Commit 0aeb6db7 authored by Guilhem Saurel's avatar Guilhem Saurel

[wip/{,py-}sot-talos-balance] Update to v1.9.1

Changes in v1.9.1:
- fix compatibility with pinocchio v2.4.5

Packaging changes:
- removed patch-aa, applied upstream
parent 2884f459
......@@ -4,8 +4,7 @@
ORG= stack-of-tasks
NAME= sot-talos-balance
VERSION= 1.9.0
PKGREVISION= 1
VERSION= 1.9.1
CATEGORIES= wip
COMMENT= Balance for TALOS humanoid robot (python bindings)
......
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
SHA1 (sot-talos-balance-1.9.1.tar.gz) = 1626d26abb9fc3d2bd8649537201b866e675b933
RMD160 (sot-talos-balance-1.9.1.tar.gz) = 136ffc99deeb551df993d70b6c5fd6167ab26e12
Size (sot-talos-balance-1.9.1.tar.gz) = 32951788 bytes
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
......@@ -4,8 +4,7 @@
ORG= stack-of-tasks
NAME= sot-talos-balance
VERSION= 1.9.0
PKGREVISION= 1
VERSION= 1.9.1
CATEGORIES= wip
COMMENT= Balance for TALOS humanoid robot
......
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
SHA1 (sot-talos-balance-1.9.1.tar.gz) = 1626d26abb9fc3d2bd8649537201b866e675b933
RMD160 (sot-talos-balance-1.9.1.tar.gz) = 136ffc99deeb551df993d70b6c5fd6167ab26e12
Size (sot-talos-balance-1.9.1.tar.gz) = 32951788 bytes
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
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment