Merge pull request #209 from dartsim/get_num_dofs

Rename getDof() to getNumDofs()

apps/atlasRobot/Controller.cpp

@@ -208,7 +208,7 @@ void Controller::printDebugInfo() const
 {
   std::cout << "[ATLAS Robot]"  << std::endl
             << " NUM NODES : " << mAtlasRobot->getNumBodyNodes() << std::endl
-            << " NUM DOF   : " << mAtlasRobot->getDof() << std::endl
+            << " NUM DOF   : " << mAtlasRobot->getNumDofs() << std::endl
             << " NUM JOINTS: " << mAtlasRobot->getNumBodyNodes() << std::endl;
 
   for(size_t i = 0; i < mAtlasRobot->getNumBodyNodes(); ++i)
@@ -219,7 +219,7 @@ void Controller::printDebugInfo() const
 
     std::cout << "  Joint [" << i << "]: "
               << joint->getName()
-              << " (" << joint->getDof() << ")"
+              << " (" << joint->getNumDofs() << ")"
               << std::endl;
     if (parentBody != NULL)
     {
@@ -817,9 +817,9 @@ void Controller::_setJointDamping()
   for (size_t i = 1; i < mAtlasRobot->getNumBodyNodes(); ++i)
   {
     Joint* joint = mAtlasRobot->getJoint(i);
-    if (joint->getDof() > 0)
+    if (joint->getNumDofs() > 0)
     {
-      for (size_t j = 0; j < joint->getDof(); ++j)
+      for (size_t j = 0; j < joint->getNumDofs(); ++j)
         joint->setDampingCoefficient(j, 80.0);
     }
   }

apps/atlasRobot/State.cpp

@@ -73,7 +73,7 @@ State::State(Skeleton* _skeleton, const std::string& _name)
     mDesiredGlobalPelvisAngleOnSagital(0.0),
     mDesiredGlobalPelvisAngleOnCoronal(0.0)
 {
-  int dof = mSkeleton->getDof();
+  int dof = mSkeleton->getNumDofs();
 
   mDesiredJointPositions        = Eigen::VectorXd::Zero(dof);
   mDesiredJointPositionsBalance = Eigen::VectorXd::Zero(dof);
@@ -153,7 +153,7 @@ void State::computeControlForce(double _timestep)
 {
   assert(mNextState != NULL && "Next state should be set.");
 
-  int dof = mSkeleton->getDof();
+  int dof = mSkeleton->getNumDofs();
   VectorXd q = mSkeleton->getPositions();
   VectorXd dq = mSkeleton->getVelocities();
 

apps/balance/Controller.cpp

@@ -51,7 +51,7 @@ Controller::Controller(dart::dynamics::Skeleton* _skel,
   mConstraintSolver = _constraintSolver;
   mTimestep = _t;
   mFrame = 0;
-  int nDof = mSkel->getDof();
+  int nDof = mSkel->getNumDofs();
   mKp = Eigen::MatrixXd::Identity(nDof, nDof);
   mKd = Eigen::MatrixXd::Identity(nDof, nDof);
   mConstrForces = Eigen::VectorXd::Zero(nDof);
@@ -94,7 +94,7 @@ void Controller::setDesiredDof(int _index, double _val) {
 void Controller::computeTorques(const Eigen::VectorXd& _dof,
                                 const Eigen::VectorXd& _dofVel) {
   // SPD tracking
-  //size_t nDof = mSkel->getDof();
+  //size_t nDof = mSkel->getNumDofs();
   Eigen::MatrixXd invM = (mSkel->getMassMatrix() + mKd * mTimestep).inverse();
   Eigen::VectorXd p = -mKp * (_dof + _dofVel * mTimestep - mDesiredDofs);
   Eigen::VectorXd d = -mKd * _dofVel;

apps/balance/Main.cpp

@@ -73,7 +73,7 @@ int main(int argc, char* argv[]) {
   for (size_t i = 1; i < skeleton->getNumBodyNodes(); ++i)
   {
     dart::dynamics::Joint* joint = skeleton->getBodyNode(i)->getParentJoint();
-    for (size_t j = 0; j < joint->getDof(); ++j)
+    for (size_t j = 0; j < joint->getNumDofs(); ++j)
     {
 //      joint->setPositionLowerLimit(j, -0.1);
 //      joint->setPositionUpperLimit(j, 0.1);

apps/ballJointConstraintTest/Main.cpp

@@ -65,7 +65,7 @@ int main(int argc, char* argv[])
     myWorld->setGravity(gravity);
     myWorld->setTimeStep(1.0/2000);
 
