100644 --- a/.github/workflows/windows-conda.yml +++ b/.github/workflows/windows-conda.yml @@ -78,7 +78,7 @@ jobs: - name: Get Compilation Flags id: get_labels uses: actions/github-script@v7 - env: + env: LABELS: ${{ env.LABELS }} with: script: | From 8dec96e63bafb0f0f742b5381b032118c3b03d26 Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Fri, 25 Oct 2024 16:02:16 +0200 Subject: [PATCH 060/104] pixi: Add pixi.toml --- .gitattributes | 2 + .gitignore | 4 + pixi.lock | 24568 ++++++++++++++++++++++++++++++ pixi.toml | 186 + scripts/activation.bat | 21 + scripts/activation.sh | 45 + scripts/activation_clang.sh | 5 + scripts/activation_clang_cl.bat | 3 + 8 files changed, 24834 insertions(+) create mode 100644 .gitattributes create mode 100644 pixi.lock create mode 100644 pixi.toml create mode 100644 scripts/activation.bat create mode 100644 scripts/activation.sh create mode 100644 scripts/activation_clang.sh create mode 100644 scripts/activation_clang_cl.bat diff --git a/.gitattributes b/.gitattributes new file mode 100644 index 0000000000..07fe41c52c --- /dev/null +++ b/.gitattributes @@ -0,0 +1,2 @@ +# GitHub syntax highlighting +pixi.lock linguist-language=YAML linguist-generated=true diff --git a/.gitignore b/.gitignore index 870362b066..8e33c0dd4d 100644 --- a/.gitignore +++ b/.gitignore @@ -7,3 +7,7 @@ coverage* .travis .vscode* *.orig + +# pixi environments +.pixi +*.egg-info diff --git a/pixi.lock b/pixi.lock new file mode 100644 index 0000000000..362a699424 --- /dev/null +++ b/pixi.lock @@ -0,0 +1,24568 @@ +version: 5 +environments: + accelerate: + channels: + - url: https://conda.anaconda.org/conda-forge/ + packages: + linux-64: + - conda: https://conda.anaconda.org/conda-forge/linux-64/_libgcc_mutex-0.1-conda_forge.tar.bz2 + - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-2_gnu.tar.bz2 + - conda: https://conda.anaconda.org/conda-forge/linux-64/alsa-lib-1.2.12-h4ab18f5_0.conda + - conda: https://conda.anaconda.org/conda-forge/noarch/asttokens-2.4.1-pyhd8ed1ab_0.conda + - 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https://conda.anaconda.org/conda-forge/osx-arm64/zstd-1.5.6-hb46c0d2_0.conda + sha256: 2d4fd1ff7ee79cd954ca8e81abf11d9d49954dd1fef80f27289e2402ae9c2e09 + md5: d96942c06c3e84bfcc5efb038724a7fd + depends: + - __osx >=11.0 + - libzlib >=1.2.13,<2.0.0a0 + license: BSD-3-Clause + license_family: BSD + size: 405089 + timestamp: 1714723101397 diff --git a/pixi.toml b/pixi.toml new file mode 100644 index 0000000000..054e1e20fe --- /dev/null +++ b/pixi.toml @@ -0,0 +1,186 @@ +[project] +name = "pinocchio" +version = "3.2.0" +description = "A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives" +platforms = ["linux-64", "osx-64", "osx-arm64", "win-64"] +channels = ["conda-forge"] +license = "BSD-2-Clause" +license-file = "LICENSE" + +[build-dependencies] +ccache = ">=4.9.1" +cmake = ">=3.10" +cxx-compiler = ">=1.7.0" +ninja = ">=1.11" +pkg-config = ">=0.29.2" + +[dependencies] +libboost-devel = ">=1.80.0" +libboost-python-devel = ">=1.80.0" +eigen = ">=3.4.0" +numpy = ">=1.22.0" +python = ">=3.9.0" +eigenpy = ">=3.7.0" +urdfdom = ">=4.0" +meshcat-python = ">=0.3" +matplotlib = ">=3.9.2" + +[activation] +scripts = ["scripts/activation.sh"] + +[target.win-64.activation] +scripts = ["scripts/activation.bat"] + +[tasks] +# We must avoid to set CMAKE_CXX_FLAGS because of WIN32 +# https://discourse.cmake.org/t/strictly-appending-to-cmake-lang-flags/6478 +configure = { cmd = [ + "CXXFLAGS=$PINOCCHIO_CXX_FLAGS", + "cmake", + "-G", + "Ninja", + "-B", + "build", + "-S", + ".", + "-DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX", + "-DCMAKE_BUILD_TYPE=$PINOCCHIO_BUILD_TYPE", + "-DGENERATE_PYTHON_STUBS=$PINOCCHIO_PYTHON_STUBS", + "-DBUILD_WITH_COLLISION_SUPPORT=$PINOCCHIO_COLLISION_SUPPORT", + "-DBUILD_WITH_ACCELERATE_SUPPORT=$PINOCCHIO_ACCELERATE_SUPPORT", + "-DBUILD_WITH_CASADI_SUPPORT=$PINOCCHIO_CASADI_SUPPORT", + "-DBUILD_WITH_AUTODIFF_SUPPORT=$PINOCCHIO_AUTODIFF_SUPPORT", + "-DBUILD_WITH_EXTRA_SUPPORT=$PINOCCHIO_EXTRA_SUPPORT", + "-DBUILD_WITH_OPENMP_SUPPORT=$PINOCCHIO_OPENMP_SUPPORT", + "-DBUILD_WITH_CODEGEN_SUPPORT=$PINOCCHIO_CODEGEN_SUPPORT", + "-DBUILD_WITH_SDF_SUPPORT=$PINOCCHIO_SDF_SUPPORT", + "-DBUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT=$PINOCCHIO_MPFR_SUPPORT", +] } +build = { cmd = "cmake --build build --target all", depends_on = ["configure"] } +clean = { cmd = "rm -rf build" } +test = { cmd = "ctest --test-dir build --output-on-failure", depends_on = [ + "build", +] } + + +[feature.lint] +dependencies = { pre-commit = ">=3.6.2" } +tasks = { lint = { cmd = "pre-commit run --all" } } + +[feature.collision] +dependencies = { hpp-fcl = ">=2.4" } +activation = { env = { PINOCCHIO_COLLISION_SUPPORT = "ON" } } + +[feature.sdf] +dependencies = { libsdformat = ">=9.8" } +activation = { env = { PINOCCHIO_SDF_SUPPORT = "ON" } } + +[feature.casadi] +dependencies = { casadi = ">=3.6.7" } +activation = { env = { PINOCCHIO_CASADI_SUPPORT = "ON" } } + +[feature.autodiff] +dependencies = { cppad = ">=20230000.0", pycppad = ">=1.2.4" } +activation = { env = { PINOCCHIO_AUTODIFF_SUPPORT = "ON" } } + +# Not supported by Windows +[feature.codegen] +[feature.codegen.target.unix] +dependencies = { cppadcodegen = ">=2.4.3" } +activation = { env = { PINOCCHIO_CODEGEN_SUPPORT = "ON" } } + +[feature.mpfr] +dependencies = { mpfr = ">=4.2.1" } +activation = { env = { PINOCCHIO_MPFR_SUPPORT = "ON" } } + +[feature.extra.target.win] +dependencies = { qhull = ">=2020.2" } +activation = { env = { PINOCCHIO_EXTRA_SUPPORT = "ON" } } +[feature.extra.target.unix] +dependencies = { qhull = ">=2020.2", qhull-static = ">=2020.2" } +activation = { env = { PINOCCHIO_EXTRA_SUPPORT = "ON" } } + +# Not supported by Windows (because of conda-forge issue) +[feature.openmp] +[feature.openmp.target.linux] +dependencies = { libgomp = ">=14.2" } +activation = { env = { PINOCCHIO_OPENMP_SUPPORT = "ON" } } +[feature.openmp.target.osx] +dependencies = { llvm-openmp = ">=19.1" } +activation = { env = { PINOCCHIO_OPENMP_SUPPORT = "ON" } } + +# Accelerate only work on Apple ARM platform +[feature.accelerate] +[feature.accelerate.target.osx-arm64] +activation = { env = { PINOCCHIO_ACCELERATE_SUPPORT = "ON" } } + +[feature.py312.dependencies] +python = "3.12.*" + +[feature.py39.dependencies] +python = "3.9.*" + +# Use clang-cl on Windows. +# We must use scripts instead of env to setup CC and CXX +# to avoid cxx-compiler to overwrite them. +[feature.clang-cl] +platforms = ["win-64"] +activation = { scripts = ["scripts/activation_clang_cl.bat"] } + +# Use clang on GNU/Linux. +# We must use scripts instead of env to setup CC and CXX +# to avoid cxx-compiler to overwrite them. +[feature.clang] +platforms = ["linux-64"] +activation = { scripts = ["scripts/activation_clang.sh"] } +dependencies = { clangxx = "*" } + +[environments] +default = { features = ["py312"], solve-group = "py312" } +clang = { features = ["clang", "py312"] } +lint = { features = ["lint"], solve-group = "py312" } +collision = { features = ["collision", "py312"], solve-group = "py312" } +accelerate = { features = ["accelerate", "py312"], solve-group = "py312" } +casadi = { features = ["casadi", "py312"], solve-group = "py312" } +autodiff = { features = ["autodiff", "py312"], solve-group = "py312" } +extra = { features = ["extra", "py312"], solve-group = "py312" } +openmp = { features = ["openmp", "py312"], solve-group = "py312" } +codegen = { features = ["codegen", "py312"], solve-group = "py312" } +mpfr = { features = ["mpfr", "py312"], solve-group = "py312" } +sdf = { features = ["sdf", "py312"], solve-group = "py312" } +py39 = { features = ["py39"], solve-group = "py39" } +# Accelerate will only work in Eigen next release +all = { features = [ + "collision", + "casadi", + "autodiff", + "extra", + "openmp", + "codegen", + "mpfr", + "sdf", + "py312", +], solve-group = "py312" } +all-py39 = { features = [ + "collision", + "casadi", + "autodiff", + "extra", + "openmp", + "codegen", + "mpfr", + "sdf", + "py39", +], solve-group = "py39" } +all-clang-cl = { features = [ + "collision", + "casadi", + "autodiff", + "extra", + "openmp", + "codegen", + "mpfr", + "sdf", + "clang-cl", + "py312", +], solve-group = "py312" } diff --git a/scripts/activation.bat b/scripts/activation.bat new file mode 100644 index 0000000000..a0b664c39a --- /dev/null +++ b/scripts/activation.bat @@ -0,0 +1,21 @@ +:: Setup ccache +set CMAKE_CXX_COMPILER_LAUNCHER=ccache + +:: Create compile_commands.json for language server +set CMAKE_EXPORT_COMPILE_COMMANDS=1 + +:: Activate color output with Ninja +set CMAKE_COLOR_DIAGNOSTICS=1 + +# Set default build value only if not previously set +if not defined PINOCCHIO_BUILD_TYPE (set PINOCCHIO_BUILD_TYPE=Release) +if not defined PINOCCHIO_PYTHON_STUBS (set PINOCCHIO_PYTHON_STUBS=ON) +if not defined PINOCCHIO_COLLISION_SUPPORT (set PINOCCHIO_COLLISION_SUPPORT=OFF) +if not defined PINOCCHIO_ACCELERATE_SUPPORT (set PINOCCHIO_ACCELERATE_SUPPORT=OFF) +if not defined PINOCCHIO_CASADI_SUPPORT (set PINOCCHIO_CASADI_SUPPORT=OFF) +if not defined PINOCCHIO_AUTODIFF_SUPPORT (set PINOCCHIO_AUTODIFF_SUPPORT=OFF) +if not defined PINOCCHIO_EXTRA_SUPPORT (set PINOCCHIO_EXTRA_SUPPORT=OFF) +if not defined PINOCCHIO_OPENMP_SUPPORT (set PINOCCHIO_OPENMP_SUPPORT=OFF) +if not defined PINOCCHIO_CODEGEN_SUPPORT (set PINOCCHIO_CODEGEN_SUPPORT=OFF) +if not defined PINOCCHIO_SDF_SUPPORT (set PINOCCHIO_SDF_SUPPORT=OFF) +if not defined PINOCCHIO_MPFR_SUPPORT (set PINOCCHIO_MPFR_SUPPORT=OFF) diff --git a/scripts/activation.sh b/scripts/activation.sh new file mode 100644 index 0000000000..335141f9c8 --- /dev/null +++ b/scripts/activation.sh @@ -0,0 +1,45 @@ +#! /bin/bash +# Activation script + +# Remove flags setup from cxx-compiler +unset CFLAGS +unset CPPFLAGS +unset CXXFLAGS +unset DEBUG_CFLAGS +unset DEBUG_CPPFLAGS +unset DEBUG_CXXFLAGS +unset LDFLAGS + +if [[ $host_alias == *"apple"* ]]; +then + # On OSX setting the rpath and -L it's important to use the conda libc++ instead of the system one. + # If conda-forge use install_name_tool to package some libs, -headerpad_max_install_names is then mandatory + export LDFLAGS="-Wl,-headerpad_max_install_names -Wl,-rpath,$CONDA_PREFIX/lib -L$CONDA_PREFIX/lib" +elif [[ $host_alias == *"linux"* ]]; +then + # On GNU/Linux, I don't know if these flags are mandatory with g++ but + # it allow to use clang++ as compiler + export LDFLAGS="-Wl,-rpath,$CONDA_PREFIX/lib -Wl,-rpath-link,$CONDA_PREFIX/lib -L$CONDA_PREFIX/lib" +fi + +# Setup ccache +export CMAKE_CXX_COMPILER_LAUNCHER=ccache + +# Create compile_commands.json for language server +export CMAKE_EXPORT_COMPILE_COMMANDS=1 + +# Activate color output with Ninja +export CMAKE_COLOR_DIAGNOSTICS=1 + +# Set default build value only if not previously set +export PINOCCHIO_BUILD_TYPE=${PINOCCHIO_BUILD_TYPE:=Release} +export PINOCCHIO_PYTHON_STUBS=${PINOCCHIO_PYTHON_STUBS:=ON} +export PINOCCHIO_COLLISION_SUPPORT=${PINOCCHIO_COLLISION_SUPPORT:=OFF} +export PINOCCHIO_ACCELERATE_SUPPORT=${PINOCCHIO_ACCELERATE_SUPPORT:=OFF} +export PINOCCHIO_CASADI_SUPPORT=${PINOCCHIO_CASADI_SUPPORT:=OFF} +export PINOCCHIO_AUTODIFF_SUPPORT=${PINOCCHIO_AUTODIFF_SUPPORT:=OFF} +export PINOCCHIO_EXTRA_SUPPORT=${PINOCCHIO_EXTRA_SUPPORT:=OFF} +export PINOCCHIO_OPENMP_SUPPORT=${PINOCCHIO_OPENMP_SUPPORT:=OFF} +export PINOCCHIO_CODEGEN_SUPPORT=${PINOCCHIO_CODEGEN_SUPPORT:=OFF} +export PINOCCHIO_SDF_SUPPORT=${PINOCCHIO_SDF_SUPPORT:=OFF} +export PINOCCHIO_MPFR_SUPPORT=${PINOCCHIO_MPFR_SUPPORT:=OFF} diff --git a/scripts/activation_clang.sh b/scripts/activation_clang.sh new file mode 100644 index 0000000000..10f91fe3c1 --- /dev/null +++ b/scripts/activation_clang.sh @@ -0,0 +1,5 @@ +#! /bin/bash +# Clang activation script + +export CC=clang +export CXX=clang++ diff --git a/scripts/activation_clang_cl.bat b/scripts/activation_clang_cl.bat new file mode 100644 index 0000000000..bdd7db87e6 --- /dev/null +++ b/scripts/activation_clang_cl.bat @@ -0,0 +1,3 @@ +:: Setup clang-cl compiler +set CC=clang-cl +set CXX=clang-cl From 0644de0c28c6b0178ce618de112ef366b8a24d32 Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Fri, 25 Oct 2024 16:04:04 +0200 Subject: [PATCH 061/104] ci: Add a workflow that use Pixi and remove conda workflow --- .../conda/environment_macos_linux.yml | 27 --- .../workflows/conda/environment_windows.yml | 25 --- ...conda.yml => macos-linux-windows-pixi.yml} | 67 +++--- .../scripts/get_compilation_flags.js | 199 ++++++++++-------- .github/workflows/windows-conda.yml | 145 ------------- 5 files changed, 142 insertions(+), 321 deletions(-) delete mode 100644 .github/workflows/conda/environment_macos_linux.yml delete mode 100644 .github/workflows/conda/environment_windows.yml rename .github/workflows/{macos-linux-conda.yml => macos-linux-windows-pixi.yml} (68%) delete mode 100644 .github/workflows/windows-conda.yml diff --git a/.github/workflows/conda/environment_macos_linux.yml b/.github/workflows/conda/environment_macos_linux.yml deleted file mode 100644 index 9673c1fe5b..0000000000 --- a/.github/workflows/conda/environment_macos_linux.yml +++ /dev/null @@ -1,27 +0,0 @@ -name: pinocchio -channels: - - conda-forge -dependencies: - - eigen=3.4.0 - - hpp-fcl - - numpy - - boost - - eigenpy - - urdfdom - - python - - cmake - - ccache - - pkg-config - - ninja - - llvm-openmp - - cxx-compiler - - meshcat-python - - casadi - - cppad<=20230000 - - cppadcodegen - - pycppad - - matplotlib - - mpfr - - qhull - - qhull-static - - libsdformat diff --git a/.github/workflows/conda/environment_windows.yml b/.github/workflows/conda/environment_windows.yml deleted file mode 100644 index 99569b5795..0000000000 --- a/.github/workflows/conda/environment_windows.yml +++ /dev/null @@ -1,25 +0,0 @@ -name: pinocchio-windows -channels: - - conda-forge -dependencies: - - eigen=3.4.0 - - hpp-fcl - - numpy - - boost - - eigenpy - - urdfdom - - python - - cmake - - ccache - - pkg-config - - ninja - - cxx-compiler - - meshcat-python - - casadi - - cppad<=20230000 - - cppadcodegen - - pycppad - - matplotlib - - mpfr - - qhull - - libsdformat diff --git a/.github/workflows/macos-linux-conda.yml b/.github/workflows/macos-linux-windows-pixi.yml