fix: update data attributes

stack-of-tasks · Nov 25, 2024 · 2306714 · 2306714
1 parent 569347b
commit 2306714
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Showing 3 changed files with 9 additions and 6 deletions.
diff --git a/include/pinocchio/algorithm/regressor.hxx b/include/pinocchio/algorithm/regressor.hxx
@@ -626,6 +626,9 @@ namespace pinocchio
       }
     }
 
+    data.HRegressor = Hregressor;
+    data.YCTvRegressor = CTregressor;
+
     return std::make_pair(Hregressor, CTregressor);
   }
 

diff --git a/include/pinocchio/multibody/data.hpp b/include/pinocchio/multibody/data.hpp
@@ -505,11 +505,11 @@ namespace pinocchio
     /// \brief Matrix related to potential energy regressor
     RowVectorXs potentialEnergyRegressor;
 
-    /// \brief Matrix related to momentum regressor
-    MatrixXs momentumRegressor;
+    /// \brief Matrix related to YCTv regressor
+    MatrixXs YCTvRegressor;
 
-    /// \brief Matrix related to partial Lagrangian with respect to the joint configuration
-    MatrixXs dpartial_lagrangian_q;
+    /// \brief Matrix related to momentum regressor
+    MatrixXs HRegressor;
 
     PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6x) KA;
     PINOCCHIO_ALIGNED_STD_VECTOR(MatrixXs) LA;

diff --git a/include/pinocchio/multibody/data.hxx b/include/pinocchio/multibody/data.hxx
@@ -115,8 +115,8 @@ namespace pinocchio
   , jointTorqueRegressor(MatrixXs::Zero(model.nv, 10 * (model.njoints - 1)))
   , kineticEnergyRegressor(RowVectorXs::Zero(10 * (model.njoints - 1)))
   , potentialEnergyRegressor(RowVectorXs::Zero(10 * (model.njoints - 1)))
-  , momentumRegressor(MatrixXs::Zero(model.nv, 10 * (model.njoints - 1)))
-  , dpartial_lagrangian_q(MatrixXs::Zero(model.nv, 10 * (model.njoints - 1)))
+  , YCTvRegressor(MatrixXs::Zero(model.nv, 10 * (model.njoints - 1)))
+  , HRegressor(MatrixXs::Zero(model.nv, 10 * (model.njoints - 1)))
   , KA((std::size_t)model.njoints, Matrix6x::Zero(6, 0))
   , LA((std::size_t)model.njoints, MatrixXs::Zero(0, 0))
   , lA((std::size_t)model.njoints, VectorXs::Zero(0))
-Original file line number
+Diff line change
@@ Expand Up / @@ -626,6 +626,9 @@ namespace pinocchio @@
           }
         }
+        data.HRegressor = Hregressor;
+        data.YCTvRegressor = CTregressor;
         return std::make_pair(Hregressor, CTregressor);
       }
@@ Expand Down @@