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ManifoldFRManifoldFR
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[modelling/(multibody | centroidal)] Remove include of hxx file from hpp files
1 parent c01ce27 commit e93a990

39 files changed

+56
-91
lines changed

‎include/aligator/modelling/centroidal/angular-acceleration.hpp

+1-3
Original file line numberDiff line numberDiff line change
@@ -77,8 +77,6 @@ struct AngularAccelerationDataTpl : StageFunctionDataTpl<Scalar> {
7777

7878
} // namespace aligator
7979

80-
#include "aligator/modelling/centroidal/angular-acceleration.hxx"
81-
8280
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
83-
#include "./angular-acceleration.txx"
81+
#include "aligator/modelling/centroidal/angular-acceleration.txx"
8482
#endif

‎include/aligator/modelling/centroidal/angular-momentum.hpp

+1-3
Original file line numberDiff line numberDiff line change
@@ -53,8 +53,6 @@ struct AngularMomentumDataTpl : StageFunctionDataTpl<Scalar> {
5353

5454
} // namespace aligator
5555

56-
#include "aligator/modelling/centroidal/angular-momentum.hxx"
57-
5856
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
59-
#include "./angular-momentum.txx"
57+
#include "aligator/modelling/centroidal/angular-momentum.txx"
6058
#endif

‎include/aligator/modelling/centroidal/centroidal-acceleration.hpp

+1-3
Original file line numberDiff line numberDiff line change
@@ -74,8 +74,6 @@ struct CentroidalAccelerationDataTpl : StageFunctionDataTpl<Scalar> {
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7575
} // namespace aligator
7676

77-
#include "aligator/modelling/centroidal/centroidal-acceleration.hxx"
78-
7977
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
80-
#include "./centroidal-acceleration.txx"
78+
#include "aligator/modelling/centroidal/centroidal-acceleration.txx"
8179
#endif

‎include/aligator/modelling/centroidal/centroidal-translation.hpp

+1-3
Original file line numberDiff line numberDiff line change
@@ -44,8 +44,6 @@ struct CentroidalCoMDataTpl : StageFunctionDataTpl<Scalar> {
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4545
} // namespace aligator
4646

47-
#include "aligator/modelling/centroidal/centroidal-translation.hxx"
48-
4947
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
50-
#include "./centroidal-translation.txx"
48+
#include "aligator/modelling/centroidal/centroidal-translation.txx"
5149
#endif

‎include/aligator/modelling/centroidal/centroidal-wrapper.hpp

+1-4
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,6 @@
11
#pragma once
22

33
#include "aligator/core/unary-function.hpp"
4-
#include "aligator/core/function-abstract.hpp"
54
#include <proxsuite-nlp/third-party/polymorphic_cxx14.hpp>
65

76
namespace aligator {
@@ -52,8 +51,6 @@ struct CentroidalWrapperDataTpl : StageFunctionDataTpl<Scalar> {
5251

5352
} // namespace aligator
5453

55-
#include "aligator/modelling/centroidal/centroidal-wrapper.hxx"
56-
5754
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
58-
#include "./centroidal-wrapper.txx"
55+
#include "aligator/modelling/centroidal/centroidal-wrapper.txx"
5956
#endif

‎include/aligator/modelling/centroidal/friction-cone.hpp

+1-3
Original file line numberDiff line numberDiff line change
@@ -61,8 +61,6 @@ struct FrictionConeDataTpl : StageFunctionDataTpl<Scalar> {
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6262
} // namespace aligator
6363

64-
#include "aligator/modelling/centroidal/friction-cone.hxx"
65-
6664
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
67-
#include "./friction-cone.txx"
65+
#include "aligator/modelling/centroidal/friction-cone.txx"
6866
#endif

‎include/aligator/modelling/centroidal/linear-momentum.hpp

+1-3
Original file line numberDiff line numberDiff line change
@@ -52,8 +52,6 @@ struct LinearMomentumDataTpl : StageFunctionDataTpl<Scalar> {
5252

