More fixes.

Signed-off-by: Franco Cipollone <[email protected]>
maliput · Sep 28, 2023 · b180cac · b180cac
1 parent 3697f8c
commit b180cac
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Showing 2 changed files with 21 additions and 22 deletions.
diff --git a/src/systems/trajectory.cc b/src/systems/trajectory.cc
@@ -48,24 +48,20 @@ std::vector<Eigen::MatrixXd> ToVectorOfMatrixXd(const std::vector<Eigen::Vector3
 
 }  // namespace
 
-using drake::multibody::SpatialVelocity;
-using drake::trajectories::PiecewisePolynomial;
-using drake::trajectories::PiecewiseQuaternionSlerp;
-
 PoseVelocity::PoseVelocity()
     : PoseVelocity::PoseVelocity(Eigen::Quaternion<double>::Identity(), Eigen::Vector3d::Zero(),
-                                 SpatialVelocity<double>(drake::Vector6<double>::Zero())) {}
+                                 ::drake::multibody::SpatialVelocity<double>(drake::Vector6<double>::Zero())) {}
 
 PoseVelocity::PoseVelocity(const Eigen::Quaternion<double>& rotation, const Eigen::Vector3d& translation,
-                           const drake::multibody::SpatialVelocity<double>& velocity)
+                           const ::drake::multibody::SpatialVelocity<double>& velocity)
     : rotation_(rotation), translation_(translation), velocity_(velocity) {}
 
 PoseVelocity Trajectory::value(double time) const {
   const Eigen::Quaternion<double> rotation(rotation_.orientation(time));
   const Eigen::Vector3d translation(translation_.value(time));
   const Eigen::Vector3d translation_dot(translation_dot_.value(time));
   const Eigen::Vector3d rpy_dot(rotation_.angular_velocity(time));
-  const SpatialVelocity<double> velocity(rpy_dot, translation_dot);
+  const ::drake::multibody::SpatialVelocity<double> velocity(rpy_dot, translation_dot);
   return PoseVelocity{rotation, translation, velocity};
 }
 
@@ -75,18 +71,20 @@ Trajectory Trajectory::Make(const std::vector<double>& times,
                             const InterpolationType& interp_type) {
   DRAKE_THROW_UNLESS(times.size() == knots_rotation.size());
   DRAKE_THROW_UNLESS(times.size() == knots_translation.size());
-  const PiecewiseQuaternionSlerp<double> rotation(times, knots_rotation);
-  PiecewisePolynomial<double> translation;
+  const ::drake::trajectories::PiecewiseQuaternionSlerp<double> rotation(times, knots_rotation);
+  ::drake::trajectories::PiecewisePolynomial<double> translation;
   switch (interp_type) {
     case InterpolationType::kFirstOrderHold:
-      translation = PiecewisePolynomial<double>::FirstOrderHold(times, ToVectorOfMatrixXd(knots_translation));
+      translation = ::drake::trajectories::PiecewisePolynomial<double>::FirstOrderHold(
+          times, ToVectorOfMatrixXd(knots_translation));
       break;
     case InterpolationType::kCubic:
-      translation = PiecewisePolynomial<double>::CubicWithContinuousSecondDerivatives(
+      translation = ::drake::trajectories::PiecewisePolynomial<double>::CubicWithContinuousSecondDerivatives(
           times, ToVectorOfMatrixXd(knots_translation));
       break;
     case InterpolationType::kPchip:
-      translation = PiecewisePolynomial<double>::CubicShapePreserving(times, ToVectorOfMatrixXd(knots_translation));
+      translation = ::drake::trajectories::PiecewisePolynomial<double>::CubicShapePreserving(
+          times, ToVectorOfMatrixXd(knots_translation));
       break;
     default:
       throw std::logic_error("The provided interp_type is not supported.");
@@ -114,7 +112,7 @@ Trajectory Trajectory::MakeCubicFromWaypoints(const std::vector<Eigen::Quaternio
     const double delta_t = distance / average_speed;
     times[i + 1] = delta_t + times[i];
   }
-  const PiecewiseQuaternionSlerp<double> rotation(times, waypoints_rotation);
+  const ::drake::trajectories::PiecewiseQuaternionSlerp<double> rotation(times, waypoints_rotation);
 
   // Starting with a piecewise-linear estimate of spline segment lengths, make
   // a loop that refines the segment lengths based on the constructed spline,
@@ -125,8 +123,8 @@ Trajectory Trajectory::MakeCubicFromWaypoints(const std::vector<Eigen::Quaternio
     // Represent forward speed in frame A as velocity in frame W.
     linear_velocities[i] = rotation_matrix * Eigen::Vector3d{speeds[i], 0., 0.};
   }
-  const PiecewisePolynomial<double> translation =
-      PiecewisePolynomial<double>::CubicHermite(times, translations, linear_velocities);
+  const ::drake::trajectories::PiecewisePolynomial<double> translation =
+      ::drake::trajectories::PiecewisePolynomial<double>::CubicHermite(times, translations, linear_velocities);
 
   return Trajectory(translation, rotation);
 }
@@ -140,7 +138,8 @@ Trajectory Trajectory::MakeCubicFromWaypoints(const std::vector<Eigen::Quaternio
   return MakeCubicFromWaypoints(waypoints_rotation, waypoints_translation, speeds);
 }
 
-Trajectory::Trajectory(const PiecewisePolynomial<double>& translation, const PiecewiseQuaternionSlerp<double>& rotation)
+Trajectory::Trajectory(const ::drake::trajectories::PiecewisePolynomial<double>& translation,
+                       const ::drake::trajectories::PiecewiseQuaternionSlerp<double>& rotation)
     : translation_(translation), rotation_(rotation), translation_dot_(translation.derivative()) {}
 
 }  // namespace delphyne
diff --git a/src/systems/trajectory.h b/src/systems/trajectory.h
@@ -65,7 +65,7 @@ class PoseVelocity final {
   /// @param velocity the (rotational/translational) spatial velocity Xdot_WA of
   /// the frame A with respect to frame W.
   PoseVelocity(const Eigen::Quaternion<double>& rotation, const Eigen::Vector3d& translation,
-               const drake::multibody::SpatialVelocity<double>& velocity);
+               const ::drake::multibody::SpatialVelocity<double>& velocity);
 
   /// Accesses p_WA, the translation component of the pose of A, expressed in
   /// world-frame coordinates W.
@@ -190,12 +190,12 @@ class Trajectory final {
  private:
   // Constructs a Trajectory from a translation PiecewisePolynomial, @p
   // translation, and a rotation PiecewiseQuaternionSlerp, @p rotation.
-  explicit Trajectory(const drake::trajectories::PiecewisePolynomial<double>& translation,
-                      const drake::trajectories::PiecewiseQuaternionSlerp<double>& rotation);
+  explicit Trajectory(const ::drake::trajectories::PiecewisePolynomial<double>& translation,
+                      const ::drake::trajectories::PiecewiseQuaternionSlerp<double>& rotation);
 
-  drake::trajectories::PiecewisePolynomial<double> translation_;
-  drake::trajectories::PiecewiseQuaternionSlerp<double> rotation_;
-  drake::trajectories::PiecewisePolynomial<double> translation_dot_;
+  ::drake::trajectories::PiecewisePolynomial<double> translation_;
+  ::drake::trajectories::PiecewiseQuaternionSlerp<double> rotation_;
+  ::drake::trajectories::PiecewisePolynomial<double> translation_dot_;
 };
 
 }  // namespace delphyne