From 23067141ca077293ed0be790a4adf8a443b20c3c Mon Sep 17 00:00:00 2001 From: Lev Kozlov Date: Mon, 25 Nov 2024 12:59:26 +0900 Subject: [PATCH] fix: update data attributes --- include/pinocchio/algorithm/regressor.hxx | 3 +++ include/pinocchio/multibody/data.hpp | 8 ++++---- include/pinocchio/multibody/data.hxx | 4 ++-- 3 files changed, 9 insertions(+), 6 deletions(-) diff --git a/include/pinocchio/algorithm/regressor.hxx b/include/pinocchio/algorithm/regressor.hxx index 8205a61f06..5f619f429b 100644 --- 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 index 3a23c8b037..d9e0249f12 100644 --- 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 index b661c5cefd..0b0556320c 100644 --- 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))