From dd8c99ff7285edba05c5dd55cf18db495b9f72cc Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Wed, 10 Oct 2018 11:42:18 +0200
Subject: [PATCH] ccrba is now in a new centroidal.hpp file in Pinocchio v1.3.0
---
CMakeLists.txt | 2 +-
src/sot-dynamic-pinocchio.cpp | 1 +
2 files changed, 2 insertions(+), 1 deletion(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2b99999..af675df 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -43,7 +43,7 @@ SET(PKG_CONFIG_ADDITIONAL_VARIABLES
SETUP_PROJECT()
# Search for dependencies.
ADD_REQUIRED_DEPENDENCY("eigenpy")
-ADD_REQUIRED_DEPENDENCY("pinocchio >= 1.2.6")
+ADD_REQUIRED_DEPENDENCY("pinocchio >= 1.3.0")
ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 3.0.0")
ADD_REQUIRED_DEPENDENCY("sot-core >= 3.0.0")
ADD_REQUIRED_DEPENDENCY("sot-tools >= 2.0.0")
diff --git a/src/sot-dynamic-pinocchio.cpp b/src/sot-dynamic-pinocchio.cpp
index 4aced9a..1d5430a 100644
--- a/src/sot-dynamic-pinocchio.cpp
+++ b/src/sot-dynamic-pinocchio.cpp
@@ -29,6 +29,7 @@
#include <pinocchio/algorithm/center-of-mass.hpp>
#include <pinocchio/spatial/motion.hpp>
#include <pinocchio/algorithm/crba.hpp>
+#include <pinocchio/algorithm/centroidal.hpp>
#include <pinocchio/multibody/model.hpp>
#include <dynamic-graph/all-commands.h>
--
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