From 5b4c266cbf3a3de5d872a636cf49358fb174941d Mon Sep 17 00:00:00 2001
From: Rohan Budhiraja <budhiraja@laas.fr>
Date: Thu, 10 Nov 2016 14:02:02 +0100
Subject: [PATCH] [wip/jrl-walkgen-v3][patch] minor patch. Frame Name BODY is
defined as body in Romeo
---
jrl-walkgen-v3/distinfo | 1 +
jrl-walkgen-v3/patches/patch-ab | 22 ++++++++++++++++++++++
2 files changed, 23 insertions(+)
create mode 100644 jrl-walkgen-v3/patches/patch-ab
diff --git a/jrl-walkgen-v3/distinfo b/jrl-walkgen-v3/distinfo
index 6fb5db46..f30bd400 100644
--- a/jrl-walkgen-v3/distinfo
+++ b/jrl-walkgen-v3/distinfo
@@ -2,3 +2,4 @@ SHA1 (jrl-walkgen-v3-4.0.1.tar.gz) = d7aeee11b6ae5ab7690515ed48cee1a9598bfbf4
RMD160 (jrl-walkgen-v3-4.0.1.tar.gz) = d9cde5fea97fea17256076ad2a228a44a3ef1e6c
Size (jrl-walkgen-v3-4.0.1.tar.gz) = 15455904 bytes
SHA1 (patch-aa) = 2fbf0817b8a829ee93cd7927d056f5332467d254
+SHA1 (patch-ab) = c1ea22904391d7a3ddc3467a5487b9361000186f
diff --git a/jrl-walkgen-v3/patches/patch-ab b/jrl-walkgen-v3/patches/patch-ab
new file mode 100644
index 00000000..2daa9152
--- /dev/null
+++ b/jrl-walkgen-v3/patches/patch-ab
@@ -0,0 +1,22 @@
+diff --git src/RobotDynamics/pinocchiorobot.cpp src/RobotDynamics/pinocchiorobot.cpp
+index 951e0b5..78859d8 100644
+--- src/RobotDynamics/pinocchiorobot.cpp
++++ src/RobotDynamics/pinocchiorobot.cpp
+@@ -102,7 +102,7 @@ bool PinocchioRobot::checkModel(se3::Model * robotModel)
+ throw std::invalid_argument(exception_message);
+ return false ;
+ }
+- if(!robotModel->existFrame("BODY"))
++ if(!robotModel->existFrame("BODY") && !robotModel->existFrame("body"))
+ {
+ m_boolModel=false;
+ const std::string exception_message ("BODY is not a valid body name");
+@@ -146,7 +146,7 @@ bool PinocchioRobot::initializeRobotModelAndData(se3::Model * robotModel,
+ // initialize the short cut for the joint ids
+ se3::FrameIndex chest = m_robotModel->getFrameId("torso");
+ m_chest = m_robotModel->frames[chest].parent ;
+- se3::FrameIndex waist = m_robotModel->getFrameId("BODY");
++ se3::FrameIndex waist = (robotModel->existFrame("BODY"))?m_robotModel->getFrameId("BODY"):m_robotModel->getFrameId("body");
+ m_waist = m_robotModel->frames[waist].parent ;
+ se3::FrameIndex ra = m_robotModel->getFrameId("r_ankle");
+ m_rightFoot.associatedAnkle = m_robotModel->frames[ra].parent ;
--
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