Unverified Commit 79396289 authored by Guilhem Saurel's avatar Guilhem Saurel Committed by GitHub
Browse files

Merge pull request #68 from stack-of-tasks/topic/pinocchio_v2

Breaking: pinocchio v2.0.0
parents 72500bbb 2749a6a1
Pipeline #3107 failed with stage
in 21 minutes and 2 seconds
......@@ -55,7 +55,7 @@ IF(BUILD_PYTHON_INTERFACE)
INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_DIRS})
ADD_REQUIRED_DEPENDENCY("dynamic-graph-python >= 3.0.0")
ENDIF(BUILD_PYTHON_INTERFACE)
ADD_COMPILE_DEPENDENCY ("pinocchio")
ADD_COMPILE_DEPENDENCY ("pinocchio >= 2.0.0")
SEARCH_FOR_BOOST()
......
......@@ -41,7 +41,7 @@ void Device::integrateRollPitchYaw(Vector& state, const Vector& control,
using Eigen::Vector3d;
using Eigen::QuaternionMapd;
typedef se3::SpecialEuclideanOperation<3> SE3;
typedef pinocchio::SpecialEuclideanOperationTpl<3, double> SE3;
Eigen::Matrix<double, 7, 1> qin, qout;
qin.head<3>() = state.head<3>();
......
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