cleaning and renaming a bunch of operator in order to get consistent naming.

Author: Maximilien Naveau

src/dynamic_graph/sot/core/math_small_entities.py

@@ -11,10 +11,10 @@
     HomoToTwist, Inverse_of_matrix, Inverse_of_matrixHomo,
     Inverse_of_matrixrotation, Inverse_of_matrixtwist, Inverse_of_unitquat,
     MatrixDiagonal, MatrixHomoToPose, MatrixHomoToPoseQuaternion,
-    PoseQuatToMatrixHomo, MatrixHomoToPoseRollPitchYaw, MatrixHomoToPoseUTheta,
-    MatrixToHomo, MatrixToQuaternion, MatrixToRPY, MatrixToUTheta,
-    MatrixHomoToSE3Vector, SE3VectorToMatrixHomo, MatrixTranspose,
-    Multiply_double_vector, Multiply_matrix_vector,
+    PoseQuaternionToMatrixHomo, MatrixHomoToPoseRollPitchYaw,
+    MatrixHomoToPoseUTheta, MatrixToHomo, MatrixToQuaternion, MatrixToRPY,
+    MatrixToUTheta, MatrixHomoToSE3Vector, SE3VectorToMatrixHomo,
+    MatrixTranspose, Multiply_double_vector, Multiply_matrix_vector,
     Multiply_matrixTwist_vector, Multiply_matrixHomo_vector,
     Multiply_of_double, Multiply_of_matrix, Multiply_of_matrixHomo,
     Multiply_of_matrixrotation, Multiply_of_matrixtwist,

src/dynamic_graph/sot/core/meta_task_posture.py

@@ -4,7 +4,7 @@
 from dynamic_graph.sot.core.matrix_util import matrixToTuple, vectorToTuple
 from dynamic_graph.sot.core.meta_task_6d import toFlags # kept for backward compatibility
 from dynamic_graph.sot.core.meta_tasks import setGain
-from dynamic_graph.sot.core.sot import Task
+from dynamic_graph.sot.core.task import Task
 from numpy import identity, matrix, zeros
 
 

src/dynamic_graph/sot/core/meta_task_visual_point.py

@@ -3,7 +3,7 @@
 from dynamic_graph.sot.core.gain_adaptive import GainAdaptive
 from dynamic_graph.sot.core.meta_tasks import setGain
 from dynamic_graph.sot.core.op_point_modifier import OpPointModifier
-from dynamic_graph.sot.core.sot import Task
+from dynamic_graph.sot.core.task import Task
 from dynamic_graph.sot.core.visual_point_projecter import VisualPointProjecter
 
 

src/matrix/operator-python-module-py.cc

@@ -99,12 +99,11 @@ BOOST_PYTHON_MODULE(wrap)
    /* --- SE3/SO3 conversions ----------------------------------------------- */
    /* ----------------------------------------------------------------------- */
 
-  exposeUnaryOp < HomogeneousMatrixToVector>      ();
   exposeUnaryOp < SkewSymToVector>                ();
   exposeUnaryOp < PoseUThetaToMatrixHomo>         ();
-  exposeUnaryOp < HomogeneousMatrixToVector>      ();
-  exposeUnaryOp < HomogeneousMatrixToSE3Vector>   ();
-  exposeUnaryOp < SE3VectorToHomogeneousMatrix>   ();
+  exposeUnaryOp < MatrixHomoToPoseUTheta>         ();
+  exposeUnaryOp < MatrixHomoToSE3Vector>          ();
+  exposeUnaryOp < SE3VectorToMatrixHomo>          ();
   exposeUnaryOp < PoseQuaternionToMatrixHomo>     ();
   exposeUnaryOp < MatrixHomoToPoseQuaternion>     ();
   exposeUnaryOp < MatrixHomoToPoseRollPitchYaw>   ();

src/matrix/operator.cpp

@@ -57,13 +57,13 @@ REGISTER_UNARY_OP(InverserQuaternion, Inverse_of_unitquat);
 /* --- SE3/SO3 conversions ----------------------------------------------- */
 /* ----------------------------------------------------------------------- */
 