similarity index 68% rename from .github/workflows/macos-linux-conda.yml rename to .github/workflows/macos-linux-windows-pixi.yml index b14fa92fdd..47aa3fdf46 100644 --- a/.github/workflows/macos-linux-conda.yml +++ b/.github/workflows/macos-linux-windows-pixi.yml @@ -1,4 +1,4 @@ -name: CI - OSX/Linux via Conda +name: CI - MacOS/Linux/Windows via Pixi on: schedule: @@ -28,8 +28,8 @@ concurrency: cancel-in-progress: true jobs: - pinocchio-conda: - name: ${{ matrix.os }} - Python ${{ matrix.python-version }} ${{ matrix.build_type }} with Conda + pinocchio-pixi: + name: ${{ matrix.os }} - Env ${{ matrix.environment }} ${{ matrix.build_type }} ${{ matrix.compiler }} runs-on: ${{ matrix.os }} env: CCACHE_BASEDIR: ${GITHUB_WORKSPACE} @@ -41,20 +41,32 @@ jobs: strategy: fail-fast: false matrix: - os: [ubuntu-latest, macos-latest] + os: [ubuntu-latest, macos-latest, macos-13] + environment: [all, all-py39] build_type: [Release, Debug] - python-version: ['3.8', '3.12'] include: + # Disable BUILD_ADVANCED_TESTING as the test can take many time to run - os: ubuntu-latest BUILD_ADVANCED_TESTING: OFF - # Disable BUILD_ADVANCED_TESTING as the test can take many time to run - os: macos-latest BUILD_ADVANCED_TESTING: OFF + - os: macos-13 + BUILD_ADVANCED_TESTING: OFF + - os: windows-latest + environment: all + build_type: Release + BUILD_ADVANCED_TESTING: OFF + - os: windows-latest + environment: all-clang-cl + build_type: Release + BUILD_ADVANCED_TESTING: OFF + steps: # extract branch name or checkout devel branch for scheduled events - name: Get branch name or checkout devel + shell: bash -el {0} run: | if [ "${{ github.event_name }}" == "schedule" ]; then echo "BRANCH_NAME=devel" >> $GITHUB_ENV @@ -71,18 +83,16 @@ jobs: - uses: actions/cache@v4 with: path: .ccache - save-always: true key: ccache-macos-linux-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.python-version }}-${{ github.sha }} restore-keys: ccache-macos-linux-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.python-version }}- - - uses: conda-incubator/setup-miniconda@v3 + - uses: prefix-dev/setup-pixi@v0.8.1 with: - activate-environment: pinocchio-linux - auto-update-conda: true - environment-file: .github/workflows/conda/environment_macos_linux.yml - python-version: ${{ matrix.python-version }} - auto-activate-base: false + pixi-version: v0.33.0 + cache: true + environments: ${{ matrix.environment }} + # Avoid filling all disk space with debug symbols - name: Setup CMAKE_TOOLCHAIN_FILE if: (contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')) && contains(matrix.build_type, 'Debug') run: | @@ -99,38 +109,31 @@ jobs: await script({github, context, core}) result-encoding: string - - name: Build Pinocchio + - name: Build Pinocchio [MacOS/Linux/Windows] shell: bash -el {0} + env: + CMAKE_BUILD_PARALLEL_LEVEL: 2 + PINOCCHIO_BUILD_TYPE: ${{ matrix.build_type }} run: | - conda list - echo $CONDA_PREFIX - - mkdir build - cd build - - cmake .. \ - -G "Ninja" \ - -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \ - -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \ - -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ + # Launch configure but overwrite default options + pixi run -e ${{ matrix.environment }} configure \ -DBUILD_ADVANCED_TESTING=${{ env.BUILD_ADVANCED_TESTING }} \ ${{ steps.get_labels.outputs.cmakeFlags }} - cmake --build . -j2 - ctest --output-on-failure - cmake --install . + pixi run -e ${{ matrix.environment }} cmake --build build --target all + pixi run -e ${{ matrix.environment }} ctest --test-dir build --output-on-failure + pixi run -e ${{ matrix.environment }} cmake --install build - name: Uninstall Pinocchio shell: bash -el {0} run: | - cd build - cmake --build . --target uninstall + cmake --build build --target uninstall check: if: always() - name: check-macos-linux-conda + name: check-macos-linux-windows-pixi needs: - - pinocchio-conda + - pinocchio-pixi runs-on: Ubuntu-latest diff --git a/.github/workflows/scripts/get_compilation_flags.js b/.github/workflows/scripts/get_compilation_flags.js index 75e46d9b68..cf7e41693d 100644 --- a/.github/workflows/scripts/get_compilation_flags.js +++ b/.github/workflows/scripts/get_compilation_flags.js @@ -1,102 +1,117 @@ -// Inspired by https://github.com/emmenko/action-verify-pr-labels/tree/master -module.exports = async ({github, context, core}) => { - const getPullRequestNumber = (ref) => { - core.debug(`Parsing ref: ${ref}`); - // This assumes that the ref is in the form of `refs/pull/:prNumber/merge` - const prNumber = ref.replace(/refs\/pull\/(\d+)\/merge/, '$1'); - return parseInt(prNumber, 10); +// Create the default CMakeOptions +function CMakeOptions() { + this.BUILD_WITH_COLLISION_SUPPORT = "OFF"; + this.BUILD_WITH_CASADI_SUPPORT = "OFF"; + this.BUILD_WITH_AUTODIFF_SUPPORT = "OFF"; + this.BUILD_WITH_EXTRA_SUPPORT = "OFF"; + this.BUILD_WITH_CODEGEN_SUPPORT = "OFF"; + this.BUILD_WITH_OPENMP_SUPPORT = "OFF"; + this.BUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT = "OFF"; + this.INSTALL_DOCUMENTATION = "ON"; + this.GENERATE_PYTHON_STUBS = "ON"; + this.BUILD_WITH_ACCELERATE_SUPPORT = "OFF"; + this.BUILD_WITH_SDF_SUPPORT = "OFF"; +} + +// Return an object with an association between labels and +// options that should be set to ON +function makeLabelToOptions() { + const os = process.env.RUNNER_OS; + if(os == "Windows") { + return { + build_all: [ + 'BUILD_WITH_COLLISION_SUPPORT', + 'BUILD_WITH_CASADI_SUPPORT', + 'BUILD_WITH_AUTODIFF_SUPPORT', + 'BUILD_WITH_EXTRA_SUPPORT', + 'BUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT', + 'BUILD_WITH_SDF_SUPPORT' + ], + build_collision: ['BUILD_WITH_COLLISION_SUPPORT'], + build_casadi: ['BUILD_WITH_CASADI_SUPPORT'], + build_autodiff: ['BUILD_WITH_AUTODIFF_SUPPORT'], + build_extra: ['BUILD_WITH_EXTRA_SUPPORT'], + build_codegen: [], + build_openmp: [], + build_mpfr: ['BUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT'], + build_sdf: ['BUILD_WITH_SDF_SUPPORT'], + build_accelerate: ['BUILD_WITH_ACCELERATE_SUPPORT'] + }; + } else { + return { + build_all: [ + 'BUILD_WITH_COLLISION_SUPPORT', + 'BUILD_WITH_CASADI_SUPPORT', + 'BUILD_WITH_AUTODIFF_SUPPORT', + 'BUILD_WITH_EXTRA_SUPPORT', + 'BUILD_WITH_CODEGEN_SUPPORT', + 'BUILD_WITH_OPENMP_SUPPORT', + 'BUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT', + 'BUILD_WITH_SDF_SUPPORT' + ], + build_collision: ['BUILD_WITH_COLLISION_SUPPORT'], + build_casadi: ['BUILD_WITH_CASADI_SUPPORT'], + build_autodiff: ['BUILD_WITH_AUTODIFF_SUPPORT'], + build_extra: ['BUILD_WITH_EXTRA_SUPPORT'], + build_codegen: ['BUILD_WITH_CODEGEN_SUPPORT'], + build_openmp: ['BUILD_WITH_OPENMP_SUPPORT'], + build_mpfr: ['BUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT'], + build_sdf: ['BUILD_WITH_SDF_SUPPORT'], + build_accelerate: ['BUILD_WITH_ACCELERATE_SUPPORT'] }; + } +} + +function getPullRequestNumber(ref) { + // This assumes that the ref is in the form of `refs/pull/:prNumber/merge` + const prNumber = ref.replace(/refs\/pull\/(\d+)\/merge/, '$1'); + return parseInt(prNumber, 10); +} + +// Get activated labels +async function getLabelNames(github, context) { + const {LABELS} = process.env; + if(LABELS) { + return [LABELS]; + } else { const prNumber = context.issue.number || getPullRequestNumber(context.ref); - let cmakeFlags = ''; - // get os process is run on - const os = process.env.RUNNER_OS; - var labelFlags; - if(os == "Windows") - { - labelFlags = { - build_all: [ - ' -DBUILD_WITH_COLLISION_SUPPORT=ON', - ' -DBUILD_WITH_CASADI_SUPPORT=ON', - ' -DBUILD_WITH_AUTODIFF_SUPPORT=ON', - ' -DBUILD_WITH_EXTRA_SUPPORT=ON', - ' -DBUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT=ON', - ' -DINSTALL_DOCUMENTATION=ON', - ' -DGENERATE_PYTHON_STUBS=ON', - ' -DBUILD_WITH_ACCELERATE_SUPPORT=OFF', - ' -DBUILD_WITH_SDF_SUPPORT=ON' - ], - build_collision: ' -DBUILD_WITH_COLLISION_SUPPORT=ON', - build_casadi: ' -DBUILD_WITH_CASADI_SUPPORT=ON', - build_autodiff: ' -DBUILD_WITH_AUTODIFF_SUPPORT=ON', - build_extra: ' -DBUILD_WITH_EXTRA_SUPPORT=ON', - build_mpfr: ' -DBUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT=ON', - build_sdf: ' -DBUILD_WITH_SDF_SUPPORT=ON', - build_accelerate: ' -DBUILD_WITH_ACCELERATE_SUPPORT=ON' - }; - } - else - { - labelFlags = { - build_all: [ - ' -DBUILD_WITH_COLLISION_SUPPORT=ON', - ' -DBUILD_WITH_CASADI_SUPPORT=ON', - ' -DBUILD_WITH_AUTODIFF_SUPPORT=ON', - ' -DBUILD_WITH_EXTRA_SUPPORT=ON', - ' -DBUILD_WITH_OPENMP_SUPPORT=ON', - ' -DBUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT=ON', - ' -DINSTALL_DOCUMENTATION=ON', - ' -DBUILD_WITH_CODEGEN_SUPPORT=ON', - ' -DGENERATE_PYTHON_STUBS=ON', - ' -DBUILD_WITH_ACCELERATE_SUPPORT=OFF', - ' -DBUILD_WITH_SDF_SUPPORT=ON' - ], - build_collision: ' -DBUILD_WITH_COLLISION_SUPPORT=ON', - build_casadi: ' -DBUILD_WITH_CASADI_SUPPORT=ON', - build_autodiff: ' -DBUILD_WITH_AUTODIFF_SUPPORT=ON', - build_codegen: ' -DBUILD_WITH_CODEGEN_SUPPORT=ON', - build_extra: ' -DBUILD_WITH_EXTRA_SUPPORT=ON', - build_openmp: ' -DBUILD_WITH_OPENMP_SUPPORT=ON', - build_mpfr: ' -DBUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT=ON', - build_sdf: ' -DBUILD_WITH_SDF_SUPPORT=ON', - build_accelerate: ' -DBUILD_WITH_ACCELERATE_SUPPORT=ON' - }; + if(isNaN(prNumber)) { + return []; } - // Get the GitHub event name that triggered the workflow - const {LABELS} = process.env; - var labelNames; - if(LABELS) - { - labelNames=[LABELS]; - } - else - { - if(isNaN(prNumber)) - { - core.setOutput("cmakeFlags", cmakeFlags); - return; - } + const { data } = await github.rest.pulls.get({ + owner: context.repo.owner, + repo: context.repo.repo, + pull_number: prNumber, + }); + return data.labels.map(label => label.name); + } +} - const { data } = await github.rest.pulls.get({ - owner: context.repo.owner, - repo: context.repo.repo, - pull_number: prNumber, - }); - labelNames = data.labels.map(label => label.name); +// Inspired by https://github.com/emmenko/action-verify-pr-labels/tree/master +module.exports = async ({github, context, core}) => { + const labelToOptions = makeLabelToOptions(); + const labelNames = await getLabelNames(github, context); + let options = new CMakeOptions(); + + // Turn CMake options ON + for (let label of labelNames) { + if (labelToOptions[label]) { + for (let x of labelToOptions[label]) { + options[x] = "ON"; + } } + } - labelNames.forEach(label => { - if (labelFlags[label]) { - if (Array.isArray(labelFlags[label])) { - cmakeFlags += labelFlags[label].join(' '); - } else { - cmakeFlags += labelFlags[label]; - } - } - }); - console.log(cmakeFlags); - core.setOutput("cmakeFlags", cmakeFlags); - return; + // Transform options object into command line output + let cmakeFlags = ''; + for (let [k, v] of Object.entries(options)) { + cmakeFlags += `-D${k}=${v} `; + } + + console.log(cmakeFlags); + core.setOutput("cmakeFlags", cmakeFlags); + return; } diff --git a/.github/workflows/windows-conda.yml b/.github/workflows/windows-conda.yml deleted file mode 100644 index 85469f9306..0000000000 --- a/.github/workflows/windows-conda.yml +++ /dev/null @@ -1,145 +0,0 @@ -name: CI - Windows via Conda -on: - schedule: - - cron: '0 0 * * 1' - push: - paths-ignore: - - doc/** - - .gitlab-ci.yml - - .gitignore - - '*.md' - - CITATION.* - - COPYING.LESSER - - colcon.pkg - - .pre-commit-config.yaml - pull_request: - paths-ignore: - - doc/** - - .gitlab-ci.yml - - .gitignore - - '*.md' - - CITATION.* - - COPYING.LESSER - - colcon.pkg - - .pre-commit-config.yaml -concurrency: - group: ${{ github.workflow }}-${{ github.ref }} - cancel-in-progress: true - -jobs: - build: - name: ${{ matrix.os }} - ${{ matrix.compiler }} with Conda - runs-on: ${{ matrix.os }} - env: - CCACHE_BASEDIR: ${GITHUB_WORKSPACE} - CCACHE_DIR: ${GITHUB_WORKSPACE}/.ccache - CCACHE_COMPRESS: true - CCACHE_COMPRESSLEVEL: 5 - - strategy: - fail-fast: false - matrix: - os: [windows-2019] - compiler: [cl, clang-cl] - - steps: - # Extract branch name or set 'devel' branch for scheduled events - - name: Get branch name or checkout devel - shell: bash - run: | - if [ "$GITHUB_EVENT_NAME" == "schedule" ]; then - echo "BRANCH_NAME=devel" >> $GITHUB_ENV - echo "LABELS=build_all" >> $GITHUB_ENV - else - branchName=${GITHUB_REF#refs/heads/} - echo "BRANCH_NAME=$branchName" >> $GITHUB_ENV - fi - - - uses: actions/checkout@v4 - with: - ref: ${{ env.BRANCH_NAME }} - submodules: recursive - - - uses: actions/cache@v4 - with: - path: .ccache - save-always: true - key: ccache-windows-conda-${{ matrix.compiler }}-${{ matrix.os }}-${{ github.sha }} - restore-keys: ccache-windows-conda-${{ matrix.compiler }}-${{ matrix.os }}- - - - uses: conda-incubator/setup-miniconda@v3 - with: - activate-environment: pinocchio - auto-update-conda: true - environment-file: .github/workflows/conda/environment_windows.yml - python-version: '3.10' - auto-activate-base: false - - - name: Get Compilation Flags - id: get_labels - uses: actions/github-script@v7 - env: - LABELS: ${{ env.LABELS }} - with: - script: | - const script = require('./.github/workflows/scripts/get_compilation_flags.js'); - await script({github, context, core}) - result-encoding: string - - - name: Build Pinocchio - shell: cmd /C CALL {0} - run: | - :: Set compiler to use. - :: This must be done here and not in env since - :: cxx-compiler activation script set this variable - :: and is called before. - set CC=${{ matrix.compiler }}.exe - set CXX=${{ matrix.compiler }}.exe - echo Compiler set to: %CC% - - call conda list - - :: Create build directory - mkdir build - pushd build - - :: Configure (Ninja use CC and CXX to determine the compiler) - cmake ^ - -G "Ninja" ^ - -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX%\Library ^ - -DPYTHON_SITELIB=%CONDA_PREFIX%\Lib\site-packages ^ - -DCMAKE_CXX_COMPILER_LAUNCHER=ccache ^ - -DCMAKE_BUILD_TYPE=Release ^ - ${{ steps.get_labels.outputs.cmakeFlags }} ^ - .. - - :: Build - cmake --build . -j2 - if errorlevel 1 exit 1 - - :: Testing - ctest --output-on-failure - if errorlevel 1 exit 1 - - :: Install - cmake --install . - - :: Test Python import - cd .. - python -c "import pinocchio" - if errorlevel 1 exit 1 - - check: - if: always() - name: check-windows-conda - - needs: - - build - - runs-on: Ubuntu-latest - - steps: - - name: Decide whether the needed jobs succeeded or failed - uses: re-actors/alls-green@release/v1 - with: - jobs: ${{ toJSON(needs) }} From 6555def826be9fab9b8ab8ee2ebb8354c919081e Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Fri, 25 Oct 2024 16:05:02 +0200 Subject: [PATCH 062/104] =?UTF-8?q?python:=20Avoid=20Python=20bindings=20c?