Update to changes in pinocchio

src/continuous-collision-checking/dichotomy.cc

@@ -245,7 +245,7 @@ namespace hpp {
       {
 	pinocchio::JointVector_t& jv = robot_->getJointVector ();
 	for (size_type idx = 0; idx < jv.size (); ++idx) {
-          JointPtr_t j = jv[idx];
+          JointPtr_t j = jv[(int)idx];
 	  BodyPtr_t body = j->linkedBody ();
 	  bool foundPair = false;
 	  if (body) {

src/path-optimization/partial-shortcut.cc

@@ -18,6 +18,7 @@
 
 #include <hpp/util/debug.hh>
 
+#include "pinocchio/multibody/joint/joint-composite.hpp" // TODO remove me when pinocchio handles this.
 #include <pinocchio/multibody/joint/joint.hpp>
 
 #include <hpp/pinocchio/joint.hh>

src/steering-method/reeds-shepp.cc

@@ -16,6 +16,7 @@
 
 #include <hpp/core/steering-method/reeds-shepp.hh>
 
+#include <pinocchio/multibody/joint/joint-composite.hpp> // TODO remove me when pinocchio handles this.
 #include <pinocchio/multibody/joint/joint.hpp>
 
 #include <hpp/pinocchio/device.hh>

tests/path-projectors.cc

@@ -82,7 +82,7 @@ DevicePtr_t createRobot ()
   JointModelPX::ConfigVector_t lower_position = JointModelPY::ConfigVector_t::Constant(JointModelPX::NQ,-4);
   JointModelPX::ConfigVector_t upper_position = JointModelPY::ConfigVector_t::Constant(JointModelPX::NQ,4);
 
-  JointIndex idX = robot->model().addJoint(0,JointModelPX(), mat,jointName,max_effort,max_velocity,lower_position,upper_position);
+  JointIndex idX = robot->model().addJoint(0,JointModelPX(), mat,max_effort,max_velocity,lower_position,upper_position,jointName);
 
   JointModelPY::TangentVector_t max_effortY = JointModelPY::TangentVector_t::Constant(JointModelPY::NV,std::numeric_limits<double>::max());
   JointModelPY::TangentVector_t max_velocityY = JointModelPY::TangentVector_t::Constant(JointModelPY::NV,std::numeric_limits<double>::max());
@@ -90,7 +90,7 @@ DevicePtr_t createRobot ()
   JointModelPY::ConfigVector_t upper_positionY = JointModelPY::ConfigVector_t::Constant(JointModelPY::NQ,4);
   std::string jointNameY = name + "_y";
 
-  robot->model().addJoint(idX,JointModelPY(), mat,jointNameY,max_effortY,max_velocityY,lower_positionY,upper_positionY);
+  robot->model().addJoint(idX,JointModelPY(), mat,max_effortY,max_velocityY,lower_positionY,upper_positionY,jointNameY);
 
   robot->createData();
   robot->createGeomData();

tests/paths.cc

@@ -74,7 +74,7 @@ DevicePtr_t createRobot ()
   JointModelPX::ConfigVector_t lower_position(-4);
   JointModelPX::ConfigVector_t upper_position(4);
 
-  robot->model().addJoint(0,JointModelPX(), mat,jointName,max_effort,max_velocity,lower_position,upper_position);
+  robot->model().addJoint(0,JointModelPX(), mat,max_effort,max_velocity,lower_position,upper_position,jointName);
 
 
   robot->createData();
@@ -121,7 +121,7 @@ DevicePtr_t createRobot2 ()
   JointIndex idJoint = 0;
 
   for(int i = 0 ; i < 10 ; ++i){
-    idJoint = robot->model().addJoint(idJoint,JointModelPX(), mat,jointName + TOSTR(i),max_effort,max_velocity,lower_position,upper_position);
+    idJoint = robot->model().addJoint(idJoint,JointModelPX(), mat,max_effort,max_velocity,lower_position,upper_position,jointName + TOSTR(i));
   }
 
 

tests/relative-motion.cc

@@ -88,15 +88,15 @@ DevicePtr_t createRobot ()
   JointModelPX::ConfigVector_t lower_position = JointModelPY::ConfigVector_t::Constant(-4);
   JointModelPX::ConfigVector_t upper_position = JointModelPY::ConfigVector_t::Constant(4);
 
-  JointIndex idJoint = robot->model().addJoint(0,JointModelPX(), mat,jointName,max_effort,max_velocity,lower_position,upper_position);
+  JointIndex idJoint = robot->model().addJoint(0,JointModelPX(), mat,max_effort,max_velocity,lower_position,upper_position,jointName);
 
   std::string bname = "joint_a";
   for (int i = 0; i < 2; ++i) {
-    idJoint = robot->model().addJoint(idJoint,JointModelPX(), mat,bname+TOSTR(i),max_effort,max_velocity,lower_position,upper_position);
+    idJoint = robot->model().addJoint(idJoint,JointModelPX(), mat,max_effort,max_velocity,lower_position,upper_position,bname+TOSTR(i));
   }
   bname = "joint_b";
   for (int i = 0; i < 3; ++i) {
-    idJoint = robot->model().addJoint(idJoint,JointModelPX(), mat,bname+TOSTR(i),max_effort,max_velocity,lower_position,upper_position);
+    idJoint = robot->model().addJoint(idJoint,JointModelPX(), mat,max_effort,max_velocity,lower_position,upper_position,bname+TOSTR(i));
   }
 