-    int dof =  myWorld->getSkeleton(0)->getDof();
+    int dof =  myWorld->getSkeleton(0)->getNumDofs();
     Eigen::VectorXd initPose(dof);
     for (int i = 0; i < dof; i++)
         initPose[i] = random(-0.5, 0.5);
@@ -76,7 +76,7 @@ int main(int argc, char* argv[])
     for (size_t i = 0; i < myWorld->getSkeleton(0)->getNumBodyNodes(); i++) {
         BodyNode *bd = myWorld->getSkeleton(0)->getBodyNode(i);
         Joint *jt = bd->getParentJoint();
-        for (size_t j = 0; j < jt->getDof(); j++)
+        for (size_t j = 0; j < jt->getNumDofs(); j++)
             jt->setDampingCoefficient(j, 0.02);
     }
 

apps/ballJointConstraintTest/MyWindow.cpp

@@ -54,7 +54,7 @@ void MyWindow::timeStepping()
 
 Eigen::VectorXd MyWindow::computeDamping()
 {
-    int nDof = mWorld->getSkeleton(0)->getDof();
+    int nDof = mWorld->getSkeleton(0)->getNumDofs();
     Eigen::VectorXd damping = Eigen::VectorXd::Zero(nDof);
     // add damping to each joint; twist-dof has smaller damping
     damping = -0.01 * mWorld->getSkeleton(0)->getVelocities();

apps/closedLoop/Main.cpp

@@ -65,7 +65,7 @@ int main(int argc, char* argv[])
     myWorld->setGravity(gravity);
     myWorld->setTimeStep(1.0/2000);
 
-    int dof =  myWorld->getSkeleton(0)->getDof();
+    int dof =  myWorld->getSkeleton(0)->getNumDofs();
 
     Eigen::VectorXd initPose(dof);
     initPose.setZero();

apps/closedLoop/MyWindow.cpp

@@ -48,7 +48,7 @@ void MyWindow::timeStepping()
 
 Eigen::VectorXd MyWindow::computeDamping()
 {
-    int nDof = mWorld->getSkeleton(0)->getDof();
+    int nDof = mWorld->getSkeleton(0)->getNumDofs();
     Eigen::VectorXd damping = Eigen::VectorXd::Zero(nDof);
     // add damping to each joint; twist-dof has smaller damping
     damping = -0.01 * mWorld->getSkeleton(0)->getVelocities();

apps/forwardSim/Main.cpp

@@ -53,7 +53,7 @@ int main(int argc, char* argv[]) {
   myWorld->setGravity(gravity);
   myWorld->setTimeStep(1.0/2000);
 
-  int dof =  myWorld->getSkeleton(0)->getDof();
+  int dof =  myWorld->getSkeleton(0)->getNumDofs();
   Eigen::VectorXd initPose(dof);
   for (int i = 0; i < dof; i++)
     initPose[i] = dart::math::random(-0.5, 0.5);

apps/forwardSim/MyWindow.cpp

@@ -55,7 +55,7 @@ void MyWindow::timeStepping() {
 //==============================================================================
 Eigen::VectorXd MyWindow::computeDamping()
 {
-  int nDof = mWorld->getSkeleton(0)->getDof();
+  int nDof = mWorld->getSkeleton(0)->getNumDofs();
   Eigen::VectorXd damping = Eigen::VectorXd::Zero(nDof);
   // add damping to each joint; twist-dof has smaller damping
   damping = -0.01 * mWorld->getSkeleton(0)->getVelocities();

