Merge pull request #2284 from florent-lamiraux/devel

Some minor modifications necessary to upgrade HPP
stack-of-tasks · Jun 18, 2024 · be4a836 · be4a836
2 parents df3aa95 + 317a9fa
commit be4a836
Show file tree

Hide file tree

Showing 5 changed files with 29 additions and 7 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -8,6 +8,8 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ### Fixed
 
+- Fix `appendModel` build when called with template arguments different than the ones from `context` ([#2284](https://github.com/stack-of-tasks/pinocchio/pull/2284))
+- Fix `TransformRevoleTpl::rotation` and `TransformHelicalTpl::rotation` build ([#2284](https://github.com/stack-of-tasks/pinocchio/pull/2284))
 - Fix compilation issue for Boost 1.85 ([#2255](https://github.com/stack-of-tasks/pinocchio/pull/2255))
 - Fix python bindings of `contactInverseDynamics` ([#2263](https://github.com/stack-of-tasks/pinocchio/pull/2263))
 - Deactivate `BUILD_WITH_LIBPYTHON` when building with PyPy ([#2274](https://github.com/stack-of-tasks/pinocchio/pull/2274))

diff --git a/include/pinocchio/algorithm/model.hxx b/include/pinocchio/algorithm/model.hxx
@@ -380,8 +380,8 @@ namespace pinocchio
       for (JointIndex joint_idA = 1; joint_idA < modelA.joints.size(); ++joint_idA)
       {
         const JointIndex joint_id = model.getJointId(modelA.names[joint_idA]);
-        const JointModel & joint_model = model.joints[joint_id];
-        const JointModel & joint_modelA = modelA.joints[joint_idA];
+        const typename Model::JointModel & joint_model = model.joints[joint_id];
+        const typename Model::JointModel & joint_modelA = modelA.joints[joint_idA];
 
         joint_model.jointConfigSelector(config_vector) =
           joint_modelA.jointConfigSelector(config_vectorA);
@@ -409,8 +409,8 @@ namespace pinocchio
       for (JointIndex joint_idB = 1; joint_idB < modelB.joints.size(); ++joint_idB)
       {
         const JointIndex joint_id = model.getJointId(modelB.names[joint_idB]);
-        const JointModel & joint_model = model.joints[joint_id];
-        const JointModel & joint_modelB = modelB.joints[joint_idB];
+        const typename Model::JointModel & joint_model = model.joints[joint_id];
+        const typename Model::JointModel & joint_modelB = modelB.joints[joint_idB];
 
         joint_model.jointConfigSelector(config_vector) =
           joint_modelB.jointConfigSelector(config_vectorB);

diff --git a/include/pinocchio/multibody/joint/joint-helical.hpp b/include/pinocchio/multibody/joint/joint-helical.hpp
@@ -79,7 +79,7 @@ namespace pinocchio
     typedef Matrix3 AngularType;
     typedef Matrix3 AngularRef;
     typedef Matrix3 ConstAngularRef;
-    typedef typename Vector3::ConstantReturnType LinearType;
+    typedef Vector3 LinearType;
     typedef typename Vector3::ConstantReturnType LinearRef;
     typedef const typename Vector3::ConstantReturnType ConstLinearRef;
     typedef typename traits<PlainType>::ActionMatrixType ActionMatrixType;
@@ -201,7 +201,7 @@ namespace pinocchio
     }
     AngularType rotation() const
     {
-      AngularType m(AngularType::Identity(3));
+      AngularType m(AngularType::Identity());
       _setRotation(m);
       return m;
     }

diff --git a/include/pinocchio/multibody/joint/joint-revolute.hpp b/include/pinocchio/multibody/joint/joint-revolute.hpp
@@ -186,7 +186,7 @@ namespace pinocchio
     }
     AngularType rotation() const
     {
-      AngularType m(AngularType::Identity(3));
+      AngularType m(AngularType::Identity());
       _setRotation(m);
       return m;
     }

diff --git a/unittest/all-joints.cpp b/unittest/all-joints.cpp
@@ -193,6 +193,18 @@ struct TestJointModelIsEqual : TestJointModel<TestJointModelIsEqual>
   }
 };
 
+struct TestJointModelTransform : TestJointModel<TestJointModelTransform>
+{
+  template<typename JointModel>
+  static void test(const JointModelBase<JointModel> & jmodel)
+  {
+    typedef typename JointModel::JointDataDerived JointData;
+    JointData jdata = jmodel.createData();
+    Eigen::Matrix<typename JointModel::Scalar, 3, 1> v = jdata.M_accessor().translation();
+    Eigen::Matrix<typename JointModel::Scalar, 3, 3> R = jdata.M_accessor().rotation();
+  }
+};
+
 BOOST_AUTO_TEST_CASE(isEqual)
 {
   typedef JointCollectionDefault::JointModelVariant JointModelVariant;
@@ -211,6 +223,14 @@ BOOST_AUTO_TEST_CASE(isEqual)
   BOOST_CHECK(jmodel_any != jmodelx);
 }
 
+BOOST_AUTO_TEST_CASE(transform)
+{
+  typedef JointCollectionDefault::JointModelVariant JointModelVariant;
+  boost::mpl::for_each<JointModelVariant::types>(TestJointModelTransform());
+
+  TestJointModelTransform()(JointModel());
+}
+
 struct TestJointModelCast : TestJointModel<TestJointModelCast>
 {
   template<typename JointModel>