[wip/{,py-}sot-talos-balance] add patch-aa

to fix build with pinocchio 2.4.5

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)

py-sot-talos-balance/distinfo

 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

py-sot-talos-balance/patches/patch-aa

+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
+

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

sot-talos-balance/distinfo

 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

sot-talos-balance/patches/patch-aa

+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
+