apps/hanging/Controller.cpp

@@ -57,7 +57,7 @@ Controller::Controller(dynamics::Skeleton* _skel,
   mConstraintSolver = _constraintSolver;
   mTimestep = _t;
   mFrame = 0;
-  int nDof = mSkel->getDof();
+  int nDof = mSkel->getNumDofs();
   mKp = MatrixXd::Identity(nDof, nDof);
   mKd = MatrixXd::Identity(nDof, nDof);
   mConstrForces = VectorXd::Zero(nDof);
@@ -88,7 +88,7 @@ Controller::Controller(dynamics::Skeleton* _skel,
 
 void Controller::computeTorques(const VectorXd& _dof, const VectorXd& _dofVel) {
   // SPD tracking
-  // int nDof = mSkel->getDof();
+  // int nDof = mSkel->getNumDofs();
   MatrixXd invM = (mSkel->getMassMatrix() + mKd * mTimestep).inverse();
   VectorXd p = -mKp * (_dof + _dofVel * mTimestep - mDesiredDofs);
   VectorXd d = -mKd * _dofVel;

apps/hanging/MyWindow.cpp

@@ -97,7 +97,7 @@ MyWindow::MyWindow(dart::simulation::World* _world)
                                mWorld->getConstraintSolver(),
                                mWorld->getTimeStep());
 
-  for (size_t i = 0; i < mWorld->getSkeleton(1)->getDof(); i++)
+  for (size_t i = 0; i < mWorld->getSkeleton(1)->getNumDofs(); i++)
     mController->setDesiredDof(i, mController->getSkeleton()->getPosition(i));
 
   // initialize constraint on the hand

apps/harnessTest/Controller.cpp

@@ -55,7 +55,7 @@ Controller::Controller(dynamics::Skeleton* _skel,
   mCollisionHandle = _collisionSolver;
   mTimestep = _t;
   mFrame = 0;
-  int nDof = mSkel->getDof();
+  int nDof = mSkel->getNumDofs();
   mKp = Eigen::MatrixXd::Identity(nDof, nDof);
   mKd = Eigen::MatrixXd::Identity(nDof, nDof);
   mConstrForces = Eigen::VectorXd::Zero(nDof);
@@ -90,7 +90,7 @@ void Controller::computeTorques(const Eigen::VectorXd& _dof,
                                 const Eigen::VectorXd& _dofVel)
 {
   // SPD tracking
-  // size_t nDof = mSkel->getDof();
+  // size_t nDof = mSkel->getNumDofs();
   Eigen::MatrixXd invM = (mSkel->getMassMatrix() + mKd * mTimestep).inverse();
   Eigen::VectorXd p = -mKp * (_dof + _dofVel * mTimestep - mDesiredDofs);
   Eigen::VectorXd d = -mKd * _dofVel;

apps/meshCollision/Main.cpp

@@ -92,7 +92,7 @@ int main(int argc, char* argv[]) {
   // Verify that our skeleton has something inside :)
   std::printf("Our skeleton has %zu nodes \n", MeshSkel->getNumBodyNodes());
   // std::printf("Our skeleton has %d joints \n", MeshSkel->getNumJoints());
-  std::printf("Our skeleton has %zu DOFs \n", MeshSkel->getDof());
+  std::printf("Our skeleton has %zu DOFs \n", MeshSkel->getNumDofs());
 
   MyWindow window;
   window.setWorld(myWorld);

apps/softArticulatedBodiesTest/Main.cpp

@@ -59,7 +59,7 @@ int main(int argc, char* argv[])
           DART_DATA_PATH"skel/test/test_articulated_bodies_10bodies.skel");
   assert(myWorld != NULL);
 
-  int dof = myWorld->getSkeleton(1)->getDof();
+  int dof = myWorld->getSkeleton(1)->getNumDofs();
   Eigen::VectorXd initPose = Eigen::VectorXd::Zero(dof);
   for (int i = 0; i < 3; i++)
     initPose[i] = dart::math::random(-0.5, 0.5);

apps/softOpenChain/Main.cpp

@@ -59,7 +59,7 @@ int main(int argc, char* argv[])
           DART_DATA_PATH"skel/soft_open_chain.skel");
   assert(myWorld != NULL);
 