5353
} // namespace aligator
5454

55-
#include "aligator/modelling/centroidal/linear-momentum.hxx"
56-
5755
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
58-
#include "./linear-momentum.txx"
56+
#include "aligator/modelling/centroidal/linear-momentum.txx"
5957
#endif

‎include/aligator/modelling/centroidal/wrench-cone.hpp

+1-3
Original file line numberDiff line numberDiff line change
@@ -63,8 +63,6 @@ struct WrenchConeDataTpl : StageFunctionDataTpl<Scalar> {
6363

6464
} // namespace aligator
6565

66-
#include "aligator/modelling/centroidal/wrench-cone.hxx"
67-
6866
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
69-
#include "./wrench-cone.txx"
67+
#include "aligator/modelling/centroidal/wrench-cone.txx"
7068
#endif

‎include/aligator/modelling/multibody/center-of-mass-translation.hpp

-2
Original file line numberDiff line numberDiff line change
@@ -67,8 +67,6 @@ struct CenterOfMassTranslationDataTpl : StageFunctionDataTpl<Scalar> {
6767

6868
} // namespace aligator
6969

70-
#include "aligator/modelling/multibody/center-of-mass-translation.hxx"
71-
7270
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
7371
#include "./center-of-mass-translation.txx"
7472
#endif

‎include/aligator/modelling/multibody/center-of-mass-velocity.hpp

-2
Original file line numberDiff line numberDiff line change
@@ -58,8 +58,6 @@ struct CenterOfMassVelocityDataTpl : StageFunctionDataTpl<Scalar> {
5858

5959
} // namespace aligator
6060

61-
#include "aligator/modelling/multibody/center-of-mass-velocity.hxx"
62-
6361
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
6462
#include "./center-of-mass-velocity.txx"
6563
#endif

‎include/aligator/modelling/multibody/centroidal-momentum-derivative.hpp

+2-17
Original file line numberDiff line numberDiff line change
@@ -4,7 +4,6 @@
44
#include "aligator/core/function-abstract.hpp"
55

66
#include <pinocchio/multibody/model.hpp>
7-
#include <pinocchio/algorithm/center-of-mass.hpp>
87

98
namespace aligator {
109

@@ -14,7 +13,6 @@ template <typename Scalar> struct CentroidalMomentumDerivativeDataTpl;
1413
* @brief This residual returns the derivative of centroidal momentum
1514
* for a kinodynamics model.
1615
*/
17-
1816
template <typename _Scalar>
1917
struct CentroidalMomentumDerivativeResidualTpl : StageFunctionTpl<_Scalar>,
2018
frame_api {
@@ -38,18 +36,7 @@ struct CentroidalMomentumDerivativeResidualTpl : StageFunctionTpl<_Scalar>,
3836
const int ndx, const Model &model, const Vector3s &gravity,
3937
const std::vector<bool> &contact_states,
4038
const std::vector<pinocchio::FrameIndex> &contact_ids,
41-
const int force_size)
42-
: Base(ndx, (int)contact_states.size() * force_size + model.nv - 6, 6),
43-
pin_model_(model), gravity_(gravity), contact_states_(contact_states),
44-
contact_ids_(contact_ids), force_size_(force_size) {
45-
mass_ = pinocchio::computeTotalMass(model);
46-
if (contact_ids_.size() != contact_states_.size()) {
47-
ALIGATOR_DOMAIN_ERROR(
48-
fmt::format("contact_ids and contact_states should have same size: "
49-
"now ({} and {}).",
50-
contact_ids_.size(), contact_states_.size()));
51-
}
52-
}
39+
const int force_size);
5340

5441
void evaluate(const ConstVectorRef &x, const ConstVectorRef &u,
5542
const ConstVectorRef &, BaseData &data) const;
@@ -83,8 +70,6 @@ struct CentroidalMomentumDerivativeDataTpl : StageFunctionDataTpl<Scalar> {
8370

8471
} // namespace aligator
8572

86-
#include "aligator/modelling/multibody/centroidal-momentum-derivative.hxx"
87-
8873
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
89-
#include "./centroidal-momentum-derivative.txx"
74+
#include "aligator/modelling/multibody/centroidal-momentum-derivative.txx"
9075
#endif

