From e596e6dc04b2b7646e8fae00a074093fbb96fac8 Mon Sep 17 00:00:00 2001
From: Rohan Budhiraja <budhiraja@laas.fr>
Date: Mon, 22 Aug 2016 17:38:14 +0200
Subject: [PATCH] Deal with pinocchio API changes
---
src/RobotDynamics/pinocchiorobot.cpp | 16 ++++++++--------
1 file changed, 8 insertions(+), 8 deletions(-)
diff --git a/src/RobotDynamics/pinocchiorobot.cpp b/src/RobotDynamics/pinocchiorobot.cpp
index 4272dfaf..79625915 100644
--- a/src/RobotDynamics/pinocchiorobot.cpp
+++ b/src/RobotDynamics/pinocchiorobot.cpp
@@ -8,8 +8,8 @@ class Joint_shortname : public boost::static_visitor<std::string>
{
public:
template<typename D>
- std::string operator()(const se3::JointModelBase<D> & ) const
- { return D::shortname(); }
+ std::string operator()(const se3::JointModelBase<D> & jmodel) const
+ { return jmodel.shortname(); }
static std::string run( const se3::JointModelVariant & jmodel)
{ return boost::apply_visitor( Joint_shortname(), jmodel ); }
@@ -144,12 +144,12 @@ bool PinocchioRobot::initializeRobotModelAndData(se3::Model * robotModel,
m_robotModel = robotModel;
// initialize the short cut for the joint ids
- m_chest = m_robotModel->getBodyId("torso");
- m_waist = m_robotModel->getBodyId("BODY");
- m_leftFoot.associatedAnkle = m_robotModel->getBodyId("l_ankle");
- m_rightFoot.associatedAnkle = m_robotModel->getBodyId("r_ankle");
- m_leftWrist = m_robotModel->getBodyId("l_wrist");
- m_rightWrist = m_robotModel->getBodyId("r_wrist");
+ m_chest = m_robotModel->getFrameParent("torso");
+ m_waist = m_robotModel->getFrameParent("BODY");
+ 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");
DetectAutomaticallyShoulders();
// intialize the "initial pose" (q=[0]) data
--
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