= =?UTF-8?q?rash=20on=20OSX=C2=A0in=20Debug?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- bindings/python/CMakeLists.txt | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/bindings/python/CMakeLists.txt b/bindings/python/CMakeLists.txt index ca8792bd1a..a582747cef 100644 --- a/bindings/python/CMakeLists.txt +++ b/bindings/python/CMakeLists.txt @@ -44,8 +44,16 @@ function(PINOCCHIO_PYTHON_BINDINGS_SPECIFIC_TYPE scalar_name) endif() add_dependencies(${PROJECT_NAME}-python ${PYTHON_LIB_NAME}) - # Remove lib prefix for the target and use the right define for DLLAPI definition - set_target_properties(${PYTHON_LIB_NAME} PROPERTIES PREFIX "" DEFINE_SYMBOL "${PYWRAP}_EXPORTS") + # Remove lib prefix for the target and use the right define for DLLAPI definition. + # + # Set inlined function visibility to hidden by default. This avoid bug on OSX where two symbol + # from two different binding (`pinocchio::python::exposeSpecificTypeFeatures`) can be wrongly + # loaded (see https://github.com/stack-of-tasks/pinocchio/issues/2462). + set_target_properties( + ${PYTHON_LIB_NAME} + PROPERTIES PREFIX "" + DEFINE_SYMBOL "${PYWRAP}_EXPORTS" + VISIBILITY_INLINES_HIDDEN ON) # Do not report: # From 08c1254d211d7b76fb5e17720fbb0b5f10259c5e Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Fri, 25 Oct 2024 16:05:57 +0200 Subject: [PATCH 063/104] cppad: Fix cppad build with last version --- bindings/python/CMakeLists.txt | 6 ++++-- include/pinocchio/autodiff/cppad.hpp | 1 + include/pinocchio/codegen/cppadcg.hpp | 1 + src/CMakeLists.txt | 6 ++++-- 4 files changed, 10 insertions(+), 4 deletions(-) diff --git a/bindings/python/CMakeLists.txt b/bindings/python/CMakeLists.txt index a582747cef..3ddebe60c6 100644 --- a/bindings/python/CMakeLists.txt +++ b/bindings/python/CMakeLists.txt @@ -172,7 +172,8 @@ if(BUILD_PYTHON_INTERFACE) target_compile_definitions( ${PYWRAP}_cppad PRIVATE PYCPPAD_EXCLUDE_EIGEN_NUMTRAITS_SPECIALIZATION CPPAD_DEBUG_AND_RELEASE) - target_include_directories(${PYWRAP}_cppad SYSTEM PUBLIC ${cppad_INCLUDE_DIR}) + target_include_directories(${PYWRAP}_cppad SYSTEM + PUBLIC $) target_link_libraries(${PYWRAP}_cppad PUBLIC ${cppad_LIBRARY}) list(APPEND STUBGEN_DEPENDENCIES "${PYWRAP}_cppad") @@ -186,7 +187,8 @@ if(BUILD_PYTHON_INTERFACE) target_compile_definitions( ${PYWRAP}_cppadcg PRIVATE PYCPPAD_EXCLUDE_EIGEN_NUMTRAITS_SPECIALIZATION CPPAD_DEBUG_AND_RELEASE) - target_include_directories(${PYWRAP}_cppadcg SYSTEM PUBLIC ${cppadcg_INCLUDE_DIR}) + target_include_directories(${PYWRAP}_cppadcg SYSTEM + PUBLIC $) target_link_libraries(${PYWRAP}_cppadcg PUBLIC ${cppadcg_LIBRARY} ${cppad_LIBRARY}) list(APPEND STUBGEN_DEPENDENCIES "${PYWRAP}_cppadcg") diff --git a/include/pinocchio/autodiff/cppad.hpp b/include/pinocchio/autodiff/cppad.hpp index de37bed2ee..3004c751f5 100644 --- a/include/pinocchio/autodiff/cppad.hpp +++ b/include/pinocchio/autodiff/cppad.hpp @@ -15,6 +15,7 @@ #define EIGEN_MATRIXBASE_PLUGIN +#include #include #include diff --git a/include/pinocchio/codegen/cppadcg.hpp b/include/pinocchio/codegen/cppadcg.hpp index 62ba80746a..5ceba8cf9c 100644 --- a/include/pinocchio/codegen/cppadcg.hpp +++ b/include/pinocchio/codegen/cppadcg.hpp @@ -10,6 +10,7 @@ #include "pinocchio/math/fwd.hpp" #include +#include #include #include "pinocchio/autodiff/cppad.hpp" diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index d645cb85c9..aeb1902cdd 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -302,7 +302,8 @@ if(BUILD_WITH_CODEGEN_SUPPORT) # CPPAD_DEBUG_AND_RELEASE allow to mix debug and release versions of CppAD in the same program. # This can happen when Pinocchio is build in Debug mode using another library using cppad. target_compile_definitions(${PROJECT_NAME}_cppadcg PUBLIC CPPAD_DEBUG_AND_RELEASE) - target_include_directories(${PROJECT_NAME}_cppadcg SYSTEM ${CPPADCG_SCOPE} ${cppadcg_INCLUDE_DIR}) + target_include_directories(${PROJECT_NAME}_cppadcg SYSTEM ${CPPADCG_SCOPE} + $) target_link_libraries(${PROJECT_NAME}_cppadcg ${CPPADCG_SCOPE} ${cppadcg_LIBRARY} ${cppad_LIBRARY}) endif() @@ -313,7 +314,8 @@ if(BUILD_WITH_AUTODIFF_SUPPORT) # CPPAD_DEBUG_AND_RELEASE allow to mix debug and release versions of CppAD in the same program. # This can happen when Pinocchio is build in Debug mode using another library using cppad. target_compile_definitions(${PROJECT_NAME}_cppad PUBLIC CPPAD_DEBUG_AND_RELEASE) - target_include_directories(${PROJECT_NAME}_cppad SYSTEM ${CPPAD_SCOPE} ${cppad_INCLUDE_DIR}) + target_include_directories(${PROJECT_NAME}_cppad SYSTEM ${CPPAD_SCOPE} + $) target_link_libraries(${PROJECT_NAME}_cppad ${CPPAD_SCOPE} ${cppad_LIBRARY}) endif() From 8b47341a4836f3139747d4c0fd095c8646c7c6c0 Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Fri, 25 Oct 2024 16:06:16 +0200 Subject: [PATCH 064/104] mjcf: Fix unit test with last Boost version --- unittest/mjcf.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/unittest/mjcf.cpp b/unittest/mjcf.cpp index e6a8887112..1c1f6e5a12 100644 --- a/unittest/mjcf.cpp +++ b/unittest/mjcf.cpp @@ -483,7 +483,7 @@ BOOST_AUTO_TEST_CASE(parse_dirs_no_strippath) - + )"); #else @@ -517,7 +517,7 @@ BOOST_AUTO_TEST_CASE(parse_dirs_no_strippath) // Test Meshes pinocchio::mjcf::details::MjcfMesh mesh = graph.mapOfMeshes.at("mesh"); #ifdef _WIN32 - BOOST_CHECK_EQUAL(boost::filesystem::path(mesh.filePath).generic_string(), "C://auto/mesh.obj"); + BOOST_CHECK_EQUAL(boost::filesystem::path(mesh.filePath).generic_string(), "C:/auto/mesh.obj"); #else BOOST_CHECK_EQUAL(boost::filesystem::path(mesh.filePath).generic_string(), "/auto/mesh.obj"); #endif From e7148f88704bf4d5464176ddab39e6f1d4abe865 Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Fri, 25 Oct 2024 16:06:36 +0200 Subject: [PATCH 065/104] =?UTF-8?q?core:=C2=A0Initialize=20all=20RigidCons?= =?UTF-8?q?traintDataTpl=20values?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- include/pinocchio/algorithm/contact-info.hpp | 56 +++++++++++++++----- 1 file changed, 44 insertions(+), 12 deletions(-) diff --git a/include/pinocchio/algorithm/contact-info.hpp b/include/pinocchio/algorithm/contact-info.hpp index cbb648e9eb..2d60a3ff26 100644 --- a/include/pinocchio/algorithm/contact-info.hpp +++ b/include/pinocchio/algorithm/contact-info.hpp @@ -901,11 +901,43 @@ namespace pinocchio /// \brief Default constructor RigidConstraintDataTpl() + : contact_force(Force::Zero()) + , oMc1(SE3::Identity()) + , oMc2(SE3::Identity()) + , c1Mc2(SE3::Identity()) + , contact_placement_error(Motion::Zero()) + , contact1_velocity(Motion::Zero()) + , contact2_velocity(Motion::Zero()) + , contact_velocity_error(Motion::Zero()) + , contact_acceleration(Motion::Zero()) + , contact_acceleration_desired(Motion::Zero()) + , contact_acceleration_error(Motion::Zero()) + , contact1_acceleration_drift(Motion::Zero()) + , contact2_acceleration_drift(Motion::Zero()) + , contact_acceleration_deviation(Motion::Zero()) + , extended_motion_propagators_joint1() + , lambdas_joint1() + , extended_motion_propagators_joint2() + , dv1_dq(6, 0) + , da1_dq(6, 0) + , da1_dv(6, 0) + , da1_da(6, 0) + , dv2_dq(6, 0) + , da2_dq(6, 0) + , da2_dv(6, 0) + , da2_da(6, 0) + , dvc_dq() + , dac_dq() + , dac_dv() + , dac_da() { } explicit RigidConstraintDataTpl(const ContactModel & contact_model) : contact_force(Force::Zero()) + , oMc1(SE3::Identity()) + , oMc2(SE3::Identity()) + , c1Mc2(SE3::Identity()) , contact_placement_error(Motion::Zero()) , contact1_velocity(Motion::Zero()) , contact2_velocity(Motion::Zero()) @@ -919,18 +951,18 @@ namespace pinocchio , extended_motion_propagators_joint1(contact_model.depth_joint1, Matrix6::Zero()) , lambdas_joint1(contact_model.depth_joint1, Matrix6::Zero()) , extended_motion_propagators_joint2(contact_model.depth_joint2, Matrix6::Zero()) - , dv1_dq(6, contact_model.nv) - , da1_dq(6, contact_model.nv) - , da1_dv(6, contact_model.nv) - , da1_da(6, contact_model.nv) - , dv2_dq(6, contact_model.nv) - , da2_dq(6, contact_model.nv) - , da2_dv(6, contact_model.nv) - , da2_da(6, contact_model.nv) - , dvc_dq(contact_model.size(), contact_model.nv) - , dac_dq(contact_model.size(), contact_model.nv) - , dac_dv(contact_model.size(), contact_model.nv) - , dac_da(contact_model.size(), contact_model.nv) + , dv1_dq(Matrix6x::Zero(6, contact_model.nv)) + , da1_dq(Matrix6x::Zero(6, contact_model.nv)) + , da1_dv(Matrix6x::Zero(6, contact_model.nv)) + , da1_da(Matrix6x::Zero(6, contact_model.nv)) + , dv2_dq(Matrix6x::Zero(6, contact_model.nv)) + , da2_dq(Matrix6x::Zero(6, contact_model.nv)) + , da2_dv(Matrix6x::Zero(6, contact_model.nv)) + , da2_da(Matrix6x::Zero(6, contact_model.nv)) + , dvc_dq(MatrixX::Zero(contact_model.size(), contact_model.nv)) + , dac_dq(MatrixX::Zero(contact_model.size(), contact_model.nv)) + , dac_dv(MatrixX::Zero(contact_model.size(), contact_model.nv)) + , dac_da(MatrixX::Zero(contact_model.size(), contact_model.nv)) { } From 2ac76cf0e6ac8f321f66037e94c9e17c181468ff Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Fri, 25 Oct 2024 16:07:08 +0200 Subject: [PATCH 066/104] unittest: Fix sincos on OSX in Debug mode --- unittest/sincos.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/unittest/sincos.cpp b/unittest/sincos.cpp index eaf583343a..276758dfe4 100644 --- a/unittest/sincos.cpp +++ b/unittest/sincos.cpp @@ -19,7 +19,9 @@ namespace template<> inline float sinCosTolerance() { - return 1e-7f; + // I don't know how tolerance has been calculated. + // 1e-7 doesn't work on ARM + Debug architecture. + return 1.5e-7f; } template<> From da9767163ea5efbc25c333972791d7c3573a2742 Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Fri, 25 Oct 2024 16:08:09 +0200 Subject: [PATCH 067/104] readme: Add Pixi build instruction --- README.md | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) diff --git a/README.md b/README.md index c4a8895040..9d841cf437 100644 --- a/README.md +++ b/README.md @@ -190,6 +190,23 @@ Please note that we always advise including the `pinocchio/fwd.hpp` header as th | | |      | **Humble** | [![](https://build.ros2.org/job/Hbin_uJ64__pinocchio__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__pinocchio__ubuntu_jammy_amd64__binary) | | | |      | **Rolling** | [![](https://build.ros2.org/job/Rbin_uJ64__pinocchio__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uJ64__pinocchio__ubuntu_jammy_amd64__binary) | +## Build/install from source with Pixi + +To build **Pinocchio** from source the easiest way is to use [Pixi](https://pixi.sh/latest/#installation). + +[Pixi](https://pixi.sh/latest/) is a cross-platform package management tool for developers that +will install all required dependencies in `.pixi` directory. +It's used by our CI agent so you have the guarantee to get the right dependencies. + +Run the following command to install dependencies, configure, build and test the project: + +```bash +pixi run test +``` + +The project will be built in the `build` directory. +You can run `pixi shell` and build the project with `cmake` and `ninja` manually. + ## Visualization **Pinocchio** provides support for many open-source and free visualizers: From b45de4fa0b8c6c58019f2346fa482fbb405aa18f Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Fri, 25 Oct 2024 16:08:15 +0200 Subject: [PATCH 068/104] changelog: Add entry --- CHANGELOG.md | 1 + 1 file changed, 1 insertion(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index d142af2f0e..6878bbc5eb 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -15,6 +15,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/). - Added argument to let users decide of root joint name when parsing models (urdf, mjcf, sdf) ([#2402](https://github.com/stack-of-tasks/pinocchio/pull/2402)) - Allow use of `pathlib.Path | str` for paths in python bindings ([#2431](https://github.com/stack-of-tasks/pinocchio/pull/2431)) - Add Pseudo inertia and Log-cholesky parametrization ([#2296](https://github.com/stack-of-tasks/pinocchio/pull/2296)) +- Add Pixi support ([#2459](https://github.com/stack-of-tasks/pinocchio/pull/2459)) ### Fixed - Fix linkage of Boost.Serialization on Windows ([#2400](https://github.com/stack-of-tasks/pinocchio/pull/2400)) From e2f19294346c9c640862d52cc6969c36b1548e1e Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Fri, 25 Oct 2024 16:08:25 +0200 Subject: [PATCH 069/104] ci: Add auto lockfile update workflow --- .github/workflows/update_pixi_lockfile.yml | 50 ++++++++++++++++++++++ 1 file changed, 50 insertions(+) create mode 100644 .github/workflows/update_pixi_lockfile.yml diff --git a/.github/workflows/update_pixi_lockfile.yml b/.github/workflows/update_pixi_lockfile.yml new file mode 100644 index 0000000000..bc6a192758 --- /dev/null +++ b/.github/workflows/update_pixi_lockfile.yml @@ -0,0 +1,50 @@ +name: CI - Update Pixi lockfile +permissions: + contents: write + pull-requests: write + +on: + workflow_dispatch: + schedule: + - cron: 0 5 1 * * + +jobs: + pixi-update: + runs-on: ubuntu-latest + + steps: + - uses: actions/create-github-app-token@v1 + id: generate-token + with: + app-id: ${{ secrets.APP_ID }} + private-key: ${{ secrets.APP_PRIVATE_KEY }} + + - uses: actions/checkout@v4 + with: + token: ${{ steps.generate-token.outputs.token }} + ref: devel + # Make sure the value of GITHUB_TOKEN will not be persisted in repo's config + persist-credentials: false + + - name: Set up pixi + uses: prefix-dev/setup-pixi@v0.8.1 + with: + run-install: false + + - name: Update lockfile + run: | + set -o pipefail + pixi update --json | pixi exec pixi-diff-to-markdown >> diff.md + + - name: Create pull request + uses: peter-evans/create-pull-request@v7 + with: + token: ${{ steps.generate-token.outputs.token }} + commit-message: 'pixi: Update pixi lockfile' + title: Update pixi lockfile + body-path: diff.md + branch: topic/update-pixi + base: devel + labels: pixi + delete-branch: true + add-paths: pixi.lock From 9bd21b6c17e42cd23b09da556821a932f95a5d37 Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Fri, 25 Oct 2024 17:02:28 +0200 Subject: [PATCH 070/104] pixi: Move all scripts inside build_scripts/pixi/ --- {scripts => build_scripts/pixi}/activation.bat | 0 {scripts => build_scripts/pixi}/activation.sh | 0 {scripts => build_scripts/pixi}/activation_clang.sh | 0 {scripts => build_scripts/pixi}/activation_clang_cl.bat | 0 pixi.toml | 8 ++++---- 5 files changed, 4 insertions(+), 4 deletions(-) rename {scripts => build_scripts/pixi}/activation.bat (100%) rename {scripts => build_scripts/pixi}/activation.sh (100%) rename {scripts => build_scripts/pixi}/activation_clang.sh (100%) rename {scripts => build_scripts/pixi}/activation_clang_cl.bat (100%) diff --git a/scripts/activation.bat b/build_scripts/pixi/activation.bat similarity index 100% rename from scripts/activation.bat rename to build_scripts/pixi/activation.bat diff --git a/scripts/activation.sh b/build_scripts/pixi/activation.sh similarity index 100% rename from scripts/activation.sh rename to build_scripts/pixi/activation.sh diff --git a/scripts/activation_clang.sh b/build_scripts/pixi/activation_clang.sh similarity index 100% rename from scripts/activation_clang.sh rename to build_scripts/pixi/activation_clang.sh diff --git a/scripts/activation_clang_cl.bat b/build_scripts/pixi/activation_clang_cl.bat similarity index 100% rename from scripts/activation_clang_cl.bat rename to build_scripts/pixi/activation_clang_cl.bat diff --git a/pixi.toml b/pixi.toml index 054e1e20fe..7d15868ded 100644 --- a/pixi.toml +++ b/pixi.toml @@ -26,10 +26,10 @@ meshcat-python = ">=0.3" matplotlib = ">=3.9.2" [activation] -scripts = ["scripts/activation.sh"] +scripts = ["build_scripts/pixi/activation.sh"] [target.win-64.activation] -scripts = ["scripts/activation.bat"] +scripts = ["build_scripts/pixi/activation.bat"] [tasks] # We must avoid to set CMAKE_CXX_FLAGS because of WIN32 @@ -125,14 +125,14 @@ python = "3.9.