‎include/aligator/modelling/multibody/centroidal-momentum-derivative.hxx

+20
Original file line numberDiff line numberDiff line change
@@ -4,10 +4,30 @@
44

55
#include <pinocchio/algorithm/centroidal-derivatives.hpp>
66
#include <pinocchio/algorithm/centroidal.hpp>
7+
#include <pinocchio/algorithm/center-of-mass.hpp>
78
#include <pinocchio/algorithm/center-of-mass-derivatives.hpp>
89

910
namespace aligator {
1011

12+
template <typename Scalar>
13+
CentroidalMomentumDerivativeResidualTpl<Scalar>::
14+
CentroidalMomentumDerivativeResidualTpl(
15+
const int ndx, const Model &model, const Vector3s &gravity,
16+
const std::vector<bool> &contact_states,
17+
const std::vector<pinocchio::FrameIndex> &contact_ids,
18+
const int force_size)
19+
: Base(ndx, (int)contact_states.size() * force_size + model.nv - 6, 6),
20+
pin_model_(model), gravity_(gravity), contact_states_(contact_states),
21+
contact_ids_(contact_ids), force_size_(force_size) {
22+
mass_ = pinocchio::computeTotalMass(model);
23+
if (contact_ids_.size() != contact_states_.size()) {
24+
ALIGATOR_DOMAIN_ERROR(
25+
fmt::format("contact_ids and contact_states should have same size: "
26+
"now ({} and {}).",
27+
contact_ids_.size(), contact_states_.size()));
28+
}
29+
}
30+
1131
template <typename Scalar>
1232
void CentroidalMomentumDerivativeResidualTpl<Scalar>::evaluate(
1333
const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &,

‎include/aligator/modelling/multibody/centroidal-momentum.hpp

+1-3
Original file line numberDiff line numberDiff line change
@@ -63,8 +63,6 @@ struct CentroidalMomentumDataTpl : StageFunctionDataTpl<Scalar> {
6363

6464
} // namespace aligator
6565

66-
#include "aligator/modelling/multibody/centroidal-momentum.hxx"
67-
6866
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
69-
#include "./centroidal-momentum.txx"
67+
#include "aligator/modelling/multibody/centroidal-momentum.txx"
7068
#endif

‎include/aligator/modelling/multibody/contact-force.hpp

+1-5
Original file line numberDiff line numberDiff line change
@@ -3,9 +3,7 @@
33
#include "./fwd.hpp"
44
#include "aligator/core/function-abstract.hpp"
55

6-
#include <pinocchio/multibody/model.hpp>
76
#include <proxsuite-nlp/modelling/spaces/multibody.hpp>
8-
#include <pinocchio/multibody/data.hpp>
97

108
#ifdef ALIGATOR_PINOCCHIO_V3
119
#include <pinocchio/algorithm/proximal.hpp>
@@ -94,10 +92,8 @@ struct ContactForceDataTpl : StageFunctionDataTpl<Scalar> {
9492

9593
} // namespace aligator
9694

97-
#include "aligator/modelling/multibody/contact-force.hxx"
98-
9995
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
100-
#include "./contact-force.txx"
96+
#include "aligator/modelling/multibody/contact-force.txx"
10197
#endif
10298

10399
#endif // ALIGATOR_PINOCCHIO_V3

‎include/aligator/modelling/multibody/contact-force.hxx

-2
Original file line numberDiff line numberDiff line change
@@ -1,11 +1,9 @@
11
#pragma once
22

3-
#include "aligator/macros.hpp"
43
#include "aligator/modelling/multibody/contact-force.hpp"
54

65
#include <pinocchio/algorithm/constrained-dynamics.hpp>
76
#include <pinocchio/algorithm/constrained-dynamics-derivatives.hpp>
8-
#include <aligator/macros.hpp>
97

