[wip/sot-dynamic-pinocchio-v3][PATCH] fix getFrameJacobian

sot-dynamic-pinocchio-v3/Makefile

@@ -5,7 +5,7 @@
 VERSION=		3.1.6
 PKGNAME=		sot-dynamic-pinocchio-v3-${VERSION}
 DISTNAME=		sot-dynamic-pinocchio-v3-${VERSION}
-PKGREVISION= 		1
+PKGREVISION= 		2
 
 MASTER_SITES=		${MASTER_SITE_OPENROBOTS:=sot-dynamic-pinocchio-v3/}
 MASTER_REPOSITORY=	${MASTER_REPOSITORY_GITHUB}stack-of-tasks/sot-dynamic-pinocchio/
@@ -16,7 +16,6 @@ MAINTAINER=	gepetto@laas.fr
 CATEGORIES=	wip
 LICENSE=	gnu-lgpl-v3
 COMMENT=	Create entities to compute a robot dynamics properties using pinocchio
-PKGREVISION=	1
 
 
 # parallel builds would consume all memory because of the g++ process size

sot-dynamic-pinocchio-v3/distinfo

@@ -2,3 +2,4 @@ SHA1 (sot-dynamic-pinocchio-v3-3.1.6.tar.gz) = a58a44cfae8f134f46518d44e841ff891
 RMD160 (sot-dynamic-pinocchio-v3-3.1.6.tar.gz) = c3f6f311bf39d04bfcc398be17a2f9f974007ab1
 Size (sot-dynamic-pinocchio-v3-3.1.6.tar.gz) = 938662 bytes
 SHA1 (patch-aa) = f95e1c092c6e3e4cb06e809adb87728948ea3120
+SHA1 (patch-ab) = a566e552df7201a08730907b8b7a66603585053b

sot-dynamic-pinocchio-v3/patches/patch-ab

+diff --git src/sot-dynamic-pinocchio.cpp src/sot-dynamic-pinocchio.cpp
+index 123580d..b968699 100644
+--- src/sot-dynamic-pinocchio.cpp
++++ src/sot-dynamic-pinocchio.cpp
+@@ -745,8 +745,8 @@ 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(*m_model,*m_data,(se3::Model::Index)jointId,tmp);
++    se3::getJacobian<se3::WORLD>(*m_model,*m_data,
++                                 m_model->frames[(se3::Model::Index)jointId].parent,tmp);
+   }
+   else
+     se3::getJacobian<se3::WORLD>(*m_model,*m_data,(se3::Model::Index)jointId,tmp);
+@@ -768,6 +768,7 @@ computeGenericEndeffJacobian(const bool isFrame, const int jointId,dg::Matrix& r
+   //TODO: Find a way to remove tmp object
+   se3::Data::Matrix6x tmp = Eigen::MatrixXd::Zero(6,m_model->nv);
+   //std::string temp;
++  //Computes Jacobian in end-eff coordinates.
+   if(isFrame){
+     se3::framesForwardKinematics(*m_model,*m_data);
+     se3::getFrameJacobian(*m_model,*m_data,(se3::Model::Index)jointId,tmp);
+@@ -777,7 +778,7 @@ computeGenericEndeffJacobian(const bool isFrame, const int jointId,dg::Matrix& r
+   }
+   else {
+     //temp = m_model->getJointName((se3::Model::Index)jointId);
+-    se3::getJacobian<se3::WORLD>
++    se3::getJacobian<se3::LOCAL>
+       (*m_model,*m_data,(se3::Model::Index)jointId,tmp);
+     sotDEBUG(25) << "EndEffJacobian for "
+                  << m_model->getJointName((se3::Model::Index)jointId)