From 652acbbd76e187c9d018f84b12630a45b6705ab5 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Thu, 13 Sep 2018 14:57:48 +0200
Subject: [PATCH] [wip/sot-dynamic-pinocchio-v3] Remove useless dependency to
centroidal.hpp
---
sot-dynamic-pinocchio-v3/Makefile | 1 +
sot-dynamic-pinocchio-v3/distinfo | 1 +
sot-dynamic-pinocchio-v3/patches/patch-ab | 24 +++++++++++++++++++++++
3 files changed, 26 insertions(+)
create mode 100644 sot-dynamic-pinocchio-v3/patches/patch-ab
diff --git a/sot-dynamic-pinocchio-v3/Makefile b/sot-dynamic-pinocchio-v3/Makefile
index 81a060b8..01fbb15b 100644
--- a/sot-dynamic-pinocchio-v3/Makefile
+++ b/sot-dynamic-pinocchio-v3/Makefile
@@ -5,6 +5,7 @@
ORG= stack-of-tasks
NAME= sot-dynamic-pinocchio
VERSION= 3.2.1
+PKGREVISION= 1
DISTNAME= ${NAME}-${VERSION}
PKGNAME= ${NAME}-v3-${VERSION}
diff --git a/sot-dynamic-pinocchio-v3/distinfo b/sot-dynamic-pinocchio-v3/distinfo
index 5ede2626..59437fa4 100644
--- a/sot-dynamic-pinocchio-v3/distinfo
+++ b/sot-dynamic-pinocchio-v3/distinfo
@@ -2,3 +2,4 @@ SHA1 (sot-dynamic-pinocchio-3.2.1.tar.gz) = 108288be467956b32685865549a547d8bbce
RMD160 (sot-dynamic-pinocchio-3.2.1.tar.gz) = 2176445239441c470715cbbcd5f714d04ef363e1
Size (sot-dynamic-pinocchio-3.2.1.tar.gz) = 857336 bytes
SHA1 (patch-aa) = 9ef00b1786b012569bf705d51d2ca14ee9a5b46b
+SHA1 (patch-ab) = ea1ecc4e1abb1d0f9d0907676d79622a6b44efc9
diff --git a/sot-dynamic-pinocchio-v3/patches/patch-ab b/sot-dynamic-pinocchio-v3/patches/patch-ab
new file mode 100644
index 00000000..07c61b60
--- /dev/null
+++ b/sot-dynamic-pinocchio-v3/patches/patch-ab
@@ -0,0 +1,24 @@
+Remove centroidal.hpp
+
+--- src/sot-dynamic-pinocchio.cpp
++++ src/sot-dynamic-pinocchio.cpp
+@@ -26,7 +26,6 @@
+ #include <boost/format.hpp>
+
+ #include <pinocchio/algorithm/kinematics.hpp>
+-#include <pinocchio/algorithm/centroidal.hpp>
+ #include <pinocchio/algorithm/center-of-mass.hpp>
+ #include <pinocchio/spatial/motion.hpp>
+ #include <pinocchio/algorithm/crba.hpp>
+@@ -923,7 +922,7 @@ computeInertiaReal( dg::Matrix& res,const int& time )
+ }
+
+ double& DynamicPinocchio::
+-computeFootHeight (double &res , const int& time)
++computeFootHeight (double &res , const int& )
+ {
+ //Ankle position in local foot frame
+ //TODO: Confirm that it is in the foot frame
+--
+2.7.4
+
--
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