Update to pinocchio v2

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;

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];
         }

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 ());

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;
       }

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();