From 0141dd95ba5baedce6a087e14fc0a57548f83932 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Tue, 26 May 2020 15:06:35 +0200
Subject: [PATCH] [wip/{,py-}sot-talos-balance] add patch-aa
to fix build with pinocchio 2.4.5
---
py-sot-talos-balance/Makefile | 1 +
py-sot-talos-balance/distinfo | 1 +
py-sot-talos-balance/patches/patch-aa | 48 +++++++++++++++++++++++++++
sot-talos-balance/Makefile | 1 +
sot-talos-balance/distinfo | 1 +
sot-talos-balance/patches/patch-aa | 48 +++++++++++++++++++++++++++
6 files changed, 100 insertions(+)
create mode 100644 py-sot-talos-balance/patches/patch-aa
create mode 100644 sot-talos-balance/patches/patch-aa
diff --git a/py-sot-talos-balance/Makefile b/py-sot-talos-balance/Makefile
index 4280d546..ba14d23d 100644
--- a/py-sot-talos-balance/Makefile
+++ b/py-sot-talos-balance/Makefile
@@ -5,6 +5,7 @@
ORG= stack-of-tasks
NAME= sot-talos-balance
VERSION= 1.9.0
+PKGREVISION= 1
CATEGORIES= wip
COMMENT= Balance for TALOS humanoid robot (python bindings)
diff --git a/py-sot-talos-balance/distinfo b/py-sot-talos-balance/distinfo
index ee9c463e..da5c25c0 100644
--- a/py-sot-talos-balance/distinfo
+++ b/py-sot-talos-balance/distinfo
@@ -1,3 +1,4 @@
SHA1 (sot-talos-balance-1.9.0.tar.gz) = 2399bf0c0c658df4f9b0e42ffa56075d50074082
RMD160 (sot-talos-balance-1.9.0.tar.gz) = 035f0229e495d2c5d7ef8330f1ed7306515a89f4
Size (sot-talos-balance-1.9.0.tar.gz) = 32951496 bytes
+SHA1 (patch-aa) = 3569334b17dd9a9f0f4cd618ba033200de2f61e0
diff --git a/py-sot-talos-balance/patches/patch-aa b/py-sot-talos-balance/patches/patch-aa
new file mode 100644
index 00000000..4ab9a627
--- /dev/null
+++ b/py-sot-talos-balance/patches/patch-aa
@@ -0,0 +1,48 @@
+From 61d5bd1d7adcd5208f924d0cfe3d308082b90bb0 Mon Sep 17 00:00:00 2001
+From: Guilhem Saurel <guilhem.saurel@laas.fr>
+Date: Tue, 26 May 2020 14:56:08 +0200
+Subject: [PATCH] fix compatibility with pinocchio v2.4.5
+
+ref https://github.com/stack-of-tasks/pinocchio/pull/1220
+---
+ include/sot/talos_balance/robot/robot-wrapper.hh | 4 ++--
+ src/robot/robot-wrapper.cpp | 4 ++--
+ 2 files changed, 4 insertions(+), 4 deletions(-)
+
+diff --git a/include/sot/talos_balance/robot/robot-wrapper.hh b/include/sot/talos_balance/robot/robot-wrapper.hh
+index c764595..1448020 100644
+--- include/sot/talos_balance/robot/robot-wrapper.hh
++++ include/sot/talos_balance/robot/robot-wrapper.hh
+@@ -116,9 +116,9 @@ class RobotWrapper {
+
+ void frameClassicAcceleration(const Data& data, const Model::FrameIndex index, Motion& frameAcceleration) const;
+
+- void frameJacobianWorld(const Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const;
++ void frameJacobianWorld(Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const;
+
+- void frameJacobianLocal(const Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const;
++ void frameJacobianLocal(Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const;
+
+ protected:
+ void updateMd();
+diff --git a/src/robot/robot-wrapper.cpp b/src/robot/robot-wrapper.cpp
+index e91467e..88a0cd3 100644
+--- src/robot/robot-wrapper.cpp
++++ src/robot/robot-wrapper.cpp
+@@ -166,11 +166,11 @@ void RobotWrapper::frameClassicAcceleration(const Data& data, const Model::Frame
+ frameAcceleration.linear() += v.angular().cross(v.linear());
+ }
+
+-void RobotWrapper::frameJacobianWorld(const Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const {
++void RobotWrapper::frameJacobianWorld(Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const {
+ return pinocchio::getFrameJacobian(m_model, data, index, pinocchio::WORLD, J);
