[wip/sot-dynamic-pinocchio-v3] Release 3.1.7

Add createVelocity
Update dependency on pinocchio 1.2.6
Update call to getFrameJacobian.

sot-dynamic-pinocchio-v3/Makefile

@@ -2,10 +2,9 @@
 # Created:			Rohan Budhiraja on Fri, 8 Apr 2016
 #
 
-VERSION=		3.1.6
+VERSION=		3.1.7
 PKGNAME=		sot-dynamic-pinocchio-v3-${VERSION}
 DISTNAME=		sot-dynamic-pinocchio-v3-${VERSION}
-PKGREVISION= 		2
 
 MASTER_SITES=		${MASTER_SITE_OPENROBOTS:=sot-dynamic-pinocchio-v3/}
 MASTER_REPOSITORY=	${MASTER_REPOSITORY_GITHUB}stack-of-tasks/sot-dynamic-pinocchio/

sot-dynamic-pinocchio-v3/distinfo

-SHA1 (sot-dynamic-pinocchio-v3-3.1.6.tar.gz) = a58a44cfae8f134f46518d44e841ff891b62f88f
-RMD160 (sot-dynamic-pinocchio-v3-3.1.6.tar.gz) = c3f6f311bf39d04bfcc398be17a2f9f974007ab1
-Size (sot-dynamic-pinocchio-v3-3.1.6.tar.gz) = 938662 bytes
-SHA1 (patch-aa) = f95e1c092c6e3e4cb06e809adb87728948ea3120
-SHA1 (patch-ab) = a566e552df7201a08730907b8b7a66603585053b
+SHA1 (sot-dynamic-pinocchio-v3-3.1.7.tar.gz) = 299cfccbf45ba7b8140626f986a400c621af65c7
+RMD160 (sot-dynamic-pinocchio-v3-3.1.7.tar.gz) = ba9b05af4fd01d303219ab00e56be1a733626bc2
+Size (sot-dynamic-pinocchio-v3-3.1.7.tar.gz) = 852560 bytes

sot-dynamic-pinocchio-v3/patches/patch-aa

-diff --git CMakeLists.txt CMakeLists.txt
-index 104b705..3a2d47a 100644
---- CMakeLists.txt
-+++ CMakeLists.txt
-@@ -39,7 +39,7 @@ SET(PKG_CONFIG_ADDITIONAL_VARIABLES
- 
- SETUP_PROJECT()
- # Search for dependencies.
--ADD_REQUIRED_DEPENDENCY("pinocchio >= 1.2.0")
-+ADD_REQUIRED_DEPENDENCY("pinocchio >= 1.2.6")
- ADD_REQUIRED_DEPENDENCY("eigenpy")
- ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 3.0.0")
- ADD_REQUIRED_DEPENDENCY("dynamic-graph-python >= 3.0.0")

sot-dynamic-pinocchio-v3/patches/patch-ab

-diff --git src/sot-dynamic-pinocchio.cpp src/sot-dynamic-pinocchio.cpp
-index 123580d..b968699 100644
---- src/sot-dynamic-pinocchio.cpp
-+++ src/sot-dynamic-pinocchio.cpp
-@@ -745,8 +745,8 @@ computeGenericJacobian(const bool isFrame, const int jointId, dg::Matrix& res,co
- 
-   //Computes Jacobian in world coordinates.
-   if(isFrame){
--    se3::framesForwardKinematics(*m_model,*m_data);
--    se3::getFrameJacobian(*m_model,*m_data,(se3::Model::Index)jointId,tmp);
-+    se3::getJacobian<se3::WORLD>(*m_model,*m_data,
-+                                 m_model->frames[(se3::Model::Index)jointId].parent,tmp);
-   }
-   else
-     se3::getJacobian<se3::WORLD>(*m_model,*m_data,(se3::Model::Index)jointId,tmp);
-@@ -768,6 +768,7 @@ computeGenericEndeffJacobian(const bool isFrame, const int jointId,dg::Matrix& r
-   //TODO: Find a way to remove tmp object
-   se3::Data::Matrix6x tmp = Eigen::MatrixXd::Zero(6,m_model->nv);
-   //std::string temp;
-+  //Computes Jacobian in end-eff coordinates.
-   if(isFrame){
-     se3::framesForwardKinematics(*m_model,*m_data);
-     se3::getFrameJacobian(*m_model,*m_data,(se3::Model::Index)jointId,tmp);
-@@ -777,7 +778,7 @@ computeGenericEndeffJacobian(const bool isFrame, const int jointId,dg::Matrix& r
-   }
-   else {
-     //temp = m_model->getJointName((se3::Model::Index)jointId);
--    se3::getJacobian<se3::WORLD>
-+    se3::getJacobian<se3::LOCAL>
-       (*m_model,*m_data,(se3::Model::Index)jointId,tmp);
-     sotDEBUG(25) << "EndEffJacobian for "
-                  << m_model->getJointName((se3::Model::Index)jointId)