Check jointDense for all the joints about pinocchio HOT 6 CLOSED

Do we still need jointDense with the new JointAccessor ?

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An other question is: do we need jointDense converter for all joint types ?
I do not think so as it is just a copy of the sparse quantity to their dense counterpart, while joint accessor does the same job but avoiding copy.

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I agree with that: we do not need conversion any more.
However, would you also agree that now, automatic conversion should be
possible (from JointVariant to JointDense)?

On 06/16/2016 09:43 AM, Justin Carpentier wrote:

An other question is: do we need jointDense converter for all joint
types ?
I do not think so as it is just a copy of the sparse quantity to their
dense counterpart, while joint accessor does the same job but avoiding
copy.

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With the new JointAccessor, it is now possible to get the conversion of the sparse spatial quantities to their dense representation.

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No need this feature in the very near future. Consider this Issue as solved.

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