+ }
+
+-void RobotWrapper::frameJacobianLocal(const Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const {
++void RobotWrapper::frameJacobianLocal(Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const {
+ return pinocchio::getFrameJacobian(m_model, data, index, pinocchio::LOCAL, J);
+ }
+
+--
+2.26.2
+
diff --git a/sot-talos-balance/Makefile b/sot-talos-balance/Makefile
index 716f90af..baead4d0 100644
--- a/sot-talos-balance/Makefile
+++ b/sot-talos-balance/Makefile
@@ -5,6 +5,7 @@
ORG= stack-of-tasks
NAME= sot-talos-balance
VERSION= 1.9.0
+PKGREVISION= 1
CATEGORIES= wip
COMMENT= Balance for TALOS humanoid robot
diff --git a/sot-talos-balance/distinfo b/sot-talos-balance/distinfo
index ee9c463e..da5c25c0 100644
--- a/sot-talos-balance/distinfo
+++ b/sot-talos-balance/distinfo
@@ -1,3 +1,4 @@
SHA1 (sot-talos-balance-1.9.0.tar.gz) = 2399bf0c0c658df4f9b0e42ffa56075d50074082
RMD160 (sot-talos-balance-1.9.0.tar.gz) = 035f0229e495d2c5d7ef8330f1ed7306515a89f4
Size (sot-talos-balance-1.9.0.tar.gz) = 32951496 bytes
+SHA1 (patch-aa) = 3569334b17dd9a9f0f4cd618ba033200de2f61e0
diff --git a/sot-talos-balance/patches/patch-aa b/sot-talos-balance/patches/patch-aa
new file mode 100644
index 00000000..4ab9a627
--- /dev/null
+++ b/sot-talos-balance/patches/patch-aa
@@ -0,0 +1,48 @@
+From 61d5bd1d7adcd5208f924d0cfe3d308082b90bb0 Mon Sep 17 00:00:00 2001
+From: Guilhem Saurel <guilhem.saurel@laas.fr>
+Date: Tue, 26 May 2020 14:56:08 +0200
+Subject: [PATCH] fix compatibility with pinocchio v2.4.5
+
+ref https://github.com/stack-of-tasks/pinocchio/pull/1220
+---
+ include/sot/talos_balance/robot/robot-wrapper.hh | 4 ++--
+ src/robot/robot-wrapper.cpp | 4 ++--
+ 2 files changed, 4 insertions(+), 4 deletions(-)
+
+diff --git a/include/sot/talos_balance/robot/robot-wrapper.hh b/include/sot/talos_balance/robot/robot-wrapper.hh
+index c764595..1448020 100644
+--- include/sot/talos_balance/robot/robot-wrapper.hh
++++ include/sot/talos_balance/robot/robot-wrapper.hh
+@@ -116,9 +116,9 @@ class RobotWrapper {
+
+ void frameClassicAcceleration(const Data& data, const Model::FrameIndex index, Motion& frameAcceleration) const;
+
+- void frameJacobianWorld(const Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const;
++ void frameJacobianWorld(Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const;
+
+- void frameJacobianLocal(const Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const;
++ void frameJacobianLocal(Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const;
+
+ protected:
+ void updateMd();
+diff --git a/src/robot/robot-wrapper.cpp b/src/robot/robot-wrapper.cpp
+index e91467e..88a0cd3 100644
+--- src/robot/robot-wrapper.cpp
++++ src/robot/robot-wrapper.cpp
+@@ -166,11 +166,11 @@ void RobotWrapper::frameClassicAcceleration(const Data& data, const Model::Frame
+ frameAcceleration.linear() += v.angular().cross(v.linear());
+ }
+
+-void RobotWrapper::frameJacobianWorld(const Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const {
++void RobotWrapper::frameJacobianWorld(Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const {
+ return pinocchio::getFrameJacobian(m_model, data, index, pinocchio::WORLD, J);
+ }
+
+-void RobotWrapper::frameJacobianLocal(const Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const {
++void RobotWrapper::frameJacobianLocal(Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const {
+ return pinocchio::getFrameJacobian(m_model, data, index, pinocchio::LOCAL, J);
+ }
+
+--
+2.26.2
+
--
GitLab