*" # to avoid cxx-compiler to overwrite them. [feature.clang-cl] platforms = ["win-64"] -activation = { scripts = ["scripts/activation_clang_cl.bat"] } +activation = { scripts = ["build_scripts/pixi/activation_clang_cl.bat"] } # Use clang on GNU/Linux. # We must use scripts instead of env to setup CC and CXX # to avoid cxx-compiler to overwrite them. [feature.clang] platforms = ["linux-64"] -activation = { scripts = ["scripts/activation_clang.sh"] } +activation = { scripts = ["build_scripts/pixi/activation_clang.sh"] } dependencies = { clangxx = "*" } [environments] From a84ef5d776f0f32a5b001a46818274c50f17bc97 Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Mon, 28 Oct 2024 11:42:32 +0100 Subject: [PATCH 071/104] changelog: Add entries --- CHANGELOG.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index 6878bbc5eb..69c90dae5e 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -26,6 +26,10 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/). - Fix `pinocchio-test-py-robot_wrapper` when building with SDF and collision support ([#2437](https://github.com/stack-of-tasks/pinocchio/pull/2437)) - Fix crash when calling `Inertia::FromDynamicParameters` in Python with wrong vector size ([#2296](https://github.com/stack-of-tasks/pinocchio/pull/2296)) - Fix `examples/cassie-simulation.py` and `examples/talos-simulation.py` ([#2443](https://github.com/stack-of-tasks/pinocchio/pull/2443)) +- Fix build with CppAd 2024 ([#2459](https://github.com/stack-of-tasks/pinocchio/pull/2459)) +- Fix `pinocchio-test-cpp-mjcf` unittest with Boost 1.86 ([#2459](https://github.com/stack-of-tasks/pinocchio/pull/2459)) +- Fix `pinocchio-test-cpp-constraint-variants` uninitialized values ([#2459](https://github.com/stack-of-tasks/pinocchio/pull/2459)) +- Fix mixing library symbols between Pinocchio scalar bindings ([#2459](https://github.com/stack-of-tasks/pinocchio/pull/2459)) ### Changed From 141925c39957ab9adfcc20b9065117cf82da5c3c Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Mon, 28 Oct 2024 11:43:46 +0100 Subject: [PATCH 072/104] ci: Don't launch CI on CHANGELOG.md --- .github/workflows/linux.yml | 2 ++ .github/workflows/macos-linux-windows-pixi.yml | 2 ++ .github/workflows/ros-ci.yml | 2 ++ 3 files changed, 6 insertions(+) diff --git a/.github/workflows/linux.yml b/.github/workflows/linux.yml index 4cdcc70aae..ec81bb7ece 100644 --- a/.github/workflows/linux.yml +++ b/.github/workflows/linux.yml @@ -11,6 +11,7 @@ on: - COPYING.LESSER - colcon.pkg - .pre-commit-config.yaml + - CHANGELOG.md pull_request: paths-ignore: - doc/** @@ -21,6 +22,7 @@ on: - COPYING.LESSER - colcon.pkg - .pre-commit-config.yaml + - CHANGELOG.md concurrency: group: ${{ github.workflow }}-${{ github.ref }} cancel-in-progress: true diff --git a/.github/workflows/macos-linux-windows-pixi.yml b/.github/workflows/macos-linux-windows-pixi.yml index 47aa3fdf46..dbf14969de 100644 --- a/.github/workflows/macos-linux-windows-pixi.yml +++ b/.github/workflows/macos-linux-windows-pixi.yml @@ -13,6 +13,7 @@ on: - COPYING.LESSER - colcon.pkg - .pre-commit-config.yaml + - CHANGELOG.md pull_request: paths-ignore: - doc/** @@ -23,6 +24,7 @@ on: - COPYING.LESSER - colcon.pkg - .pre-commit-config.yaml + - CHANGELOG.md concurrency: group: ${{ github.workflow }}-${{ github.ref }} cancel-in-progress: true diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml index fa0a40a096..c9da083b58 100644 --- a/.github/workflows/ros-ci.yml +++ b/.github/workflows/ros-ci.yml @@ -14,6 +14,7 @@ on: - CITATION.* - COPYING.LESSER - .pre-commit-config.yaml + - CHANGELOG.md pull_request: paths-ignore: - doc/** @@ -23,6 +24,7 @@ on: - CITATION.* - COPYING.LESSER - .pre-commit-config.yaml + - CHANGELOG.md concurrency: group: ${{ github.workflow }}-${{ github.ref }} cancel-in-progress: true From c4d2e61f37eb097d188ba7161a6af60ce3c90685 Mon Sep 17 00:00:00 2001 From: Justin Carpentier Date: Mon, 28 Oct 2024 18:57:29 +0100 Subject: [PATCH 073/104] algo/jacobians: use const_cast_derived() --- include/pinocchio/algorithm/jacobian.hxx | 18 ++++++++---------- 1 file changed, 8 insertions(+), 10 deletions(-) diff --git a/include/pinocchio/algorithm/jacobian.hxx b/include/pinocchio/algorithm/jacobian.hxx index 32cd99a916..60dc8ddc90 100644 --- a/include/pinocchio/algorithm/jacobian.hxx +++ b/include/pinocchio/algorithm/jacobian.hxx @@ -1,5 +1,5 @@ // -// Copyright (c) 2015-2020 CNRS INRIA +// Copyright (c) 2015-2024 CNRS INRIA // #ifndef __pinocchio_algorithm_jacobian_hxx__ @@ -56,7 +56,7 @@ namespace pinocchio else data.oMi[i] = data.liMi[i]; - Matrix6xLike & J_ = PINOCCHIO_EIGEN_CONST_CAST(Matrix6xLike, J); + Matrix6xLike & J_ = J.const_cast_derived(); jmodel.jointCols(J_) = data.oMi[i].act(jdata.S()); } }; @@ -88,7 +88,7 @@ namespace pinocchio { Pass::run( model.joints[i], data.joints[i], - ArgsType(model, data, q.derived(), PINOCCHIO_EIGEN_CONST_CAST(Matrix6x, data.J))); + ArgsType(model, data, q.derived(), data.J.const_cast_derived())); } return data.J; @@ -148,7 +148,7 @@ namespace pinocchio PINOCCHIO_CHECK_ARGUMENT_SIZE(Jin.cols(), Jout.cols()); PINOCCHIO_CHECK_ARGUMENT_SIZE(Jout.rows(), 6); - Matrix6xLikeOut & Jout_ = PINOCCHIO_EIGEN_CONST_CAST(Matrix6xLikeOut, Jout); + Matrix6xLikeOut & Jout_ = Jout.const_cast_derived(); typedef typename Matrix6xLikeIn::ConstColXpr ConstColXprIn; typedef const MotionRef MotionIn; @@ -189,7 +189,7 @@ namespace pinocchio PINOCCHIO_CHECK_ARGUMENT_SIZE(Jout.rows(), 6); PINOCCHIO_CHECK_ARGUMENT_SIZE(Jout.cols(), model.nv); - Matrix6xLikeOut & Jout_ = PINOCCHIO_EIGEN_CONST_CAST(Matrix6xLikeOut, Jout); + Matrix6xLikeOut & Jout_ = Jout.const_cast_derived(); typedef typename Matrix6xLikeIn::ConstColXpr ConstColXprIn; typedef const MotionRef MotionIn; @@ -277,8 +277,7 @@ namespace pinocchio assert(model.check(data) && "data is not consistent with model."); ::pinocchio::details::translateJointJacobian( - model, data, joint_id, reference_frame, data.J, - PINOCCHIO_EIGEN_CONST_CAST(Matrix6xLike, J)); + model, data, joint_id, reference_frame, data.J, J.const_cast_derived()); } template< @@ -319,7 +318,7 @@ namespace pinocchio data.liMi[i] = model.jointPlacements[i] * jdata.M(); data.iMf[parent] = data.liMi[i] * data.iMf[i]; - Matrix6xLike & J_ = PINOCCHIO_EIGEN_CONST_CAST(Matrix6xLike, J); + Matrix6xLike & J_ = J.const_cast_derived(); jmodel.jointCols(J_) = data.iMf[i].actInv(jdata.S()); } }; @@ -352,8 +351,7 @@ namespace pinocchio { Pass::run( model.joints[i], data.joints[i], - typename Pass::ArgsType( - model, data, q.derived(), PINOCCHIO_EIGEN_CONST_CAST(Matrix6xLike, J))); + typename Pass::ArgsType(model, data, q.derived(), J.const_cast_derived())); } } From d60c5e3cf7af542d59c2859da09eda8a147d3426 Mon Sep 17 00:00:00 2001 From: Justin Carpentier Date: Mon, 28 Oct 2024 18:57:58 +0100 Subject: [PATCH 074/104] algo/jacobians: fix bug with getJointJacobianTimeVariation --- include/pinocchio/algorithm/jacobian.hxx | 62 ++++++++++++++++++++++-- 1 file changed, 59 insertions(+), 3 deletions(-) diff --git a/include/pinocchio/algorithm/jacobian.hxx b/include/pinocchio/algorithm/jacobian.hxx index 60dc8ddc90..8f91d2a57e 100644 --- a/include/pinocchio/algorithm/jacobian.hxx +++ b/include/pinocchio/algorithm/jacobian.hxx @@ -469,10 +469,66 @@ namespace pinocchio const DataTpl & data, const JointIndex jointId, const ReferenceFrame rf, - const Eigen::MatrixBase & dJ) + const Eigen::MatrixBase & dJ_) { - ::pinocchio::details::translateJointJacobian( - model, data, jointId, rf, data.dJ, PINOCCHIO_EIGEN_CONST_CAST(Matrix6xLike, dJ)); + typedef DataTpl Data; + typedef typename Data::SE3 SE3; + typedef typename SE3::Vector3 Vector3; + typedef typename Data::Motion Motion; + + PINOCCHIO_CHECK_INPUT_ARGUMENT( + jointId < JointIndex(model.njoints) + && "jointId is larger than the number of joints contained in the model"); + + Matrix6xLike & dJ = dJ_.const_cast_derived(); + ::pinocchio::details::translateJointJacobian(model, data, jointId, rf, data.dJ, dJ); + + // Add contribution for LOCAL and LOCAL_WORLD_ALIGNED + switch (rf) + { + case LOCAL: { + const SE3 & oMjoint = data.oMi[jointId]; + const Motion & v_joint = data.v[jointId]; + const int colRef = nv(model.joints[jointId]) + idx_v(model.joints[jointId]) - 1; + for (Eigen::DenseIndex j = colRef; j >= 0; j = data.parents_fromRow[(size_t)j]) + { + typedef typename Data::Matrix6x::ConstColXpr ConstColXprIn; + typedef const MotionRef MotionIn; + + typedef typename Matrix6xLike::ColXpr ColXprOut; + typedef MotionRef MotionOut; + MotionIn v_in(data.J.col(j)); + MotionOut v_out(dJ.col(j)); + + v_out -= v_joint.cross(oMjoint.actInv(v_in)); + } + break; + } + case LOCAL_WORLD_ALIGNED: { + const Motion & ov_joint = data.ov[jointId]; + const SE3 & oMjoint = data.oMi[jointId]; + const int colRef = nv(model.joints[jointId]) + idx_v(model.joints[jointId]) - 1; + for (Eigen::DenseIndex j = colRef; j >= 0; j = data.parents_fromRow[(size_t)j]) + { + typedef typename Data::Matrix6x::ConstColXpr ConstColXprIn; + typedef const MotionRef MotionIn; + + typedef typename Matrix6xLike::ColXpr ColXprOut; + typedef MotionRef MotionOut; + MotionIn v_in(data.J.col(j)); + MotionOut v_out(dJ.col(j)); + + v_out.linear() -= + Vector3(ov_joint.linear() + ov_joint.angular().cross(oMjoint.translation())) + .cross(v_in.angular()); + } + break; + } + + case WORLD: + default: + break; + } } } // namespace impl From 54d001e41ef7a5ab43478f3b433a3c4ae56d2eb9 Mon Sep 17 00:00:00 2001 From: Justin Carpentier Date: Mon, 28 Oct 2024 18:58:26 +0100 Subject: [PATCH 075/104] test/jacobians: enforce correct testing of getJointJacobianTimeVariation --- unittest/joint-jacobian.cpp | 39 ++++++++++++++++++++++++++++++++----- 1 file changed, 34 insertions(+), 5 deletions(-) diff --git a/unittest/joint-jacobian.cpp b/unittest/joint-jacobian.cpp index 8eb7a0a7c1..4dc54ffff4 100644 --- a/unittest/joint-jacobian.cpp +++ b/unittest/joint-jacobian.cpp @@ -129,12 +129,15 @@ BOOST_AUTO_TEST_CASE(test_jacobian_time_variation) Data::SE3 worldMlocal = data.oMi[idx]; worldMlocal.translation().setZero(); + Data::Motion world_v_local = data.ov[idx]; + world_v_local.linear().setZero(); v_idx = (Motion::Vector6)(J * v); BOOST_CHECK(v_idx.isApprox(worldMlocal.act(data_ref.v[idx]))); a_idx = (Motion::Vector6)(J * a + dJ * v); - BOOST_CHECK(a_idx.isApprox(worldMlocal.act(data_ref.a[idx]))); + BOOST_CHECK(a_idx.isApprox( + world_v_local.cross(worldMlocal.act(data_ref.v[idx])) + worldMlocal.act(data_ref.a[idx]))); // compare to finite differencies : WORLD { @@ -184,11 +187,8 @@ BOOST_AUTO_TEST_CASE(test_jacobian_time_variation) computeJointJacobians(model, data_ref_plus, q_plus); getJointJacobian(model, data_ref_plus, idx, LOCAL, J_ref_plus); - const Data::SE3 M_plus = data_ref.oMi[idx].inverse() * data_ref_plus.oMi[idx]; - Data::Matrix6x dJ_ref(6, model.nv); - dJ_ref.fill(0.); - dJ_ref = (M_plus.toActionMatrix() * J_ref_plus - J_ref) / alpha; + dJ_ref = (J_ref_plus - J_ref) / alpha; computeJointJacobiansTimeVariation(model, data, q, v); Data::Matrix6x dJ(6, model.nv); @@ -197,6 +197,35 @@ BOOST_AUTO_TEST_CASE(test_jacobian_time_variation) BOOST_CHECK(dJ.isApprox(dJ_ref, sqrt(alpha))); } + + // compare to finite differencies : LOCAL_WORLD_ALIGNED + { + Data data_ref(model), data_ref_plus(model); + + const double alpha = 1e-8; + Eigen::VectorXd q_plus(model.nq); + q_plus = integrate(model, q, alpha * v); + + Data::Matrix6x J_ref(6, model.nv); + J_ref.fill(0.); + computeJointJacobians(model, data_ref, q); + getJointJacobian(model, data_ref, idx, LOCAL_WORLD_ALIGNED, J_ref); + + Data::Matrix6x J_ref_plus(6, model.nv); + J_ref_plus.fill(0.); + computeJointJacobians(model, data_ref_plus, q_plus); + getJointJacobian(model, data_ref_plus, idx, LOCAL_WORLD_ALIGNED, J_ref_plus); + + Data::Matrix6x dJ_ref(6, model.nv); + dJ_ref = (J_ref_plus - J_ref) / alpha; + + computeJointJacobiansTimeVariation(model, data, q, v); + Data::Matrix6x dJ(6, model.nv); + dJ.fill(0.); + getJointJacobianTimeVariation(model, data, idx, LOCAL_WORLD_ALIGNED, dJ); + + BOOST_CHECK(dJ.isApprox(dJ_ref, sqrt(alpha))); + } } BOOST_AUTO_TEST_CASE(test_timings) From eb01753d9ee8938207c930476a2361cc37a4032a Mon Sep 17 00:00:00 2001 From: Justin Carpentier Date: Mon, 28 Oct 2024 19:04:54 +0100 Subject: [PATCH 