-  int dof = myWorld->getSkeleton("skeleton 1")->getDof();
+  int dof = myWorld->getSkeleton("skeleton 1")->getNumDofs();
   Eigen::VectorXd initPose = Eigen::VectorXd::Zero(dof);
   for (int i = 0; i < 3; i++)
     initPose[i] = dart::math::random(-0.5, 0.5);

dart/constraint/JointLimitConstraint.cpp

@@ -196,7 +196,7 @@ void JointLimitConstraint::update()
   // Reset dimention
   mDim = 0;
 
-  size_t dof = mJoint->getDof();
+  size_t dof = mJoint->getNumDofs();
   for (size_t i = 0; i < dof; ++i)
   {
     // Lower bound check
@@ -253,7 +253,7 @@ void JointLimitConstraint::update()
 void JointLimitConstraint::getInformation(ConstraintInfo* _lcp)
 {
   size_t index = 0;
-  size_t dof = mJoint->getDof();
+  size_t dof = mJoint->getNumDofs();
   for (size_t i = 0; i < dof; ++i)
   {
     if (mActive[i] == false)
@@ -306,7 +306,7 @@ void JointLimitConstraint::applyUnitImpulse(size_t _index)
   size_t localIndex = 0;
   dynamics::Skeleton* skeleton = mJoint->getSkeleton();
 
-  size_t dof = mJoint->getDof();
+  size_t dof = mJoint->getNumDofs();
   for (size_t i = 0; i < dof; ++i)
   {
     if (mActive[i] == false)
@@ -332,7 +332,7 @@ void JointLimitConstraint::getVelocityChange(double* _delVel, bool _withCfm)
   assert(_delVel != NULL && "Null pointer is not allowed.");
 
   size_t localIndex = 0;
-  size_t dof = mJoint->getDof();
+  size_t dof = mJoint->getNumDofs();
   for (size_t i = 0; i < dof ; ++i)
   {
     if (mActive[i] == false)
@@ -373,7 +373,7 @@ void JointLimitConstraint::unexcite()
 void JointLimitConstraint::applyImpulse(double* _lambda)
 {
   size_t localIndex = 0;
-  size_t dof = mJoint->getDof();
+  size_t dof = mJoint->getNumDofs();
   for (size_t i = 0; i < dof ; ++i)
   {
     if (mActive[i] == false)

dart/dynamics/BodyNode.cpp

@@ -760,7 +760,7 @@ void BodyNode::init(Skeleton* _skeleton)
   else
     mDependentGenCoordIndices.clear();
 
-  for (size_t i = 0; i < mParentJoint->getDof(); i++)
+  for (size_t i = 0; i < mParentJoint->getNumDofs(); i++)
     mDependentGenCoordIndices.push_back(mParentJoint->getIndexInSkeleton(i));
 
   // Sort
@@ -956,7 +956,7 @@ void BodyNode::updateGeneralizedForce(bool _withDampingForces)
 {
   assert(mParentJoint != NULL);
 
-  size_t dof = mParentJoint->getDof();
+  size_t dof = mParentJoint->getNumDofs();
 
   if (dof > 0)
   {
@@ -1243,7 +1243,7 @@ void BodyNode::updateJointVelocityChange()
 //==============================================================================
 //void BodyNode::updateBodyVelocityChange()
 //{
-//  if (mParentJoint->getDof() > 0)
+//  if (mParentJoint->getNumDofs() > 0)
 //    mDelV = mParentJoint->getLocalJacobian() * mParentJoint->getVelsChange();
 //  else
 //    mDelV.setZero();
@@ -1310,7 +1310,7 @@ void BodyNode::aggregateGravityForceVector(Eigen::VectorXd* _g,
                           (*it)->mG_F);
   }
 
-  int nGenCoords = mParentJoint->getDof();
+  int nGenCoords = mParentJoint->getNumDofs();
   if (nGenCoords > 0)
   {
     Eigen::VectorXd g = -(mParentJoint->getLocalJacobian().transpose() * mG_F);
@@ -1354,7 +1354,7 @@ void BodyNode::aggregateCombinedVector(Eigen::VectorXd* _Cg,
     mCg_F += math::dAdInvT((*it)->getParentJoint()->mT, (*it)->mCg_F);
   }
 