-REGISTER_UNARY_OP(HomogeneousMatrixToVector, MatrixHomoToPoseUTheta);
-REGISTER_UNARY_OP(HomogeneousMatrixToSE3Vector, MatrixHomoToSE3Vector);
-REGISTER_UNARY_OP(SE3VectorToHomogeneousMatrix, SE3VectorToMatrixHomo);
+REGISTER_UNARY_OP(MatrixHomoToPoseUTheta, MatrixHomoToPoseUTheta);
+REGISTER_UNARY_OP(MatrixHomoToSE3Vector, MatrixHomoToSE3Vector);
+REGISTER_UNARY_OP(SE3VectorToMatrixHomo, SE3VectorToMatrixHomo);
 REGISTER_UNARY_OP(SkewSymToVector, SkewSymToVector);
 REGISTER_UNARY_OP(PoseUThetaToMatrixHomo, PoseUThetaToMatrixHomo);
 REGISTER_UNARY_OP(MatrixHomoToPoseQuaternion, MatrixHomoToPoseQuaternion);
-REGISTER_UNARY_OP(PoseQuaternionToMatrixHomo, PoseQuatToMatrixHomo);
+REGISTER_UNARY_OP(PoseQuaternionToMatrixHomo, PoseQuaternionToMatrixHomo);
 REGISTER_UNARY_OP(MatrixHomoToPoseRollPitchYaw, MatrixHomoToPoseRollPitchYaw);
 REGISTER_UNARY_OP(PoseRollPitchYawToMatrixHomo, PoseRollPitchYawToMatrixHomo);
 REGISTER_UNARY_OP(PoseRollPitchYawToPoseUTheta, PoseRollPitchYawToPoseUTheta);

src/matrix/operator.hh

@@ -278,7 +278,7 @@ struct InverserQuaternion
 /* --- SE3/SO3 conversions ----------------------------------------------- */
 /* ----------------------------------------------------------------------- */
 
-struct HomogeneousMatrixToVector
+struct MatrixHomoToPoseUTheta
     : public UnaryOpHeader<MatrixHomogeneous, dg::Vector> {
   inline void operator()(const MatrixHomogeneous &M, dg::Vector &res) {
     res.resize(6);
@@ -310,7 +310,7 @@ struct PoseUThetaToMatrixHomo
   }
 };
 
-struct SE3VectorToHomogeneousMatrix
+struct SE3VectorToMatrixHomo
     : public UnaryOpHeader<dg::Vector, MatrixHomogeneous> {
   void operator()(const dg::Vector &vect, MatrixHomogeneous &Mres) {
     Mres.translation() = vect.head<3>();
@@ -320,7 +320,7 @@ struct SE3VectorToHomogeneousMatrix
   }
 };
 
-struct HomogeneousMatrixToSE3Vector
+struct MatrixHomoToSE3Vector
     : public UnaryOpHeader<MatrixHomogeneous, dg::Vector> {
   void operator()(const MatrixHomogeneous &M, dg::Vector &res) {
     res.resize(12);

tests/matrix/test_operator.cpp

@@ -199,7 +199,7 @@ BOOST_AUTO_TEST_CASE(matrixHomo_poseQuaternion) {
   test_impl<MatrixHomoToPoseQuaternion, PoseQuaternionToMatrixHomo>();
 }
 BOOST_AUTO_TEST_CASE(matrixHomo_se3Vector) {
-  test_impl<HomogeneousMatrixToSE3Vector, SE3VectorToHomogeneousMatrix>();
+  test_impl<MatrixHomoToSE3Vector, SE3VectorToMatrixHomo>();
 }
 
 BOOST_AUTO_TEST_SUITE_END()