IVIGIT.

CMakeLists.txt

@@ -50,6 +50,7 @@ SET(libs
 	task-dyn-pd
 	dynamic-integrator
 	solver-op-space
+	solver-kine
 	zmp-estimator
 	pseudo-robot-dynamic
 	robot-dyn-simu
@@ -70,6 +71,8 @@ SET(headers
 	task-dyn-pd.h
 	dynamic-integrator.h
 	solver-op-space.h
+	solver-kine.h
+
 	zmp-estimator.h
 	pseudo-robot-dynamic.h
 	robot-dyn-simu.h

src/dynamic_graph/sot/dyninv/__init__.py

@@ -13,6 +13,9 @@ PseudoRobotDynamic('')
 from solver_op_space import SolverOpSpace
 SolverOpSpace('')
 
+from solver_kine import SolverKine
+SolverKine('')
+
 from zmp_estimator import ZmpEstimator
 ZmpEstimator('')
 

src/solver-op-space.cpp

@@ -71,7 +71,7 @@ namespace dynamicgraph
 	,CONSTRUCT_SIGNAL_IN(breakFactor,double)
 	,CONSTRUCT_SIGNAL_OUT(control,ml::Vector,
 			      matrixInertiaSIN << dyndriftSIN
-			      << velocitySIN << controlSOUT)
+			      << velocitySIN )
 	,CONSTRUCT_SIGNAL(zmp,OUT,ml::Vector)
 	,CONSTRUCT_SIGNAL(acceleration,OUT,ml::Vector)