 

tests/roadmap-1.cc

@@ -106,8 +106,8 @@ BOOST_AUTO_TEST_CASE (Roadmap1) {
   JointModelPX::ConfigVector_t lower_position = JointModelPY::ConfigVector_t::Constant(-3);
   JointModelPX::ConfigVector_t upper_position = JointModelPY::ConfigVector_t::Constant(3);
 
-  JointIndex idJoint = robot->model().addJoint(0,JointModelPX(), mat,name + "_x",max_effort,max_velocity,lower_position,upper_position);
-  robot->model().addJoint(idJoint,JointModelPY(), mat,name + "_y",max_effort,max_velocity,lower_position,upper_position);
+  JointIndex idJoint = robot->model().addJoint(0,JointModelPX(), mat,max_effort,max_velocity,lower_position,upper_position,name + "_x");
+  robot->model().addJoint(idJoint,JointModelPY(), mat,max_effort,max_velocity,lower_position,upper_position,name + "_y");
 
   robot->createData();
   robot->createGeomData();
@@ -350,8 +350,8 @@ BOOST_AUTO_TEST_CASE (nearestNeighbor) {
   JointModelPX::ConfigVector_t upper_position = JointModelPY::ConfigVector_t::Constant(3);
 
 
-  JointIndex idJoint = robot->model().addJoint(0,::se3::JointModelPX(), mat,name + "_x",max_effort,max_velocity,lower_position,upper_position);
-  robot->model().addJoint(idJoint,::se3::JointModelPY(), mat,name + "_y",max_effort,max_velocity,lower_position,upper_position);
+  JointIndex idJoint = robot->model().addJoint(0,::se3::JointModelPX(), mat,max_effort,max_velocity,lower_position,upper_position,name + "_x");
+  robot->model().addJoint(idJoint,::se3::JointModelPY(), mat,max_effort,max_velocity,lower_position,upper_position,name + "_y");
 
   robot->createData();
   robot->createGeomData();

tests/test-kdTree.cc

@@ -43,7 +43,7 @@
 
 #define BOOST_TEST_MODULE kdTree
 #include <boost/test/included/unit_test.hpp>
-#include <pinocchio/multibody/joint/joint-variant.hpp>
+#include <pinocchio/multibody/model.hpp>
 #include <pinocchio/multibody/geometry.hpp>
 #include "../tests/utils.hh"
 
@@ -52,9 +52,7 @@ using namespace hpp;
 using namespace core;
 using namespace pinocchio;
 using namespace std;
-using ::se3::JointModelPX;
-using ::se3::JointModelPY;
-using ::se3::JointModelPZ;
+using ::se3::JointModelTranslation;
 using ::se3::JointIndex;
 using ::se3::JointModelSpherical;
 using ::se3::JointModelRUBZ;
@@ -90,17 +88,16 @@ BOOST_AUTO_TEST_CASE (kdTree) {
   const std::string& name = robot->name ();
   Transform3f mat; mat.setIdentity ();
 
-  JointModelPX::TangentVector_t max_effort = JointModelPX::TangentVector_t::Constant(JointModelPX::NV,std::numeric_limits<double>::max());
-  JointModelPX::TangentVector_t max_velocity = JointModelPX::TangentVector_t::Constant(JointModelPX::NV,std::numeric_limits<double>::max());
-  JointModelPX::ConfigVector_t lower_position = JointModelPY::ConfigVector_t::Constant(-3.);
-  JointModelPX::ConfigVector_t upper_position = JointModelPY::ConfigVector_t::Constant(3.);
+  JointModelTranslation::TangentVector_t max_effort    = JointModelTranslation::TangentVector_t::Constant(std::numeric_limits<double>::max());
+  JointModelTranslation::TangentVector_t max_velocity  = JointModelTranslation::TangentVector_t::Constant(std::numeric_limits<double>::max());
+  JointModelTranslation::ConfigVector_t lower_position = JointModelTranslation::ConfigVector_t::Constant(-3.);
+  JointModelTranslation::ConfigVector_t upper_position = JointModelTranslation::ConfigVector_t::Constant(3.);
 
 
-  JointIndex idJoint = robot->model().addJoint(0,JointModelPX(), mat,name + "_x",max_effort,max_velocity,lower_position,upper_position);
-  idJoint = robot->model().addJoint(idJoint,JointModelPY(), mat,name + "_y",max_effort,max_velocity,lower_position,upper_position);
-  idJoint = robot->model().addJoint(idJoint,JointModelPZ(), mat,name + "_z",max_effort,max_velocity,lower_position,upper_position);
-  idJoint = robot->model().addJoint(idJoint,JointModelSpherical(), mat,name + "_SO3");
-  idJoint = robot->model().addJoint(idJoint,JointModelRUBZ(), mat,name + "_SO2");
+  JointIndex idJoint = 0;
+  idJoint = robot->model().addJoint(idJoint,JointModelTranslation(), mat,max_effort,max_velocity,lower_position,upper_position,name + "_xyz");
+  idJoint = robot->model().addJoint(idJoint,JointModelSpherical()  , mat,name + "_SO3");
+  idJoint = robot->model().addJoint(idJoint,JointModelRUBZ()       , mat,name + "_SO2");
 
   robot->createData();
   robot->createGeomData();