From fb5743c536e2324c0a4fd492c0e7c72cc3242ba6 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Tue, 19 Jan 2021 10:43:29 +0000
Subject: [PATCH] Rename RelativeTransformationSE3 ->
RelativeTransformationR3xSO3
to comply with modification in hpp-constraints.
---
include/hpp/manipulation/fwd.hh | 3 ++-
src/handle.cc | 8 ++++----
2 files changed, 6 insertions(+), 5 deletions(-)
diff --git a/include/hpp/manipulation/fwd.hh b/include/hpp/manipulation/fwd.hh
index 80f7ee5..fd821d8 100644
--- a/include/hpp/manipulation/fwd.hh
+++ b/include/hpp/manipulation/fwd.hh
@@ -75,7 +75,8 @@ namespace hpp {
typedef constraints::RelativeOrientationPtr_t RelativeOrientationPtr_t;
typedef constraints::RelativePositionPtr_t RelativePositionPtr_t;
typedef constraints::RelativeTransformation RelativeTransformation;
- typedef constraints::RelativeTransformationSE3 RelativeTransformationSE3;
+ typedef constraints::RelativeTransformationR3xSO3
+ RelativeTransformationR3xSO3;
typedef constraints::RelativeTransformationPtr_t
RelativeTransformationPtr_t;
typedef core::value_type value_type;
diff --git a/src/handle.cc b/src/handle.cc
index c559875..36c896e 100644
--- a/src/handle.cc
+++ b/src/handle.cc
@@ -132,7 +132,7 @@ namespace hpp {
gripper->objectPositionInJoint (), localPosition(),
6 * constraints::EqualToZero);
}
- return Implicit::create (RelativeTransformationSE3::create
+ return Implicit::create (RelativeTransformationR3xSO3::create
(n, robot (), gripper->joint (), joint (),
gripper->objectPositionInJoint (), localPosition()),
6 * constraints::EqualToZero, mask_);
@@ -153,7 +153,7 @@ namespace hpp {
r->configSize(), r->numberDof (), n)), ComparisonTypes_t());
} else {
std::vector<bool> Cmask = complementMask(mask_);
- return Implicit::create (RelativeTransformationSE3::create
+ return Implicit::create (RelativeTransformationR3xSO3::create
(n, r, gripper->joint (), joint (),
gripper->objectPositionInJoint (), localPosition()),
6 * constraints::Equality, Cmask);
@@ -182,7 +182,7 @@ namespace hpp {
(n, robot (), gripper->joint (), joint (),
gripper->objectPositionInJoint (), localPosition(), comp);
}
- return Implicit::create (RelativeTransformationSE3::create
+ return Implicit::create (RelativeTransformationR3xSO3::create
(n, robot (), gripper->joint (), joint (),
gripper->objectPositionInJoint (), localPosition()),
comp, std::vector <bool> (6, true));
@@ -197,7 +197,7 @@ namespace hpp {
n = "Pregrasp_ " + maskToStr(mask_) + "_" + name ()
+ "_" + gripper->name ();
ImplicitPtr_t result (Implicit::create
- (RelativeTransformationSE3::create
+ (RelativeTransformationR3xSO3::create
(n, robot(), gripper->joint (), joint (),
M, localPosition()),
6 * constraints::EqualToZero, mask_));
--
GitLab