Commit 02a6c986 authored by Justin Carpentier's avatar Justin Carpentier Committed by GitHub
Browse files

Merge pull request #393 from jcarpent/topic/devel

Minor fix of bugs with c++11
parents 269cf49d 0514a06f
......@@ -55,6 +55,7 @@ namespace se3
/**
* @brief Returns the jacobian of the frame expresssed in the world frame or
in the local frame depending on the template argument.
* You must first call se3::framesForwardKinematics and se3::computeJacobians to update values in data structure.
* @remark Expressed in the local frame, the jacobian maps the joint velocity vector to the spatial velocity of the center of the frame, expressed in the frame coordinates system. Expressed in the global frame, the jacobian maps to the spatial velocity of the point coinciding with the center of the world and attached to the frame.
*
......@@ -129,7 +130,6 @@ namespace se3
const int colRef = nv(model.joints[parent])+idx_v(model.joints[parent])-1;
if(!local_frame)
getJacobian<local_frame>(model, data, parent, J);
......
......@@ -468,7 +468,7 @@ namespace se3
const Inertia YY = (!Y) ? Inertia::Zero() : convertFromUrdf(*Y);
std::cout << "Adding Body" << std::endl;
std::cout << "\"" << link_name << "\" connected to " << "\"" << parent_link_name << "\" throw joint " << "\"" << joint_name << "\"" << std::endl;
std::cout << "joint type: " << joint_info << std::endl;
std::cout << "joint type: " << joint_info.str() << std::endl;
std::cout << "joint placement:\n" << jointPlacement;
std::cout << "body info: " << std::endl;
std::cout << " " << "mass: " << YY.mass() << std::endl;
......
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