Commit 10e69d39 authored by Naveau's avatar Naveau Committed by GitHub
Browse files

Merge pull request #25 from proyan/master

Minor changes to the devel branch
parents cc4f8982 7c47b422
4.0.1
\ No newline at end of file
......@@ -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 ;
......
......@@ -409,7 +409,7 @@ protected:
aPGI.ParseCmd(strm2);
}
{
istringstream strm2(":useDynamicFilter false");
istringstream strm2(":useDynamicFilter true");
aPGI.ParseCmd(strm2);
}
}
......
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