Add dummy variables to store unused data from pinocchio functions

loco-3d · Oct 14, 2024 · 5b883ba · 5b883ba
1 parent 5012fe0
commit 5b883ba
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Showing 2 changed files with 5 additions and 8 deletions.
diff --git a/include/crocoddyl/multibody/contacts/contact-6d-loop.hpp b/include/crocoddyl/multibody/contacts/contact-6d-loop.hpp
@@ -236,15 +236,14 @@ struct ContactData6DLoopTpl : public ContactDataAbstractTpl<_Scalar> {
         f1_v1_partial_dq(6, model->get_state()->get_nv()),
         a1_partial_dq(6, model->get_state()->get_nv()),
         a1_partial_dv(6, model->get_state()->get_nv()),
-        a1_partial_da(6, model->get_state()->get_nv()),
         v2_partial_dq(6, model->get_state()->get_nv()),
         f2_v2_partial_dq(6, model->get_state()->get_nv()),
         f1_v2_partial_dq(6, model->get_state()->get_nv()),
         a2_partial_dq(6, model->get_state()->get_nv()),
         f2_a2_partial_dq(6, model->get_state()->get_nv()),
         f2_a2_partial_dv(6, model->get_state()->get_nv()),
         a2_partial_dv(6, model->get_state()->get_nv()),
-        a2_partial_da(6, model->get_state()->get_nv()),
+        __partial_da(6, model->get_state()->get_nv()),
         da0_dq_t1(6, model->get_state()->get_nv()),
         da0_dq_t2(6, model->get_state()->get_nv()),
         da0_dq_t2_tmp(6, model->get_state()->get_nv()),
@@ -274,15 +273,14 @@ struct ContactData6DLoopTpl : public ContactDataAbstractTpl<_Scalar> {
     f1_v1_partial_dq.setZero();
     a1_partial_dq.setZero();
     a1_partial_dv.setZero();
-    a1_partial_da.setZero();
     v2_partial_dq.setZero();
     f2_v2_partial_dq.setZero();
     f1_v2_partial_dq.setZero();
     a2_partial_dq.setZero();
     f2_a2_partial_dq.setZero();
     f2_a2_partial_dv.setZero();
     a2_partial_dv.setZero();
-    a2_partial_da.setZero();
+    __partial_da.setZero();
     da0_dq_t1.setZero();
     da0_dq_t2.setZero();
     da0_dq_t2_tmp.setZero();
@@ -312,15 +310,14 @@ struct ContactData6DLoopTpl : public ContactDataAbstractTpl<_Scalar> {
   Matrix6xs f1_v1_partial_dq;
   Matrix6xs a1_partial_dq;
   Matrix6xs a1_partial_dv;
-  Matrix6xs a1_partial_da;
   Matrix6xs v2_partial_dq;
   Matrix6xs f2_v2_partial_dq;
   Matrix6xs f1_v2_partial_dq;
   Matrix6xs a2_partial_dq;
   Matrix6xs f2_a2_partial_dq;
   Matrix6xs f2_a2_partial_dv;
   Matrix6xs a2_partial_dv;
-  Matrix6xs a2_partial_da;
+  Matrix6xs __partial_da;
 
   Matrix6xs da0_dq_t1;
   Matrix6xs da0_dq_t2;

diff --git a/include/crocoddyl/multibody/contacts/contact-6d-loop.hxx b/include/crocoddyl/multibody/contacts/contact-6d-loop.hxx
@@ -128,11 +128,11 @@ void ContactModel6DLoopTpl<Scalar>::calcDiff(
   pinocchio::getJointAccelerationDerivatives(
       *state_->get_pinocchio().get(), *d->pinocchio, joint1_id_,
       pinocchio::LOCAL, d->v1_partial_dq, d->a1_partial_dq, d->a1_partial_dv,
-      d->a1_partial_da);
+      d->__partial_da);
   pinocchio::getJointAccelerationDerivatives(
       *state_->get_pinocchio().get(), *d->pinocchio, joint2_id_,
       pinocchio::LOCAL, d->v2_partial_dq, d->a2_partial_dq, d->a2_partial_dv,
-      d->a2_partial_da);
+      d->__partial_da);
 
   d->da0_dq_t1.noalias() =
       joint1_placement_.toActionMatrixInverse() * d->a1_partial_dq;