076/104] algo/frames: remove call to PINOCCHIO_EIGEN_CONST_CAST --- include/pinocchio/algorithm/frames.hxx | 15 ++++++--------- 1 file changed, 6 insertions(+), 9 deletions(-) diff --git a/include/pinocchio/algorithm/frames.hxx b/include/pinocchio/algorithm/frames.hxx index 9faf3badc6..79487f0b16 100644 --- a/include/pinocchio/algorithm/frames.hxx +++ b/include/pinocchio/algorithm/frames.hxx @@ -1,5 +1,5 @@ // -// Copyright (c) 2015-2021 CNRS INRIA +// Copyright (c) 2015-2024 CNRS INRIA // #ifndef __pinocchio_algorithm_frames_hxx__ @@ -171,8 +171,7 @@ namespace pinocchio const typename Data::SE3 oMframe = data.oMi[joint_id] * placement; details::translateJointJacobian( - model, data, joint_id, reference_frame, oMframe, data.J, - PINOCCHIO_EIGEN_CONST_CAST(Matrix6xLike, J)); + model, data, joint_id, reference_frame, oMframe, data.J, J.const_cast_derived()); } template< @@ -220,8 +219,7 @@ namespace pinocchio JointIndex parent = joint_support[k]; Pass::run( model.joints[parent], data.joints[parent], - typename Pass::ArgsType( - model, data, q.derived(), PINOCCHIO_EIGEN_CONST_CAST(Matrix6xLike, J))); + typename Pass::ArgsType(model, data, q.derived(), J.const_cast_derived())); } if (reference_frame == LOCAL_WORLD_ALIGNED) @@ -229,7 +227,7 @@ namespace pinocchio typename Data::SE3 & oMframe = data.oMf[frameId]; oMframe = data.oMi[joint_id] * frame.placement; - Matrix6xLike & J_ = PINOCCHIO_EIGEN_CONST_CAST(Matrix6xLike, J); + Matrix6xLike & J_ = J.const_cast_derived(); const int colRef = nv(model.joints[joint_id]) + idx_v(model.joints[joint_id]) - 1; for (Eigen::DenseIndex j = colRef; j >= 0; j = data.parents_fromRow[(size_t)j]) @@ -252,8 +250,7 @@ namespace pinocchio { Pass::run( model.joints[i], data.joints[i], - typename Pass::ArgsType( - model, data, q.derived(), PINOCCHIO_EIGEN_CONST_CAST(Matrix6xLike, J))); + typename Pass::ArgsType(model, data, q.derived(), J.const_cast_derived())); } break; } @@ -292,7 +289,7 @@ namespace pinocchio oMframe = data.oMi[joint_id] * frame.placement; details::translateJointJacobian( - model, data, joint_id, rf, oMframe, data.dJ, PINOCCHIO_EIGEN_CONST_CAST(Matrix6xLike, dJ)); + model, data, joint_id, rf, oMframe, data.dJ, dJ.const_cast_derived()); } template class JointCollectionTpl> From b2c996bda2c3ca2124b2e0ac047588162131860b Mon Sep 17 00:00:00 2001 From: Justin Carpentier Date: Mon, 28 Oct 2024 19:39:16 +0100 Subject: [PATCH 077/104] algo/frames: fix bug with getFrameJacobianTimeVariation --- include/pinocchio/algorithm/frames.hxx | 54 +++++++++++++++++++++++++- 1 file changed, 53 insertions(+), 1 deletion(-) diff --git a/include/pinocchio/algorithm/frames.hxx b/include/pinocchio/algorithm/frames.hxx index 79487f0b16..79a54ab2b7 100644 --- a/include/pinocchio/algorithm/frames.hxx +++ b/include/pinocchio/algorithm/frames.hxx @@ -270,9 +270,11 @@ namespace pinocchio DataTpl & data, const FrameIndex frame_id, const ReferenceFrame rf, - const Eigen::MatrixBase & dJ) + const Eigen::MatrixBase & dJ_) { assert(model.check(data) && "data is not consistent with model."); + + Matrix6xLike & dJ = dJ_.const_cast_derived(); PINOCCHIO_CHECK_ARGUMENT_SIZE( dJ.cols(), model.nv, "The numbers of columns in the Jacobian matrix does not math the " @@ -281,6 +283,9 @@ namespace pinocchio typedef ModelTpl Model; typedef DataTpl Data; typedef typename Model::Frame Frame; + typedef typename Data::SE3 SE3; + typedef typename SE3::Vector3 Vector3; + typedef typename Data::Motion Motion; const Frame & frame = model.frames[frame_id]; const JointIndex & joint_id = frame.parentJoint; @@ -290,6 +295,53 @@ namespace pinocchio details::translateJointJacobian( model, data, joint_id, rf, oMframe, data.dJ, dJ.const_cast_derived()); + + // Add contribution for LOCAL and LOCAL_WORLD_ALIGNED + switch (rf) + { + case LOCAL: { + const Motion & v_joint = data.v[joint_id]; + const Motion v_frame = frame.placement.actInv(v_joint); + + const int colRef = nv(model.joints[joint_id]) + idx_v(model.joints[joint_id]) - 1; + for (Eigen::DenseIndex j = colRef; j >= 0; j = data.parents_fromRow[(size_t)j]) + { + typedef typename Data::Matrix6x::ColXpr ColXprIn; + typedef const MotionRef MotionIn; + + typedef typename Matrix6xLike::ColXpr ColXprOut; + typedef MotionRef MotionOut; + MotionIn v_in(data.J.col(j)); + MotionOut v_out(dJ.col(j)); + + v_out -= v_frame.cross(oMframe.actInv(v_in)); + } + break; + } + case LOCAL_WORLD_ALIGNED: { + const Motion & ov_joint = data.ov[joint_id]; + const int colRef = nv(model.joints[joint_id]) + idx_v(model.joints[joint_id]) - 1; + for (Eigen::DenseIndex j = colRef; j >= 0; j = data.parents_fromRow[(size_t)j]) + { + typedef typename Data::Matrix6x::ColXpr ColXprIn; + typedef const MotionRef MotionIn; + + typedef typename Matrix6xLike::ColXpr ColXprOut; + typedef MotionRef MotionOut; + MotionIn v_in(data.J.col(j)); + MotionOut v_out(dJ.col(j)); + + v_out.linear() -= + Vector3(ov_joint.linear() + ov_joint.angular().cross(oMframe.translation())) + .cross(v_in.angular()); + } + break; + } + + case WORLD: + default: + break; + } } template class JointCollectionTpl> From 6cb88b2887f86d5a7bc32039bf1b85f8bc118679 Mon Sep 17 00:00:00 2001 From: Justin Carpentier Date: Mon, 28 Oct 2024 19:39:48 +0100 Subject: [PATCH 078/104] test/frames: fix testing of getFrameJacobianTimeVariation --- unittest/frames.cpp | 28 ++++++++++------------------ 1 file changed, 10 insertions(+), 18 deletions(-) diff --git a/unittest/frames.cpp b/unittest/frames.cpp index 1883d2e0f3..0e76b47621 100644 --- a/unittest/frames.cpp +++ b/unittest/frames.cpp @@ -1,5 +1,5 @@ // -// Copyright (c) 2016-2020 CNRS INRIA +// Copyright (c) 2016-2024 CNRS INRIA // #include "pinocchio/multibody/model.hpp" @@ -569,14 +569,14 @@ BOOST_AUTO_TEST_CASE(test_frame_jacobian_time_variation) const Motion & v_ref_local = frame.placement.actInv(data_ref.v[parent_idx]); const Motion & v_ref = data_ref.oMf[idx].act(v_ref_local); - const SE3 & wMf = SE3(data_ref.oMf[idx].rotation(), SE3::Vector3::Zero()); - const Motion & v_ref_local_world_aligned = wMf.act(v_ref_local); + const SE3 wMf = SE3(data_ref.oMf[idx].rotation(), SE3::Vector3::Zero()); + const Motion v_ref_local_world_aligned = wMf.act(v_ref_local); BOOST_CHECK(v_idx.isApprox(v_ref)); Motion a_idx(J * a + dJ * v); - const Motion & a_ref_local = frame.placement.actInv(data_ref.a[parent_idx]); - const Motion & a_ref = data_ref.oMf[idx].act(a_ref_local); - const Motion & a_ref_local_world_aligned = wMf.act(a_ref_local); + const Motion a_ref_local = frame.placement.actInv(data_ref.a[parent_idx]); + const Motion a_ref = data_ref.oMf[idx].act(a_ref_local); + const Motion a_ref_local_world_aligned = wMf.act(a_ref_local); BOOST_CHECK(a_idx.isApprox(a_ref)); J.fill(0.); @@ -594,12 +594,15 @@ BOOST_AUTO_TEST_CASE(test_frame_jacobian_time_variation) // Regarding to the LOCAL_WORLD_ALIGNED frame getFrameJacobian(model, data, idx, LOCAL_WORLD_ALIGNED, J); getFrameJacobianTimeVariation(model, data, idx, LOCAL_WORLD_ALIGNED, dJ); + Data::Motion world_v_frame = data.ov[parent_idx]; + world_v_frame.linear().setZero(); v_idx = (Motion::Vector6)(J * v); BOOST_CHECK(v_idx.isApprox(v_ref_local_world_aligned)); a_idx = (Motion::Vector6)(J * a + dJ * v); - BOOST_CHECK(a_idx.isApprox(a_ref_local_world_aligned)); + BOOST_CHECK( + a_idx.isApprox(world_v_frame.cross(wMf.act(v_ref_local)) + a_ref_local_world_aligned)); // compare to finite differencies { @@ -617,7 +620,6 @@ BOOST_AUTO_TEST_CASE(test_frame_jacobian_time_variation) J_ref_local_world_aligned.fill(0.); computeJointJacobians(model, data_ref, q); updateFramePlacements(model, data_ref); - const SE3 & oMf_q = data_ref.oMf[idx]; getFrameJacobian(model, data_ref, idx, WORLD, J_ref_world); getFrameJacobian(model, data_ref, idx, LOCAL, J_ref_local); getFrameJacobian(model, data_ref, idx, LOCAL_WORLD_ALIGNED, J_ref_local_world_aligned); @@ -630,21 +632,11 @@ BOOST_AUTO_TEST_CASE(test_frame_jacobian_time_variation) J_ref_plus_local_world_aligned.fill(0.); computeJointJacobians(model, data_ref_plus, q_plus); updateFramePlacements(model, data_ref_plus); - const SE3 & oMf_q_plus = data_ref_plus.oMf[idx]; getFrameJacobian(model, data_ref_plus, idx, WORLD, J_ref_plus_world); getFrameJacobian(model, data_ref_plus, idx, LOCAL, J_ref_plus_local); getFrameJacobian( model, data_ref_plus, idx, LOCAL_WORLD_ALIGNED, J_ref_plus_local_world_aligned); - // Move J_ref_plus_local to reference frame - J_ref_plus_local = (oMf_q.inverse() * oMf_q_plus).toActionMatrix() * (J_ref_plus_local); - - // Move J_ref_plus_local_world_aligned to reference frame - SE3 oMf_translation = SE3::Identity(); - oMf_translation.translation() = oMf_q_plus.translation() - oMf_q.translation(); - J_ref_plus_local_world_aligned = - oMf_translation.toActionMatrix() * (J_ref_plus_local_world_aligned); - Data::Matrix6x dJ_ref_world(6, model.nv), dJ_ref_local(6, model.nv), dJ_ref_local_world_aligned(6, model.nv); dJ_ref_world.fill(0.); From 831df1f35de518b83350f303600cb1fd40d7e4ff Mon Sep 17 00:00:00 2001 From: Justin Carpentier Date: Mon, 28 Oct 2024 20:15:35 +0100 Subject: [PATCH 079/104] changelog: sync --- CHANGELOG.md | 1 + 1 file changed, 1 insertion(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index 69c90dae5e..a8c155ec47 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -30,6 +30,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/). - Fix `pinocchio-test-cpp-mjcf` unittest with Boost 1.86 ([#2459](https://github.com/stack-of-tasks/pinocchio/pull/2459)) - Fix `pinocchio-test-cpp-constraint-variants` uninitialized values ([#2459](https://github.com/stack-of-tasks/pinocchio/pull/2459)) - Fix mixing library symbols between Pinocchio scalar bindings ([#2459](https://github.com/stack-of-tasks/pinocchio/pull/2459)) +- Fix bug for get{Joint,Frame}JacobianTimeVariation ([#2466](https://github.com/stack-of-tasks/pinocchio/pull/2466)) ### Changed From e1e18c5c317653c9d6f80bdaea9de3747237ce2c Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Wed, 30 Oct 2024 17:42:07 +0100 Subject: [PATCH 080/104] changelog: Add entry --- CHANGELOG.md | 1 + 1 file changed, 1 insertion(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index a8c155ec47..c0814ae575 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -36,6 +36,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/). - Modernize python code base with ruff ([#2418](https://github.com/stack-of-tasks/pinocchio/pull/2418)) - Does not create a root_joint frame from parsed models (urdf, mjcf and sdf) when no root joint is provided ([#2402](https://github.com/stack-of-tasks/pinocchio/pull/2402)) +- On GNU/Linux and macOS, hide all symbols by default ([#2469](https://github.com/stack-of-tasks/pinocchio/pull/2469)) ## [3.2.0] - 2024-08-27 From 4dfa9d2a04a8f5ce043f662be072150aed3be380 Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Thu, 31 Oct 2024 15:40:20 +0100 Subject: [PATCH 081/104] Revert "changelog: Add entry" This reverts commit e1e18c5c317653c9d6f80bdaea9de3747237ce2c. --- CHANGELOG.md | 1 - 1 file changed, 1 deletion(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index c0814ae575..a8c155ec47 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -36,7 +36,6 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/). - Modernize python code base with ruff ([#2418](https://github.com/stack-of-tasks/pinocchio/pull/2418)) - Does not create a root_joint frame from parsed models (urdf, mjcf and sdf) when no root joint is provided ([#2402](https://github.com/stack-of-tasks/pinocchio/pull/2402)) -- On GNU/Linux and macOS, hide all symbols by default ([#2469](https://github.com/stack-of-tasks/pinocchio/pull/2469)) ## [3.2.0] - 2024-08-27 From ecb2311b85b7a92748ff76c8248cfb3c9100c851 Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Tue, 5 Nov 2024 17:31:54 +0100 Subject: [PATCH 082/104] cmake: Use last jrl-cmakemodules --- cmake | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cmake b/cmake index 5275edfd1a..5bed33b6b4 160000 --- a/cmake +++ b/cmake @@ -1 +1 @@ -Subproject commit 5275edfd1a8c6d45e0f90177edad93ef15b2008f +Subproject commit 5bed33b6b4b2f4c572d84eabb9bb3fc0fca12f36 From 443ed0181a32a43fd702757df05923fed2994bbd Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Tue, 5 Nov 2024 17:44:52 +0100 Subject: [PATCH 083/104] pixi: Add new-version environment --- pixi.lock | 1452 +++++++++++++++++++---------------------------------- pixi.toml | 36 ++ 2 files changed, 546 insertions(+), 942 deletions(-) diff --git a/pixi.lock b/pixi.lock index 362a699424..8117ecf808 100644 --- a/pixi.lock +++ b/pixi.lock @@ -3733,6 +3733,213 @@ environments: - conda: https://conda.anaconda.org/conda-forge/linux-64/zeromq-4.3.5-h3b0a872_6.conda - 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- libclang13 >=19.1.1 - - libegl >=1.7.0,<2.0a0 - - libgcc >=13 - - libgl >=1.7.0,<2.0a0 - - libopengl >=1.7.0,<2.0a0 - - libstdcxx >=13 - - libxml2 >=2.12.7,<3.0a0 - - libxslt >=1.1.39,<2.0a0 - - python >=3.12,<3.13.0a0 - - python_abi 3.12.* *_cp312 - - qt6-main 6.8.0.* - - qt6-main >=6.8.0,<6.9.0a0 - license: LGPL-3.0-only - size: 10802906 - timestamp: 1729034892066 - kind: conda name: pyside6 version: 6.8.0 @@ -22449,33 +22090,6 @@ packages: license_family: BSD size: 16013280 timestamp: 1724329197087 -- kind: conda - name: scipy - version: 1.14.1 - build: py312h20deb59_1 - build_number: 1 - subdir: osx-arm64 - url: https://conda.anaconda.org/conda-forge/osx-arm64/scipy-1.14.1-py312h20deb59_1.conda - sha256: 1a4d655609bad7dbdbe9f44ba37fd100d01fb8e4e7060dfaed3c4a044ab40052 - md5: c60ad657cccb6c2b97513f87ae27f47a - depends: - - __osx >=11.0 - - libblas >=3.9.0,<4.0a0 - - libcblas >=3.9.0,<4.0a0 - - libcxx >=17 - - libgfortran 5.* - - libgfortran5 >=13.2.0 - - liblapack >=3.9.0,<4.0a0 - - numpy <2.3 - - numpy >=1.19,<3 - - numpy >=1.23.5 - - python >=3.12,<3.13.0a0 - - python >=3.12,<3.13.0a0 *_cpython - - python_abi 3.12.* *_cp312 - license: BSD-3-Clause - license_family: BSD - size: 15132713 - timestamp: 1729481799441 - kind: conda name: scipy version: 1.14.1 @@ -22529,32 +22143,6 @@ packages: license_family: BSD size: 17700161 timestamp: 1724328333870 -- kind: conda - name: scipy - version: 1.14.1 - build: py312h888eae2_1 - build_number: 1 - subdir: osx-64 - url: https://conda.anaconda.org/conda-forge/osx-64/scipy-1.14.1-py312h888eae2_1.conda - sha256: 5a28ea91c935513e6c5f64baac5a02ce43d9ba183b98e20127220b207ec96529 - md5: ee7a4ffe9742d2df44caa858b36814b8 - depends: - - __osx >=10.13 - - libblas >=3.9.0,<4.0a0 - - libcblas >=3.9.0,<4.0a0 - - libcxx >=17 - - libgfortran 5.