From 9b6a577d436810973d977cc312f36bb789146bfd Mon Sep 17 00:00:00 2001
From: Rohan Budhiraja <budhiraja@laas.fr>
Date: Wed, 5 Oct 2016 15:33:33 +0200
Subject: [PATCH] [c++] getFrameParent is depreciated in pinocchio
---
src/RobotDynamics/pinocchiorobot.cpp | 14 +++++++-------
1 file changed, 7 insertions(+), 7 deletions(-)
diff --git a/src/RobotDynamics/pinocchiorobot.cpp b/src/RobotDynamics/pinocchiorobot.cpp
index dcc0698d..fd0352f1 100644
--- a/src/RobotDynamics/pinocchiorobot.cpp
+++ b/src/RobotDynamics/pinocchiorobot.cpp
@@ -144,21 +144,21 @@ bool PinocchioRobot::initializeRobotModelAndData(se3::Model * robotModel,
m_robotModel = robotModel;
// initialize the short cut for the joint ids
- m_chest = m_robotModel->getFrameParent("torso");
+ m_chest = m_robotModel->frames.at(m_robotModel->getFrameId("torso")).parent;
if(robotModel->existBodyName("BODY")) {
- m_waist = m_robotModel->getFrameParent("BODY");
+ m_waist = m_robotModel->frames.at(m_robotModel->getFrameId("BODY")).parent;
}
else if (robotModel->existBodyName("body")) {
- m_waist = m_robotModel->getFrameParent("body");
+ m_waist = m_robotModel->frames.at(m_robotModel->getFrameId("body")).parent;
}
else {
const std::string exception_message ("BODY/body not found. Check model.");
throw std::invalid_argument(exception_message);
}
- m_leftFoot.associatedAnkle = m_robotModel->getFrameParent("l_ankle");
- m_rightFoot.associatedAnkle = m_robotModel->getFrameParent("r_ankle");
- m_leftWrist = m_robotModel->getFrameParent("l_wrist");
- m_rightWrist = m_robotModel->getFrameParent("r_wrist");
+ m_leftFoot.associatedAnkle = m_robotModel->frames.at(m_robotModel->getFrameId("l_ankle")).parent;
+ m_rightFoot.associatedAnkle = m_robotModel->frames.at(m_robotModel->getFrameId("r_ankle")).parent;
+ m_leftWrist = m_robotModel->frames.at(m_robotModel->getFrameId("l_wrist")).parent;
+ m_rightWrist = m_robotModel->frames.at(m_robotModel->getFrameId("r_wrist")).parent;
DetectAutomaticallyShoulders();
// intialize the "initial pose" (q=[0]) data
--
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