From 9a2a54bb9514c1943db749a9508886c849e9b7af Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Fri, 9 Jun 2017 11:11:28 +0200
Subject: [PATCH] Update to pinocchio 1.2.4
---
src/sot-dynamic-pinocchio.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/sot-dynamic-pinocchio.cpp b/src/sot-dynamic-pinocchio.cpp
index 51cb88d..77d4368 100644
--- a/src/sot-dynamic-pinocchio.cpp
+++ b/src/sot-dynamic-pinocchio.cpp
@@ -870,9 +870,9 @@ computeCom( dg::Vector& com,const int& time )
{
sotDEBUGIN(25);
- const Eigen::VectorXd& q = pinocchioPosSINTERN.access(time);
forwardKinematicsSINTERN(time);
- com = se3::centerOfMass(*m_model,*m_data,q,false,false);
+ se3::centerOfMass(*m_model,*m_data,false);
+ com = m_data->com[0];
sotDEBUGOUT(25);
return com;
}
--
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