* - - libgfortran5 >=13.2.0 - - liblapack >=3.9.0,<4.0a0 - - numpy <2.3 - - numpy >=1.19,<3 - - numpy >=1.23.5 - - python >=3.12,<3.13.0a0 - - python_abi 3.12.* *_cp312 - license: BSD-3-Clause - license_family: BSD - size: 16032291 - timestamp: 1729481615781 - kind: conda name: scipy version: 1.14.1 @@ -22998,6 +22586,21 @@ packages: license_family: BSD size: 3318875 timestamp: 1699202167581 +- kind: conda + name: tomlkit + version: 0.13.2 + build: pyha770c72_0 + subdir: noarch + noarch: python + url: https://conda.anaconda.org/conda-forge/noarch/tomlkit-0.13.2-pyha770c72_0.conda + sha256: 2ccfe8dafdc1f1af944bca6bdf28fa97b5fa6125d84b8895a4e918a020853c12 + md5: 0062a5f3347733f67b0f33ca48cc21dd + depends: + - python >=3.8 + license: MIT + license_family: MIT + size: 37279 + timestamp: 1723631592742 - kind: conda name: tornado version: 6.4.1 @@ -23292,41 +22895,6 @@ packages: license_family: MIT size: 17213 timestamp: 1725784449622 -- kind: conda - name: unicodedata2 - version: 15.1.0 - build: py312h0bf5046_1 - build_number: 1 - subdir: osx-arm64 - url: https://conda.anaconda.org/conda-forge/osx-arm64/unicodedata2-15.1.0-py312h0bf5046_1.conda - sha256: 236961004c088f190d8b27863b2898f1d43c2d5dc769f135abdacc644b033fab - md5: eda2082df9c9c6259af246424b7f3db1 - depends: - - __osx >=11.0 - - python >=3.12,<3.13.0a0 - - python >=3.12,<3.13.0a0 *_cpython - - python_abi 3.12.* *_cp312 - license: Apache-2.0 - license_family: Apache - size: 372492 - timestamp: 1729704995151 -- kind: conda - name: unicodedata2 - version: 15.1.0 - build: py312h3d0f464_1 - build_number: 1 - subdir: osx-64 - url: https://conda.anaconda.org/conda-forge/osx-64/unicodedata2-15.1.0-py312h3d0f464_1.conda - sha256: e1d8da8eed41f5479eacff7d4b42ad69e8476eb370dcebd3ffff26819a7da4ea - md5: f4627b5e2f46389140760303124b4c49 - depends: - - __osx >=10.13 - - python >=3.12,<3.13.0a0 - - python_abi 3.12.* *_cp312 - license: Apache-2.0 - license_family: Apache - size: 364385 - timestamp: 1729704742038 - kind: conda name: unicodedata2 version: 15.1.0 diff --git a/pixi.toml b/pixi.toml index 7d15868ded..000fc134f2 100644 --- a/pixi.toml +++ b/pixi.toml @@ -62,6 +62,36 @@ test = { cmd = "ctest --test-dir build --output-on-failure", depends_on = [ "build", ] } +# Increment the version number with PINOCCHIO_VERSION variable +[feature.new-version.dependencies] +tomlkit = ">=0.13.2" + +[feature.new-version.tasks] +configure_new_version = { cmd = [ + "CXXFLAGS=$PINOCCHIO_CXX_FLAGS", + "cmake", + "-G", + "Ninja", + "-B", + "build_new_version", + "-S", + ".", + "-DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX", + "-DCMAKE_BUILD_TYPE=$PINOCCHIO_BUILD_TYPE", + "-DGENERATE_PYTHON_STUBS=ON", + "-DBUILD_WITH_COLLISION_SUPPORT=ON", + "-DBUILD_WITH_ACCELERATE_SUPPORT=OFF", + "-DBUILD_WITH_CASADI_SUPPORT=OFF", + "-DBUILD_WITH_AUTODIFF_SUPPORT=OFF", + "-DBUILD_WITH_EXTRA_SUPPORT=OFF", + "-DBUILD_WITH_OPENMP_SUPPORT=OFF", + "-DBUILD_WITH_CODEGEN_SUPPORT=OFF", + "-DBUILD_WITH_SDF_SUPPORT=OFF", + "-DBUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT=OFF", +] } +release_new_version = { cmd = "VERSION=$PINOCCHIO_VERSION cmake --build build_new_version --target release", depends-on = [ + "configure_new_version", +] } [feature.lint] dependencies = { pre-commit = ">=3.6.2" } @@ -184,3 +214,9 @@ all-clang-cl = { features = [ "clang-cl", "py312", ], solve-group = "py312" } +# Release a new software version +new-version = { features = [ + "new-version", + "collision", + "py312", +], solve-group = "py312" } From f8faf38bb7d3f3060605c9393240b0b414506ce2 Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Tue, 5 Nov 2024 17:45:46 +0100 Subject: [PATCH 084/104] readme: Add release instructions --- README.md | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) diff --git a/README.md b/README.md index 9d841cf437..ca2aeae9a6 100644 --- a/README.md +++ b/README.md @@ -207,6 +207,24 @@ pixi run test The project will be built in the `build` directory. You can run `pixi shell` and build the project with `cmake` and `ninja` manually. +## Release with Pixi + +To create a release with Pixi run the following commands on the **devel** branch: + +```bash +PINOCCHIO_VERSION=X.Y.Z pixi run release_new_version +git push origin +git push origin vX.Y.Z +git push origin devel:master +``` + +Where `X.Y.Z` is the new version. +Be careful to follow the [Semantic Versioning](https://semver.org/spec/v2.0.0.html) rules. + +You will find the following assets to upload to GitHub: +- `./build_new_version/pinocchio-X.Y.Z.tar.gz` +- `./build_new_version/pinocchio-X.Y.Z.tar.gz.sig` + ## Visualization **Pinocchio** provides support for many open-source and free visualizers: From 758303e1f1facbed4d31d4600dacc1659fbfff1f Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Wed, 6 Nov 2024 13:16:50 +0100 Subject: [PATCH 085/104] readme: Split readme readme: summarize conda instruction --- .gitignore | 2 +- README.md | 43 +++---------------- development/build.md | 17 ++++++++ .../contributing.md | 0 development/release.md | 34 +++++++++++++++ 5 files changed, 59 insertions(+), 37 deletions(-) create mode 100644 development/build.md rename CONTRIBUTING.md => development/contributing.md (100%) create mode 100644 development/release.md diff --git a/.gitignore b/.gitignore index 8e33c0dd4d..10d85246eb 100644 --- a/.gitignore +++ b/.gitignore @@ -1,4 +1,4 @@ -build* +build*/ Xcode* *~ *.pyc diff --git a/README.md b/README.md index ca2aeae9a6..c8d60b2e9e 100644 --- a/README.md +++ b/README.md @@ -156,7 +156,13 @@ The [master branch](https://github.com/stack-of-tasks/pinocchio/tree/master/) on **Pinocchio** can be easily installed on various Linux (Ubuntu, Fedora, etc.) and Unix distributions (Mac OS X, BSD, etc.). Please refer to the [installation procedure](http://stack-of-tasks.github.io/pinocchio/download.html). -If you only need the Python bindings of Pinocchio, you may prefer to install it through [Conda](https://docs.conda.io/en/latest/). Please follow the procedure described [here](https://github.com/conda-forge/pinocchio-feedstock#installing-pinocchio). +### Conda + +You simply need this simple line: + +```bash +conda install pinocchio -c conda-forge +``` ### ROS @@ -190,41 +196,6 @@ Please note that we always advise including the `pinocchio/fwd.hpp` header as th | | |      | **Humble** | [![](https://build.ros2.org/job/Hbin_uJ64__pinocchio__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__pinocchio__ubuntu_jammy_amd64__binary) | | | |      | **Rolling** | [![](https://build.ros2.org/job/Rbin_uJ64__pinocchio__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uJ64__pinocchio__ubuntu_jammy_amd64__binary) | -## Build/install from source with Pixi - -To build **Pinocchio** from source the easiest way is to use [Pixi](https://pixi.sh/latest/#installation). - -[Pixi](https://pixi.sh/latest/) is a cross-platform package management tool for developers that -will install all required dependencies in `.pixi` directory. -It's used by our CI agent so you have the guarantee to get the right dependencies. - -Run the following command to install dependencies, configure, build and test the project: - -```bash -pixi run test -``` - -The project will be built in the `build` directory. -You can run `pixi shell` and build the project with `cmake` and `ninja` manually. - -## Release with Pixi - -To create a release with Pixi run the following commands on the **devel** branch: - -```bash -PINOCCHIO_VERSION=X.Y.Z pixi run release_new_version -git push origin -git push origin vX.Y.Z -git push origin devel:master -``` - -Where `X.Y.Z` is the new version. -Be careful to follow the [Semantic Versioning](https://semver.org/spec/v2.0.0.html) rules. - -You will find the following assets to upload to GitHub: -- `./build_new_version/pinocchio-X.Y.Z.tar.gz` -- `./build_new_version/pinocchio-X.Y.Z.tar.gz.sig` - ## Visualization **Pinocchio** provides support for many open-source and free visualizers: diff --git a/development/build.md b/development/build.md new file mode 100644 index 0000000000..b20da496cb --- /dev/null +++ b/development/build.md @@ -0,0 +1,17 @@ +# Build and install from source with Pixi + +To build **Pinocchio** from source the easiest way is to use [Pixi](https://pixi.sh/latest/#installation). + +[Pixi](https://pixi.sh/latest/) is a cross-platform package management tool for developers that +will install all required dependencies in `.pixi` directory. +It's used by our CI agent so you have the guarantee to get the right dependencies. + +Run the following command to install dependencies, configure, build and test the project: + +```bash +pixi run test +``` + +The project will be built in the `build` directory. +You can run `pixi shell` and build the project with `cmake` and `ninja` manually. + diff --git a/CONTRIBUTING.md b/development/contributing.md similarity index 100% rename from CONTRIBUTING.md rename to development/contributing.md diff --git a/development/release.md b/development/release.md new file mode 100644 index 0000000000..3d79cba799 --- /dev/null +++ b/development/release.md @@ -0,0 +1,34 @@ +# Release with Pixi + +To create a release with Pixi run the following commands on the **devel** branch: + +```bash +PINOCCHIO_VERSION=X.Y.Z pixi run release_new_version +git push origin +git push origin vX.Y.Z +git push origin devel:master +``` + +Where `X.Y.Z` is the new version. +Be careful to follow the [Semantic Versioning](https://semver.org/spec/v2.0.0.html) rules. + +You will find the following assets: +- `./build_new_version/pinocchio-X.Y.Z.tar.gz` +- `./build_new_version/pinocchio-X.Y.Z.tar.gz.sig` + +Then, create a new release on [GitHub](https://github.com/stack-of-tasks/pinocchio/releases/new) with: + +* Tag: vX.Y.Z +* Title: pinocchio X.Y.Z +* Body: +``` +## What's Changed + +CHANGELOG CONTENT + +**Full Changelog**: https://github.com/stack-of-tasks/pinocchio/compare/vXX.YY.ZZ...vX.Y.Z +``` + +Where `XX.YY.ZZ` is the last release version. + +Then upload `pinocchio-X.Y.Z.tar.gz` and `pinocchio-X.Y.Z.tar.gz.sig` and publish the release. From 777aa3416a28a036636d1db998c44551880ed435 Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Wed, 6 Nov 2024 13:18:28 +0100 Subject: [PATCH 086/104] pixi: Move activation scripts --- .../scripts}/pixi/activation.bat | 0 {build_scripts => development/scripts}/pixi/activation.sh | 0 .../scripts}/pixi/activation_clang.sh | 0 .../scripts}/pixi/activation_clang_cl.bat | 0 pixi.toml | 8 ++++---- 5 files changed, 4 insertions(+), 4 deletions(-) rename {build_scripts => development/scripts}/pixi/activation.bat (100%) rename {build_scripts => development/scripts}/pixi/activation.sh (100%) rename {build_scripts => development/scripts}/pixi/activation_clang.sh (100%) rename {build_scripts => development/scripts}/pixi/activation_clang_cl.bat (100%) diff --git a/build_scripts/pixi/activation.bat b/development/scripts/pixi/activation.bat similarity index 100% rename from build_scripts/pixi/activation.bat rename to development/scripts/pixi/activation.bat diff --git a/build_scripts/pixi/activation.sh b/development/scripts/pixi/activation.sh similarity index 100% rename from build_scripts/pixi/activation.sh rename to development/scripts/pixi/activation.sh diff --git a/build_scripts/pixi/activation_clang.sh b/development/scripts/pixi/activation_clang.sh similarity index 100% rename from build_scripts/pixi/activation_clang.sh rename to development/scripts/pixi/activation_clang.sh diff --git a/build_scripts/pixi/activation_clang_cl.bat b/development/scripts/pixi/activation_clang_cl.bat similarity index 100% rename from build_scripts/pixi/activation_clang_cl.bat rename to development/scripts/pixi/activation_clang_cl.bat diff --git a/pixi.toml b/pixi.toml index 000fc134f2..b5af6f52aa 100644 --- a/pixi.toml +++ b/pixi.toml @@ -26,10 +26,10 @@ meshcat-python = ">=0.3" matplotlib = ">=3.9.2" [activation] -scripts = ["build_scripts/pixi/activation.sh"] +scripts = ["development/scripts/pixi/activation.sh"] [target.win-64.activation] -scripts = ["build_scripts/pixi/activation.bat"] +scripts = ["development/scripts/pixi/activation.bat"] [tasks] # We must avoid to set CMAKE_CXX_FLAGS because of WIN32 @@ -155,14 +155,14 @@ python = "3.9.*" # to avoid cxx-compiler to overwrite them. [feature.clang-cl] platforms = ["win-64"] -activation = { scripts = ["build_scripts/pixi/activation_clang_cl.bat"] } +activation = { scripts = ["development/scripts/pixi/activation_clang_cl.bat"] } # Use clang on GNU/Linux. # We must use scripts instead of env to setup CC and CXX # to avoid cxx-compiler to overwrite them. [feature.clang] platforms = ["linux-64"] -activation = { scripts = ["build_scripts/pixi/activation_clang.sh"] } +activation = { scripts = ["development/scripts/pixi/activation_clang.sh"] } dependencies = { clangxx = "*" } [environments] From 9a7370a510baccaa78e2bf67c6dd0959707400a3 Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Wed, 6 Nov 2024 13:19:57 +0100 Subject: [PATCH 087/104] =?UTF-8?q?ci:=C2=A0Add=20no=20changelog=20label?= =?UTF-8?q?=20in=20update=20lockfile=20PR?