From c5b67c276e9b8f5e9fd22e88d0c6049eaa19b3b1 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@gmail.com>
Date: Thu, 13 Dec 2018 11:27:21 +0100
Subject: [PATCH] [wip/jrl-walkgen-v3] add patch-aa to fix compilation with
recent Pinocchio
---
jrl-walkgen-v3/distinfo | 1 +
jrl-walkgen-v3/patches/patch-aa | 36 +++++++++++++++++++++++++++++++++
2 files changed, 37 insertions(+)
create mode 100644 jrl-walkgen-v3/patches/patch-aa
diff --git a/jrl-walkgen-v3/distinfo b/jrl-walkgen-v3/distinfo
index ce88de40..77403fca 100644
--- a/jrl-walkgen-v3/distinfo
+++ b/jrl-walkgen-v3/distinfo
@@ -1,3 +1,4 @@
SHA1 (jrl-walkgen-4.0.4.tar.gz) = 1f9bcd5447dfd43b16955a276dd82d70590f934d
RMD160 (jrl-walkgen-4.0.4.tar.gz) = c05a3e06bff1a50fc452400ab9aab67019d878d5
Size (jrl-walkgen-4.0.4.tar.gz) = 16028021 bytes
+SHA1 (patch-aa) = b05edcefd62be5dad8592e7b6f40079d50e61783
diff --git a/jrl-walkgen-v3/patches/patch-aa b/jrl-walkgen-v3/patches/patch-aa
new file mode 100644
index 00000000..3ce3789c
--- /dev/null
+++ b/jrl-walkgen-v3/patches/patch-aa
@@ -0,0 +1,36 @@
+use se3::SINCOS, fix compilation with recent version of pinocchio
+
+--- src/RobotDynamics/pinocchiorobot.cpp
++++ src/RobotDynamics/pinocchiorobot.cpp
+@@ -238,7 +238,7 @@ bool PinocchioRobot::testInverseKinematics()
+ leftLegJointName.push_back("JointModelRY");
+ leftLegJointName.push_back("JointModelRY");
+ leftLegJointName.push_back("JointModelRX");
+-
++
+ rightLegJointName.push_back("JointModelFreeFlyer");
+ rightLegJointName.push_back("JointModelRZ");
+ rightLegJointName.push_back("JointModelRX");
+@@ -246,7 +246,7 @@ bool PinocchioRobot::testInverseKinematics()
+ rightLegJointName.push_back("JointModelRY");
+ rightLegJointName.push_back("JointModelRY");
+ rightLegJointName.push_back("JointModelRX");
+-
++
+ leftArmJointName.push_back("JointModelRY");
+ leftArmJointName.push_back("JointModelRX");
+ leftArmJointName.push_back("JointModelRZ");
+@@ -342,9 +342,9 @@ void PinocchioRobot::RPYToSpatialFreeFlyer(Eigen::Vector3d & rpy,
+ Eigen::AngleAxisd(rpy(1), Eigen::Vector3d::UnitY()) *
+ Eigen::AngleAxisd(rpy(0), Eigen::Vector3d::UnitX()) ) ;
+ quat.normalize();
+- double c0,s0; SINCOS (rpy(2), &s0, &c0);
+- double c1,s1; SINCOS (rpy(1), &s1, &c1);
+- double c2,s2; SINCOS (rpy(0), &s2, &c2);
++ double c0,s0; se3::SINCOS (rpy(2), &s0, &c0);
++ double c1,s1; se3::SINCOS (rpy(1), &s1, &c1);
++ double c2,s2; se3::SINCOS (rpy(0), &s2, &c2);
+ m_S << -s1, 0., 1., c1 * s2, c2, 0, c1 * c2, -s2, 0;
+ omega = m_S * drpy ;
+ domega = m_S * ddrpy ;
+
--
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