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Rename variables with reserved names #456

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merged 1 commit into from
Jan 19, 2024
Merged

Rename variables with reserved names #456

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4 changes: 2 additions & 2 deletions orocos_kdl/src/chainiksolverpos_lma.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -49,7 +49,7 @@ inline void Twist_to_Eigen(const KDL::Twist& t,Eigen::MatrixBase<Derived>& e) {

ChainIkSolverPos_LMA::ChainIkSolverPos_LMA(
const KDL::Chain& _chain,
const Eigen::Matrix<double,6,1>& _L,
const Eigen::Matrix<double,6,1>& _l,
double _eps,
int _maxiter,
double _eps_joints
Expand All @@ -68,7 +68,7 @@ ChainIkSolverPos_LMA::ChainIkSolverPos_LMA(
maxiter(_maxiter),
eps(_eps),
eps_joints(_eps_joints),
L(_L.cast<ScalarType>()),
L(_l.cast<ScalarType>()),
T_base_jointroot(nj),
T_base_jointtip(nj),
q(nj),
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4 changes: 2 additions & 2 deletions orocos_kdl/src/chainiksolverpos_lma.hpp
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Expand Up @@ -83,7 +83,7 @@ class ChainIkSolverPos_LMA : public KDL::ChainIkSolverPos
* \f$ E = \Delta \mathbf{x}^T \mathbf{L} \mathbf{L}^T \Delta \mathbf{x} \f$, with \f$\mathbf{L}\f$ a diagonal matrix.
*
* \param _chain specifies the kinematic chain.
* \param _L specifies the "square root" of the weight (diagonal) matrix in task space. This diagonal matrix is specified as a vector.
* \param _l specifies the "square root" of the weight (diagonal) matrix in task space. This diagonal matrix is specified as a vector.
* \param _eps specifies the desired accuracy in task space; <B>after</B> weighing with
* the weight matrix, it is applied on \f$E\f$.
* \param _maxiter specifies the maximum number of iterations.
Expand All @@ -94,7 +94,7 @@ class ChainIkSolverPos_LMA : public KDL::ChainIkSolverPos
*/
ChainIkSolverPos_LMA(
const KDL::Chain& _chain,
const Eigen::Matrix<double,6,1>& _L,
const Eigen::Matrix<double,6,1>& _l,
double _eps=1E-5,
int _maxiter=500,
double _eps_joints=1E-15
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