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .github/workflows/update_pixi_lockfile.yml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/.github/workflows/update_pixi_lockfile.yml b/.github/workflows/update_pixi_lockfile.yml index bc6a192758..f0b5f10f19 100644 --- a/.github/workflows/update_pixi_lockfile.yml +++ b/.github/workflows/update_pixi_lockfile.yml @@ -45,6 +45,8 @@ jobs: body-path: diff.md branch: topic/update-pixi base: devel - labels: pixi + labels: | + pixi + no changelog delete-branch: true add-paths: pixi.lock From 7d367d99c5db122fab24b1594afc25906bcf164e Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Wed, 6 Nov 2024 13:33:48 +0100 Subject: [PATCH 088/104] readme: Fix linting --- development/build.md | 1 - 1 file changed, 1 deletion(-) diff --git a/development/build.md b/development/build.md index b20da496cb..b615aed0bb 100644 --- a/development/build.md +++ b/development/build.md @@ -14,4 +14,3 @@ pixi run test The project will be built in the `build` directory. You can run `pixi shell` and build the project with `cmake` and `ninja` manually. - From ff754cc5406da20def930b085240dec9ed2c0fec Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Wed, 6 Nov 2024 13:38:36 +0100 Subject: [PATCH 089/104] ci: Update paths-ignore --- .github/workflows/linux.yml | 2 ++ .github/workflows/macos-linux-windows-pixi.yml | 2 ++ .github/workflows/nix.yml | 9 +++++++++ .github/workflows/ros-ci.yml | 4 ++++ 4 files changed, 17 insertions(+) diff --git a/.github/workflows/linux.yml b/.github/workflows/linux.yml index ec81bb7ece..44d5657a6e 100644 --- a/.github/workflows/linux.yml +++ b/.github/workflows/linux.yml @@ -12,6 +12,7 @@ on: - colcon.pkg - .pre-commit-config.yaml - CHANGELOG.md + - development/*.md pull_request: paths-ignore: - doc/** @@ -23,6 +24,7 @@ on: - colcon.pkg - .pre-commit-config.yaml - CHANGELOG.md + - development/*.md concurrency: group: ${{ github.workflow }}-${{ github.ref }} cancel-in-progress: true diff --git a/.github/workflows/macos-linux-windows-pixi.yml b/.github/workflows/macos-linux-windows-pixi.yml index dbf14969de..a76d440f4b 100644 --- a/.github/workflows/macos-linux-windows-pixi.yml +++ b/.github/workflows/macos-linux-windows-pixi.yml @@ -14,6 +14,7 @@ on: - colcon.pkg - .pre-commit-config.yaml - CHANGELOG.md + - development/*.md pull_request: paths-ignore: - doc/** @@ -25,6 +26,7 @@ on: - colcon.pkg - .pre-commit-config.yaml - CHANGELOG.md + - development/*.md concurrency: group: ${{ github.workflow }}-${{ github.ref }} cancel-in-progress: true diff --git a/.github/workflows/nix.yml b/.github/workflows/nix.yml index 0dc882f4bf..d0dcec5413 100644 --- a/.github/workflows/nix.yml +++ b/.github/workflows/nix.yml @@ -2,6 +2,15 @@ name: "CI - Nix" on: push: + paths-ignore: + - doc/** + - .gitlab-ci.yml + - .gitignore + - '*.md' + - CITATION.* + - COPYING.LESSER + - .pre-commit-config.yaml + - CHANGELOG.md jobs: nix: diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml index c9da083b58..c022cbd7d0 100644 --- a/.github/workflows/ros-ci.yml +++ b/.github/workflows/ros-ci.yml @@ -13,8 +13,10 @@ on: - '*.md' - CITATION.* - COPYING.LESSER + - colcon.pkg - .pre-commit-config.yaml - CHANGELOG.md + - development/*.md pull_request: paths-ignore: - doc/** @@ -23,8 +25,10 @@ on: - '*.md' - CITATION.* - COPYING.LESSER + - colcon.pkg - .pre-commit-config.yaml - CHANGELOG.md + - development/*.md concurrency: group: ${{ github.workflow }}-${{ github.ref }} cancel-in-progress: true From 5092bfd0c308b698a33b5e0f4e3fff546b04b419 Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Wed, 6 Nov 2024 15:13:19 +0100 Subject: [PATCH 090/104] release: Update package.xml version to 3.3.0 --- package.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/package.xml b/package.xml index 5dad7a8e22..d8afce87fc 100644 --- a/package.xml +++ b/package.xml @@ -1,7 +1,7 @@ pinocchio - 3.2.0 + 3.3.0 A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives. From 51c5bc78dcdd12f01e48fe0fd8a4185d03e4de4f Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Wed, 6 Nov 2024 15:13:20 +0100 Subject: [PATCH 091/104] release: Update CHANGELOG.md for 3.3.0 --- CHANGELOG.md | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index a8c155ec47..4abb823e63 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -6,6 +6,8 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/). ## [Unreleased] +## [3.3.0] - 2024-11-06 + ### Added - Default visualizer can be changed with `PINOCCHIO_VIEWER` environment variable ([#2419](https://github.com/stack-of-tasks/pinocchio/pull/2419)) @@ -1052,7 +1054,8 @@ The model can either be parsed from a URDF format or be created by appendending • Fixed (concatenation of two consecutive bodies) -[Unreleased]: https://github.com/stack-of-tasks/pinocchio/compare/v3.2.0...HEAD +[Unreleased]: https://github.com/stack-of-tasks/pinocchio/compare/v3.3.0...HEAD +[3.3.0]: https://github.com/stack-of-tasks/pinocchio/compare/v3.2.0...v3.3.0 [3.2.0]: https://github.com/stack-of-tasks/pinocchio/compare/v3.1.0...v3.2.0 [3.1.0]: https://github.com/stack-of-tasks/pinocchio/compare/v3.0.0...v3.1.0 [3.0.0]: https://github.com/stack-of-tasks/pinocchio/compare/v2.7.1...v3.0.0 From f2c8a38e4745e7b9f064c25d54920604f32ee38c Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Wed, 6 Nov 2024 15:13:21 +0100 Subject: [PATCH 092/104] release: Update pixi.toml version to 3.3.0 --- pixi.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pixi.toml b/pixi.toml index b5af6f52aa..b959bc3a7d 100644 --- a/pixi.toml +++ b/pixi.toml @@ -1,6 +1,6 @@ [project] name = "pinocchio" -version = "3.2.0" +version = "3.3.0" description = "A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives" platforms = ["linux-64", "osx-64", "osx-arm64", "win-64"] channels = ["conda-forge"] From 42306ed023b301aafef91e2e76cb070c5e9c3f7d Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Wed, 6 Nov 2024 15:13:21 +0100 Subject: [PATCH 093/104] release: Update CITATION.cff version to 3.3.0 --- CITATION.cff | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/CITATION.cff b/CITATION.cff index fad3ddde69..2624f46625 100644 --- a/CITATION.cff +++ b/CITATION.cff @@ -17,7 +17,7 @@ authors: given-names: Guilhem - family-names: Budhiraja given-names: Rohan -version: 3.2.0 -date-released: "2024-08-27" +version: 3.3.0 +date-released: "2024-11-06" license: BSD-2-Clause repository-code: "https://github.com/stack-of-tasks/pinocchio" From 09936ad5ef3fb5d7794c9ecc62aa3bfc81ec16a8 Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Fri, 8 Nov 2024 15:31:56 +0100 Subject: [PATCH 094/104] cmake: Add pinocchio_python_parser target --- CMakeLists.txt | 14 ++------------ sources.cmake | 9 +++------ src/CMakeLists.txt | 16 ++++++++++++++++ unittest/CMakeLists.txt | 15 ++++++++++----- 4 files changed, 31 insertions(+), 23 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 093dd617ce..40100fe719 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -134,9 +134,8 @@ cmake_dependent_option( BUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT "Build the Python interface with Boost.Multiprecision MPFR support" OFF BUILD_PYTHON_INTERFACE OFF) -cmake_dependent_option( - BUILD_WITH_LIBPYTHON "Link to libpython to embed an interpreter for the python_parser feature" ON - "BUILD_PYTHON_INTERFACE" OFF) +cmake_dependent_option(BUILD_WITH_LIBPYTHON "Build the library with Python format support" ON + "BUILD_PYTHON_INTERFACE" OFF) if(APPLE) option(BUILD_WITH_ACCELERATE_SUPPORT "Build Pinocchio with the Accelerate support" OFF) else(APPLE) @@ -364,15 +363,6 @@ if(BUILD_WITH_EXTRA_SUPPORT) ${${PROJECT_NAME}_BINDINGS_PYTHON_EXTRA_SOURCES}) endif() -# LibPython sources -if(BUILD_WITH_LIBPYTHON) - list(APPEND ${PROJECT_NAME}_CORE_PUBLIC_HEADERS ${${PROJECT_NAME}_LIBPYTHON_PUBLIC_HEADERS}) - list(APPEND ${PROJECT_NAME}_BINDINGS_PYTHON_SOURCES - ${${PROJECT_NAME}_BINDINGS_PYTHON_LIBPYTHON_SOURCES}) - list(APPEND ${PROJECT_NAME}_BINDINGS_PYTHON_PUBLIC_HEADERS - ${${PROJECT_NAME}_BINDINGS_PYTHON_LIBPYTHON_PUBLIC_HEADERS}) -endif(BUILD_WITH_LIBPYTHON) - # HPP-FCL sources if(BUILD_WITH_HPP_FCL_SUPPORT) if(ENABLE_TEMPLATE_INSTANTIATION) diff --git a/sources.cmake b/sources.cmake index d3717bc865..3ee1b87bf3 100644 --- a/sources.cmake +++ b/sources.cmake @@ -369,6 +369,9 @@ set(${PROJECT_NAME}_SDF_PUBLIC_HEADERS set(${PROJECT_NAME}_LIBPYTHON_PUBLIC_HEADERS ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/python.hpp) +set(${PROJECT_NAME}_LIBPYTHON_SOURCES + ${PROJECT_SOURCE_DIR}/bindings/python/parsers/python/model.cpp) + set(${PROJECT_NAME}_EXTRA_SOURCES ${PROJECT_SOURCE_DIR}/src/extra/reachable-workspace.cpp) set(${PROJECT_NAME}_EXTRA_PUBLIC_HEADERS @@ -594,12 +597,6 @@ set(${PROJECT_NAME}_BINDINGS_PYTHON_SOURCES ${PROJECT_SOURCE_DIR}/bindings/python/parsers/mjcf/geometry.cpp ${PROJECT_SOURCE_DIR}/bindings/python/extra/expose-extras.cpp) -set(${PROJECT_NAME}_BINDINGS_PYTHON_LIBPYTHON_SOURCES - ${PROJECT_SOURCE_DIR}/bindings/python/parsers/python/model.cpp) - -set(${PROJECT_NAME}_BINDINGS_PYTHON_LIBPYTHON_PUBLIC_HEADERS - ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/parsers/python.hpp) - set(${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_SOURCES ${PROJECT_SOURCE_DIR}/bindings/python/collision/expose-broadphase.cpp ${PROJECT_SOURCE_DIR}/bindings/python/collision/expose-broadphase-callbacks.cpp diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index aeb1902cdd..af98e04cf1 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -325,6 +325,22 @@ if(BUILD_WITH_CASADI_SUPPORT) target_link_libraries(${PROJECT_NAME}_casadi ${CASADI_SCOPE} casadi) endif() +if(BUILD_WITH_LIBPYTHON) + set(LIBPYTHON_LIB_NAME "${PROJECT_NAME}_python_parser") + + pinocchio_target( + ${LIBPYTHON_LIB_NAME} + SCALAR default + SOURCES ${${PROJECT_NAME}_LIBPYTHON_SOURCES} ${${PROJECT_NAME}_LIBPYTHON_PUBLIC_HEADERS}) + pinocchio_config(python_parser ${LIBPYTHON_LIB_NAME}) + + target_link_libraries(${LIBPYTHON_LIB_NAME} PUBLIC ${PROJECT_NAME}_default Python3::Python) + target_link_boost_python(${LIBPYTHON_LIB_NAME} PUBLIC) + if(WIN32) + target_link_libraries(${PYTHON_LIB_NAME} PUBLIC ${PYTHON_LIBRARY}) + endif() +endif() + # Define main target (default, parsers, extra). add_library(${PROJECT_NAME} INTERFACE) add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME}) diff --git a/unittest/CMakeLists.txt b/unittest/CMakeLists.txt index 7afdc1ebf2..a32eff1019 100644 --- a/unittest/CMakeLists.txt +++ b/unittest/CMakeLists.txt @@ -38,6 +38,7 @@ function(ADD_PINOCCHIO_UNIT_TEST name) EXTRA COLLISION PARALLEL + PYTHON_PARSER PARSERS_OPTIONAL EXTRA_OPTIONAL COLLISION_OPTIONAL @@ -93,6 +94,10 @@ function(ADD_PINOCCHIO_UNIT_TEST name) target_link_libraries(${TEST_NAME} PUBLIC ${PROJECT_NAME}_extra) endif() + if(unit_test_PYTHON_PARSER) + target_link_libraries(${TEST_NAME} PUBLIC ${PROJECT_NAME}_python_parser) + endif() + modernize_target_link_libraries( ${TEST_NAME} SCOPE PRIVATE @@ -223,23 +228,23 @@ if(BUILD_WITH_EXTRA_SUPPORT) endif() if(BUILD_WITH_LIBPYTHON) - add_pinocchio_unit_test(python_parser PACKAGES Python3::Python) + add_pinocchio_unit_test(python_parser PYTHON_PARSER) get_cpp_test_name(python_parser ${CMAKE_CURRENT_SOURCE_DIR} python_parser_target) - target_include_directories(${python_parser_target} SYSTEM PUBLIC ${PYTHON_INCLUDE_DIRS}) - target_link_libraries(${python_parser_target} PUBLIC ${PYWRAP}_default) - target_link_libraries(${python_parser_target} PUBLIC ${PYTHON_LIBRARIES}) get_test_property(${python_parser_target} ENVIRONMENT ENV_VARIABLES) compute_pythonpath(PYTHON_ENV_VARIABLES "bindings/python") list(APPEND ENV_VARIABLES ${PYTHON_ENV_VARIABLES}) if(WIN32) - # This line is mandatory because of Github action. The test run well on Windowns + Conda. This + # This line is mandatory because of Github action. The test run well on Windows + Conda. This # hide something wrong. Maybe the test is linking against the wrong Python library or call the # wrong interpreter. get_filename_component(_PYTHONHOME ${PYTHON_EXECUTABLE} PATH) list(APPEND ENV_VARIABLES "PYTHONHOME=${_PYTHONHOME}") endif() set_tests_properties(${python_parser_target} PROPERTIES ENVIRONMENT "${ENV_VARIABLES}") +endif() + +if(BUILD_PYTHON_INTERFACE) add_subdirectory(python) endif() From cd07d8b847e857f78fe599f7a281ef48754cd7f6 Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Fri, 8 Nov 2024 15:33:26 +0100 Subject: [PATCH 095/104] python_parser: Try to remove some old code --- bindings/python/parsers/python/model.cpp | 13 ------------- 1 file changed, 13 deletions(-) diff --git a/bindings/python/parsers/python/model.cpp b/bindings/python/parsers/python/model.cpp index be0ddc82fe..ee896968d7 100644 --- a/bindings/python/parsers/python/model.cpp +++ b/bindings/python/parsers/python/model.cpp @@ -4,8 +4,6 @@ #include "pinocchio/bindings/python/parsers/python.hpp" -#include -#include #include #include @@ -28,11 +26,6 @@ namespace pinocchio // Get a dict for the global namespace to exec further python code with bp::dict globals = bp::extract(main_module.attr("__dict__")); - // We need to link to the pinocchio PyWrap. We delegate the dynamic loading to the python - // interpreter. - bp::object cpp_module( - (bp::handle<>(bp::borrowed(PyImport_AddModule("libpinocchio_pywrap"))))); - // That's it, you can exec your python script, starting with a model you // can update as you want. try @@ -67,10 +60,6 @@ namespace pinocchio // close the interpreter // cf. https://github.com/numpy/numpy/issues/8097 -#if PY_MAJOR_VERSION < 3 - Py_Finalize(); -#else - PyObject * poMainModule = PyImport_AddModule("__main__"); PyObject * poAttrList = PyObject_Dir(poMainModule); PyObject * poAttrIter = PyObject_GetIter(poAttrList); @@ -94,8 +83,6 @@ namespace pinocchio } Py_DecRef(poAttrIter); Py_DecRef(poAttrList); -#endif - return model; } } // namespace python From 609cdd938b718b38b26860c6531e876a611a30eb Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Fri, 8 Nov 2024 15:39:14 +0100 Subject: [PATCH 096/104] =?UTF-8?q?cmake:=C2=A0Rename=20BUILD=5FWITH=5FLIB?= =?UTF-8?q?PYTHON=20into=20BUILD=5FWITH=5FPYTHON=5FPARSER=5FSUPPORT?