From d2e887a0ae4c3653ccfa0a91a7f240a01838d630 Mon Sep 17 00:00:00 2001 From: Megane Millan Date: Thu, 16 Jan 2025 11:00:34 +0100 Subject: [PATCH] [algo/crba] access variables directly --- include/pinocchio/algorithm/crba.hxx | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/include/pinocchio/algorithm/crba.hxx b/include/pinocchio/algorithm/crba.hxx index dd823d2d5..5498b74a8 100644 --- a/include/pinocchio/algorithm/crba.hxx +++ b/include/pinocchio/algorithm/crba.hxx @@ -92,7 +92,7 @@ namespace pinocchio // Traverse the tree backward from parent of mimicking (secondary) joint to common ancestor for (size_t k = model.supports[secondary_id].size() - 2; k >= ancestor_sec; k--) { - const JointIndex i = model.supports[secondary_id].at(k); + const JointIndex i = model.supports[secondary_id][k]; // Skip the common ancestor if it's not the primary id // as this computation would be canceled by the next loop forward @@ -103,12 +103,12 @@ namespace pinocchio .middleCols(model.joints[i].idx_v(), model.joints[i].nv()) .noalias() += data.Ag.middleCols(jmodel.idx_v(), jmodel.derived().jmodel().nv()).transpose() - * model.joints.at(i).jointJacCols(data.J); + * model.joints[i].jointJacCols(data.J); } // Traverse the kinematic tree forward from common ancestor to mimicked (primary) joint for (size_t k = ancestor_prim + 1; k < model.supports[primary_id].size(); k++) { - const JointIndex i = model.supports[primary_id].at(k); + const JointIndex i = model.supports[primary_id][k]; jmodel.jointVelCols(data.M) .middleRows(model.joints[i].idx_v(), model.joints[i].nv()) .noalias() -= model.joints[i].jointJacCols(data.J).transpose()