Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Enable compiler optimization by using 'final' keyword for Jacobian functions #514

Merged
merged 1 commit into from
Oct 5, 2015
Merged

Enable compiler optimization by using 'final' keyword for Jacobian functions #514

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 4 additions & 4 deletions dart/dynamics/BodyNode.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -636,14 +636,14 @@ class BodyNode :

/// Return the generalized Jacobian targeting the origin of this BodyNode. The
/// Jacobian is expressed in the Frame of this BodyNode.
const math::Jacobian& getJacobian() const override;
const math::Jacobian& getJacobian() const override final;

// Prevent the inherited getJacobian functions from being shadowed
using TemplatedJacobianNode<BodyNode>::getJacobian;

/// Return the generalized Jacobian targeting the origin of this BodyNode. The
/// Jacobian is expressed in the World Frame.
const math::Jacobian& getWorldJacobian() const;
const math::Jacobian& getWorldJacobian() const override final;

// Prevent the inherited getWorldJacobian functions from being shadowed
using TemplatedJacobianNode<BodyNode>::getWorldJacobian;
Expand All @@ -656,7 +656,7 @@ class BodyNode :
/// spatial vectors. If you are using classical linear and angular
/// acceleration vectors, then use getJacobianClassicDeriv(),
/// getLinearJacobianDeriv(), or getAngularJacobianDeriv() instead.
const math::Jacobian& getJacobianSpatialDeriv() const override;
const math::Jacobian& getJacobianSpatialDeriv() const override final;

// Prevent the inherited getJacobianSpatialDeriv functions from being shadowed
using TemplatedJacobianNode<BodyNode>::getJacobianSpatialDeriv;
Expand All @@ -668,7 +668,7 @@ class BodyNode :
/// NOTE: Since this is a classical time derivative, it should be used with
/// classical linear and angular vectors. If you are using spatial vectors,
/// use getJacobianSpatialDeriv() instead.
const math::Jacobian& getJacobianClassicDeriv() const override;
const math::Jacobian& getJacobianClassicDeriv() const override final;

// Prevent the inherited getJacobianClassicDeriv functions from being shadowed
using TemplatedJacobianNode<BodyNode>::getJacobianClassicDeriv;
Expand Down
8 changes: 4 additions & 4 deletions dart/dynamics/EndEffector.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -227,25 +227,25 @@ class EndEffector : public FixedFrame,
//----------------------------------------------------------------------------

// Documentation inherited
const math::Jacobian& getJacobian() const override;
const math::Jacobian& getJacobian() const override final;

// Prevent the inherited getJacobian functions from being shadowed
using TemplatedJacobianNode<EndEffector>::getJacobian;

// Documentation inherited
const math::Jacobian& getWorldJacobian() const override;
const math::Jacobian& getWorldJacobian() const override final;

// Prevent the inherited getWorldJacobian functions from being shadowed
using TemplatedJacobianNode<EndEffector>::getWorldJacobian;

// Documentation inherited
const math::Jacobian& getJacobianSpatialDeriv() const override;
const math::Jacobian& getJacobianSpatialDeriv() const override final;

// Prevent the inherited getJacobianSpatialDeriv functions from being shadowed
using TemplatedJacobianNode<EndEffector>::getJacobianSpatialDeriv;

// Documentation inherited
const math::Jacobian& getJacobianClassicDeriv() const override;
const math::Jacobian& getJacobianClassicDeriv() const override final;

// Prevent the inherited getJacobianClassicDeriv functions from being shadowed
using TemplatedJacobianNode<EndEffector>::getJacobianClassicDeriv;
Expand Down