From ae930ac3ad27022a720e8f3029d4f1a28b2c30c2 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Sun, 11 Nov 2018 09:45:29 +0100
Subject: [PATCH] Update to pinocchio v2
---
include/hpp/manipulation/fwd.hh | 4 ++--
src/device.cc | 11 +++++------
src/graph/helper.cc | 4 ++--
src/handle.cc | 4 ++--
src/steering-method/cross-state-optimization.cc | 2 +-
5 files changed, 12 insertions(+), 13 deletions(-)
diff --git a/include/hpp/manipulation/fwd.hh b/include/hpp/manipulation/fwd.hh
index f203ccd..e101c1c 100644
--- a/include/hpp/manipulation/fwd.hh
+++ b/include/hpp/manipulation/fwd.hh
@@ -32,8 +32,8 @@ namespace hpp {
typedef pinocchio::JointPtr_t JointPtr_t;
typedef pinocchio::JointIndex JointIndex;
typedef std::vector<JointIndex> JointIndices_t;
- typedef se3::FrameIndex FrameIndex;
- typedef std::vector<se3::FrameIndex> FrameIndices_t;
+ typedef pinocchio::FrameIndex FrameIndex;
+ typedef std::vector<pinocchio::FrameIndex> FrameIndices_t;
typedef pinocchio::Configuration_t Configuration_t;
typedef pinocchio::ConfigurationIn_t ConfigurationIn_t;
typedef pinocchio::ConfigurationOut_t ConfigurationOut_t;
diff --git a/src/device.cc b/src/device.cc
index d4f0109..680a5ea 100644
--- a/src/device.cc
+++ b/src/device.cc
@@ -29,8 +29,7 @@
namespace hpp {
namespace manipulation {
- using se3::Frame;
- using se3::FrameIndex;
+ using ::pinocchio::Frame;
pinocchio::DevicePtr_t Device::clone () const
{
@@ -48,7 +47,7 @@ namespace hpp {
pinocchio::GeomModel& gm = geomModel();
// The root frame should be the first frame.
Frame& rootFrame = m.frames[idxs[0]];
- if (rootFrame.type == se3::JOINT) {
+ if (rootFrame.type == ::pinocchio::JOINT) {
JointIndex jid = m.getJointId (rootFrame.name);
m.jointPlacements[jid] = t;
return;
@@ -61,16 +60,16 @@ namespace hpp {
if (frame.parent == rootFrame.parent) {
// frame is between rootFrame and next moving joints.
frame.placement = shift * frame.placement;
- if (frame.type == se3::BODY) {
+ if (frame.type == ::pinocchio::BODY) {
// Update the geometry object placement.
for (std::size_t k = 0; k < gm.geometryObjects.size(); ++k)
{
- se3::GeometryObject& go = gm.geometryObjects[k];
+ ::pinocchio::GeometryObject& go = gm.geometryObjects[k];
if (go.parentFrame == idxs[i])
go.placement = shift * go.placement;
}
}
- } else if ((frame.type == se3::JOINT) && (rootFrame.parent == m.parents[frame.parent])) {
+ } else if ((frame.type == ::pinocchio::JOINT) && (rootFrame.parent == m.parents[frame.parent])) {
// frame corresponds to a child joint of rootFrame.parent
m.jointPlacements[frame.parent] = shift * m.jointPlacements[frame.parent];
}
diff --git a/src/graph/helper.cc b/src/graph/helper.cc
index 66598e5..0e13b17 100644
--- a/src/graph/helper.cc
+++ b/src/graph/helper.cc
@@ -1103,8 +1103,8 @@ namespace hpp {
// Loop over all frames of object, detect joint and create locked
// joint.
assert (robot.frameIndices.has (od.name));
- BOOST_FOREACH (const se3::FrameIndex& f, robot.frameIndices.get (od.name)) {
- if (model.frames[f].type != se3::JOINT) continue;
+ BOOST_FOREACH (const FrameIndex& f, robot.frameIndices.get (od.name)) {
+ if (model.frames[f].type != ::pinocchio::JOINT) continue;
const JointIndex j = model.frames[f].parent;
JointPtr_t oj (new Joint (ps->robot(), j));
LiegroupSpacePtr_t space (oj->configurationSpace ());
diff --git a/src/handle.cc b/src/handle.cc
index 1022ad1..2be7858 100644
--- a/src/handle.cc
+++ b/src/handle.cc
@@ -21,7 +21,7 @@
#include <boost/assign/list_of.hpp>
-#include <pinocchio/multibody/joint/joint.hpp>
+#include <pinocchio/multibody/joint/joint-generic.hpp>
#include <hpp/util/debug.hh>
@@ -62,7 +62,7 @@ namespace hpp {
bool isHandleOnFreeflyer (const Handle& handle)
{
- if (handle.joint()->jointModel().shortname() == se3::JointModelFreeFlyer::classname()
+ if (handle.joint()->jointModel().shortname() == ::pinocchio::JointModelFreeFlyer::classname()
&& !handle.joint ()->parentJoint ()) {
return true;
}
diff --git a/src/steering-method/cross-state-optimization.cc b/src/steering-method/cross-state-optimization.cc
index a154034..53d0255 100644
--- a/src/steering-method/cross-state-optimization.cc
+++ b/src/steering-method/cross-state-optimization.cc
@@ -549,7 +549,7 @@ namespace hpp {
bool _saturate (vectorIn_t q, vectorOut_t qSat, Eigen::VectorXi& sat)
{
bool ret = false;
- const se3::Model& model = robot->model();
+ const pinocchio::Model& model = robot->model();
for (std::size_t i = 1; i < model.joints.size(); ++i) {
const size_type jnq = model.joints[i].nq();
--
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