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- CMakeLists.txt | 5 ++++- sources.cmake | 4 ++-- src/CMakeLists.txt | 15 ++++++++------- unittest/CMakeLists.txt | 2 +- 4 files changed, 15 insertions(+), 11 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 40100fe719..7f3be1c133 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -163,6 +163,9 @@ endif() if(BUILD_WITH_AUTODIFF_SUPPORT) set(BUILD_WITH_CPPAD_SUPPORT TRUE) endif() +if(BUILD_WITH_LIBPYTHON) + set(BUILD_WITH_PYTHON_PARSER_SUPPORT TRUE) +endif() if(BUILD_WITH_EXTRA_SUPPORT) list(APPEND CFLAGS_OPTIONS "-DPINOCCHIO_WITH_EXTRA_SUPPORT") @@ -300,7 +303,7 @@ if(BUILD_PYTHON_INTERFACE) message(STATUS "Python compiler: ${_python_implementation_value}") if(_python_implementation_value MATCHES "PyPy") - set(BUILD_WITH_LIBPYTHON OFF) + set(BUILD_WITH_PYTHON_PARSER_SUPPORT OFF) message( STATUS "PyPy detected, therefore libpython is not available and BUILD_WITH_LIBPYTHON set to OFF.") diff --git a/sources.cmake b/sources.cmake index 3ee1b87bf3..acb07d3b5d 100644 --- a/sources.cmake +++ b/sources.cmake @@ -366,10 +366,10 @@ set(${PROJECT_NAME}_SDF_PUBLIC_HEADERS ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/sdf/model.hxx ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/sdf/geometry.hxx) -set(${PROJECT_NAME}_LIBPYTHON_PUBLIC_HEADERS +set(${PROJECT_NAME}_PYTHON_PARSER_PUBLIC_HEADERS ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/python.hpp) -set(${PROJECT_NAME}_LIBPYTHON_SOURCES +set(${PROJECT_NAME}_PYTHON_PARSER_SOURCES ${PROJECT_SOURCE_DIR}/bindings/python/parsers/python/model.cpp) set(${PROJECT_NAME}_EXTRA_SOURCES ${PROJECT_SOURCE_DIR}/src/extra/reachable-workspace.cpp) diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index af98e04cf1..6e8ab226a9 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -325,17 +325,18 @@ if(BUILD_WITH_CASADI_SUPPORT) target_link_libraries(${PROJECT_NAME}_casadi ${CASADI_SCOPE} casadi) endif() -if(BUILD_WITH_LIBPYTHON) - set(LIBPYTHON_LIB_NAME "${PROJECT_NAME}_python_parser") +if(BUILD_WITH_PYTHON_PARSER_SUPPORT) + set(PYTHON_PARSER_LIB_NAME "${PROJECT_NAME}_python_parser") pinocchio_target( - ${LIBPYTHON_LIB_NAME} + ${PYTHON_PARSER_LIB_NAME} SCALAR default - SOURCES ${${PROJECT_NAME}_LIBPYTHON_SOURCES} ${${PROJECT_NAME}_LIBPYTHON_PUBLIC_HEADERS}) - pinocchio_config(python_parser ${LIBPYTHON_LIB_NAME}) + SOURCES ${${PROJECT_NAME}_PYTHON_PARSER_SOURCES} + ${${PROJECT_NAME}_PYTHON_PARSER_PUBLIC_HEADERS}) + pinocchio_config(python_parser ${PYTHON_PARSER_LIB_NAME}) - target_link_libraries(${LIBPYTHON_LIB_NAME} PUBLIC ${PROJECT_NAME}_default Python3::Python) - target_link_boost_python(${LIBPYTHON_LIB_NAME} PUBLIC) + target_link_libraries(${PYTHON_PARSER_LIB_NAME} PUBLIC ${PROJECT_NAME}_default Python3::Python) + target_link_boost_python(${PYTHON_PARSER_LIB_NAME} PUBLIC) if(WIN32) target_link_libraries(${PYTHON_LIB_NAME} PUBLIC ${PYTHON_LIBRARY}) endif() diff --git a/unittest/CMakeLists.txt b/unittest/CMakeLists.txt index a32eff1019..81a46a6328 100644 --- a/unittest/CMakeLists.txt +++ b/unittest/CMakeLists.txt @@ -227,7 +227,7 @@ if(BUILD_WITH_EXTRA_SUPPORT) COLLISION_OPTIONAL) endif() -if(BUILD_WITH_LIBPYTHON) +if(BUILD_WITH_PYTHON_PARSER_SUPPORT) add_pinocchio_unit_test(python_parser PYTHON_PARSER) get_cpp_test_name(python_parser ${CMAKE_CURRENT_SOURCE_DIR} python_parser_target) From 88334fdb1d1010c83c348aa6a5dd8808fbf6e0a4 Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Fri, 8 Nov 2024 15:39:26 +0100 Subject: [PATCH 097/104] changelog: Add entry --- CHANGELOG.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index 4abb823e63..f0432f8c7a 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -6,6 +6,9 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/). ## [Unreleased] +### Added +- Add `pinocchio_python_parser` target ([#2475](https://github.com/stack-of-tasks/pinocchio/pull/2475)) + ## [3.3.0] - 2024-11-06 ### Added From 60a1e6f7e922c09689661317823cec261833f331 Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Fri, 8 Nov 2024 16:20:39 +0100 Subject: [PATCH 098/104] cmake: Remove useless win specific code --- src/CMakeLists.txt | 3 --- 1 file changed, 3 deletions(-) diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index 6e8ab226a9..a46a56eb2d 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -337,9 +337,6 @@ if(BUILD_WITH_PYTHON_PARSER_SUPPORT) target_link_libraries(${PYTHON_PARSER_LIB_NAME} PUBLIC ${PROJECT_NAME}_default Python3::Python) target_link_boost_python(${PYTHON_PARSER_LIB_NAME} PUBLIC) - if(WIN32) - target_link_libraries(${PYTHON_LIB_NAME} PUBLIC ${PYTHON_LIBRARY}) - endif() endif() # Define main target (default, parsers, extra). From 20c889b4b665d9e915fc3dea1913fdca1b7ddd84 Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Fri, 8 Nov 2024 16:20:57 +0100 Subject: [PATCH 099/104] cmake: Explicitly search for boost_python --- CMakeLists.txt | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/CMakeLists.txt b/CMakeLists.txt index 7f3be1c133..8441d6f4cb 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -264,6 +264,10 @@ set(BOOST_REQUIRED_COMPONENTS filesystem serialization system) set_boost_default_options() export_boost_default_options() add_project_dependency(Boost REQUIRED COMPONENTS ${BOOST_REQUIRED_COMPONENTS}) +# Search explicitly for boost_python when building python_parser +if(BUILD_WITH_PYTHON_PARSER_SUPPORT) + search_for_boost_python(REQUIRED) +endif() if(Boost_VERSION_STRING VERSION_LESS 1.81) if(BUILD_WITH_URDF_SUPPORT AND "${urdfdom_VERSION}" VERSION_GREATER "0.4.2") From 22fb10de05bddb683a91cb75626e4e3a5920a3c5 Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Fri, 8 Nov 2024 16:29:06 +0100 Subject: [PATCH 100/104] cmake: Export some flags to other projects --- CMakeLists.txt | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/CMakeLists.txt b/CMakeLists.txt index 8441d6f4cb..fdaf43d4d8 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -496,6 +496,10 @@ if(BUILD_WITH_EXTRA_SUPPORT) export_variable(PINOCCHIO_USE_EXTRA ON) set(PACKAGE_EXTRA_MACROS "${PACKAGE_EXTRA_MACROS}\nset(PINOCCHIO_USE_EXTRA \"\")") endif() +if(BUILD_WITH_PYTHON_PARSER_SUPPORT) + export_variable(PINOCCHIO_USE_PYTHON_PARSER ON) + set(PACKAGE_EXTRA_MACROS "${PACKAGE_EXTRA_MACROS}\nset(PINOCCHIO_USE_PYTHON_PARSER \"\")") +endif() export_variable(pinocchio_VERSION ${pinocchio_VERSION}) # Setup pkg-configs flags and libs From cfe610db5a056236a50f260c944fdc4ac19f493c Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Fri, 8 Nov 2024 16:44:29 +0100 Subject: [PATCH 101/104] Revert "cmake: Explicitly search for boost_python" This reverts commit 20c889b4b665d9e915fc3dea1913fdca1b7ddd84. --- CMakeLists.txt | 4 ---- 1 file changed, 4 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index fdaf43d4d8..1f06e3f8d7 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -264,10 +264,6 @@ set(BOOST_REQUIRED_COMPONENTS filesystem serialization system) set_boost_default_options() export_boost_default_options() add_project_dependency(Boost REQUIRED COMPONENTS ${BOOST_REQUIRED_COMPONENTS}) -# Search explicitly for boost_python when building python_parser -if(BUILD_WITH_PYTHON_PARSER_SUPPORT) - search_for_boost_python(REQUIRED) -endif() if(Boost_VERSION_STRING VERSION_LESS 1.81) if(BUILD_WITH_URDF_SUPPORT AND "${urdfdom_VERSION}" VERSION_GREATER "0.4.2") From 750bd0e067e4aa5e33ae80aeb86554413462101e Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Fri, 8 Nov 2024 16:59:21 +0100 Subject: [PATCH 102/104] core: Move sources from bindings to core part --- .../bindings/python/parsers/python.hpp | 37 +++---------------- include/pinocchio/parsers/python.hpp | 24 +++++++++++- sources.cmake | 2 +- .../python => src}/parsers/python/model.cpp | 4 +- unittest/python_parser.cpp | 2 +- 5 files changed, 33 insertions(+), 36 deletions(-) rename {bindings/python => src}/parsers/python/model.cpp (97%) diff --git a/include/pinocchio/bindings/python/parsers/python.hpp b/include/pinocchio/bindings/python/parsers/python.hpp index 394b2c5bb4..f0571388ab 100644 --- a/include/pinocchio/bindings/python/parsers/python.hpp +++ b/include/pinocchio/bindings/python/parsers/python.hpp @@ -5,39 +5,12 @@ #ifndef __pinocchio_python_parser_python_hpp__ #define __pinocchio_python_parser_python_hpp__ -#include "pinocchio/multibody/model.hpp" +#include "pinocchio/macros.hpp" -#include +// clang-format off +PINOCCHIO_PRAGMA_DEPRECATED_HEADER(pinocchio/bindings/python/parsers/python.hpp, pinocchio/parsers/python.hpp) +// clang-format on -#if defined _WIN32 - #ifdef pinocchio_pywrap_EXPORTS - #define PINOCCHIO_PYWRAP_DLLAPI __declspec(dllexport) - #else - #define PINOCCHIO_PYWRAP_DLLAPI __declspec(dllimport) - #endif // pinocchio_pywrap_EXPORTS -#else - #define PINOCCHIO_PYWRAP_DLLAPI -#endif // _WIN32 - -namespace pinocchio -{ - namespace python - { - /// \brief Load a model from a Python script. - /// - /// This function raises a Python error in case of incistency in the Python code. - /// - /// \input filename The full path to the model file. - /// \input var_name Name of the Python variable which contains the model in the script. - /// - /// \returns The model constructed by the Python script. - /// - // TODO: look inside the context of Python and find an occurence of object Model - PINOCCHIO_PYWRAP_DLLAPI - Model buildModel(const std::string & filename, const std::string & var_name = "model"); - - } // namespace python - -} // namespace pinocchio +#include "pinocchio/parsers/python.hpp" #endif // ifndef __pinocchio_python_parser_python_hpp__ diff --git a/include/pinocchio/parsers/python.hpp b/include/pinocchio/parsers/python.hpp index 6acc9ddfdb..c3ee294a61 100644 --- a/include/pinocchio/parsers/python.hpp +++ b/include/pinocchio/parsers/python.hpp @@ -5,6 +5,28 @@ #ifndef __pinocchio_parser_python_hpp__ #define __pinocchio_parser_python_hpp__ -#include "pinocchio/bindings/python/parsers/python.hpp" +#include "pinocchio/python_parser/config.hpp" +#include "pinocchio/multibody/model.hpp" + +namespace pinocchio +{ + namespace python + { + /// \brief Load a model from a Python script. + /// + /// This function raises a Python error in case of inconsistency in the Python code. + /// + /// \input filename The full path to the model file. + /// \input var_name Name of the Python variable which contains the model in the script. + /// + /// \returns The model constructed by the Python script. + /// + // TODO: look inside the context of Python and find an occurence of object Model + PINOCCHIO_PYTHON_PARSER_DLLAPI + Model buildModel(const std::string & filename, const std::string & var_name = "model"); + + } // namespace python + +} // namespace pinocchio #endif // ifndef __pinocchio_parser_python_hpp__ diff --git a/sources.cmake b/sources.cmake index acb07d3b5d..ddbdb3290f 100644 --- a/sources.cmake +++ b/sources.cmake @@ -370,7 +370,7 @@ set(${PROJECT_NAME}_PYTHON_PARSER_PUBLIC_HEADERS ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/python.hpp) set(${PROJECT_NAME}_PYTHON_PARSER_SOURCES - ${PROJECT_SOURCE_DIR}/bindings/python/parsers/python/model.cpp) + ${PROJECT_SOURCE_DIR}/src/parsers/python/model.cpp) set(${PROJECT_NAME}_EXTRA_SOURCES ${PROJECT_SOURCE_DIR}/src/extra/reachable-workspace.cpp) diff --git a/bindings/python/parsers/python/model.cpp b/src/parsers/python/model.cpp similarity index 97% rename from bindings/python/parsers/python/model.cpp rename to src/parsers/python/model.cpp index ee896968d7..dc7bd914ad 100644 --- a/bindings/python/parsers/python/model.cpp +++ b/src/parsers/python/model.cpp @@ -2,11 +2,13 @@ // Copyright (c) 2016-2023 CNRS INRIA // -#include "pinocchio/bindings/python/parsers/python.hpp" +#include "pinocchio/parsers/python.hpp" #include #include +#include + // Boost 1.58 #if BOOST_VERSION / 100 % 1000 == 58 #include diff --git a/unittest/python_parser.cpp b/unittest/python_parser.cpp index d1600694d1..d3ae94c2bf 100644 --- a/unittest/python_parser.cpp +++ b/unittest/python_parser.cpp @@ -6,7 +6,7 @@ #include "pinocchio/multibody/model.hpp" #include "pinocchio/multibody/data.hpp" -#include "pinocchio/bindings/python/parsers/python.hpp" +#include "pinocchio/parsers/python.hpp" #include From 6b275d80173523e35a78242568459a80c230d68a Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Fri, 8 Nov 2024 17:05:11 +0100 Subject: [PATCH 103/104] pre-commit: lint cmake --- sources.cmake | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/sources.cmake b/sources.cmake index ddbdb3290f..f8cd400628 100644 --- a/sources.cmake +++ b/sources.cmake @@ -369,8 +369,7 @@ set(${PROJECT_NAME}_SDF_PUBLIC_HEADERS set(${PROJECT_NAME}_PYTHON_PARSER_PUBLIC_HEADERS ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/python.hpp) -set(${PROJECT_NAME}_PYTHON_PARSER_SOURCES - ${PROJECT_SOURCE_DIR}/src/parsers/python/model.cpp) +set(${PROJECT_NAME}_PYTHON_PARSER_SOURCES ${PROJECT_SOURCE_DIR}/src/parsers/python/model.cpp) set(${PROJECT_NAME}_EXTRA_SOURCES ${PROJECT_SOURCE_DIR}/src/extra/reachable-workspace.cpp) From 0d81fe22257da838ef2fa5c6f69c97b14e719308 Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Fri, 8 Nov 2024 22:37:10 +0100 Subject: [PATCH 104/104] cmake: Factorize python_parser test setup and add windows dll path --- unittest/CMakeLists.txt | 25 ++++++++++++------------- 1 file changed, 12 insertions(+), 13 deletions(-) diff --git a/unittest/CMakeLists.txt b/unittest/CMakeLists.txt index 81a46a6328..5518dc1b48 100644 --- a/unittest/CMakeLists.txt +++ b/unittest/CMakeLists.txt @@ -96,6 +96,18 @@ function(ADD_PINOCCHIO_UNIT_TEST name) if(unit_test_PYTHON_PARSER) target_link_libraries(${TEST_NAME} PUBLIC ${PROJECT_NAME}_python_parser) + add_windows_dll_path_to_test(${TEST_NAME}) + get_test_property(${TEST_NAME} ENVIRONMENT ENV_VARIABLES) + compute_pythonpath(PYTHON_ENV_VARIABLES "bindings/python") + list(APPEND ENV_VARIABLES ${PYTHON_ENV_VARIABLES}) + if(WIN32) + # This line is mandatory because of Github action. The test run well on Windows + Conda. This + # hide something wrong. Maybe the test is linking against the wrong Python library or call the + # wrong interpreter. + get_filename_component(_PYTHONHOME ${PYTHON_EXECUTABLE} PATH) + list(APPEND ENV_VARIABLES "PYTHONHOME=${_PYTHONHOME}") + endif() + set_tests_properties(${TEST_NAME} PROPERTIES ENVIRONMENT "${ENV_VARIABLES}") endif() modernize_target_link_libraries( @@ -229,19 +241,6 @@ endif() if(BUILD_WITH_PYTHON_PARSER_SUPPORT) add_pinocchio_unit_test(python_parser PYTHON_PARSER) - get_cpp_test_name(python_parser ${CMAKE_CURRENT_SOURCE_DIR} python_parser_target) - - get_test_property(${python_parser_target} ENVIRONMENT ENV_VARIABLES) - compute_pythonpath(PYTHON_ENV_VARIABLES "bindings/python") - list(APPEND ENV_VARIABLES ${PYTHON_ENV_VARIABLES}) - if(WIN32) - # This line is mandatory because of Github action. The test run well on Windows + Conda. This - # hide something wrong. Maybe the test is linking against the wrong Python library or call the - # wrong interpreter. - get_filename_component(_PYTHONHOME ${PYTHON_EXECUTABLE} PATH) - list(APPEND ENV_VARIABLES "PYTHONHOME=${_PYTHONHOME}") - endif() - set_tests_properties(${python_parser_target} PROPERTIES ENVIRONMENT "${ENV_VARIABLES}") endif() if(BUILD_PYTHON_INTERFACE)