From 048595e476536c11d6b4893ca8a8cfc9d398bc62 Mon Sep 17 00:00:00 2001
From: Rohan Budhiraja <budhiraja@laas.fr>
Date: Wed, 5 Oct 2016 11:51:34 +0200
Subject: [PATCH] [wip/sot-romeo-v3] Update for pinocchio >=1.2.0
---
sot-romeo-v3/Makefile | 2 +-
sot-romeo-v3/distinfo | 1 +
sot-romeo-v3/patches/patch-ad | 51 +++++++++++++++++++++++++++++++++++
3 files changed, 53 insertions(+), 1 deletion(-)
create mode 100644 sot-romeo-v3/patches/patch-ad
diff --git a/sot-romeo-v3/Makefile b/sot-romeo-v3/Makefile
index fc0ba8a6..e30b2c5f 100644
--- a/sot-romeo-v3/Makefile
+++ b/sot-romeo-v3/Makefile
@@ -6,7 +6,7 @@
VERSION= 2.0.0
DISTNAME= sot-romeo-v3-${VERSION}
PKGNAME= sot-romeo-v3-${VERSION}
-PKGREVISION= 1
+PKGREVISION= 2
CATEGORIES= wip
MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=sot-romeo-v3/}
diff --git a/sot-romeo-v3/distinfo b/sot-romeo-v3/distinfo
index b5581928..985394b0 100644
--- a/sot-romeo-v3/distinfo
+++ b/sot-romeo-v3/distinfo
@@ -4,3 +4,4 @@ Size (sot-romeo-v3-2.0.0.tar.gz) = 105021 bytes
SHA1 (patch-aa) = 0319ccbe6c1622c7708972f6fa4fde3e9361002c
SHA1 (patch-ab) = f9980b73a906658126092a370fe79eb41f08dbb4
SHA1 (patch-ac) = 655321720aa1e96b8d24f515ecd4b60233061802
+SHA1 (patch-ad) = 839d787b1ffb62cdba5a6620dda07c3cedd0e9fb
diff --git a/sot-romeo-v3/patches/patch-ad b/sot-romeo-v3/patches/patch-ad
new file mode 100644
index 00000000..75f40c5e
--- /dev/null
+++ b/sot-romeo-v3/patches/patch-ad
@@ -0,0 +1,51 @@
+diff --git src/CMakeLists.txt src/CMakeLists.txt
+index db40b6f..dc75a50 100644
+--- src/CMakeLists.txt
++++ src/CMakeLists.txt
+@@ -39,7 +39,7 @@ FUNCTION(COMPILE_PLUGIN NAME SOURCES ENTITIES)
+ ENDFUNCTION()
+
+ # Compile plug-ins.
+-COMPILE_PLUGIN(dynamic-romeo dynamic-romeo.cpp DynamicRomeo)
++# COMPILE_PLUGIN(dynamic-romeo dynamic-romeo.cpp DynamicRomeo)
+
+
+ ##
+diff --git src/dynamic-romeo.cpp src/dynamic-romeo.cpp
+index 9d9daa8..b419cfd 100644
+--- src/dynamic-romeo.cpp
++++ src/dynamic-romeo.cpp
+@@ -35,7 +35,6 @@ namespace dynamicgraph
+ : Dynamic (name)
+ {
+ sotDEBUGIN(15);
+- DynamicRomeo::createRobot();
+ sotDEBUGOUT(15);
+ }
+
+diff --git src/dynamic_graph/sot/romeo/robot.py src/dynamic_graph/sot/romeo/robot.py
+index e9ea89f..9fce636 100644
+--- src/dynamic_graph/sot/romeo/robot.py
++++ src/dynamic_graph/sot/romeo/robot.py
+@@ -16,7 +16,7 @@
+
+ from dynamic_graph.sot.dynamics.humanoid_robot import AbstractHumanoidRobot
+ from dynamic_graph.ros import RosRobotModel
+-
++import pinocchio as se3
+ from rospkg import RosPack
+
+ # Sot model for the romeo_small.urdf (with gripper, no fingers)
+@@ -204,6 +204,12 @@ class Robot (AbstractHumanoidRobot):
+ self.dynamic = RosRobotModel("{0}_dynamic".format(name))
+ for i in self.jointMap:
+ self.dynamic.addJointMapping(i, self.jointMap[i])
++
++ self.pinocchioModel = se3.buildModelFromUrdf(self.urdfDir + self.urdfName,
++ se3.JointModelFreeFlyer())
++ self.pinocchioData = self.pinocchioModel.createData()
++ self.dynamic.setModel(self.pinocchioModel)
++ self.dynamic.setData(self.pinocchioData)
+ self.dynamic.loadUrdf(self.urdfDir + self.urdfName)
+
+ # complete feet position (TODO: move it into srdf file)
--
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