-  int nGenCoords = mParentJoint->getDof();
+  int nGenCoords = mParentJoint->getNumDofs();
   if (nGenCoords > 0)
   {
     Eigen::VectorXd Cg
@@ -1376,7 +1376,7 @@ void BodyNode::aggregateExternalForces(Eigen::VectorXd* _Fext)
                              (*it)->mFext_F);
   }
 
-  int nGenCoords = mParentJoint->getDof();
+  int nGenCoords = mParentJoint->getNumDofs();
   if (nGenCoords > 0)
   {
     Eigen::VectorXd Fext = mParentJoint->getLocalJacobian().transpose()*mFext_F;
@@ -1389,7 +1389,7 @@ void BodyNode::aggregateExternalForces(Eigen::VectorXd* _Fext)
 void BodyNode::updateMassMatrix()
 {
   mM_dV.setZero();
-  int dof = mParentJoint->getDof();
+  int dof = mParentJoint->getNumDofs();
   if (dof > 0)
   {
     mM_dV.noalias() += mParentJoint->getLocalJacobian()
@@ -1423,7 +1423,7 @@ void BodyNode::aggregateMassMatrix(Eigen::MatrixXd* _MCol, int _col)
   assert(!math::isNan(mM_F));
 
   //
-  int dof = mParentJoint->getDof();
+  int dof = mParentJoint->getNumDofs();
   if (dof > 0)
   {
     int iStart = mParentJoint->getIndexInSkeleton(0);
@@ -1456,7 +1456,7 @@ void BodyNode::aggregateAugMassMatrix(Eigen::MatrixXd* _MCol, int _col,
   assert(!math::isNan(mM_F));
 
   //
-  int dof = mParentJoint->getDof();
+  int dof = mParentJoint->getNumDofs();
   if (dof > 0)
   {
     Eigen::MatrixXd K = Eigen::MatrixXd::Zero(dof, dof);
@@ -1586,14 +1586,14 @@ void BodyNode::_updateBodyJacobian()
   //          n: number of dependent coordinates
   //--------------------------------------------------------------------------
 
-  const int localDof     = mParentJoint->getDof();
+  const int localDof     = mParentJoint->getNumDofs();
   const int ascendantDof = getNumDependentGenCoords() - localDof;
 
   // Parent Jacobian
   if (mParentBodyNode)
   {
     assert(mParentBodyNode->getBodyJacobian().cols()
-           + math::castUIntToInt(mParentJoint->getDof())
+           + math::castUIntToInt(mParentJoint->getNumDofs())
            == mBodyJacobian.cols());
 
     assert(mParentJoint);
@@ -1623,15 +1623,15 @@ void BodyNode::_updateBodyJacobianDeriv()
   //          n: number of dependent coordinates
   //--------------------------------------------------------------------------
 
-  const int numLocalDOFs = mParentJoint->getDof();
+  const int numLocalDOFs = mParentJoint->getNumDofs();
   const int numParentDOFs = getNumDependentGenCoords() - numLocalDOFs;
   math::Jacobian J = getBodyJacobian();
 
   // Parent Jacobian
   if (mParentBodyNode)
   {
     assert(mParentBodyNode->mBodyJacobianDeriv.cols()
-           + math::castUIntToInt(mParentJoint->getDof())
+           + math::castUIntToInt(mParentJoint->getNumDofs())
            == mBodyJacobianDeriv.cols());
 
     assert(mParentJoint);

dart/dynamics/Joint.cpp

@@ -134,7 +134,7 @@ void Joint::init(Skeleton* _skel)
 //==============================================================================
 //Eigen::VectorXd Joint::getDampingForces() const
 //{
-//  int numDofs = getDof();
+//  int numDofs = getNumDofs();
 //  Eigen::VectorXd dampingForce(numDofs);
 
 //  for (int i = 0; i < numDofs; ++i)
@@ -146,7 +146,7 @@ void Joint::init(Skeleton* _skel)
 //==============================================================================
 //Eigen::VectorXd Joint::getSpringForces(double _timeStep) const
 //{
-//  int dof = getDof();
+//  int dof = getNumDofs();
 //  Eigen::VectorXd springForce(dof);
 //  for (int i = 0; i < dof; ++i)
 //  {