108
namespace aligator {
119

‎include/aligator/modelling/multibody/fly-high.hpp

+1-4
Original file line numberDiff line numberDiff line change
@@ -3,7 +3,6 @@
33
#include "aligator/core/unary-function.hpp"
44
#include "./fwd.hpp"
55
#include <proxsuite-nlp/modelling/spaces/multibody.hpp>
6-
#include <pinocchio/algorithm/frames-derivatives.hpp>
76

87
namespace aligator {
98

@@ -73,8 +72,6 @@ struct FlyHighResidualTpl<Scalar>::Data : StageFunctionDataTpl<Scalar> {
7372

7473
} // namespace aligator
7574

76-
#include "aligator/modelling/multibody/fly-high.hxx"
77-
7875
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
79-
#include "./fly-high.txx"
76+
#include "aligator/modelling/multibody/fly-high.txx"
8077
#endif

‎include/aligator/modelling/multibody/fly-high.hxx

+1
Original file line numberDiff line numberDiff line change
@@ -2,6 +2,7 @@
22

33
#include "aligator/modelling/multibody/fly-high.hpp"
44
#include <pinocchio/algorithm/compute-all-terms.hpp>
5+
#include <pinocchio/algorithm/frames-derivatives.hpp>
56

67
namespace aligator {
78

‎include/aligator/modelling/multibody/frame-placement.hpp

-2
Original file line numberDiff line numberDiff line change
@@ -75,8 +75,6 @@ struct FramePlacementDataTpl : StageFunctionDataTpl<Scalar> {
7575

7676
} // namespace aligator
7777

78-
#include "aligator/modelling/multibody/frame-placement.hxx"
79-
8078
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
8179
#include "aligator/modelling/multibody/frame-placement.txx"
8280
#endif

‎include/aligator/modelling/multibody/frame-translation.hpp

+1-3
Original file line numberDiff line numberDiff line change
@@ -61,8 +61,6 @@ struct FrameTranslationDataTpl : StageFunctionDataTpl<Scalar> {
6161

6262
} // namespace aligator
6363

64-
#include "aligator/modelling/multibody/frame-translation.hxx"
65-
6664
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
67-
#include "./frame-translation.txx"
65+
#include "aligator/modelling/multibody/frame-translation.txx"
6866
#endif

‎include/aligator/modelling/multibody/frame-velocity.hpp

+1-3
Original file line numberDiff line numberDiff line change
@@ -62,8 +62,6 @@ struct FrameVelocityDataTpl : StageFunctionDataTpl<Scalar> {
6262

6363
} // namespace aligator
6464

65-
#include "aligator/modelling/multibody/frame-velocity.hxx"
66-
6765
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
68-
#include "./frame-velocity.txx"
66+
#include "aligator/modelling/multibody/frame-velocity.txx"
6967
#endif

‎include/aligator/modelling/multibody/multibody-wrench-cone.hpp

+1-5
Original file line numberDiff line numberDiff line change
@@ -3,9 +3,7 @@
33
#include "./fwd.hpp"
44
#include "aligator/core/function-abstract.hpp"
55

6-
#include <pinocchio/multibody/model.hpp>
76
#include <proxsuite-nlp/modelling/spaces/multibody.hpp>
8-
#include <pinocchio/multibody/data.hpp>
97

108
#ifdef ALIGATOR_PINOCCHIO_V3
119
#include <pinocchio/algorithm/proximal.hpp>
@@ -107,10 +105,8 @@ struct MultibodyWrenchConeDataTpl : StageFunctionDataTpl<Scalar> {
107105

108106
} // namespace aligator
109107

110-
#include "aligator/modelling/multibody/multibody-wrench-cone.hxx"
111-
112108
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
113-
#include "./multibody-wrench-cone.txx"
109+
#include "aligator/modelling/multibody/multibody-wrench-cone.txx"
114110
#endif
115111

116112
#endif // ALIGATOR_PINOCCHIO_V3

‎src/modelling/centroidal/angular-acceleration.cpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
#include "aligator/modelling/centroidal/angular-acceleration.hpp"
1+
#include "aligator/modelling/centroidal/angular-acceleration.hxx"
22

