From f88c37b49a15685a2bb518f013cf5ffe488734ae Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Tue, 16 Jan 2018 10:38:51 +0100
Subject: [PATCH] Reflect new change in getJacoabian in pinocchio
---
.version | 1 -
include/sot-dynamic-pinocchio/dynamic-pinocchio.h | 1 +
src/sot-dynamic-pinocchio.cpp | 9 +++++----
3 files changed, 6 insertions(+), 5 deletions(-)
delete mode 100644 .version
diff --git a/.version b/.version
deleted file mode 100644
index 3ad0595..0000000
--- a/.version
+++ /dev/null
@@ -1 +0,0 @@
-3.1.5
diff --git a/include/sot-dynamic-pinocchio/dynamic-pinocchio.h b/include/sot-dynamic-pinocchio/dynamic-pinocchio.h
index e780086..c8e28c6 100644
--- a/include/sot-dynamic-pinocchio/dynamic-pinocchio.h
+++ b/include/sot-dynamic-pinocchio/dynamic-pinocchio.h
@@ -45,6 +45,7 @@
#include <sot/core/matrix-geometry.hh>
/* PINOCCHIO */
+#include <pinocchio/macros.hpp>
#include <pinocchio/multibody/model.hpp>
#include <pinocchio/multibody/joint/joint-variant.hpp>
#include <pinocchio/algorithm/rnea.hpp>
diff --git a/src/sot-dynamic-pinocchio.cpp b/src/sot-dynamic-pinocchio.cpp
index 77d4368..db7e33c 100644
--- a/src/sot-dynamic-pinocchio.cpp
+++ b/src/sot-dynamic-pinocchio.cpp
@@ -745,9 +745,9 @@ computeGenericJacobian(const bool isFrame, const int jointId, dg::Matrix& res,co
//Computes Jacobian in world coordinates.
if(isFrame){
//se3::framesForwardKinematics(*m_model,*m_data);
- se3::getFrameJacobian<false>(*m_model,*m_data,(se3::Model::Index)jointId,tmp);
+ se3::getJacobian<se3::LOCAL>(*m_model,*m_data,(se3::Model::Index)jointId,tmp);
}
- else se3::getJacobian<false>(*m_model,*m_data,(se3::Model::Index)jointId,tmp);
+ else se3::getJacobian<se3::WORLD>(*m_model,*m_data,(se3::Model::Index)jointId,tmp);
res = tmp;
sotDEBUGOUT(25);
return res;
@@ -768,14 +768,15 @@ computeGenericEndeffJacobian(const bool isFrame, const int jointId,dg::Matrix& r
//std::string temp;
if(isFrame){
//se3::framesForwardKinematics(*m_model,*m_data);
- se3::getFrameJacobian<true>(*m_model,*m_data,(se3::Model::Index)jointId,tmp);
+ se3::getJacobian<se3::LOCAL>(*m_model,*m_data,(se3::Model::Index)jointId,tmp);
sotDEBUG(25) << "EndEffJacobian for "
<< m_model->frames.at((se3::Model::Index)jointId).name
<<" is "<<tmp<<std::endl;
}
else {
//temp = m_model->getJointName((se3::Model::Index)jointId);
- se3::getJacobian<true>(*m_model,*m_data,(se3::Model::Index)jointId,tmp);
+ se3::getJacobian<se3::WORLD>
+ (*m_model,*m_data,(se3::Model::Index)jointId,tmp);
sotDEBUG(25) << "EndEffJacobian for "
<< m_model->getJointName((se3::Model::Index)jointId)
<<" is "<<tmp<<std::endl;
--
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