From b92d78553b1889ff5bfbea17b35cf8fda586a062 Mon Sep 17 00:00:00 2001 From: Brecht Van Lommel Date: Thu, 12 Apr 2018 15:59:51 +0200 Subject: Cleanup: don't use Blender structs in iTaSC module. --- intern/itasc/FixedObject.hpp | 2 +- intern/itasc/MovingFrame.cpp | 4 ++-- intern/itasc/MovingFrame.hpp | 4 +--- intern/itasc/Scene.cpp | 4 ++-- intern/itasc/Scene.hpp | 2 +- intern/itasc/UncontrolledObject.hpp | 5 +---- intern/itasc/WorldObject.hpp | 2 +- 7 files changed, 9 insertions(+), 14 deletions(-) (limited to 'intern') diff --git a/intern/itasc/FixedObject.hpp b/intern/itasc/FixedObject.hpp index e768157ed2b..ad26e7cb2d6 100644 --- a/intern/itasc/FixedObject.hpp +++ b/intern/itasc/FixedObject.hpp @@ -21,7 +21,7 @@ public: int addFrame(const std::string& name, const Frame& frame); - virtual void updateCoordinates(const struct EvaluationContext *eval_ctx, const Timestamp& timestamp) {}; + virtual void updateCoordinates(const Timestamp& timestamp) {}; virtual int addEndEffector(const std::string& name); virtual bool finalize(); virtual const Frame& getPose(const unsigned int frameIndex); diff --git a/intern/itasc/MovingFrame.cpp b/intern/itasc/MovingFrame.cpp index 83e15bb59d9..90ebe091eb5 100644 --- a/intern/itasc/MovingFrame.cpp +++ b/intern/itasc/MovingFrame.cpp @@ -90,7 +90,7 @@ bool MovingFrame::setCallback(MovingFrameCallback _function, void* _param) return true; } -void MovingFrame::updateCoordinates(const struct EvaluationContext *eval_ctx, const Timestamp& timestamp) +void MovingFrame::updateCoordinates(const Timestamp& timestamp) { // don't compute the velocity during substepping, it is assumed constant. if (!timestamp.substep) { @@ -98,7 +98,7 @@ void MovingFrame::updateCoordinates(const struct EvaluationContext *eval_ctx, co if (!timestamp.reiterate) { cacheAvail = popInternalFrame(timestamp.cacheTimestamp); if (m_function) - (*m_function)(eval_ctx, timestamp, m_internalPose, m_nextPose, m_param); + (*m_function)(timestamp, m_internalPose, m_nextPose, m_param); } // only compute velocity if we have a previous pose if (cacheAvail && timestamp.interpolate) { diff --git a/intern/itasc/MovingFrame.hpp b/intern/itasc/MovingFrame.hpp index 719e06b4bf7..2e9c2f64bd6 100644 --- a/intern/itasc/MovingFrame.hpp +++ b/intern/itasc/MovingFrame.hpp @@ -11,12 +11,10 @@ #include "UncontrolledObject.hpp" #include -struct EvaluationContext; namespace iTaSC{ typedef bool (*MovingFrameCallback)( - const struct EvaluationContext *eval_ctx, const Timestamp& timestamp, const Frame& _current, Frame& _next, @@ -30,7 +28,7 @@ public: bool setFrame(const Frame& frame); bool setCallback(MovingFrameCallback _function, void* _param); - virtual void updateCoordinates(const struct EvaluationContext *eval_ctx, const Timestamp& timestamp); + virtual void updateCoordinates(const Timestamp& timestamp); virtual void updateKinematics(const Timestamp& timestamp); virtual void pushCache(const Timestamp& timestamp); virtual void initCache(Cache *_cache); diff --git a/intern/itasc/Scene.cpp b/intern/itasc/Scene.cpp index 93f316783ba..5768a994970 100644 --- a/intern/itasc/Scene.cpp +++ b/intern/itasc/Scene.cpp @@ -257,7 +257,7 @@ bool Scene::getConstraintPose(ConstraintSet* constraint, void *_param, KDL::Fram return true; } -bool Scene::update(const struct EvaluationContext *eval_ctx, double timestamp, double timestep, unsigned int numsubstep, bool reiterate, bool cache, bool interpolate) +bool Scene::update(double timestamp, double timestep, unsigned int numsubstep, bool reiterate, bool cache, bool interpolate) { // we must have valid timestep and timestamp if (timestamp < KDL::epsilon || timestep < 0.0) @@ -316,7 +316,7 @@ bool Scene::update(const struct EvaluationContext *eval_ctx, double timestamp, d } } if (os->object->getType()==Object::UnControlled && ((UncontrolledObject*)os->object)->getNrOfCoordinates() != 0) { - ((UncontrolledObject*)(os->object))->updateCoordinates(eval_ctx, ts); + ((UncontrolledObject*)(os->object))->updateCoordinates(ts); if (!ts.substep) { // velocity of uncontrolled object remains constant during substepping project(m_xdot,os->coordinaterange) = ((UncontrolledObject*)(os->object))->getXudot(); diff --git a/intern/itasc/Scene.hpp b/intern/itasc/Scene.hpp index ebbec561a6e..5ed031b543e 100644 --- a/intern/itasc/Scene.hpp +++ b/intern/itasc/Scene.hpp @@ -39,7 +39,7 @@ public: bool addSolver(Solver* _solver); bool addCache(Cache* _cache); bool initialize(); - bool update(const struct EvaluationContext *eval_ctx, double timestamp, double timestep, unsigned int numsubstep=1, bool reiterate=false, bool cache=true, bool interpolate=true); + bool update(double timestamp, double timestep, unsigned int numsubstep=1, bool reiterate=false, bool cache=true, bool interpolate=true); bool setParam(SceneParam paramId, double value); EIGEN_MAKE_ALIGNED_OPERATOR_NEW diff --git a/intern/itasc/UncontrolledObject.hpp b/intern/itasc/UncontrolledObject.hpp index d932974a24d..81445538fa6 100644 --- a/intern/itasc/UncontrolledObject.hpp +++ b/intern/itasc/UncontrolledObject.hpp @@ -11,9 +11,6 @@ #include "eigen_types.hpp" #include "Object.hpp" - -struct EvaluationContext; - namespace iTaSC{ class UncontrolledObject: public Object { @@ -29,7 +26,7 @@ public: virtual void initialize(unsigned int _nu, unsigned int _nf); virtual const e_matrix& getJu(unsigned int frameIndex) const; virtual const e_vector& getXudot() const {return m_xudot;} - virtual void updateCoordinates(const struct EvaluationContext *eval_ctx, const Timestamp& timestamp)=0; + virtual void updateCoordinates(const Timestamp& timestamp)=0; virtual const unsigned int getNrOfCoordinates(){return m_nu;}; virtual const unsigned int getNrOfFrames(){return m_nf;}; diff --git a/intern/itasc/WorldObject.hpp b/intern/itasc/WorldObject.hpp index 9876090e128..99756dcd684 100644 --- a/intern/itasc/WorldObject.hpp +++ b/intern/itasc/WorldObject.hpp @@ -16,7 +16,7 @@ public: WorldObject(); virtual ~WorldObject(); - virtual void updateCoordinates(const struct EvaluationContext *eval_ctx, const Timestamp& timestamp) {}; + virtual void updateCoordinates(const Timestamp& timestamp) {}; virtual void updateKinematics(const Timestamp& timestamp) {}; virtual void pushCache(const Timestamp& timestamp) {}; virtual void initCache(Cache *_cache) {}; -- cgit v1.2.3