33
namespace aligator {
44

‎src/modelling/centroidal/angular-momentum.cpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
#include "aligator/modelling/centroidal/angular-momentum.hpp"
1+
#include "aligator/modelling/centroidal/angular-momentum.hxx"
22

33
namespace aligator {
44

‎src/modelling/centroidal/centroidal-acceleration.cpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
#include "aligator/modelling/centroidal/centroidal-acceleration.hpp"
1+
#include "aligator/modelling/centroidal/centroidal-acceleration.hxx"
22

33
namespace aligator {
44

‎src/modelling/centroidal/centroidal-translation.cpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
#include "aligator/modelling/centroidal/centroidal-translation.hpp"
1+
#include "aligator/modelling/centroidal/centroidal-translation.hxx"
22

33
namespace aligator {
44

‎src/modelling/centroidal/centroidal-wrapper.cpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
#include "aligator/modelling/centroidal/centroidal-wrapper.hpp"
1+
#include "aligator/modelling/centroidal/centroidal-wrapper.hxx"
22

33
namespace aligator {
44

‎src/modelling/centroidal/friction-cone.cpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
#include "aligator/modelling/centroidal/friction-cone.hpp"
1+
#include "aligator/modelling/centroidal/friction-cone.hxx"
22

33
namespace aligator {
44

‎src/modelling/centroidal/linear-momentum.cpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
#include "aligator/modelling/centroidal/linear-momentum.hpp"
1+
#include "aligator/modelling/centroidal/linear-momentum.hxx"
22

33
namespace aligator {
44

‎src/modelling/centroidal/wrench-cone.cpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
#include "aligator/modelling/centroidal/wrench-cone.hpp"
1+
#include "aligator/modelling/centroidal/wrench-cone.hxx"
22

33
namespace aligator {
44

‎src/modelling/multibody/center-of-mass-translation.cpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
#include "aligator/modelling/multibody/center-of-mass-translation.hpp"
1+
#include "aligator/modelling/multibody/center-of-mass-translation.hxx"
22

33
namespace aligator {
44

‎src/modelling/multibody/center-of-mass-velocity.cpp

+1-1
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@@ -1,4 +1,4 @@
1-
#include "aligator/modelling/multibody/center-of-mass-velocity.hpp"
1+
#include "aligator/modelling/multibody/center-of-mass-velocity.hxx"
22

33
namespace aligator {
44

‎src/modelling/multibody/centroidal-momentum-derivative.cpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
#include "aligator/modelling/multibody/centroidal-momentum-derivative.hpp"
1+
#include "aligator/modelling/multibody/centroidal-momentum-derivative.hxx"
22

33
namespace aligator {
44

‎src/modelling/multibody/centroidal-momentum.cpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
#include "aligator/modelling/multibody/centroidal-momentum.hpp"
1+
#include "aligator/modelling/multibody/centroidal-momentum.hxx"
22

33
namespace aligator {
44

‎src/modelling/multibody/contact-force.cpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
#include "aligator/modelling/multibody/contact-force.hpp"
1+
#include "aligator/modelling/multibody/contact-force.hxx"
22
#ifdef ALIGATOR_PINOCCHIO_V3
33
namespace aligator {
44

‎src/modelling/multibody/fly-high.cpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
#include "aligator/modelling/multibody/fly-high.hpp"
1+
#include "aligator/modelling/multibody/fly-high.hxx"
22

33
namespace aligator {
44

‎src/modelling/multibody/frame-placement.cpp

+1-1
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@@ -1,4 +1,4 @@
1-
#include "aligator/modelling/multibody/frame-placement.hpp"
1+
#include "aligator/modelling/multibody/frame-placement.hxx"
22

33
namespace aligator {
44

‎src/modelling/multibody/frame-translation.cpp

+1-1
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@@ -1,4 +1,4 @@
1-
#include "aligator/modelling/multibody/frame-translation.hpp"
1+
#include "aligator/modelling/multibody/frame-translation.hxx"
22

33
namespace aligator {
44

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